From 31c23ccb2d6fd62988123b4ab39c0c6ca864a67e Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Wed, 8 Jun 2022 08:57:00 +0200
Subject: [PATCH] ObjectMemory: using VirtualRobotReader instead of
RobotStateComponent
---
.../server/ObjectMemory/ObjectMemory.cpp | 21 +++++++++++++------
.../armem/server/ObjectMemory/ObjectMemory.h | 9 ++++----
2 files changed, 19 insertions(+), 11 deletions(-)
diff --git a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
index fe2a74715..f60377622 100644
--- a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
+++ b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
@@ -21,7 +21,9 @@
*/
#include "ObjectMemory.h"
+#include <VirtualRobot/VirtualRobot.h>
+#include "ArmarXCore/core/time/Clock.h"
#include <ArmarXCore/core/ice_conversions/ice_conversions_templates.h>
#include <ArmarXCore/core/time/ice_conversions.h>
@@ -65,6 +67,8 @@ namespace armarx::armem::server::obj
"Duration of time window into the past to use for predictions"
" when requested via the PredictingMemoryInterface (in seconds).");
+ defs->optional(robotName, "robotName", "");
+
return defs;
}
@@ -74,6 +78,7 @@ namespace armarx::armem::server::obj
classSegment(iceAdapter()),
attachmentSegment(iceAdapter())
{
+ addPlugin(virtualRobotReaderPlugin);
}
@@ -130,20 +135,24 @@ namespace armarx::armem::server::obj
{
// onConnect can be called multiple times, but addRobot will fail if called more than once with the same ID
// So we need to always make sure to guard a call to addRobot
- const std::string robotKey = "robot";
- VirtualRobot::RobotPtr robot = RobotState::hasRobot(robotKey)
- ? RobotState::getRobot(robotKey)
- : RobotState::addRobot(robotKey, VirtualRobot::RobotIO::RobotDescription::eStructure);
+ // const std::string robotKey = "robot";
+ // VirtualRobot::RobotPtr robot = RobotState::hasRobot(robotKey)
+ // ? RobotState::getRobot(robotKey)
+ // : RobotState::addRobot(robotKey, VirtualRobot::RobotIO::RobotDescription::eStructure);
- robotStateComponent = RobotState::getRobotStateComponent();
+ // TODO: the instance segment should check the provided object poses and instantiate the needed robots by itself.
+ VirtualRobot::RobotPtr robot = virtualRobotReaderPlugin->get().getSynchronizedRobot(robotName, armarx::Clock::Now());
getProxyFromProperty(kinematicUnitObserver, "cmp.KinematicUnitObserverName", false, "", false);
// Create first to use the original values.
createRemoteGuiTab();
+ ARMARX_CHECK_NOT_NULL(virtualRobotReaderPlugin);
+ // ARMARX_CHECK(virtualRobotReaderPlugin->isAvailable());
+
instance::SegmentAdapter::connect(
- robotStateComponent,
+ &virtualRobotReaderPlugin->get(),
robot,
kinematicUnitObserver,
ArVizComponentPluginUser::getArvizClient(),
diff --git a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
index 1a939eebf..5cf03b6e3 100644
--- a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
+++ b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
@@ -22,6 +22,8 @@
#pragma once
+#include "RobotAPI/libraries/armem/client/plugins/ReaderWriterPlugin.h"
+#include "RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h"
#include <RobotAPI/libraries/armem_objects/server/class/Segment.h>
#include <RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.h>
#include <RobotAPI/libraries/armem_objects/server/attachments/Segment.h>
@@ -61,15 +63,11 @@ namespace armarx::armem::server::obj
, virtual public armarx::armem::server::ObjectMemoryInterface
, virtual public armarx::armem::server::ReadWritePluginUser
, virtual public armarx::armem::server::obj::instance::SegmentAdapter
-
- , virtual public armarx::RobotStateComponentPluginUser
, virtual public armarx::LightweightRemoteGuiComponentPluginUser
, virtual public armarx::ArVizComponentPluginUser
{
public:
- using RobotState = armarx::RobotStateComponentPluginUser;
-
static const std::string defaultMemoryName;
@@ -119,7 +117,6 @@ namespace armarx::armem::server::obj
private:
DebugObserverInterfacePrx debugObserver;
- RobotStateComponentInterfacePrx robotStateComponent;
KinematicUnitObserverInterfacePrx kinematicUnitObserver;
double predictionTimeWindow = 2;
@@ -137,6 +134,8 @@ namespace armarx::armem::server::obj
};
std::unique_ptr<RemoteGuiTab> tab;
+ std::string robotName = "Armar6";
+ armem::client::plugins::ReaderWriterPlugin<robot_state::VirtualRobotReader>* virtualRobotReaderPlugin;
};
}
--
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