diff --git a/scenarios/memory_to_debug_observer/config/MemoryToDebugObserver.cfg b/scenarios/memory_to_debug_observer/config/MemoryToDebugObserver.cfg
index a230049a091bc90361567f1e56dd87f98101412f..b55058e92b04b70190bedc2ecfcd4a675a843557 100644
--- a/scenarios/memory_to_debug_observer/config/MemoryToDebugObserver.cfg
+++ b/scenarios/memory_to_debug_observer/config/MemoryToDebugObserver.cfg
@@ -163,10 +163,18 @@
# ArmarX.MemoryToDebugObserver.p.memoryToDebugObserverJson: Configuration of MemoryToDebugObserver in JSON format.
# Attributes:
-# - Default: {"plottedValues":[{"aronPath":["joints","position","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocity","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","position","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocity","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","position","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocity","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]}]}
+# - Default: {"plottedValues":[{"aronPath":["joints","position","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_1_Yaw.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","positionTarget","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_1_Yaw.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","relativePosition","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_1_Yaw.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocity","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_1_Yaw.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocityTarget","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_1_Yaw.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","torque","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_1_Yaw.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","motorCurrent","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_1_Yaw.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","currentTarget","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_1_Yaw.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","position","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_2_Hemisphere_A.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","positionTarget","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_2_Hemisphere_A.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","relativePosition","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_2_Hemisphere_A.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocity","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_2_Hemisphere_A.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocityTarget","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_2_Hemisphere_A.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","torque","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_2_Hemisphere_A.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","motorCurrent","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_2_Hemisphere_A.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","currentTarget","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_2_Hemisphere_A.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","position","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_3_Hemisphere_B.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","positionTarget","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_3_Hemisphere_B.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","relativePosition","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_3_Hemisphere_B.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocity","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_3_Hemisphere_B.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocityTarget","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_3_Hemisphere_B.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","torque","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_3_Hemisphere_B.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","motorCurrent","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_3_Hemisphere_B.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","currentTarget","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_3_Hemisphere_B.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]}]}
# - Case sensitivity: yes
# - Required: no
-# ArmarX.MemoryToDebugObserver.p.memoryToDebugObserverJson = {"plottedValues":[{"aronPath":["joints","position","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocity","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","position","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocity","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","position","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocity","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]}]}
+# ArmarX.MemoryToDebugObserver.p.memoryToDebugObserverJson = {"plottedValues":[{"aronPath":["joints","position","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_1_Yaw.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","positionTarget","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_1_Yaw.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","relativePosition","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_1_Yaw.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocity","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_1_Yaw.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocityTarget","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_1_Yaw.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","torque","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_1_Yaw.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","motorCurrent","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_1_Yaw.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","currentTarget","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_1_Yaw.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","position","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_2_Hemisphere_A.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","positionTarget","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_2_Hemisphere_A.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","relativePosition","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_2_Hemisphere_A.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocity","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_2_Hemisphere_A.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocityTarget","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_2_Hemisphere_A.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","torque","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_2_Hemisphere_A.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","motorCurrent","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_2_Hemisphere_A.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","currentTarget","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_2_Hemisphere_A.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","position","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_3_Hemisphere_B.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","positionTarget","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_3_Hemisphere_B.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","relativePosition","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_3_Hemisphere_B.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocity","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_3_Hemisphere_B.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocityTarget","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_3_Hemisphere_B.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","torque","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_3_Hemisphere_B.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","motorCurrent","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_3_Hemisphere_B.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","currentTarget","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_3_Hemisphere_B.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]}]}
+
+
+# ArmarX.MemoryToDebugObserver.p.pollFrequencyHz:
+# Attributes:
+# - Default: 30
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.MemoryToDebugObserver.p.pollFrequencyHz = 30
# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
diff --git a/source/RobotAPI/components/armem/client/MemoryToDebugObserver/Component.cpp b/source/RobotAPI/components/armem/client/MemoryToDebugObserver/Component.cpp
index 89782e6df70a51e35725ed198165f92d4d20029b..2217e1d8137ab275a387b917ea623f6d59b36518 100644
--- a/source/RobotAPI/components/armem/client/MemoryToDebugObserver/Component.cpp
+++ b/source/RobotAPI/components/armem/client/MemoryToDebugObserver/Component.cpp
@@ -49,7 +49,13 @@ namespace armarx::memory_to_debug_observer
{
std::vector<std::string> attributes{
"position",
+ "positionTarget",
+ "relativePosition",
"velocity",
+ "velocityTarget",
+ "torque",
+ "motorCurrent",
+ "currentTarget",
};
for (const std::string& attribute : attributes)
{
@@ -57,6 +63,10 @@ namespace armarx::memory_to_debug_observer
.entityID = robotEntityId,
.aronPath = {{"joints", attribute, jointName}},
});
+ properties.memoryToDebugObserver.plottedValues.push_back({
+ .entityID = robotEntityId,
+ .aronPath = {{"extraLongs", jointName + ".absoluteEncoderTicks"}},
+ });
}
}
diff --git a/source/RobotAPI/components/units/RobotUnit/util/ControlThreadOutputBuffer.cpp b/source/RobotAPI/components/units/RobotUnit/util/ControlThreadOutputBuffer.cpp
index bedfc430f0dee9f2030ac495d2ba6dd74bfa1350..8f8738d48a54c135198d48a370d0d36006d5a129 100644
--- a/source/RobotAPI/components/units/RobotUnit/util/ControlThreadOutputBuffer.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/util/ControlThreadOutputBuffer.cpp
@@ -362,7 +362,7 @@ namespace armarx
const auto numExcessEntries =
std::max(requiredAdditionalEntries, numEntries - entries.size());
const auto requiredSize = entries.size() + numExcessEntries;
- ARMARX_WARNING << "Iteration " << iterationCount << " required "
+ ARMARX_VERBOSE << "Iteration " << iterationCount << " required "
<< requiredAdditionalEntries << " | " << numExcessEntries
<< " additional message entries. \n"
<< "The requested total number of entries is " << requiredSize << ". \n"
@@ -371,7 +371,7 @@ namespace armarx
<< getMaximalNumberOfBufferEntries();
if (requiredSize > getMaximalNumberOfBufferEntries())
{
- ARMARX_WARNING << deactivateSpam(1, to_string(requiredSize)) << "Iteration "
+ ARMARX_VERBOSE << deactivateSpam(1, to_string(requiredSize)) << "Iteration "
<< iterationCount << " would require " << requiredSize
<< " message entries, but the maximal number of entries is "
<< getMaximalNumberOfBufferEntries();
diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
index 9b56d6c370d6f24ea3dd98b07ed2bcb0b3ea7d2a..440815d7d495c3a7a0e57acdde433e4a3a1d672f 100644
--- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
+++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
@@ -1353,8 +1353,8 @@ namespace armarx
auto it = reportedJointStatuses.find(rn[i]->getName());
if (it == reportedJointStatuses.end())
{
- ARMARX_WARNING << deactivateSpam(5, rn[i]->getName()) << "Joint Status for " << rn[i]->getName()
- << " was not reported!";
+ ARMARX_VERBOSE << deactivateSpam(5, rn[i]->getName()) << "Joint Status for "
+ << rn[i]->getName() << " was not reported!";
continue;
}
JointStatus currentStatus = it->second;
diff --git a/source/RobotAPI/libraries/ArmarXObjects/CMakeLists.txt b/source/RobotAPI/libraries/ArmarXObjects/CMakeLists.txt
index 3e503f9a7f04ff1fdcdb4bb1988ee04f0b18666d..879422d20200f53cc0befe9b1c28f6b59220396a 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/CMakeLists.txt
+++ b/source/RobotAPI/libraries/ArmarXObjects/CMakeLists.txt
@@ -82,7 +82,6 @@ armarx_enable_aron_file_generation_for_target(
"${LIB_NAME}"
ARON_FILES
aron/ObjectID.xml
- aron/ObjectNames.xml
aron/ObjectPose.xml
aron/ObjectType.xml
aron/PoseManifoldGaussian.xml
diff --git a/source/RobotAPI/libraries/armem_objects/aron/ObjectClass.xml b/source/RobotAPI/libraries/armem_objects/aron/ObjectClass.xml
index 019987f5054e844478066d377ad0bf1e948b6db7..190e105b4d17d222543ff72db8e2feada3db7b5d 100644
--- a/source/RobotAPI/libraries/armem_objects/aron/ObjectClass.xml
+++ b/source/RobotAPI/libraries/armem_objects/aron/ObjectClass.xml
@@ -8,7 +8,7 @@ Core segment type of Object/Class.
<PackagePath package="RobotAPI" path="libraries/aron/common/aron/OrientedBox.xml" />
<PackagePath package="RobotAPI" path="libraries/aron/common/aron/PackagePath.xml" />
<PackagePath package="RobotAPI" path="libraries/ArmarXObjects/aron/ObjectID.xml" />
- <PackagePath package="RobotAPI" path="libraries/ArmarXObjects/aron/ObjectNames.xml" />
+ <PackagePath package="RobotAPI" path="libraries/aron/common/aron/Names.xml" />
<PackagePath package="RobotAPI" path="libraries/armem/aron/MemoryID.xml" />
</AronIncludes>
<GenerateTypes>
@@ -83,7 +83,7 @@ Core segment type of Object/Class.
</ObjectChild>
<ObjectChild key="names">
- <armarx::arondto::ObjectNames />
+ <armarx::arondto::Names />
</ObjectChild>
<ObjectChild key="ivtFeatures">
diff --git a/source/RobotAPI/libraries/armem_objects/aron_conversions.cpp b/source/RobotAPI/libraries/armem_objects/aron_conversions.cpp
index da32c2771a2149f58e5ba3a1a01db93ecbe71028..62ee858c9a198e2141228d56fd5af09e1c30f1af 100644
--- a/source/RobotAPI/libraries/armem_objects/aron_conversions.cpp
+++ b/source/RobotAPI/libraries/armem_objects/aron_conversions.cpp
@@ -4,50 +4,53 @@
#include <RobotAPI/libraries/armem/core/aron_conversions.h>
#include <RobotAPI/libraries/aron/common/aron_conversions.h>
-namespace armarx::armem
+namespace armarx
{
void
- fromAron(const arondto::ObjectInstance& dto, objpose::arondto::ObjectPose& bo)
+ armem::fromAron(const arondto::ObjectInstance& dto, objpose::arondto::ObjectPose& bo)
{
bo = dto.pose;
}
void
- toAron(arondto::ObjectInstance& dto, const objpose::arondto::ObjectPose& bo)
+ armem::toAron(arondto::ObjectInstance& dto, const objpose::arondto::ObjectPose& bo)
{
dto.pose = bo;
}
void
- fromAron(const arondto::ObjectInstance& dto, objpose::ObjectPose& bo)
+ armem::fromAron(const arondto::ObjectInstance& dto, objpose::ObjectPose& bo)
{
objpose::fromAron(dto.pose, bo);
}
void
- toAron(arondto::ObjectInstance& dto, const objpose::ObjectPose& bo)
+ armem::toAron(arondto::ObjectInstance& dto, const objpose::ObjectPose& bo)
{
objpose::toAron(dto.pose, bo);
}
/* Attachments */
void
- fromAron(const arondto::attachment::AgentDescription& dto, attachment::AgentDescription& bo)
+ armem::fromAron(const arondto::attachment::AgentDescription& dto,
+ attachment::AgentDescription& bo)
{
fromAron(dto.id, bo.id);
aron::fromAron(dto.frame, bo.frame);
}
void
- toAron(arondto::attachment::AgentDescription& dto, const attachment::AgentDescription& bo)
+ armem::toAron(arondto::attachment::AgentDescription& dto,
+ const attachment::AgentDescription& bo)
{
toAron(dto.id, bo.id);
aron::toAron(dto.frame, bo.frame);
}
void
- fromAron(const arondto::attachment::ObjectAttachment& dto, attachment::ObjectAttachment& bo)
+ armem::fromAron(const arondto::attachment::ObjectAttachment& dto,
+ attachment::ObjectAttachment& bo)
{
fromAron(dto.agent, bo.agent);
aron::fromAron(dto.transformation, bo.transformation);
@@ -57,7 +60,8 @@ namespace armarx::armem
}
void
- toAron(arondto::attachment::ObjectAttachment& dto, const attachment::ObjectAttachment& bo)
+ armem::toAron(arondto::attachment::ObjectAttachment& dto,
+ const attachment::ObjectAttachment& bo)
{
toAron(dto.agent, bo.agent);
aron::toAron(dto.transformation, bo.transformation);
@@ -67,8 +71,8 @@ namespace armarx::armem
}
void
- fromAron(const arondto::attachment::ArticulatedObjectAttachment& dto,
- attachment::ArticulatedObjectAttachment& bo)
+ armem::fromAron(const arondto::attachment::ArticulatedObjectAttachment& dto,
+ attachment::ArticulatedObjectAttachment& bo)
{
fromAron(dto.agent, bo.agent);
aron::fromAron(dto.transformation, bo.transformation);
@@ -78,8 +82,8 @@ namespace armarx::armem
}
void
- toAron(arondto::attachment::ArticulatedObjectAttachment& dto,
- const attachment::ArticulatedObjectAttachment& bo)
+ armem::toAron(arondto::attachment::ArticulatedObjectAttachment& dto,
+ const attachment::ArticulatedObjectAttachment& bo)
{
toAron(dto.agent, bo.agent);
aron::toAron(dto.transformation, bo.transformation);
@@ -89,7 +93,7 @@ namespace armarx::armem
}
void
- toAron(arondto::Marker& dto, const marker::Marker& bo)
+ armem::toAron(arondto::Marker& dto, const marker::Marker& bo)
{
dto.name = bo.name;
armarx::toAron(dto.robotGlobal, bo.robotGlobal);
@@ -100,7 +104,7 @@ namespace armarx::armem
}
void
- fromAron(const arondto::Marker& dto, marker::Marker& bo)
+ armem::fromAron(const arondto::Marker& dto, marker::Marker& bo)
{
bo.name = dto.name;
armarx::fromAron(dto.robotGlobal, bo.robotGlobal);
@@ -109,13 +113,13 @@ namespace armarx::armem
armarx::fromAron(dto.markerPose, bo.markerPose);
}
-} // namespace armarx::armem
+} // namespace armarx
-namespace armarx::armem::clazz
+namespace armarx::armem
{
void
- fromAron(const arondto::Feature& dto, Feature& bo)
+ clazz::fromAron(const arondto::Feature& dto, Feature& bo)
{
bo.angle = dto.angle;
bo.scale = dto.scale;
@@ -125,7 +129,7 @@ namespace armarx::armem::clazz
}
void
- toAron(arondto::Feature& dto, const Feature& bo)
+ clazz::toAron(arondto::Feature& dto, const Feature& bo)
{
dto.angle = bo.angle;
dto.scale = bo.scale;
@@ -135,7 +139,7 @@ namespace armarx::armem::clazz
}
void
- fromAron(const arondto::ObjectClass& dto, ObjectClass& bo)
+ clazz::fromAron(const arondto::ObjectClass& dto, ObjectClass& bo)
{
armarx::fromAron(dto.id, bo.id);
armarx::fromAron(dto.simoxXmlPath, bo.simoxXmlPath);
@@ -147,6 +151,7 @@ namespace armarx::armem::clazz
armarx::fromAron(dto.meshObjPath, bo.meshObjPath);
armarx::fromAron(dto.aabb, bo.aabb);
armarx::fromAron(dto.oobb, bo.oobb);
+ fromAron(dto.names, bo.names);
bo.ivtFeatures.clear();
for (const auto& i : dto.ivtFeatures)
{
@@ -155,7 +160,7 @@ namespace armarx::armem::clazz
}
void
- toAron(arondto::ObjectClass& dto, const ObjectClass& bo)
+ clazz::toAron(arondto::ObjectClass& dto, const ObjectClass& bo)
{
armarx::toAron(dto.id, bo.id);
armarx::toAron(dto.simoxXmlPath, bo.simoxXmlPath);
@@ -167,6 +172,7 @@ namespace armarx::armem::clazz
armarx::toAron(dto.meshObjPath, bo.meshObjPath);
armarx::toAron(dto.aabb, bo.aabb);
armarx::toAron(dto.oobb, bo.oobb);
+ toAron(dto.names, bo.names);
dto.ivtFeatures.clear();
for (const auto& i : bo.ivtFeatures)
{
@@ -174,7 +180,7 @@ namespace armarx::armem::clazz
}
}
-} // namespace armarx::armem::clazz
+} // namespace armarx::armem
armarx::armem::MemoryID
armarx::armem::obj::makeObjectInstanceMemoryID(const objpose::ObjectPose& objectPose)
diff --git a/source/RobotAPI/libraries/armem_objects/aron_conversions.h b/source/RobotAPI/libraries/armem_objects/aron_conversions.h
index b61164a5d6a7de07bd8ba3761117e263ac714949..a41c7ccf43a9d5050cad2488c6369d0c28b3772d 100644
--- a/source/RobotAPI/libraries/armem_objects/aron_conversions.h
+++ b/source/RobotAPI/libraries/armem_objects/aron_conversions.h
@@ -1,6 +1,7 @@
#pragma once
#include <RobotAPI/libraries/ArmarXObjects/ObjectPose.h>
+#include <RobotAPI/libraries/armem/core/MemoryID.h>
#include <RobotAPI/libraries/armem_objects/aron/Attachment.aron.generated.h>
#include <RobotAPI/libraries/armem_objects/aron/Marker.aron.generated.h>
#include <RobotAPI/libraries/armem_objects/aron/ObjectClass.aron.generated.h>
@@ -32,6 +33,7 @@ namespace armarx::armem
void fromAron(const arondto::Marker& dto, marker::Marker& bo);
void toAron(arondto::Marker& dto, const marker::Marker& bo);
+
} // namespace armarx::armem
namespace armarx::armem::clazz
@@ -44,10 +46,9 @@ namespace armarx::armem::clazz
} // namespace armarx::armem::clazz
-#include <RobotAPI/libraries/armem/core/MemoryID.h>
-
namespace armarx::armem::obj
{
/// Make a Memory ID for the object instance snapshot representing this pose.
MemoryID makeObjectInstanceMemoryID(const objpose::ObjectPose& objectPose);
+
} // namespace armarx::armem::obj
diff --git a/source/RobotAPI/libraries/armem_objects/client/class/ClassReader.cpp b/source/RobotAPI/libraries/armem_objects/client/class/ClassReader.cpp
index bceba7d960ffbe41a620c36d47a5d8fc0897c157..ca365080d21ef1ca6eab5c779d50231e4f1b007a 100644
--- a/source/RobotAPI/libraries/armem_objects/client/class/ClassReader.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/class/ClassReader.cpp
@@ -1,5 +1,9 @@
#include "ClassReader.h"
+#include <RobotAPI/libraries/armem/client/query.h>
+#include <RobotAPI/libraries/armem_objects/aron_conversions.h>
+#include <RobotAPI/libraries/armem_objects/types.h>
+
namespace armarx::armem::obj::clazz
{
std::optional<armem::clazz::ObjectClass>
@@ -27,6 +31,42 @@ namespace armarx::armem::obj::clazz
return std::nullopt;
}
+ std::map<ObjectID, armem::clazz::ObjectClass>
+ ClassReader::getObjectClasses(const std::vector<ObjectID>& objectIDs)
+ {
+ armem::client::query::Builder builder;
+ auto& entities = builder.coreSegments()
+ .withName(properties().coreSegmentName)
+ .providerSegments()
+ .all()
+ .entities();
+
+ for (const ObjectID& objectID : objectIDs)
+ {
+ entities.withName(objectID.getClassID().str()).snapshots().latest();
+ }
+
+ const armem::client::QueryResult result = memoryReader().query(builder);
+ if (not result.success)
+ {
+ throw armem::error::QueryFailed(result.errorMessage);
+ }
+
+ std::map<ObjectID, armem::clazz::ObjectClass> objectClasses;
+
+ result.memory.forEachInstance(
+ [&objectClasses](const armem::wm::EntityInstance& instance) -> bool
+ {
+ const ObjectID classID = ObjectID::FromString(instance.id().entityName);
+ auto aron = instance.dataAs<armarx::armem::arondto::ObjectClass>();
+ armarx::armem::clazz::fromAron(aron, objectClasses[classID]);
+
+ return true;
+ });
+
+ return objectClasses;
+ }
+
std::string
ClassReader::propertyPrefix() const
{
diff --git a/source/RobotAPI/libraries/armem_objects/client/class/ClassReader.h b/source/RobotAPI/libraries/armem_objects/client/class/ClassReader.h
index 4d2805b4f03e81bb6b58b65d73997eeae56755ab..8dd50018a7483d7ce645475dd49f3dd840fe8f75 100644
--- a/source/RobotAPI/libraries/armem_objects/client/class/ClassReader.h
+++ b/source/RobotAPI/libraries/armem_objects/client/class/ClassReader.h
@@ -21,11 +21,10 @@
#pragma once
-#include <mutex>
+#include <map>
#include <optional>
#include <RobotAPI/libraries/armem/client/util/SimpleReaderBase.h>
-#include <RobotAPI/libraries/armem_objects/aron_conversions.h>
#include <RobotAPI/libraries/armem_objects/types.h>
namespace armarx::armem::obj::clazz
@@ -38,11 +37,18 @@ namespace armarx::armem::obj::clazz
std::optional<armem::clazz::ObjectClass> getObjectClass(const std::string& providerName,
const armarx::ObjectID& id);
+ /**
+ * @brief Get object class information for object class IDs.
+ * @param objectIDs The object class IDs.
+ * @return The corresponding object classes.
+ * @throw armarx::armem::error::QueryFailed If the memory query failed.
+ */
+ std::map<armarx::ObjectID, armem::clazz::ObjectClass>
+ getObjectClasses(const std::vector<armarx::ObjectID>& objectIDs);
+
protected:
std::string propertyPrefix() const final;
Properties defaultProperties() const final;
-
- private:
};
diff --git a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
index c841afc4dc6afe2629802871399944a0ef39da04..5506ddbf598ed92ac11522769b9e7b0734d20162 100644
--- a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
@@ -1,51 +1,55 @@
#include "Segment.h"
-#include <RobotAPI/libraries/aron/core/Exception.h>
-#include <RobotAPI/libraries/aron/common/aron_conversions.h>
-#include <RobotAPI/libraries/ArmarXObjects/aron_conversions.h>
-#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
-#include <RobotAPI/libraries/armem_objects/aron_conversions.h>
-#include <RobotAPI/libraries/armem_objects/memory_ids.h>
-#include <RobotAPI/libraries/armem_objects/aron/ObjectClass.aron.generated.h>
-
-#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
-#include <ArmarXCore/core/time/TimeUtil.h>
+#include <filesystem>
#include <SimoxUtility/color/Color.h>
#include <SimoxUtility/math/pose/pose.h>
#include <SimoxUtility/shapes/AxisAlignedBoundingBox.h>
#include <SimoxUtility/shapes/OrientedBox.h>
-#include <filesystem>
+#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
+#include <ArmarXCore/core/time/TimeUtil.h>
+#include <RobotAPI/libraries/ArmarXObjects/aron_conversions.h>
+#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
+#include <RobotAPI/libraries/armem_objects/aron/ObjectClass.aron.generated.h>
+#include <RobotAPI/libraries/armem_objects/aron_conversions.h>
+#include <RobotAPI/libraries/armem_objects/memory_ids.h>
+#include <RobotAPI/libraries/aron/common/aron_conversions.h>
+#include <RobotAPI/libraries/aron/core/Exception.h>
namespace armarx::armem::server::obj::clazz
{
Segment::Segment(armem::server::MemoryToIceAdapter& memoryToIceAdapter) :
- SpecializedCoreSegment(memoryToIceAdapter, objects::classSegmentID.coreSegmentName, arondto::ObjectClass::ToAronType(), -1)
+ SpecializedCoreSegment(memoryToIceAdapter,
+ objects::classSegmentID.coreSegmentName,
+ arondto::ObjectClass::ToAronType(),
+ -1)
{
}
-
Segment::~Segment()
{
}
-
- void Segment::defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix)
+ void
+ Segment::defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix)
{
SpecializedCoreSegment::defineProperties(defs, prefix);
- defs->optional(p.objectsPackage, prefix + "ObjectsPackage", "Name of the objects package to load from.");
- defs->optional(p.loadFromObjectsPackage, prefix + "LoadFromObjectsPackage",
+ defs->optional(p.objectsPackage,
+ prefix + "ObjectsPackage",
+ "Name of the objects package to load from.");
+ defs->optional(p.loadFromObjectsPackage,
+ prefix + "LoadFromObjectsPackage",
"If true, load the objects from the objects package on startup.");
floorVis.defineProperties(defs, prefix + "Floor.");
}
-
- void Segment::init()
+ void
+ Segment::init()
{
SpecializedCoreSegment::init();
@@ -55,8 +59,8 @@ namespace armarx::armem::server::obj::clazz
}
}
-
- void Segment::connect(viz::Client arviz)
+ void
+ Segment::connect(viz::Client arviz)
{
this->arviz = arviz;
@@ -64,28 +68,29 @@ namespace armarx::armem::server::obj::clazz
floorVis.updateFloorObject(*segmentPtr);
}
-
- void Segment::loadByObjectFinder(const std::string& objectsPackage)
+ void
+ Segment::loadByObjectFinder(const std::string& objectsPackage)
{
loadByObjectFinder(ObjectFinder(objectsPackage));
}
-
- void Segment::loadByObjectFinder(const ObjectFinder& finder)
+ void
+ Segment::loadByObjectFinder(const ObjectFinder& finder)
{
this->objectFinder = finder;
loadByObjectFinder();
}
-
- void Segment::loadByObjectFinder()
+ void
+ Segment::loadByObjectFinder()
{
const Time now = Time::Now();
const bool checkPaths = false;
std::vector<ObjectInfo> infos = objectFinder.findAllObjects(checkPaths);
- const MemoryID providerID = segmentPtr->id().withProviderSegmentName(objectFinder.getPackageName());
+ const MemoryID providerID =
+ segmentPtr->id().withProviderSegmentName(objectFinder.getPackageName());
ARMARX_INFO << "Loading up to " << infos.size() << " object classes from '"
<< objectFinder.getPackageName() << "' ...";
Commit commit;
@@ -98,18 +103,15 @@ namespace armarx::armem::server::obj::clazz
update.arrivedTime = update.referencedTime = update.sentTime = now;
arondto::ObjectClass objectClass = objectClassFromInfo(info);
- update.instancesData =
- {
- objectClass.toAron()
- };
+ update.instancesData = {objectClass.toAron()};
}
ARMARX_INFO << "Loaded " << commit.updates.size() << " object classes from '"
<< objectFinder.getPackageName() << "'.";
iceMemory.commitLocking(commit);
}
-
- void Segment::visualizeClass(const MemoryID& entityID, bool showAABB, bool showOOBB)
+ void
+ Segment::visualizeClass(const MemoryID& entityID, bool showAABB, bool showOOBB)
{
const Eigen::Matrix4f pose = Eigen::Matrix4f::Identity();
@@ -124,10 +126,11 @@ namespace armarx::armem::server::obj::clazz
{
try
{
- std::optional<arondto::ObjectClass> aron = doLocked([this, &entityID]()
- {
- return segmentPtr->findLatestInstanceDataAs<arondto::ObjectClass>(entityID, 0);
- });
+ std::optional<arondto::ObjectClass> aron = doLocked(
+ [this, &entityID]() {
+ return segmentPtr->findLatestInstanceDataAs<arondto::ObjectClass>(entityID,
+ 0);
+ });
if (not aron.has_value())
{
return;
@@ -136,23 +139,24 @@ namespace armarx::armem::server::obj::clazz
if (not aron->simoxXmlPath.package.empty())
{
layerObject.add(viz::Object(entityID.str())
- .file(aron->simoxXmlPath.package, aron->simoxXmlPath.path)
- .pose(pose));
+ .file(aron->simoxXmlPath.package, aron->simoxXmlPath.path)
+ .pose(pose));
}
if (showAABB)
{
layerAABB.add(viz::Box("AABB")
- .pose(pose * simox::math::pose(aron->aabb.center))
- .size(aron->aabb.extents)
- .color(simox::Color::cyan(255, 64)));
+ .pose(pose * simox::math::pose(aron->aabb.center))
+ .size(aron->aabb.extents)
+ .color(simox::Color::cyan(255, 64)));
}
if (showOOBB)
{
layerOOBB.add(viz::Box("OOBB")
- .pose(pose * simox::math::pose(aron->oobb.center, aron->oobb.orientation))
- .size(aron->oobb.extents)
- .color(simox::Color::lime(255, 64)));
+ .pose(pose * simox::math::pose(aron->oobb.center,
+ aron->oobb.orientation))
+ .size(aron->oobb.extents)
+ .color(simox::Color::lime(255, 64)));
}
}
catch (const armem::error::ArMemError& e)
@@ -170,16 +174,16 @@ namespace armarx::armem::server::obj::clazz
arviz.commit({layerObject, layerOrigin, layerAABB, layerOOBB});
}
-
- arondto::ObjectClass Segment::objectClassFromInfo(const ObjectInfo& info)
+ arondto::ObjectClass
+ Segment::objectClassFromInfo(const ObjectInfo& info)
{
namespace fs = std::filesystem;
arondto::ObjectClass data;
toAron(data.id, info.id());
- auto setPathIfExists = [](armarx::arondto::PackagePath & aron,
- const PackageFileLocation & location)
+ auto setPathIfExists =
+ [](armarx::arondto::PackagePath& aron, const PackageFileLocation& location)
{
if (fs::is_regular_file(location.absolutePath))
{
@@ -206,18 +210,18 @@ namespace armarx::armem::server::obj::clazz
if (auto recogNames = info.loadRecognizedNames())
{
- data.names.recognizedNames = recogNames.value();
+ data.names.recognized = recogNames.value();
}
if (auto spokenNames = info.loadSpokenNames())
{
- data.names.spokenNames = spokenNames.value();
+ data.names.spoken = spokenNames.value();
}
return data;
}
-
- void Segment::RemoteGui::setup(const Segment& segment)
+ void
+ Segment::RemoteGui::setup(const Segment& segment)
{
using namespace armarx::RemoteGui::Client;
@@ -232,15 +236,15 @@ namespace armarx::armem::server::obj::clazz
group.addChildren({layout, VSpacer()});
}
-
- void Segment::RemoteGui::update(Segment& segment)
+ void
+ Segment::RemoteGui::update(Segment& segment)
{
data.update(segment);
visu.update(segment);
}
-
- void Segment::RemoteGui::Data::setup(const Segment& segment)
+ void
+ Segment::RemoteGui::Data::setup(const Segment& segment)
{
using namespace armarx::RemoteGui::Client;
@@ -264,8 +268,8 @@ namespace armarx::armem::server::obj::clazz
group.addChild(grid);
}
-
- void Segment::RemoteGui::Data::update(Segment& segment)
+ void
+ Segment::RemoteGui::Data::update(Segment& segment)
{
if (reloadButton.wasClicked())
{
@@ -275,31 +279,35 @@ namespace armarx::armem::server::obj::clazz
}
if (infiniteHistory.hasValueChanged() || maxHistorySize.hasValueChanged())
{
- segment.doLocked([this, &segment]()
- {
- segment.properties.maxHistorySize = infiniteHistory.getValue() ? -1 : maxHistorySize.getValue();
- if (segment.segmentPtr)
+ segment.doLocked(
+ [this, &segment]()
{
- segment.segmentPtr->setMaxHistorySize(long(segment.properties.maxHistorySize));
- }
- });
+ segment.properties.maxHistorySize =
+ infiniteHistory.getValue() ? -1 : maxHistorySize.getValue();
+ if (segment.segmentPtr)
+ {
+ segment.segmentPtr->setMaxHistorySize(
+ long(segment.properties.maxHistorySize));
+ }
+ });
}
}
-
- void Segment::RemoteGui::Visu::setup(const Segment& segment)
+ void
+ Segment::RemoteGui::Visu::setup(const Segment& segment)
{
using namespace armarx::RemoteGui::Client;
showComboBox = {};
showOptionsIndex.clear();
- segment.segmentPtr->forEachEntity([this](const wm::Entity & entity)
- {
- std::stringstream option;
- option << entity.id().entityName << " (" << entity.id().providerSegmentName << ")";
- showComboBox.addOption(option.str());
- showOptionsIndex.push_back(entity.id());
- });
+ segment.segmentPtr->forEachEntity(
+ [this](const wm::Entity& entity)
+ {
+ std::stringstream option;
+ option << entity.id().entityName << " (" << entity.id().providerSegmentName << ")";
+ showComboBox.addOption(option.str());
+ showOptionsIndex.push_back(entity.id());
+ });
if (showOptionsIndex.empty())
{
showComboBox.addOption("<none>");
@@ -318,8 +326,8 @@ namespace armarx::armem::server::obj::clazz
group.addChild(grid);
}
-
- void Segment::RemoteGui::Visu::update(Segment& segment)
+ void
+ Segment::RemoteGui::Visu::update(Segment& segment)
{
if (showButton.wasClicked())
{
@@ -331,4 +339,4 @@ namespace armarx::armem::server::obj::clazz
}
}
-}
+} // namespace armarx::armem::server::obj::clazz
diff --git a/source/RobotAPI/libraries/armem_objects/types.h b/source/RobotAPI/libraries/armem_objects/types.h
index 598c78ca9c6bc5f4fc007059352ee94fc28b2fec..564bf3b460a06e036cd33b481541f4d41119cf25 100644
--- a/source/RobotAPI/libraries/armem_objects/types.h
+++ b/source/RobotAPI/libraries/armem_objects/types.h
@@ -30,6 +30,7 @@
#include <RobotAPI/libraries/armem/core/Time.h>
#include <RobotAPI/libraries/armem_robot/types.h>
#include <RobotAPI/libraries/core/FramedPose.h>
+#include <RobotAPI/libraries/core/Names.h>
#include "aron_forward_declarations.h"
@@ -67,7 +68,7 @@ namespace armarx::armem::clazz
armarx::PackagePath meshObjPath;
simox::AxisAlignedBoundingBox aabb;
simox::OrientedBoxf oobb;
- // TODO NAMES
+ armarx::Names names;
std::vector<Feature> ivtFeatures;
};
} // namespace armarx::armem::clazz
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/container/Dict.cpp b/source/RobotAPI/libraries/aron/core/data/variant/container/Dict.cpp
index 3e9f067c989d57087dc7311c73c8140cc7c1828a..19dd673bd2eeaec02f4be8fb49081d5edeb846c6 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/container/Dict.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/variant/container/Dict.cpp
@@ -261,7 +261,8 @@ namespace armarx::aron::data
const auto& p = data->getPath();
if (not p.hasDirectPrefix(this->getPath()))
{
- ARMARX_DEBUG << "An element added to a dict does not have a correct path set. This "
+ ARMARX_DEBUG << deactivateSpam(5)
+ << "An element added to a dict does not have a correct path set. This "
"may cause errors. Please use setElemetCopy() instead.";
}
}
diff --git a/source/RobotAPI/libraries/skills/provider/CMakeLists.txt b/source/RobotAPI/libraries/skills/provider/CMakeLists.txt
index 9cb59c319fdf937ee9eb341610071f44114de3c1..83d51089a1298c56819a820b02e4db8eb3b0ff5a 100644
--- a/source/RobotAPI/libraries/skills/provider/CMakeLists.txt
+++ b/source/RobotAPI/libraries/skills/provider/CMakeLists.txt
@@ -46,6 +46,8 @@ armarx_add_library(
detail/SkillImplementationWrapper.h
SkillContext.h
+ blueprints/SkillWithContextBlueprint.h
+
mixins/All.h
mixins/ArvizSkillMixin.h
diff --git a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp
index 3d775f587834aa3a62fd42d1be353eb23a8fc0d4..730ce95a67671fad8464f4b886431a544a6410e3 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp
@@ -210,7 +210,7 @@ namespace armarx::plugins
auto it =
skillExecutions.emplace(std::piecewise_construct,
std::make_tuple(executionId),
- std::make_tuple(*fac,
+ std::make_tuple(fac,
executionId,
executionRequest.parameters,
executionRequest.callbackInterface));
@@ -265,7 +265,7 @@ namespace armarx::plugins
auto it =
skillExecutions.emplace(std::piecewise_construct,
std::make_tuple(executionId),
- std::make_tuple(*fac,
+ std::make_tuple(fac,
executionId,
executionRequest.parameters,
executionRequest.callbackInterface));
diff --git a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h
index 20ffe1fbdb75ee9f4b5831dbd406180f7acf22fc..858ee511de6fa042e257b202b6cee3bf94a446a1 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h
+++ b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h
@@ -72,7 +72,7 @@ namespace armarx::plugins
{
auto fac = std::make_unique<FactoryT>(std::forward<Args>(args)...);
auto* facPtr = fac.get();
- addCustomSkillFactory(std::move(fac));
+ addSkillFactory(std::move(fac));
return static_cast<FactoryT*>(facPtr);
}
@@ -189,7 +189,7 @@ namespace armarx
requires skills::isSkillBlueprint<FacT> FacT*
addCustomSkillFactory(Args&&... args)
{
- return plugin->addSkillFactory<FacT>(std::forward<Args>(args)...);
+ return plugin->addCustomSkillFactory<FacT>(std::forward<Args>(args)...);
}
private:
diff --git a/source/RobotAPI/libraries/skills/provider/blueprints/SkillWithContextBlueprint.h b/source/RobotAPI/libraries/skills/provider/blueprints/SkillWithContextBlueprint.h
new file mode 100644
index 0000000000000000000000000000000000000000..db852e076274c6f8b479a25d4b7d65c474912fae
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/provider/blueprints/SkillWithContextBlueprint.h
@@ -0,0 +1,82 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package RobotAPI
+ * @author Christoph Pohl ( christoph dot pohl at kit dot edu )
+ * @date 05.12.23
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <RobotAPI/libraries/skills/provider/SkillFactory.h>
+
+namespace armarx
+{
+ namespace skills
+ {
+// template <typename T>
+// concept takesContext = requires(typename T::Context cntxt) {
+// { T::connectTo(cntxt) } -> void;
+// };
+
+
+ template <typename SkillT>
+ class SkillWithContextBlueprint : public SkillBlueprint
+ {
+ public:
+ using ContextT = typename SkillT::Context;
+
+ template <typename... Args>
+ SkillWithContextBlueprint(Args&&... args) :
+ SkillBlueprint(*SkillBlueprint::ForSkill<SkillT>(std::forward<Args>(args)...))
+ {
+ }
+
+ virtual std::unique_ptr<Skill>
+ createSkill(const ProviderID& pid) const override
+ {
+ if (not isConnected_)
+ {
+ return nullptr;
+ }
+ auto s = _createSkill();
+ s->setProviderId(pid);
+ static_cast<SkillT*>(s.get())->connectTo(context_);
+ return s;
+ }
+
+ virtual SkillDescription
+ createSkillDescription(const skills::ProviderID& pid) const
+ {
+ auto s = _createSkill();
+ s->setProviderId(pid);
+ return s->getSkillDescription();
+ }
+
+ void
+ connectTo(const ContextT& context)
+ {
+ context_ = context;
+ isConnected_ = true;
+ }
+
+ private:
+ std::atomic_bool isConnected_ = false;
+ ContextT context_;
+ };
+ } // namespace skills
+} // namespace armarx
\ No newline at end of file
diff --git a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
index 25fe34efa5b5c26ffed19bdca3680555302326f6..773fc5af86c525950cd84846b6a641deabcb1c29 100644
--- a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
+++ b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
@@ -5,7 +5,7 @@ namespace armarx
namespace skills::detail
{
SkillRuntime::SkillRuntime(
- const skills::SkillBlueprint& fac,
+ const skills::SkillBlueprint* fac,
const skills::SkillExecutionID& execId,
const aron::data::DictPtr& initial_parameters,
const skills::callback::dti::SkillProviderCallbackInterfacePrx& callbackInterface) :
@@ -120,7 +120,8 @@ namespace armarx
ARMARX_INFO_S << "Construct skill: " << skillName;
updateStatus(SkillStatus::Constructing);
- this->skill = this->factory.createSkill(providerId);
+ ARMARX_CHECK_NOT_NULL(factory) << "Skill Factory is a nullptr";
+ this->skill = this->factory->createSkill(providerId);
this->skill->setExecutorName(executorName);
this->skill->setManager(manager);
this->skill->setCallback([&](const SkillStatus s, const armarx::aron::data::DictPtr& d)
@@ -242,6 +243,7 @@ namespace armarx
{
std::string message = "SkillError 201: The prepare method of skill '" +
skillName + "' did not succeed.";
+ ARMARX_ERROR_S << message;
return exitAndMakeFailedResult(message);
}
}
diff --git a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.h b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.h
index e5a5b1f82c3db4e5939fd4c880a738373967402b..935fa227bf13831d3bcc789a124b36d12f1ba423 100644
--- a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.h
+++ b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.h
@@ -1,5 +1,6 @@
#pragma once
+#include <experimental/memory>
#include <shared_mutex>
#include <RobotAPI/interface/skills/SkillManagerInterface.h>
@@ -18,7 +19,7 @@ namespace armarx
class SkillRuntime
{
private:
- const skills::SkillBlueprint factory;
+ const std::experimental::observer_ptr<const skills::SkillBlueprint> factory;
std::unique_ptr<Skill> skill;
mutable std::mutex executionMutex;
@@ -33,7 +34,7 @@ namespace armarx
std::thread execution;
// ctor
- SkillRuntime(const skills::SkillBlueprint& fac,
+ SkillRuntime(const skills::SkillBlueprint* fac,
const skills::SkillExecutionID&,
const aron::data::DictPtr&,
const skills::callback::dti::SkillProviderCallbackInterfacePrx&);