Merge branch 'RobotUnit_v3' into 'master'

Robot unit v3 See merge request ArmarX/RobotAPI!39

Merge branch 'RobotUnit_v3' into 'master'
d35be12d · Raphael Grimm · 44cc5fd3 · b43fa632 · d35be12d · d35be12d
Commit d35be12d authored 6 years ago by Raphael Grimm
--- a/etc/doxygen/images/NJointControllerAtomicDataFlow.svg
+++ b/etc/doxygen/images/NJointControllerAtomicDataFlow.svg
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font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; vertical-align: top; white-space: nowrap; text-align: center;"><div xmlns="http://www.w3.org/1999/xhtml" style="display:inline-block;text-align:inherit;text-decoration:inherit;background-color:#ffffff;">  calls  </div></div></foreignObject><text x="16" y="11" fill="#000000" text-anchor="middle" font-size="11px" font-family="Helvetica">[Not supported by viewer]</text></switch></g><rect x="315" y="220" width="250" height="30" fill="#ffffff" stroke="#000000" pointer-events="none"/><g transform="translate(317.5,228.5)"><switch><foreignObject style="overflow:visible;" pointer-events="all" width="174" height="12" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; vertical-align: top; width: 175px; white-space: nowrap; overflow-wrap: normal;"><div xmlns="http://www.w3.org/1999/xhtml" style="display:inline-block;text-align:inherit;text-decoration:inherit;">- PrivateFunctionForA(A&amp;) : void</div></div></foreignObject><text x="87" y="12" fill="#000000" text-anchor="middle" font-size="12px" font-family="Helvetica">- PrivateFunctionForA(A&amp;) : void</text></switch></g><rect x="680" y="190" width="200" height="30" fill="#ffffff" stroke="#000000" pointer-events="none"/><g transform="translate(702.5,198.5)"><switch><foreignObject style="overflow:visible;" pointer-events="all" width="154" height="12" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: inline-block; 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overflow-wrap: normal;"><div xmlns="http://www.w3.org/1999/xhtml" style="display:inline-block;text-align:inherit;text-decoration:inherit;">- privateFunctionForA() : void<br />- privateFunction() : void<br />+ publicFunction() : void</div></div></foreignObject><text x="79" y="27" fill="#000000" text-anchor="middle" font-size="12px" font-family="Helvetica">[Not supported by viewer]</text></switch></g></g></svg>
\ No newline at end of file
--- a/etc/doxygen/images/RobotModuleInteraction.xml
+++ b/etc/doxygen/images/RobotModuleInteraction.xml
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\ No newline at end of file
--- a/etc/doxygen/images/RobotUnitLifeCycle.svg
+++ b/etc/doxygen/images/RobotUnitLifeCycle.svg
--- a/etc/doxygen/images/RobotUnitLifeCycle.xml
+++ b/etc/doxygen/images/RobotUnitLifeCycle.xml
+<mxfile userAgent="Mozilla/5.0 (X11; Ubuntu; Linux x86_64; rv:59.0) Gecko/20100101 Firefox/59.0" version="8.5.12" editor="www.draw.io" type="device"><diagram id="4786f273-7f41-1df8-2594-ed1a9b5c68ee" name="Page-1">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</diagram></mxfile>
\ No newline at end of file
--- a/source/RobotAPI/components/units/RobotUnit/CMakeLists.txt
+++ b/source/RobotAPI/components/units/RobotUnit/CMakeLists.txt
@@ -29,7 +29,9 @@ set(LIB_FILES
    RobotUnitObserver.cpp
    BasicControllers.cpp
    DefaultWidgetDescriptions.cpp
-    RobotSynchronization.cpp
+
+    #robot unit modules need to be added to the list below (but not here)
+    RobotUnitModules/RobotUnitModuleBase.cpp

    ControlTargets/ControlTargetBase.cpp

@@ -63,6 +65,8 @@ set(LIB_FILES
 set(LIB_HEADERS
    util.h
    util/EigenForwardDeclarations.h
+    util/HeterogenousContinuousContainer.h
+    util/HeterogenousContinuousContainerMacros.h
    util/KeyValueVector.h
    util/AtomicWrapper.h
    util/Time.h
@@ -74,15 +78,18 @@ set(LIB_HEADERS
    util/RtLogging.h
    util/RtTiming.h

+    #robot unit modules need to be added to the list below (but not here)
+    RobotUnitModules/RobotUnitModuleBase.h
+    RobotUnitModules/RobotUnitModuleBase.ipp
+    RobotUnitModules/RobotUnitModules.h
+
    PDController.h
    Constants.h
    ControlModes.h
    RobotUnit.h
-    RobotUnit.ipp
    RobotUnitObserver.h
    BasicControllers.h
    DefaultWidgetDescriptions.h
-    RobotSynchronization.h

    ControlTargets/ControlTargetBase.h
    ControlTargets/ControlTarget1DoFActuator.h
@@ -106,7 +113,7 @@ set(LIB_HEADERS
    JointControllers/JointController.h

    NJointControllers/NJointController.h
-    NJointControllers/NJointController.hpp
+    NJointControllers/NJointController.ipp
    NJointControllers/NJointTrajectoryController.h
    NJointControllers/NJointKinematicUnitPassThroughController.h
    NJointControllers/NJointHolonomicPlatformUnitVelocityPassThroughController.h
@@ -123,6 +130,87 @@ set(LIB_HEADERS

    Devices/RTThreadTimingsSensorDevice.h
 )
+###########################################################################
+#since the robot unit is a complex class, it is split into several modules.
+#one reason behind this is stopping developers from using datastructures in the wrong way (eg causing racing conditions)
+#for the robot unit to work, ALL modules are required (a class has to derive all of them)
+#modules are autodetected in the RobotUnitModules folder, but should be listed here anyways
+#(since glob does not autodetect new files)
+#(see: https://cmake.org/cmake/help/v3.0/command/file.html)
+# > If no CMakeLists.txt file changes when a source is added or removed then the generated build system cannot know when to ask CMake to regenerate.
+set(RobotUnitModules
+    Management
+    ControllerManagement
+    ControlThread
+    ControlThreadDataBuffer
+    Devices
+    Logging
+    Publisher
+    RobotData
+    SelfCollisionChecker
+    Units
+)
+file(GLOB_RECURSE files_full_path "${CMAKE_CURRENT_SOURCE_DIR}/RobotUnitModules/*")
+set(files)
+foreach(file_full_path ${files_full_path})
+    if(NOT "${file_full_path}" MATCHES "^.*\\.(autosave|swp|~|orig)$")
+        #remove prefix
+        string(REGEX REPLACE "${CMAKE_CURRENT_SOURCE_DIR}/" "" file_rel_path "${file_full_path}")
+        list(APPEND files ${file_rel_path})
+    endif()
+endforeach()
+#remove base module / collection header
+list(REMOVE_ITEM files RobotUnitModules/RobotUnitModuleBase.h)
+list(REMOVE_ITEM files RobotUnitModules/RobotUnitModuleBase.cpp)
+list(REMOVE_ITEM files RobotUnitModules/RobotUnitModuleBase.ipp)
+list(REMOVE_ITEM files RobotUnitModules/RobotUnitModules.h)
+
+#remove all expected files
+foreach(module ${RobotUnitModules})
+    set(ModuleName RobotUnitModule${module})
+    set(ModuleFileBase "RobotUnitModules/${ModuleName}")
+
+    #h
+    list(FIND files "${ModuleFileBase}.h" idx)
+
+    if(idx EQUAL -1)
+        message(STATUS "Files:")
+        printlist("     " "${files}")
+        message(FATAL_ERROR "MODULE FILE NOT FOUND: '${ModuleFileBase}.h'")
+    endif()
+    list(REMOVE_ITEM files ${ModuleFileBase}.h)
+    list(APPEND LIB_HEADERS ${ModuleFileBase}.h)
+
+    #cpp
+    list(FIND      files ${ModuleFileBase}.cpp idx)
+    if(idx EQUAL -1)
+        message(STATUS "Files:")
+        printlist("     " "${files}")
+        message(FATAL_ERROR "MODULE FILE NOT FOUND: '${ModuleFileBase}.cpp'")
+    endif()
+    list(REMOVE_ITEM files ${ModuleFileBase}.cpp)
+    list(APPEND LIB_FILES ${ModuleFileBase}.cpp)
+
+    #ipp
+    list(FIND      files ${ModuleFileBase}.ipp idx)
+    if(NOT idx EQUAL -1)
+        list(APPEND LIB_HEADERS ${ModuleFileBase}.ipp)
+        list(REMOVE_ITEM files ${ModuleFileBase}.ipp)
+    endif()
+    message(STATUS "Found RobotUnitModule ${ModuleName}")
+endforeach()
+#check remaining files
+foreach(f ${files})
+    if(f MATCHES ".*/RobotUnitModule[a-zA-Z]*.*" )
+        message(FATAL_ERROR "MODULE NOT ADDED TO LIST OF MODULES: ${f}" )
+    endif()
+endforeach()
+
+list_to_string(RobotUnitModules "," ${RobotUnitModules})
+
+message(STATUS "collected these names for RobotUnitModules: ${RobotUnitModules}")
+#done detecting modules!
+###########################################################################



@@ -130,3 +218,4 @@ add_subdirectory(test)

 armarx_add_library("${LIB_NAME}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")

+target_compile_definitions("${LIB_NAME}" PUBLIC "-DRobotUnitModules=${RobotUnitModules}")
--- a/source/RobotAPI/components/units/RobotUnit/ControlTargets/ControlTargetBase.h
+++ b/source/RobotAPI/components/units/RobotUnit/ControlTargets/ControlTargetBase.h
@@ -32,14 +32,11 @@
 #include "../util.h"
 #include "../Constants.h"
 #include "../ControlModes.h"
+#include "../util/HeterogenousContinuousContainerMacros.h"

 namespace armarx
 {
    /**
-    * @defgroup Library-RobotUnit RobotUnit
-    * @ingroup RobotAPI
-    * A description of the library RobotUnit.
-    *
    * @class ControlTargetBase
    * @ingroup Library-RobotUnit
    * @brief Brief description of class JointControlTargetBase.
@@ -86,74 +83,48 @@ namespace armarx
        virtual std::string getDataFieldAsString(std::size_t i) const = 0;

        //management functions
-        virtual void _copyTo(ControlTargetBase* target) const = 0;
        template<class T, class = typename std::enable_if<std::is_base_of<ControlTargetBase, T>::value>::type>
        void _copyTo(std::unique_ptr<T>& target) const
        {
            _copyTo(target.get());
        }

-        virtual std::unique_ptr<ControlTargetBase> _clone() const = 0;
-
-        virtual std::size_t _sizeInBytes() const = 0;
-        virtual std::size_t _alignof() const = 0;
-        virtual ControlTargetBase* _placementConstruct(void* place) const = 0;
-
        ARMARX_META_MAKE_HAS_MEMBER_FNC_CHECK(
            ControlTargetHasGetClassMemberInfo,
            GetClassMemberInfo, ControlTargetInfo<T>(*)(void));
+
+        ARMARX_PLACEMENT_CONSTRUCTION_HELPER_BASE(ControlTargetBase)
    };

-#define DETAIL_ControlTargetBase_DEFAULT_METHOD_IMPLEMENTATION                                                  \
-    virtual ControlTargetBase* _placementConstruct(void* place) const override                                  \
-    {                                                                                                           \
-        return new(place) std::decay<decltype(*this)>::type;                                                    \
-    }                                                                                                           \
-    virtual std::size_t _sizeInBytes() const override                                                           \
-    {                                                                                                           \
-        return sizeof(std::decay<decltype(*this)>::type);                                                       \
-    }                                                                                                           \
-    virtual std::size_t _alignof() const override                                                               \
-    {                                                                                                           \
-        return alignof(std::decay<decltype(*this)>::type);                                                      \
-    }                                                                                                           \
-    virtual void _copyTo(ControlTargetBase* target) const override                                              \
-    {                                                                                                           \
-        const auto targAsThis = target->asA<std::decay<decltype(*this)>::type>();                               \
-        ARMARX_CHECK_NOT_NULL(targAsThis);                                                                      \
-        *targAsThis = *this;                                                                                    \
-    }                                                                                                           \
-    virtual std::unique_ptr<ControlTargetBase> _clone() const override                                          \
-    {                                                                                                           \
-        std::unique_ptr<ControlTargetBase> c {new std::decay<decltype(*this)>::type};                           \
-        ControlTargetBase::_copyTo(c);                                                                          \
-        return c;                                                                                               \
-    }                                                                                                           \
-    virtual std::string getControlTargetType(bool withoutNamespaceSpecifier = false) const override             \
-    {                                                                                                           \
-        return armarx::GetTypeString(*this, withoutNamespaceSpecifier);                                         \
-    }                                                                                                           \
-    void _check_for_static_GetClassMemberInfo_overload()                                                        \
-    {                                                                                                           \
-        static_assert(ControlTargetHasGetClassMemberInfo<std::decay<decltype(*this)>::type>::value,             \
-                      "This class has to implement GetClassMemberInfo() returning "                             \
-                      "an instance of ControlTargetInfo<THIS_CLASS_TYPE>");                                     \
-    }                                                                                                           \
-    virtual std::map<std::string, VariantBasePtr> toVariants(const IceUtil::Time& timestamp) const override     \
-    {                                                                                                           \
-        return ControlTargetInfo<std::decay<decltype(*this)>::type>::ToVariants(timestamp,this);                \
-    }                                                                                                           \
-    virtual std::size_t getNumberOfDataFields() const override                                                  \
-    {                                                                                                           \
-        return ControlTargetInfo<std::decay<decltype(*this)>::type>::GetNumberOfDataFields();                   \
-    }                                                                                                           \
-    virtual std::string getDataFieldAsString(std::size_t i) const override                                      \
-    {                                                                                                           \
-        return ControlTargetInfo<std::decay<decltype(*this)>::type>::GetDataFieldAsString(this, i);             \
-    }                                                                                                           \
-    virtual std::vector<std::string> getDataFieldNames() const override                                         \
-    {                                                                                                           \
-        return ControlTargetInfo<std::decay<decltype(*this)>::type>::GetDataFieldNames();                       \
+#define DETAIL_ControlTargetBase_DEFAULT_METHOD_IMPLEMENTATION                                      \
+    ARMARX_PLACEMENT_CONSTRUCTION_HELPER                                                            \
+    using ControlTargetBase = ::armarx::ControlTargetBase;                                          \
+    using VariantBasePtr = ::armarx::VariantBasePtr;                                                \
+    std::string getControlTargetType(bool withoutNamespaceSpecifier = false) const override         \
+    {                                                                                               \
+        return armarx::GetTypeString(*this, withoutNamespaceSpecifier);                             \
+    }                                                                                               \
+    void _check_for_static_GetClassMemberInfo_overload()                                            \
+    {                                                                                               \
+        static_assert(ControlTargetHasGetClassMemberInfo<std::decay<decltype(*this)>::type>::value, \
+                      "This class has to implement GetClassMemberInfo() returning "                 \
+                      "an instance of ControlTargetInfo<THIS_CLASS_TYPE>");                         \
+    }                                                                                               \
+    std::map<std::string, VariantBasePtr> toVariants(const IceUtil::Time& timestamp) const override \
+    {                                                                                               \
+        return ControlTargetInfo<std::decay<decltype(*this)>::type>::ToVariants(timestamp,this);    \
+    }                                                                                               \
+    std::size_t getNumberOfDataFields() const override                                              \
+    {                                                                                               \
+        return ControlTargetInfo<std::decay<decltype(*this)>::type>::GetNumberOfDataFields();       \
+    }                                                                                               \
+    std::string getDataFieldAsString(std::size_t i) const override                                  \
+    {                                                                                               \
+        return ControlTargetInfo<std::decay<decltype(*this)>::type>::GetDataFieldAsString(this, i); \
+    }                                                                                               \
+    std::vector<std::string> getDataFieldNames() const override                                     \
+    {                                                                                               \
+        return ControlTargetInfo<std::decay<decltype(*this)>::type>::GetDataFieldNames();           \
    }

 #define make_DummyControlTarget(Suffix,ControlMode)                     \

--- a/source/RobotAPI/components/units/RobotUnit/ControlTargets/ControlTargetHolonomicPlatformVelocity.h
+++ b/source/RobotAPI/components/units/RobotUnit/ControlTargets/ControlTargetHolonomicPlatformVelocity.h
@@ -28,10 +28,6 @@
 namespace armarx
 {
    /**
-    * @defgroup Library-RobotUnit RobotUnit
-    * @ingroup RobotAPI
-    * A description of the library RobotUnit.
-    *
    * @class ControlTargetHolonomicPlatformVelocity
    * @ingroup Library-RobotUnit
    * @brief Brief description of class ControlTargetHolonomicPlatformVelocity.