ExampleMemory.h

Go to the documentation of this file.

/*
 * 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::ArmarXObjects::ExampleMemory
 * @author     Rainer Kartmann ( rainer dot kartmann at kit dot edu )
 * @date       2020
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
 
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/interface/observers/ObserverInterface.h>
 
#include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
 
#include <RobotAPI/libraries/armem/core/Prediction.h>
#include <RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h>
 
namespace armarx
{
    /**
     * @defgroup Component-ExampleMemory ExampleMemory
     * @ingroup RobotAPI-Components
     * A description of the component ExampleMemory.
     *
     * @class ExampleMemory
     * @ingroup Component-ExampleMemory
     * @brief Brief description of class ExampleMemory.
     *
     * Detailed description of class ExampleMemory.
     */
    class ExampleMemory :
        virtual public armarx::Component,
        virtual public armem::server::ReadWritePluginUser,
        virtual public LightweightRemoteGuiComponentPluginUser
    {
    public:
        /// @see armarx::ManagedIceObject::getDefaultName()
        std::string getDefaultName() const override;
 
 
        // WritingInterface interface
    public:
        armem::data::AddSegmentsResult addSegments(const armem::data::AddSegmentsInput& input,
                                                   const Ice::Current&) override;
        armem::data::CommitResult commit(const armem::data::Commit& commit,
                                         const Ice::Current& = Ice::emptyCurrent) override;
 
 
        // LightweightRemoteGuiComponentPluginUser interface
    public:
        void createRemoteGuiTab();
        void RemoteGui_update() override;
 
        // ActionsInterface interface
    public:
        armem::actions::GetActionsOutputSeq
        getActions(const armem::actions::GetActionsInputSeq& input) override;
        armem::actions::ExecuteActionOutputSeq
        executeActions(const armem::actions::ExecuteActionInputSeq& input) override;
 
 
    protected:
        armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
 
        void onInitComponent() override;
        void onConnectComponent() override;
        void onDisconnectComponent() override;
        void onExitComponent() override;
 
 
    private:
        armem::PredictionResult predictLatest(const armem::PredictionRequest& request);
 
        armarx::DebugObserverInterfacePrx debugObserver;
 
        struct Properties
        {
            struct CoreSegments
            {
                std::vector<std::string> defaultCoreSegments = {"ExampleModality",
                                                                "ExampleConcept"};
                std::string _defaultSegmentsStr;
                bool addOnUsage = false;
            };
 
            CoreSegments core;
 
            bool enableRemoteGui = false;
        };
 
        Properties p;
 
        struct RemoteGuiTab : RemoteGui::Client::Tab
        {
            std::atomic_bool rebuild = false;
 
            RemoteGui::Client::GroupBox memoryGroup;
        };
 
        RemoteGuiTab tab;
    };
} // namespace armarx