PersonInstanceUpdater.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    VisionX::ArmarXObjects::person_instance_updater
 * @author     Philipp Seidel ( uyhvq at student dot kit dot edu )
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @date       2023
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
 
#pragma once
 
 
#include <condition_variable>
#include <memory>
#include <mutex>
#include <optional>
#include <string>
#include <thread>
#include <vector>
 
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
#include <ArmarXCore/core/util/Throttler.h>
 
#include "RobotAPI/libraries/armem/client/util/SubscriptionHandle.h"
#include <RobotAPI/libraries/armem/client/Reader.h>
#include <RobotAPI/libraries/armem/client/plugins/ListeningPluginUser.h>
#include <RobotAPI/libraries/armem/core/MemoryID.h>
 
#include <VisionX/components/person_instance_updater/UpdateConsumer.h>
 
namespace VisionX::components::person_instance_updater
{
 
    /**
     * @brief Component that fuses face recognition and body pose tracking into unified person instances.
     *
     * This component subscribes to memory updates for face recognition and human pose data,
     * then delegates to UpdateConsumer to match and link these data sources. The goal is to
     * maintain PersonInstance entities that represent complete information about tracked people,
     * including their identity (from face recognition) and body pose (from pose tracking).
     *
     * @see UpdateConsumer for the core matching and updating logic
     */
    class PersonInstanceUpdater :
        virtual public armarx::Component,
        virtual public armarx::armem::ListeningClientPluginUser
    {
    public:
        /// @see armarx::ManagedIceObject::getDefaultName()
        std::string getDefaultName() const override;
 
        /// Get the component's default name.
        static std::string GetDefaultName();
 
    public:
        static const std::string provider_name;
 
    protected:
        /// @see PropertyUser::createPropertyDefinitions()
        armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
 
        /// @see armarx::ManagedIceObject::onInitComponent()
        void onInitComponent() override;
 
        /// @see armarx::ManagedIceObject::onConnectComponent()
        void onConnectComponent() override;
 
        /// @see armarx::ManagedIceObject::onDisconnectComponent()
        void onDisconnectComponent() override;
 
        /// @see armarx::ManagedIceObject::onExitComponent()
        void onExitComponent() override;
 
    private:
        /**
         * @brief Registers callbacks for memory updates from FaceRecognition and Pose segments.
         *
         * Sets up subscriptions that trigger when new face recognition or pose data arrives,
         * passing the updates to UpdateConsumer for processing.
         */
        void registerMemorySubscriptions();
 
        /**
         * @brief Main loop of the single processing thread.
         *
         * Waits until the subscription callbacks deposited updated snapshot IDs,
         * takes them out of the mailboxes and processes them. Runs as fast as the
         * processing allows; while it is busy, newer updates simply replace the
         * pending ones (latest wins), so memory updates never accumulate.
         */
        void processingLoop();
 
        /// Query the face recognition data for the given snapshot IDs and feed it to the UpdateConsumer.
        void processFaceRecognitionUpdates(
            const std::vector<armarx::armem::MemoryID>& updatedSnapshotIDs);
 
        /// Query the pose data for the given snapshot IDs and feed it to the UpdateConsumer.
        void processPoseUpdates(const std::vector<armarx::armem::MemoryID>& updatedSnapshotIDs);
 
    private:
        /// Properties shown in the Scenario GUI.
        struct Properties
        {
            UpdateConsumer::Properties updateConsumer;
 
            /// Max rate [Hz] at which face recognition updates are accepted.
            /// Values <= 0 disable throttling (default): the processing thread runs as
            /// fast as possible and unprocessed updates are replaced by newer ones.
            float faceRecognitionUpdateFrequency = 0.F;
 
            /// Max rate [Hz] at which pose updates are accepted.
            /// Values <= 0 disable throttling (default): the processing thread runs as
            /// fast as possible and unprocessed updates are replaced by newer ones.
            float poseUpdateFrequency = 0.F;
        };
 
        Properties properties;
 
        /// The main logic handler that performs matching and updating of person instances.
        std::unique_ptr<UpdateConsumer> updateConsumer;
 
        /// Per-callback throttlers (constructed on connect from the *Frequency properties).
        /// Left unset when the corresponding frequency is <= 0 (no throttling).
        std::optional<armarx::Throttler> faceRecognitionThrottler;
        std::optional<armarx::Throttler> poseThrottler;
 
        /// Readers used by the processing thread to fetch the updated data.
        std::optional<armarx::armem::client::Reader> faceRecognitionReader;
        std::optional<armarx::armem::client::Reader> poseReader;
 
        /// Single processing thread decoupling the (Ice) subscription callbacks from
        /// the actual processing. Callbacks only deposit the updated snapshot IDs in
        /// the mailboxes below; this thread consumes them as fast as possible.
        std::thread processingThread;
        std::mutex pendingMutex;
        std::condition_variable pendingCondition;
        bool stopProcessing = false;
        /// Latest-wins mailboxes: newer updates replace unprocessed ones.
        std::vector<armarx::armem::MemoryID> pendingFaceRecognitionIDs;
        std::vector<armarx::armem::MemoryID> pendingPoseIDs;
 
        /// Handles for all memory subscriptions, so they can be unsubscribed on disconnect.
        std::vector<armarx::armem::client::util::SubscriptionHandle> subscriptionHandles;
    };
 
} // namespace VisionX::components::person_instance_updater