LocalizationRemoteGui.h

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/*
 * 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/>.
 *
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @date       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <mutex>
 
#include <Eigen/Geometry>
 
#include <ArmarXCore/core/services/tasks/RunningTask.h>
 
#include "ArmarXGui/libraries/RemoteGui/Client/Widgets.h"
#include <ArmarXGui/interface/RemoteGuiInterface.h>
#include <ArmarXGui/libraries/RemoteGui/Client/Tab.h>
#include <ArmarXGui/libraries/RemoteGui/WidgetProxy.h>
 
namespace armarx::localization_and_mapping::components::cartographer_localization_and_mapping
{
 
    class LocalizationRemoteGuiCallee
    {
    public:
        virtual void onWorldToMapTransformUpdate(const Eigen::Isometry3f& world_T_map) = 0;
 
        virtual ~LocalizationRemoteGuiCallee() = default;
    };
 
    class LocalizationRemoteGui
    {
    public:
        LocalizationRemoteGui(const RemoteGuiInterfacePrx& remoteGui,
                              LocalizationRemoteGuiCallee& callee,
                              const Eigen::Isometry3f& initialWorldToMap);
 
        ~LocalizationRemoteGui();
 
        void shutdown();
 
        void enable();
        void disable();
 
    private:
        std::mutex mtx;
        std::mutex handleEventsMtx;
 
        RemoteGuiInterfacePrx remoteGui;
        RunningTask<LocalizationRemoteGui>::pointer_type runningTask;
        LocalizationRemoteGuiCallee& callee;
        RemoteGui::TabProxy tab;
 
        const Eigen::Isometry3f initialWorldToMap;
        Eigen::Vector3f lastSentValues;  // x [mm], y [mm], yaw [rad]
 
        void createRemoteGuiTab();
        void run();
        void handleEvents(RemoteGui::TabProxy& tab);
 
        const std::string REMOTE_GUI_TAB_NAME = "Cartographer";
 
        struct RemoteGuiTab : armarx::RemoteGui::Client::Tab
        {
            armarx::RemoteGui::Client::HBoxLayout hbox;
 
            struct
            {
                armarx::RemoteGui::Client::GroupBox group;
 
                armarx::RemoteGui::Client::FloatSpinBox x;
                armarx::RemoteGui::Client::FloatSpinBox y;
                armarx::RemoteGui::Client::FloatSpinBox yaw;
                armarx::RemoteGui::Client::CheckBox applyImmediately;
                armarx::RemoteGui::Client::Button applyButton;
            } worldToMap;
        };
 
        RemoteGuiTab guiTab;
    };
 
} // namespace armarx::localization_and_mapping::components::cartographer_localization_and_mapping