PersonMemoryDebugger.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/>.
 *
 * @package    VisionX::ArmarXObjects::person_memory_debugger
 * @author     Peter Albrecht ( usnlf at student dot kit dot edu )
 * @date       2024
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
 
#pragma once
 
#include <optional>
 
#include <Eigen/Core>
 
#include <ArmarXCore/core/Component.h>
 
#include "RobotAPI/libraries/armem/client/MemoryNameSystem.h"
#include "RobotAPI/libraries/armem/client/plugins.h"
#include "RobotAPI/libraries/armem/core/MemoryID.h"
#include <RobotAPI/libraries/armem/client/plugins/ListeningPluginUser.h>
 
namespace visionx::components::person_memory_debugger
{
 
    /**
      * This component can be used for debugging of the person memory; more specifically it commits instances
      * into the person memory based on user input. This is useful to provoce certain cases.\n
      * The component must be started inside a terminal. The HumanMemory should be running.\n
      * Important: do not use this in a real environment, as it most certainly will lead to unexpected behaviour.
      * Do not depend on the data supplied here, it is mostly incoherent.
      */
    class PersonMemoryDebugger :
        virtual public armarx::Component,
        virtual public armarx::armem::client::ComponentPluginUser
    {
    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 pose_provider_name;
        static const std::string profile_provider_name;
        static const std::string recognition_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:
        // main loop
        void run();
 
        // main commands
        void poseCommand();
        void faceRecognitionCommand();
        void profileCommand();
 
        // helpers
        void commitProfile(std::string& name);
        void commitFaceRecognition(Eigen::Vector3f& facePosition,
                                   std::optional<armarx::armem::MemoryID> profileId);
        void commitPose(Eigen::Vector3f& facePosition, std::string& humanId);
 
        // more helpers
        std::optional<armarx::armem::MemoryID> findProfileId(std::string& entityId);
 
 
    private:
        // counts up when committing a face recognition. Is used to name the entities
        unsigned int idCounter;
        bool running;
 
        /// Properties shown in the Scenario GUI.
        struct Properties
        {
            std::string robotName;
        };
 
        Properties properties;
 
        // used to get readers/writers
        armarx::armem::client::MemoryNameSystem mns;
    };
 
} // namespace VisionX::components::person_memory_debugger