RobotStateWriter.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    RobotAPI::ArmarXObjects::RobotSensorMemory
 * @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 <optional>
 
#include "ArmarXCore/util/CPPUtility/TripleBuffer.h"
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/services/tasks/TaskUtil.h>
#include <ArmarXCore/libraries/DebugObserverHelper/DebugObserverHelper.h>
 
#include <RobotAPI/libraries/armem/core/Commit.h>
#include <RobotAPI/libraries/armem/core/MemoryID.h>
#include <RobotAPI/libraries/armem_robot_state/types.h>
 
#include "RobotUnitData.h"
 
namespace armarx::plugins
{
    class DebugObserverComponentPlugin;
}
 
namespace armarx::armem::server
{
    class MemoryToIceAdapter;
}
 
namespace armarx::armem::server::robot_state::localization
{
    class Segment;
}
 
namespace armarx::armem::server::robot_state::proprioception
{
    class RobotStateWriter : public armarx::Logging
    {
    public:
        void connect(armarx::plugins::DebugObserverComponentPlugin& debugObserverPlugin);
 
        using Queue = armarx::armem::server::robot_state::proprioception::Queue;
 
 
        /// Reads data from `dataQueue` and commits to the memory.
        void run(float pollFrequency,
                 Queue& dataBuffer,
                 MemoryToIceAdapter& memory,
                 localization::Segment& localizationSegment);
 
        struct Update
        {
            armem::Commit proprioception;
            armem::Commit exteroception;
            std::vector<armem::robot_state::localization::Transform> localization;
        };
 
        Update buildUpdate(const RobotUnitData& dataQueue);
 
 
    private:
        armem::robot_state::localization::Transform
        getTransform(const aron::data::DictPtr& platformData, const Time& timestamp) const;
 
 
    public:
        struct Properties
        {
            armem::MemoryID robotUnitProviderID;
            long queueSizeWarningThreshold = 5000;
        };
 
        Properties properties;
 
        std::optional<DebugObserverHelper> debugObserver;
 
 
        armarx::SimpleRunningTask<>::pointer_type task = nullptr;
 
 
    private:
        bool noOdometryDataLogged = false;
 
        bool isRunning();
    };
 
} // namespace armarx::armem::server::robot_state::proprioception