Component.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    navigation::ArmarXObjects::navigation_skill_provider
 * @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 <mutex>
#include <string>
 
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
 
#include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
#include <ArmarXGui/libraries/RemoteGui/Client/Tab.h>
#include <ArmarXGui/libraries/RemoteGui/Client/Widgets.h>
 
#include <RobotAPI/libraries/ArmarXObjects/plugins/ObjectPoseClientPlugin.h>
#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
#include <RobotAPI/libraries/armem/client/forward_declarations.h>
#include <RobotAPI/libraries/armem/client/plugins/ListeningPluginUser.h>
#include <RobotAPI/libraries/armem/client/plugins/ReaderWriterPlugin.h>
#include <RobotAPI/libraries/armem_objects/client/class/ClassReader.h>
#include <RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h>
#include <RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h>
 
#include <armarx/navigation/client/ice/NavigatorInterface.h>
#include <armarx/navigation/client/services/IceNavigatorFactory.h>
#include <armarx/navigation/components/navigation_skill_provider/ComponentInterface.h>
#include <armarx/navigation/core/NavigationStackGeneralConfig.h>
#include <armarx/navigation/core/basic_types.h>
#include <armarx/navigation/memory/client/costmap/Reader.h>
#include <armarx/navigation/memory/client/graph/Reader.h>
#include <armarx/navigation/memory/client/rooms/Reader.h>
#include <armarx/navigation/safety_guard/LaserBasedProximity.h>
#include <armarx/navigation/skills/NavigateToChargingStation.h>
#include <armarx/navigation/skills/NavigateToNamedLocation.h>
#include <armarx/navigation/skills/NavigatingSkillHelper.h>
#include <armarx/navigation/skills/forward_declarations.h>
 
namespace armarx::navigation::components::navigation_skill_provider
{
 
    class Component :
        virtual public armarx::Component,
        virtual public ComponentInterface,
        virtual public armarx::SkillProviderComponentPluginUser,
        // virtual public armarx::navigation::client::ComponentPluginUser,
        virtual public armem::ListeningClientPluginUser,
        virtual ObjectPoseClientPluginUser,
        // , virtual public armarx::DebugObserverComponentPluginUser
        virtual public armarx::LightweightRemoteGuiComponentPluginUser,
        virtual public armarx::ArVizComponentPluginUser
    {
    public:
        Component();
        /// @see armarx::ManagedIceObject::getDefaultName()
        std::string getDefaultName() const override;
 
        /// Get the component's default name.
        static std::string GetDefaultName();
 
 
    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;
 
 
        /// This function should be called once in onConnect() or when you
        /// need to re-create the Remote GUI tab.
        void createRemoteGuiTab();
 
        /// After calling `RemoteGui_startRunningTask`, this function is
        /// called periodically in a separate thread. If you update variables,
        /// make sure to synchronize access to them.
        void RemoteGui_update() override;
 
 
    private:
        // Private methods go here.
 
        // Forward declare `Properties` if you used it before its defined.
        // struct Properties;
 
        /* (Requires the armarx::ArVizComponentPluginUser.)
        /// Draw some boxes in ArViz.
        void drawBoxes(const Properties& p, viz::Client& arviz);
        */
 
 
    private:
        static const std::string defaultName;
 
        /// Properties shown in the Scenario GUI.
        struct Properties
        {
            std::string robotName;
 
            safety_guard::LaserBasedProximityParams safetyGuardParams;
 
            core::GeneralConfig generalConfig;
 
            skills::NavigateToNamedLocation::Properties navigateToNamedLocation;
 
            skills::NavigateToChargingStation::Properties navigateToChargingStation;
        };
 
        std::mutex safetyGuardParamsMutex;
 
        Properties properties;
 
 
        client::NavigatorHandlePtr iceNavigator;
 
        client::NavigatorInterfacePrx navigatorPrx;
 
        std::optional<client::IceNavigatorFactory> iceNavigatorFactory;
 
        template <typename T>
        using ReaderWriterPlugin = armem::client::plugins::ReaderWriterPlugin<T>;
 
 
        ReaderWriterPlugin<armem::robot_state::VirtualRobotReader>* virtualRobotReaderPlugin =
            nullptr;
        ReaderWriterPlugin<memory::client::costmap::Reader>* costmapReaderPlugin = nullptr;
        ReaderWriterPlugin<memory::client::graph::Reader>* graphReaderPlugin = nullptr;
        ReaderWriterPlugin<memory::client::rooms::Reader>* roomsReaderPlugin = nullptr;
        ReaderWriterPlugin<armarx::armem::obj::clazz::ClassReader>* objectClassReaderPlugin =
            nullptr;
 
        struct RemoteGuiTab : armarx::RemoteGui::Client::Tab
        {
            struct ProximityField
            {
                armarx::RemoteGui::Client::CheckBox reduceSpeed;
                armarx::RemoteGui::Client::FloatSpinBox minDistance;
                armarx::RemoteGui::Client::FloatSpinBox maxDistance;
                armarx::RemoteGui::Client::FloatSpinBox k;
                armarx::RemoteGui::Client::FloatSpinBox lambda;
            };
 
            armarx::RemoteGui::Client::CheckBox enableHumans;
            armarx::RemoteGui::Client::CheckBox enableLaserScanners;
 
            ProximityField humanProximityField;
            ProximityField laserScannerProximityField;
        };
 
        RemoteGuiTab tab;
    };
 
} // namespace armarx::navigation::components::navigation_skill_provider