TaskOutcomeMemory.h

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#pragma once
 
#include <ArmarXCore/core/Component.h>
 
#include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
 
#include <RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h>
#include <RobotAPI/libraries/armem_task_outcome/server/segment/TaskOutcomeSegment.h>
#include <RobotAPI/libraries/armem_task_outcome/types.h>
 
namespace armarx
{
 
    class TaskOutcomeMemory :
        virtual public armarx::Component,
        virtual public armem::server::ReadWritePluginUser,
        virtual public armarx::LightweightRemoteGuiComponentPluginUser
    {
    public:
        TaskOutcomeMemory();
 
        std::string getDefaultName() const override;
 
        armem::data::CommitResult commit(const armem::data::Commit& commit,
                                         const Ice::Current&) override;
 
        void createRemoteGuiTab();
        void RemoteGui_update() override;
 
    protected:
        void onInitComponent() override;
        void onConnectComponent() override;
        void onDisconnectComponent() override;
        void onExitComponent() override;
 
        armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
 
    private:
        static constexpr const char* MemoryName = "TaskOutcome";
 
        armem::server::task_outcome::TaskOutcomeSegment taskOutcomeSegment;
 
        struct FailureTypeCheckBoxes
        {
            // Planning
            RemoteGui::Client::CheckBox planningNoTrajectoryFound;
            RemoteGui::Client::CheckBox planningNoGraspFound;
            RemoteGui::Client::CheckBox planningSpecial;
            // Knowledge / Perception
            RemoteGui::Client::CheckBox perceptionObjectNotDetected;
            RemoteGui::Client::CheckBox perceptionCameraNotWorking;
            // Knowledge / Retrieval
            RemoteGui::Client::CheckBox knowledgeRetrievalTechnicalFailure;
            RemoteGui::Client::CheckBox knowledgeRetrievalKnowledgeNotInMemory;
            // Execution
            RemoteGui::Client::CheckBox executionRobotNotMoving;
            RemoteGui::Client::CheckBox executionHandNotClosing;
            RemoteGui::Client::CheckBox executionGraspingFailureDetected;
            // Interaction
            RemoteGui::Client::CheckBox interactionNoHumanForHandover;
            RemoteGui::Client::CheckBox interactionDesiredObjectNotAtLocation;
            RemoteGui::Client::CheckBox interactionCommunicationFailure;
            // Interruption
            RemoteGui::Client::CheckBox interruptionUserStopped;
            // Subskill Failure
            RemoteGui::Client::CheckBox subskillFailureFailed;
            RemoteGui::Client::LineEdit subskillFailureName;
        };
 
        struct RemoteGuiTab : RemoteGui::Client::Tab
        {
            RemoteGui::Client::IntSpinBox maxEntries;
            std::map<int, RemoteGui::Client::ToggleButton> selectButtons;
            RemoteGui::Client::LineEdit errorMessageInput;
            RemoteGui::Client::ComboBox statusComboBox;
            FailureTypeCheckBoxes failureCheckBoxes;
            RemoteGui::Client::Button saveButton;
        };
 
        RemoteGuiTab tab;
        int guiMaxEntries = 20;
        int selectedOutcomeIndex = -1;
        bool selectionJustChanged = false;
        std::string editErrorText;
        std::string editStatus = "UNKNOWN";
        armem::task_outcome::FailureType editFailureType;
        std::string editStatusMessage;
        std::vector<armem::MemoryID> displayedOutcomeIds;
        std::atomic_bool newDataAvailable{false};
    };
 
} // namespace armarx