SwitchCoordinationMode.h

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#pragma once
 
#include <vector>
 
#include <RobotAPI/interface/units/KinematicUnitInterface.h>
#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
#include <RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h>
#include <RobotAPI/libraries/skills/core/Skill.h>
#include <RobotAPI/libraries/skills/provider/SimpleSpecializedSkill.h>
 
#include <armarx/control/client/ComponentPlugin.h>
#include <armarx/control/skills/aron/SwitchCoordinationModeParams.aron.generated.h>
#include <armarx/control/skills/constants/constants.h>
 
namespace armarx::control::skills::skills
{
 
    /**
   * @class SwitchCoordinationMode
   * @brief SwitchCoordinationMode-skill to switch coordination mode
   *
   * Switch coordination mode for the task space bimanual controller.
   */
    class SwitchCoordinationMode :
        public ::armarx::skills::SimpleSpecializedSkill<arondto::SwitchCoordinationModeParams>
    {
 
    public:
        struct Services
        {
            ::armarx::control::client::ComponentPlugin* controlComponentPluginUser;
        };
 
        static ::armarx::skills::SkillDescription
        GetSkillDescription()
        {
            ParamType defaultParameters;
            defaultParameters.configPackageName = "armarx_control";
            defaultParameters.configRelPath = "controller_config/coordination/sync_transport.json";
            defaultParameters.controllerNamePattern =
                std::vector<std::string>{"LeftArm,RightArm", "TSMixImpVelCol"};
            defaultParameters.enable = true;
 
            return ::armarx::skills::SkillDescription{
                .skillId = {.skillName = constants::SWITCH_COORDINATION_MODE},
                .description = "Switch coordination mode in the controller",
                .rootProfileDefaults = defaultParameters.toAron(),
                .timeout = ::armarx::Duration::Minutes(1),
                .parametersType = ParamType::ToAronType()};
        }
 
        SwitchCoordinationMode(const Services&);
 
 
        std::vector<std::string>
        filterControllerNames(const std::vector<std::string>& controllerNames,
                              const std::vector<std::string>& patterns);
 
    private:
        using Base::exit;
        using Base::main;
 
        ::armarx::skills::Skill::MainResult main(const SpecializedMainInput& in) override;
        ::armarx::skills::Skill::ExitResult exit(const SpecializedExitInput& in) override;
 
 
    private:
        Services srv_;
    };
 
} // namespace armarx::control::skills::skills