ZenohController.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    ...
 * @author     Andre Meixner ( andre dot meixner at kit dot edu )
 * @date       2024
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <string>
 
#include <Ice/Object.h>
 
#include <SimoxUtility/math/convert/mat3f_to_quat.h>
#include <SimoxUtility/math/convert/mat4f_to_pos.h>
#include <SimoxUtility/math/convert/mat4f_to_quat.h>
#include <SimoxUtility/math/convert/pos_quat_to_mat4f.h>
#include <VirtualRobot/VirtualRobot.h>
 
#include <ArmarXCore/interface/core/UserException.h>
#include <ArmarXCore/interface/observers/ObserverInterface.h>
#include <ArmarXCore/interface/serialization/Eigen/Eigen_fdi.h>
 
#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerBase.h>
#include <RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleBase.h>
#include <RobotAPI/interface/units/RobotUnit/NJointController.h>
 
//#include <zenoh.h>
#include <zenoh.hxx>
#include <zenoh/api/subscriber.hxx>
 
namespace armarx::control::njoint_controller::task_space
{
    template <typename NJointTaskspaceController>
    class NJointZenohTaskspaceController : virtual public NJointTaskspaceController
    {
    public:
        NJointZenohTaskspaceController(const armarx::RobotUnitPtr& robotUnit,
                                       const armarx::NJointControllerConfigPtr& config,
                                       const VirtualRobot::RobotPtr& robot);
 
        void init();
 
        void writeConfig();
        void updateConfigZenoh(const zenoh::Sample& sample);
 
        //overwritten for specific templates, see .cpp
        std::string
        getClassName(const Ice::Current& = Ice::emptyCurrent) const final
        {
            return "NJointZenohTaskspaceUnknownController";
        }
 
        void additionalTask() final; // This is where the magic happens
        void onPublish(const SensorAndControl&,
                       const DebugDrawerInterfacePrx&,
                       const DebugObserverInterfacePrx&) override; // To log metrics
 
    private:
        /// Test for zenoh communication
        std::string _connect_endpoint = "tcp/10.6.0.248:7447";
        std::string _state_key = "realtime/state";
        std::string _config_key = "realtime/config";
        std::string _config_json = "";
 
        std::unique_ptr<zenoh::Session> _session;
        std::unique_ptr<zenoh::Publisher> _publisher;
        //        std::unique_ptr<zenoh::Subscriber> _subscriber;
 
        // Logging stuff
        std::chrono::steady_clock::time_point time_last_packet;
        double frequency_ms;
        double latency_ms;
    };
} // namespace armarx::control::njoint_controller::task_space