RobotUnitModuleRobotData.cpp

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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::RobotUnit
 * @author     Raphael Grimm ( raphael dot grimm at kit dot edu )
 * @date       2018
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "RobotUnitModuleRobotData.h"
 
#include <SimoxUtility/algorithm/string/string_tools.h>
#include <VirtualRobot/Robot.h>
#include <VirtualRobot/RobotNodeSet.h>
#include <VirtualRobot/VirtualRobotException.h>
#include <VirtualRobot/XML/RobotIO.h>
 
#include <ArmarXCore/core/system/ArmarXDataPath.h>
#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
 
#include <RobotAPI/libraries/core/RobotPool.h>
 
namespace armarx::RobotUnitModule
{
 
    RobotDataPropertyDefinitions::RobotDataPropertyDefinitions(std::string prefix) :
        ModuleBasePropertyDefinitions(prefix)
    {
        defineRequiredProperty<std::string>("RobotFileName",
                                            "Robot file name, e.g. robot_model.xml");
        defineOptionalProperty<std::string>("RobotFileNameProject",
                                            "",
                                            "Project in which the robot filename is located "
                                            "(if robot is loaded from an external project)");
 
        defineOptionalProperty<std::string>(
            "RobotName",
            "",
            "Override robot name if you want to load multiple robots of the same type");
        defineOptionalProperty<std::string>(
            "RobotNodeSetName",
            "Robot",
            "Robot node set name as defined in robot xml file, e.g. 'LeftArm'");
        defineOptionalProperty<std::string>(
            "PlatformName",
            "Platform",
            "Name of the platform needs to correspond to a node in the virtual robot.");
        defineOptionalProperty<bool>("PlatformAndLocalizationUnitsEnabled",
                                     true,
                                     "Enable or disable the platform and localization units.");
        defineOptionalProperty<std::string>("PlatformInstanceName",
                                            "Platform",
                                            "Name of the platform instance (will publish "
                                            "values on PlatformInstanceName + 'State')");
    }
 
    bool
    RobotData::arePlatformAndLocalizationUnitsEnabled() const
    {
        return _arePlatformAndLocalizationUnitsEnabled;
    }
 
    const std::string&
    RobotData::getRobotPlatformName() const
    {
        throwIfInControlThread(BOOST_CURRENT_FUNCTION);
        ARMARX_CHECK_EXPRESSION(robot)
            << __FUNCTION__ << " should only be called after _initVirtualRobot was called";
        return robotPlatformName;
    }
 
    std::string
    RobotData::getRobotPlatformInstanceName() const
    {
        return robotPlatformInstanceName;
    }
 
    const std::string&
    RobotData::getRobotNodetSeName() const
    {
        throwIfInControlThread(BOOST_CURRENT_FUNCTION);
        ARMARX_CHECK_EXPRESSION(robot)
            << __FUNCTION__ << " should only be called after _initVirtualRobot was called";
        return robotNodeSetName;
    }
 
    const std::string&
    RobotData::getRobotProjectName() const
    {
        throwIfInControlThread(BOOST_CURRENT_FUNCTION);
        ARMARX_CHECK_EXPRESSION(robot)
            << __FUNCTION__ << " should only be called after _initVirtualRobot was called";
        return robotProjectName;
    }
 
    const std::string&
    RobotData::getRobotFileName() const
    {
        throwIfInControlThread(BOOST_CURRENT_FUNCTION);
        ARMARX_CHECK_EXPRESSION(robot)
            << __FUNCTION__ << " should only be called after _initVirtualRobot was called";
        return robotFileName;
    }
 
    std::string
    RobotData::getRobotName() const
    {
        throwIfInControlThread(BOOST_CURRENT_FUNCTION);
        std::lock_guard<std::mutex> guard{robotMutex};
        ARMARX_CHECK_EXPRESSION(robot)
            << __FUNCTION__ << " should only be called after _initVirtualRobot was called";
        return robot->getName();
    }
 
    VirtualRobot::RobotPtr
    RobotData::cloneRobot(bool updateCollisionModel) const
    {
        throwIfInControlThread(BOOST_CURRENT_FUNCTION);
        std::lock_guard<std::mutex> guard{robotMutex};
        ARMARX_CHECK_EXPRESSION(robot)
            << __FUNCTION__ << " should only be called after _initVirtualRobot was called";
        ARMARX_CHECK_EXPRESSION(robotPool);
        const VirtualRobot::RobotPtr clone = robotPool->getRobot();
        clone->setUpdateVisualization(false);
        clone->setUpdateCollisionModel(updateCollisionModel);
        return clone;
    }
 
    void
    RobotData::_initVirtualRobot()
    {
        throwIfInControlThread(BOOST_CURRENT_FUNCTION);
        std::lock_guard<std::mutex> guard{robotMutex};
        ARMARX_CHECK_IS_NULL(robot);
 
        std::string robotName = getProperty<std::string>("RobotName").getValue();
 
        robotNodeSetName = getProperty<std::string>("RobotNodeSetName").getValue();
        robotProjectName = getProperty<std::string>("RobotFileNameProject").getValue();
        robotFileName = getProperty<std::string>("RobotFileName").getValue();
        robotPlatformName = getProperty<std::string>("PlatformName").getValue();
        _arePlatformAndLocalizationUnitsEnabled =
            getProperty<bool>("PlatformAndLocalizationUnitsEnabled").getValue();
        robotPlatformInstanceName = getProperty<std::string>("PlatformInstanceName").getValue();
 
        //load robot
        {
            Ice::StringSeq includePaths;
            if (!robotProjectName.empty())
            {
                CMakePackageFinder finder(robotProjectName);
                auto pathsString = finder.getDataDir();
                includePaths = simox::alg::split(pathsString, ";,");
                ArmarXDataPath::addDataPaths(includePaths);
            }
            if (!ArmarXDataPath::getAbsolutePath(robotFileName, robotFileName, includePaths))
            {
                std::stringstream str;
                str << "Could not find robot file " + robotFileName
                    << "\nCollected paths from RobotFileNameProject '" << robotProjectName
                    << "':" << includePaths;
                throw UserException(str.str());
            }
            // read the robot
            try
            {
                // FIXME change the following to VirtualRobot::RobotIO::eStructure and see whether it breaks something
                robot =
                    VirtualRobot::RobotIO::loadRobot(robotFileName, VirtualRobot::RobotIO::eFull);
                if (robotName.empty())
                {
                    robotName = robot->getName();
                }
                else
                {
                    robot->setName(robotName);
                }
            }
            catch (VirtualRobot::VirtualRobotException& e)
            {
                throw UserException(e.what());
            }
            ARMARX_INFO << "Loaded robot:"
                        << "\n\tProject      : " << robotProjectName
                        << "\n\tName         : " << robotName
                        << "\n\tRobot file   : " << robotFileName
                        << "\n\tRobotNodeSet : " << robotNodeSetName << "\n\tNodeNames    : "
                        << robot->getRobotNodeSet(robotNodeSetName)->getNodeNames();
            ARMARX_CHECK_NOT_NULL(robot);
            robotPool.reset(new RobotPool(robot, 20));
        }
    }
 
} // namespace armarx::RobotUnitModule