Component.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::MemoryToDebugObserver
 * @author     Rainer Kartmann ( rainer dot kartmann at kit dot edu )
 * @date       2023
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "Component.h"
 
#include <SimoxUtility/json.h>
 
#include <ArmarXCore/core/time/Frequency.h>
#include <ArmarXCore/core/time/Metronome.h>
#include <ArmarXCore/libraries/DecoupledSingleComponent/Decoupled.h>
 
ARMARX_REGISTER_COMPONENT_EXECUTABLE(armarx::memory_to_debug_observer::Component,
                                     "MemoryToDebugObserver");
 
namespace armarx::memory_to_debug_observer
{
 
    armarx::PropertyDefinitionsPtr
    Component::createPropertyDefinitions()
    {
        armarx::PropertyDefinitionsPtr defs =
            new ComponentPropertyDefinitions(getConfigIdentifier());
 
        {
            armem::MemoryID robotEntityId{"RobotState", "Proprioception", "Armar7", "Armar7"};
 
            std::vector<std::string> jointNames{
                "Neck_1_Yaw",
                "Neck_2_Hemisphere_A",
                "Neck_3_Hemisphere_B",
            };
 
            for (const std::string& jointName : jointNames)
            {
                std::vector<std::string> attributes{
                    "position",
                    "positionTarget",
                    "relativePosition",
                    "velocity",
                    "velocityTarget",
                    "torque",
                    "motorCurrent",
                    "currentTarget",
                };
                for (const std::string& attribute : attributes)
                {
                    properties.memoryToDebugObserver.plottedValues.push_back({
                        .entityID = robotEntityId,
                        .aronPath = {{"joints", attribute, jointName}},
                    });
                    properties.memoryToDebugObserver.plottedValues.push_back({
                        .entityID = robotEntityId,
                        .aronPath = {{"extraLongs", jointName + ".absoluteEncoderTicks"}},
                    });
                }
            }
 
            simox::json::json j = properties.memoryToDebugObserver;
            properties.memoryToDebugObserverJson = j.dump();
        }
        defs->optional(properties.memoryToDebugObserverJson,
                       "p.memoryToDebugObserverJson",
                       "Configuration of MemoryToDebugObserver in JSON format.");
 
        defs->optional(properties.pollFrequencyHz, "p.pollFrequencyHz");
 
        return defs;
    }
 
    Component::Component()
    {
    }
 
    std::string
    Component::getDefaultName() const
    {
        return "MemoryToDebugObserver";
    }
 
    void
    Component::onInitComponent()
    {
        DebugObserverComponentPluginUser::setDebugObserverBatchModeEnabled(true);
 
        {
            simox::json::json j = simox::json::json::parse(properties.memoryToDebugObserverJson);
            j.get_to(properties.memoryToDebugObserver);
        }
    }
 
    void
    Component::onConnectComponent()
    {
        createRemoteGuiTab();
        RemoteGui_startRunningTask();
 
        task = new RunningTask<Component>(this, &Component::runLoop);
        task->start();
    }
 
    void
    Component::onDisconnectComponent()
    {
        task->stop();
        task = nullptr;
    }
 
    void
    Component::onExitComponent()
    {
    }
 
    void
    Component::runLoop()
    {
        armem::client::util::MemoryToDebugObserver::Services services{
            .memoryNameSystem = memoryNameSystem(),
            .debugObserver = getDebugObserverComponentPlugin(),
        };
        armem::client::util::MemoryToDebugObserver memoryToDebugObserver{
            properties.memoryToDebugObserver, services};
 
        Frequency frequency = Frequency::Hertz(properties.pollFrequencyHz);
        Metronome metronome(frequency);
        while (task and not task->isStopped())
        {
            memoryToDebugObserver.pollOnce();
            metronome.waitForNextTick();
        }
    }
 
    void
    Component::createRemoteGuiTab()
    {
        using namespace armarx::RemoteGui::Client;
 
        tab.group = GroupBox();
        tab.group.setLabel("Todo ...");
 
        VBoxLayout root = {tab.group, VSpacer()};
        RemoteGui_createTab(getName(), root, &tab);
    }
 
    void
    Component::RemoteGui_update()
    {
        if (tab.rebuild.exchange(false))
        {
            createRemoteGuiTab();
        }
    }
 
} // namespace armarx::memory_to_debug_observer