person_simulator_skill_provider.h

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#pragma once
 
#include <optional>
 
#include <ArmarXCore/core/Component.h>
 
#include <RobotAPI/libraries/armem/client/plugins.h>
#include <RobotAPI/libraries/armem/client/plugins/ReaderWriterPlugin.h>
#include <RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h>
#include <RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h>
 
#include <VisionX/interface/components/PersonSimulatorSkillProviderInterface.h>
#include <VisionX/libraries/person_simulator/core/PersonSimulator.h>
 
namespace visionx::components::person_simulator_skill_provider
{
 
    class Component :
        virtual public armarx::Component,
        virtual public armarx::armem::ListeningClientPluginUser,
        virtual public PersonSimulatorSkillProviderInterface,
        virtual public armarx::SkillProviderComponentPluginUser
    {
    public:
        Component();
        /// @see armarx::ManagedIceObject::getDefaultName()
        std::string getDefaultName() const override;
 
        /// Get the component's default name.
        static std::string GetDefaultName();
 
 
    protected:
        /// @see PropertyUser::createPropertyDefinitions()
        armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
 
        /// @see armarx::ManagedIceObject::onInitComponent()
        void onInitComponent() override;
 
        /// @see armarx::ManagedIceObject::onConnectComponent()
        void onConnectComponent() override;
 
        /// @see armarx::ManagedIceObject::onDisconnectComponent()
        void onDisconnectComponent() override;
 
        /// @see armarx::ManagedIceObject::onExitComponent()
        void onExitComponent() override;
 
 
        /* (Requires armarx::LightweightRemoteGuiComponentPluginUser.)
        /// This function should be called once in onConnect() or when you
        /// need to re-create the Remote GUI tab.
        void createRemoteGuiTab();
 
        /// After calling `RemoteGui_startRunningTask`, this function is
        /// called periodically in a separate thread. If you update variables,
        /// make sure to synchronize access to them.
        void RemoteGui_update() override;
        */
 
 
    private:
        // Private methods go here.
 
        // Forward declare `Properties` if you used it before its defined.
        // struct Properties;
 
        /* (Requires the armarx::ArVizComponentPluginUser.)
        /// Draw some boxes in ArViz.
        void drawBoxes(const Properties& p, viz::Client& arviz);
        */
 
 
    private:
        static const std::string defaultName;
 
 
        VisionX::person_simulator::core::PersonSimulator::Properties properties;
 
        /* (Requires the armarx::LightweightRemoteGuiComponentPluginUser.)
        /// Tab shown in the Remote GUI.
        struct RemoteGuiTab : armarx::RemoteGui::Client::Tab
        {
            armarx::RemoteGui::Client::LineEdit boxLayerName;
            armarx::RemoteGui::Client::IntSpinBox numBoxes;
 
            armarx::RemoteGui::Client::Button drawBoxes;
        };
        RemoteGuiTab tab;
        */
 
        template <typename T>
        using ReaderWriterPlugin = armarx::armem::client::plugins::ReaderWriterPlugin<T>;
 
 
        ReaderWriterPlugin<armarx::armem::robot_state::VirtualRobotReader>*
            virtualRobotReaderPlugin = nullptr;
    };
 
} // namespace visionx::components::person_simulator_skill_provider