Component.h

Go to the documentation of this file.

/**
 * 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    armarx::control::components::skill_providers::collision_avoidance
 * @author     Meixner ( andre dot meixner at kit dot edu )
 * @date       2025
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
 
#pragma once
 
 
// #include <mutex>
 
#include <ArmarXCore/core/Component.h>
 
// #include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
 
#include <RobotAPI/interface/units/HandUnitInterface.h>
#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
#include <RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.h>
#include <RobotAPI/libraries/armem/client/plugins/PluginUser.h>
#include <RobotAPI/libraries/armem/client/plugins/ReaderWriterPlugin.h>
#include <RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectReader.h>
#include <RobotAPI/libraries/armem_objects/client/class/ClassReader.h>
#include <RobotAPI/libraries/armem_objects/client/familiar_object_instance/ObjectReader.h>
#include <RobotAPI/libraries/armem_objects/client/instance/ObjectReader.h>
#include <RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h>
#include <RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h>
 
#include <armarx/control/client/ComponentPlugin.h>
#include <armarx/control/collision_avoidance/component/ComponentInterface.h>
#include <armarx/control/njoint_controller/task_space/ControllerInterface.h>
 
namespace armarx::control::components::collision_avoidance
{
 
    bool containsAll(std::string name, std::vector<std::string> list);
    std::string toLower(const std::string& str);
    std::vector<std::vector<std::string>> parseColumnConfig(const std::string& config);
 
    class Component :
        virtual public ::armarx::Component,
        virtual public ::armarx::control::components::collision_avoidance::ComponentInterface
        // , virtual public ::armarx::SkillProviderComponentPluginUser
        ,
        virtual public ::armarx::armem::ClientPluginUser
        // , virtual public armarx::LightweightRemoteGuiComponentPluginUser
        ,
        virtual public armarx::ArVizComponentPluginUser,
        virtual public armarx::control::client::ComponentPluginUser
    {
    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;
        */
 
    public:
        void sendCollisionObjectsToController(const Ice::StringSeq& objectIDs, const Ice::Current&);
        void deleteCollisionObjects(const Ice::Current&);
 
    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;
 
        // Private member variables go here.
        armarx::control::TSColAvoidCtrlInterfacePrx controller;
        armarx::RobotUnitInterfacePrx robotUnit;
        armarx::armem::obj::clazz::ClassReader objectClassReader;
        armarx::armem::obj::instance::Reader objectInstanceReader;
        armarx::armem::articulated_object::ArticulatedObjectReader articulatedObjectReader;
 
        /// Properties shown in the Scenario GUI.
        struct Properties
        {
            std::string controllerNames = "col:right";
        };
 
        Properties properties;
        /* Use a mutex if you access variables from different threads
         * (e.g. ice functions and RemoteGui_update()).
        std::mutex propertiesMutex;
        */
 
        /* (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;
        */
    };
 
} // namespace armarx::control::components::collision_avoidance