HumanRobotInteractionDebugger.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    VisionX::ArmarXObjects::human_robot_interaction_debugger
 * @author     Joana Plewnia ( joana dot plewnia at kit dot edu )
 * @date       2025
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
 
#pragma once
 
#include <optional>
 
#include <ArmarXCore/core/Component.h>
 
#include "RobotAPI/libraries/armem/client/MemoryNameSystem.h"
#include "RobotAPI/libraries/armem/client/plugins.h"
#include "RobotAPI/libraries/armem/core/MemoryID.h"
#include <RobotAPI/libraries/armem/client/plugins/ListeningPluginUser.h>
 
#include <VisionX/libraries/armem_human/client/HumanRobotInteractionReader.h>
#include <VisionX/libraries/armem_human/client/HumanRobotInteractionWriter.h>
#include <VisionX/libraries/armem_human/types.h>
 
namespace visionx::components::human_robot_interaction_debugger
{
 
    /**
      * This component can be used for debugging of the human-robot interaction memory; more specifically it commits
      * HumanRobotInteraction instances into the human memory based on user input. This is useful to test the
      * HumanRobotInteraction core segment.
      * The component must be started inside a terminal. The HumanMemory should be running.
      * Important: do not use this in a real environment, as it will create test data.
      */
    class HumanRobotInteractionDebugger :
        virtual public armarx::Component,
        virtual public armarx::armem::client::ComponentPluginUser
    {
    public:
        /// @see armarx::ManagedIceObject::getDefaultName()
        std::string getDefaultName() const override;
 
        /// Get the component's default name.
        static std::string GetDefaultName();
 
    public:
        static const std::string interaction_provider_name;
 
    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;
 
    private:
        // main loop
        void run();
 
        // main commands
        void interactionCommand();
        void readInteractionCommand();
 
        // helpers
        void commitInteraction(const std::string& firstName,
                               const std::string& lastName,
                               armarx::armem::human::InteractionType interactionType,
                               const std::string& interactionName,
                               const std::string& robotName,
                               float confidence);
 
    private:
        bool running;
 
        /// Properties shown in the Scenario GUI.
        struct Properties
        {
            std::string robotName;
        };
 
        Properties properties;
 
        // used to get readers/writers
        armarx::armem::human::client::InteractionWriter interactionWriter;
        armarx::armem::human::client::InteractionReader interactionReader;
    };
 
} // namespace visionx::components::human_robot_interaction_debugger