SharedRobotServants.h

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * 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
 * @author
 * @date
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
#pragma once
 
#include <mutex>
 
#include <VirtualRobot/VirtualRobot.h>
 
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/system/ImportExportComponent.h>
 
#include <RobotAPI/interface/core/RobotState.h>
#include <RobotAPI/libraries/core/FramedPose.h>
 
namespace armarx
{
    // Zugriff muss mutex geschuetzt werden!
 
    /**
     * @brief The base class for remote objects on the ice server
     *
     */
 
    class SharedObjectBase : virtual public SharedObjectInterface
    {
    public:
        void ref(const Ice::Current& c = Ice::emptyCurrent) override;
        void unref(const Ice::Current& c = Ice::emptyCurrent) override;
        void destroy(const Ice::Current& c = Ice::emptyCurrent) override;
        SharedObjectBase();
 
    private:
        unsigned int _referenceCount;
        std::mutex _counterMutex;
    };
 
    /**
     * @brief The SharedRobotNodeServant class is a remote representation of a Simox VirtualRobot::Robot
     * @ingroup Component-RobotStateComponent
     * @details This class is used only internally by the the RobotStateComponent. Other classes such as the LinkedPose, RemoteRobot,
     * TCPControlUnit and HeadIKUnit classes address this class by the SharedRobotNodeInterface and SharedRobotNodeInterfacePrx generated by
     * Ice.
     */
    class SharedRobotNodeServant : virtual public SharedRobotNodeInterface, public SharedObjectBase
    {
    public:
        SharedRobotNodeServant(
            VirtualRobot::RobotNodePtr node /*,const Ice::Current & current = Ice::emptyCurrent*/);
        ~SharedRobotNodeServant() override;
 
        float getJointValue(const Ice::Current& current = Ice::emptyCurrent) const override;
        std::string getName(const Ice::Current& current = Ice::emptyCurrent) const override;
 
        PoseBasePtr
        getLocalTransformation(const Ice::Current& current = Ice::emptyCurrent) const override;
        FramedPoseBasePtr
        getGlobalPose(const Ice::Current& current = Ice::emptyCurrent) const override;
        FramedPoseBasePtr
        getPoseInRootFrame(const Ice::Current& current = Ice::emptyCurrent) const override;
 
        JointType getType(const Ice::Current& current = Ice::emptyCurrent) const override;
        Vector3BasePtr getJointTranslationDirection(
            const Ice::Current& current = Ice::emptyCurrent) const override;
        Vector3BasePtr
        getJointRotationAxis(const Ice::Current& current = Ice::emptyCurrent) const override;
 
        bool hasChild(const std::string& name,
                      bool recursive,
                      const Ice::Current& current = Ice::emptyCurrent) const override;
        std::string getParent(const Ice::Current& current = Ice::emptyCurrent) const override;
        NameList getChildren(const Ice::Current& current = Ice::emptyCurrent) const override;
        NameList getAllParents(const std::string& name,
                               const Ice::Current& current = Ice::emptyCurrent) const override;
 
        float getJointValueOffest(const Ice::Current& current = Ice::emptyCurrent) const override;
        float getJointLimitHigh(const Ice::Current& current = Ice::emptyCurrent) const override;
        float getJointLimitLow(const Ice::Current& current = Ice::emptyCurrent) const override;
 
        Vector3BasePtr getCoM(const Ice::Current& current = Ice::emptyCurrent) const override;
        Ice::FloatSeq getInertia(const Ice::Current& current = Ice::emptyCurrent) const override;
        float getMass(const Ice::Current& current = Ice::emptyCurrent) const override;
 
 
    protected:
        VirtualRobot::RobotNodePtr _node;
    };
 
    /**
     * @ingroup Component-RobotStateComponent
     * @brief The SharedRobotNodeServant class is a remote represenation of a Simox VirtualRobot::Robot
     *
     * @details This class is used only internally by the the RobotStateComponent. The RemoteRobot class SharedRobotInterface and SharedRobotInterfacePrx
     * classes generated by Ice.
     */
 
    class SharedRobotServant : public virtual SharedRobotInterface, public SharedObjectBase
    {
    public:
        SharedRobotServant(VirtualRobot::RobotPtr robot,
                           RobotStateComponentInterfacePrx robotStateComponent,
                           RobotStateListenerInterfacePrx robotStateListenerPrx);
        ~SharedRobotServant() override;
        void setRobotStateComponent(RobotStateComponentInterfacePrx robotStateComponent);
        SharedRobotNodeInterfacePrx
        getRobotNode(const std::string& name,
                     const Ice::Current& current = Ice::emptyCurrent) override;
        SharedRobotNodeInterfacePrx
        getRootNode(const Ice::Current& current = Ice::emptyCurrent) override;
        bool hasRobotNode(const std::string& name,
                          const Ice::Current& current = Ice::emptyCurrent) override;
 
        NameList getRobotNodes(const Ice::Current& current = Ice::emptyCurrent) override;
        RobotNodeSetInfoPtr
        getRobotNodeSet(const std::string& name,
                        const Ice::Current& current = Ice::emptyCurrent) override;
        NameList getRobotNodeSets(const Ice::Current& current = Ice::emptyCurrent) override;
        bool hasRobotNodeSet(const std::string& name,
                             const Ice::Current& current = Ice::emptyCurrent) override;
 
        std::string getName(const Ice::Current& current = Ice::emptyCurrent) override;
        std::string getType(const Ice::Current& current = Ice::emptyCurrent) override;
 
        PoseBasePtr getGlobalPose(const Ice::Current& current = Ice::emptyCurrent) override;
        NameValueMap getConfig(const Ice::Current& current = Ice::emptyCurrent) override;
        NameValueMap getConfigAndPose(PoseBasePtr& globalPose,
                                      const Ice::Current& current = Ice::emptyCurrent) override;
        void setGlobalPose(const PoseBasePtr& pose,
                           const Ice::Current& current = Ice::emptyCurrent) override;
 
        float getScaling(const Ice::Current& = Ice::emptyCurrent) override;
 
        VirtualRobot::RobotPtr getRobot() const;
 
        void setTimestamp(const IceUtil::Time& updateTime);
        TimestampBasePtr getTimestamp(const Ice::Current& = Ice::emptyCurrent) const override;
        RobotStateComponentInterfacePrx getRobotStateComponent(const Ice::Current&) const override;
 
    protected:
        VirtualRobot::RobotPtr _robot;
        std::recursive_mutex m;
        std::map<std::string, SharedRobotNodeInterfacePrx> _cachedNodes;
        IceUtil::Time updateTimestamp;
        RobotStateComponentInterfacePrx robotStateComponent;
        RobotStateListenerInterfacePrx robotStateListenerPrx;
    };
 
    using SharedRobotServantPtr = IceInternal::Handle<SharedRobotServant>;
} // namespace armarx