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    navigation::ArmarXObjects::handover_costmap_provider
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @date       2026
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
 
#pragma once
 
 
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/services/tasks/RunningTask.h>
#include <ArmarXCore/libraries/ArmarXCoreComponentPlugins/DebugObserverComponentPlugin.h>
 
#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
#include <RobotAPI/libraries/armem/client/plugins/ReaderWriterPlugin.h>
#include <RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h>
 
#include <armarx/navigation/algorithms/costmap/HandoverCostmapBuilder.h>
#include <armarx/navigation/components/handover_costmap_provider/ComponentInterface.h>
#include <armarx/navigation/memory/client/costmap/Reader.h>
#include <armarx/navigation/memory/client/costmap/Writer.h>
 
#include <VisionX/libraries/armem_human/client/PersonInstanceReader.h>
#include <VisionX/libraries/armem_human/types.h>
 
namespace armarx::navigation::components::handover_costmap_provider
{
 
    class Component :
        virtual public armarx::Component,
        virtual public armarx::navigation::components::handover_costmap_provider::
            ComponentInterface,
        // , virtual public armarx::DebugObserverComponentPluginUser
        // , virtual public armarx::LightweightRemoteGuiComponentPluginUser
        virtual public armarx::ArVizComponentPluginUser
    {
    public:
        /// @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;
 
        // Private member variables go here.
 
 
        /// Properties shown in the Scenario GUI.
        struct Properties
        {
            struct
            {
                std::string providerName;
                std::string name = "distance_to_obstacles";
            } obstacleDistanceMap;
 
            struct
            {
                std::string name = "Armar7";
            } robot;
 
            std::string personInstanceProviderName = "person_instance_updater";
 
            algorithms::costmap::HandoverCostmapBuilder::Parameters handoverCostmapParams;
        };
 
        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;
        */
 
 
        armarx::RunningTask<Component>::pointer_type costmapUpdateTask;
        void run();
 
 
        bool readObstacleDistanceMap();
        void queryHumans();
 
        void computeHandoverCostmap();
 
 
        std::optional<algorithms::Costmap> obstacleDistanceMap;
 
        std::vector<armem::human::MemoryResolvedPersonInstance> detectedHumans;
 
        struct Services
        {
 
            armem::client::plugins::ReaderWriterPlugin<armem::robot_state::VirtualRobotReader>*
                virtualRobotReaderPlugin = nullptr;
 
            armem::client::plugins::ReaderWriterPlugin<memory::client::costmap::Reader>*
                costmapReaderPlugin = nullptr;
 
            armem::client::plugins::ReaderWriterPlugin<memory::client::costmap::Writer>*
                costmapWriterPlugin = nullptr;
            armem::client::plugins::ReaderWriterPlugin<armem::human::client::PersonInstanceReader>*
                personInstanceReaderPlugin = nullptr;
 
        } services;
    };
 
} // namespace armarx::navigation::components::handover_costmap_provider