SkillDashboard.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    RobotAPI::ArmarXObjects::ObjectPoseClientExample
 * @author     Leonie Leven ( leonie dot leven at student dot kit dot edu )
 * @date       2024
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <list>
#include <map>
#include <shared_mutex>
 
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/services/tasks/TaskUtil.h>
#include <ArmarXCore/core/time/Clock.h>
 
#include <RobotAPI/interface/components/SkillDashboardInterface.h>
 
namespace armarx
{
    class SkillDashboard :
        virtual public armarx::Component,
        virtual public armarx::SkillDashboardInterface
    {
    public:
        std::string
        getDefaultName() const override
        {
            return "SkillDashboard";
        }
 
        SkillShortcutList getShortcuts(const ::Ice::Current& = ::Ice::Current()) override;
        SkillShortcutWithTimeoutList
        getShortcutsWithTimeout(const ::Ice::Current& = ::Ice::Current()) override;
        SkillShortcut getShortcut(const std::string& name,
                                  const ::Ice::Current& = ::Ice::Current()) override;
        void addNewShortcut(const SkillShortcut& newShortcut,
                            const ::Ice::Current& = ::Ice::Current()) override;
 
        void deleteShortcut(const std::string& name,
                            const ::Ice::Current& = ::Ice::Current()) override;
 
        void exportShortcuts(const std::string& package,
                             const std::string& folder,
                             const std::string& name,
                             const ::Ice::Current& = ::Ice::Current()) override;
 
        bool importShortcuts(const std::string& package,
                             const std::string& folder,
                             const std::string& name,
                             const ::Ice::Current& = ::Ice::Current()) override;
 
 
        void saveShortcutOrder(const std::vector<std::string>& order,
                               const ::Ice::Current& = ::Ice::Current()) override;
 
        void syncOrderedWithDefault(const ::Ice::Current&) override;
 
        std::vector<std::string>
        getPathStructure(const ::Ice::Current& = ::Ice::Current()) override;
 
    protected:
        /**
         * @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;
 
        /**
         * @see PropertyUser::createPropertyDefinitions()
         */
        armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
 
    private:
        struct Properties
        {
            std::string shortcutPath;
        };
 
    private:
        std::vector<std::string> shortcutOrder;
 
        SkillShortcutList registeredShortcuts;
        std::shared_mutex registeredShortcutsMutex;
 
        std::map<std::string, armarx::core::time::Duration> shortcutNameToTimeouts;
        std::shared_mutex shortcutNameToTimeoutsMutex;
 
        armarx::SkillDashboardCoverListenerPrx coverTopicPrx;
        Properties properties;
        bool loadShortcuts(const std::string& filename);
        armarx::core::time::Duration getTimeout(const std::string& skillId);
        void updateTimeoutForShortcut(const SkillShortcut& shortcut);
        std::optional<SkillShortcut> getShortcutWithId(const std::string& id);
        std::string packageName;
        std::string pathToDashboard;
        std::string dahsboardName;
    };
 
} // namespace armarx