RobotUnitReader.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/>.
 *
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @date       2022
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
 
#include "ArmarXCore/core/services/tasks/TaskUtil.h"
#include "ArmarXCore/libraries/logging/FrequencyReporter.h"
 
#include "RobotAPI/libraries/RobotUnitDataStreamingReceiver/RobotUnitDataStreamingReceiver.h"
#include <RobotAPI/interface/units/RobotUnit/RobotUnitInterface.h>
 
#include "armarx/localization_and_mapping/cartographer_adapter/MessageQueue.h"
#include <armarx/localization_and_mapping/cartographer_adapter/CartographerAdapter.h>
 
namespace armarx::plugins
{
    class RobotUnitComponentPlugin;
    class DebugObserverComponentPlugin;
} // namespace armarx::plugins
 
namespace armarx::components::cartographer_localization_and_mapping
{
 
    /**
     * @brief The RobotUnitReader class. The aim of this class is to receive data from the robot unit via streaming.
     * Once data is received, it will be added to the odometry message queue.
     * 
     * 
     */
    class RobotUnitReader
    {
    public:
        RobotUnitReader(armarx::plugins::RobotUnitComponentPlugin& robotUnitPlugin,
                        MessageQueue<armarx::localization_and_mapping::cartographer_adapter::
                                         CartographerAdapter::OdomData>& odomMessageQueue,
                        FrequencyReporter& odomDataReporter);
 
        ~RobotUnitReader();
 
    protected:
        /**
        * @brief Sets up the robot unit streaming channel
        * 
        */
        void connect();
 
        /**
         * @brief Reads the available data and fills the odomMessageQeueu
         * 
         */
        void readRobotUnitData();
 
        std::shared_ptr<
            armarx::localization_and_mapping::cartographer_adapter::CartographerAdapter::OdomData>
        convert(const RobotUnitDataStreaming::TimeStep& data);
 
 
    private:
        armarx::plugins::RobotUnitComponentPlugin& robotUnitPlugin;
 
        /// reference to the message queue that will be filled when odometry data is available
        MessageQueue<
            armarx::localization_and_mapping::cartographer_adapter::CartographerAdapter::OdomData>&
            odomMessageQueue;
 
        /// logging: will allow introspection of the reliability of the received data
        FrequencyReporter& odomDataReporter;
 
 
        // do not change this or mysterious things will happen
        const std::string sensorDataPrefix = "sens.Platform.relativePosition*";
 
 
        RobotUnitDataStreamingReceiverPtr receiver;
        RobotUnitDataStreaming::DataStreamingDescription description;
 
 
        SimplePeriodicTask<>::pointer_type periodicTask;
 
 
        const float updatePeriodMs = 10;
    };
} // namespace armarx::components::cartographer_localization_and_mapping