ZeroMQController.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    ...
 * @author     Andre Meixner ( andre dot meixner at kit dot edu )
 * @date       2024
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <string>
 
#include <Ice/Object.h>
 
#include <SimoxUtility/math/convert/mat3f_to_quat.h>
#include <SimoxUtility/math/convert/mat4f_to_pos.h>
#include <SimoxUtility/math/convert/mat4f_to_quat.h>
#include <SimoxUtility/math/convert/pos_quat_to_mat4f.h>
#include <VirtualRobot/VirtualRobot.h>
 
#include <ArmarXCore/interface/core/UserException.h>
#include <ArmarXCore/interface/observers/ObserverInterface.h>
#include <ArmarXCore/interface/serialization/Eigen/Eigen_fdi.h>
 
#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerBase.h>
#include <RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleBase.h>
#include <RobotAPI/interface/units/RobotUnit/NJointController.h>
 
#include <atomic>
#include <mutex>
 
#include <zmq.hpp>
 
#include <armarx/control/njoint_controller/task_space/ControllerInterface.h>
 
namespace armarx::control::njoint_controller::task_space
{
    template <typename NJointTaskspaceController>
    class NJointZeroMQTaskspaceController : virtual public NJointTaskspaceController
    {
    public:
        NJointZeroMQTaskspaceController(const armarx::RobotUnitPtr& robotUnit,
                                        const armarx::NJointControllerConfigPtr& config,
                                        const VirtualRobot::RobotPtr& robot);
 
        void init();
 
        void writeConfig();
 
        //overwritten for specific templates, see .cpp
        std::string
        getClassName(const Ice::Current& = Ice::emptyCurrent) const final
        {
            return "NJointZeroMQTaskspaceUnknownController";
        }
 
        void additionalTask() final;
        void onPublish(const SensorAndControl&,
                       const DebugDrawerInterfacePrx&,
                       const DebugObserverInterfacePrx&) override;
 
        void onPublishDeactivation(const DebugDrawerInterfacePrx&, const DebugObserverInterfacePrx&) override;
        
    private:
        void setPublishIPAddress(const std::string& ipAddress);
 
    private:
        zmq::context_t context;       // ZeroMQ context (shared by both sockets)
        zmq::socket_t socket;         // Incoming: ZMQ_PULL to receive controller configs
        zmq::socket_t publishSocket_; // Outgoing: ZMQ_PUSH to send robot state
        std::mutex publishSocketMutex_;
        std::atomic<bool> publishSocketBound_{false};
 
        // Logging stuff
        std::chrono::steady_clock::time_point time_last_packet;
        double frequency_ms;
        double latency_ms;
    };
} // namespace armarx::control::njoint_controller::task_space