GazeController.h

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#pragma once
 
#include <atomic>
#include <cstdint>
#include <cstddef>
#include <memory>
#include <string>
#include <vector>
 
#include <Ice/Current.h>
#include <Ice/Object.h>
#include <IceUtil/Time.h>
 
#include <VirtualRobot/VirtualRobot.h>
 
#include <ArmarXCore/core/ManagedIceObject.h>
#include <ArmarXCore/util/CPPUtility/TripleBuffer.h>
 
#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerBase.h>
#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerWithTripleBuffer.h>
#include <RobotAPI/interface/aron/Aron.h>
#include <RobotAPI/interface/units/RobotUnit/NJointController.h>
 
#include <armarx/control/interface/ConfigurableNJointControllerInterface.h>
#include <armarx/view_selection/gaze_controller/ice/GazeControllerStatus.h>
#include <armarx/view_selection/gaze_controller/status_reporting.h>
#include <armarx/view_selection/gaze_controller/types.h>
#include <armarx/view_selection/gaze_targets/GazeTarget.h>
 
namespace armarx
{
    class ControlTarget1DoFActuatorPosition;
}
 
namespace armarx::view_selection::gaze_controller::gaze_ik
{
    TYPEDEF_PTRS_HANDLE(GazeController);
 
    struct Params
    {
        std::string nodeSetName;
        bool enableJointLimitAvoidance;
        float maxPositionError;
        std::size_t maxLoops;
        std::size_t maxGradientDecentSteps;
    };
 
    struct Config
    {
        Params params;
 
        armarx::view_selection::gaze_controller::Target target;
 
        /// Identifies this control target; echoed back in the status reports.
        std::int64_t targetId = -1;
    };
 
    using ControlTarget = std::vector<float>;
 
    /**
     * @defgroup Component-GazeControl GazeControl
     * @ingroup ActiveVision-Components
     * A description of the component GazeControl.
     *
     * @class GazeControl
     * @ingroup Component-GazeControl
     * @brief Brief description of class GazeControl.
     *
     * Detailed description of class GazeControl.
     */
    class GazeController :
        virtual public NJointControllerWithTripleBuffer<ControlTarget>,
        virtual public armarx::control::ConfigurableNJointControllerInterface
    {
    public:
        using ConfigPtrT = control::ConfigurableNJointControllerConfigPtr;
 
        GazeController(RobotUnitPtr robotUnit,
                       const NJointControllerConfigPtr& config,
                       const VirtualRobot::RobotPtr& robot);
 
        ~GazeController() override;
 
        void updateConfig(const ::armarx::aron::data::dto::DictPtr& dto,
                          const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
 
        ::armarx::aron::data::dto::DictPtr
        getConfig(const ::Ice::Current& = ::Ice::emptyCurrent) override;
 
    protected:
        // NJointControllerInterface interface
        void onInitNJointController() override;
 
        // NJointControllerInterface interface
        void onConnectNJointController() override;
 
        // NJointControllerInterface interface
        std::string getClassName(const Ice::Current& = Ice::emptyCurrent) const override;
 
        // NJointController interface
        void rtRun(const IceUtil::Time& sensorValuesTimestamp,
                   const IceUtil::Time& timeSinceLastIteration) override;
 
        // NJointController interface
        void onPublish(const SensorAndControl&,
                       const DebugDrawerInterfacePrx&,
                       const DebugObserverInterfacePrx&) override;
 
        void rtPreActivateController() override;
 
        void rtPostDeactivateController() override;
 
    private:
        // void publishTarget(const armarx::view_selection::gaze_targets::GazeTarget& target);
        void removeTarget();
        void additionalTask();
 
        // rt variables
        VirtualRobot::RobotPtr _rtRobot;
 
        struct RobotState
        {
            std::vector<float> jointValues;
            // armarx::NameValueMap jointPositions;
            Eigen::Matrix4f globalRobotPose;
        };
 
        TripleBuffer<RobotState> _robotStateBuffer_rtToAdditionalTask;
        TripleBuffer<Config> _configBuffer_updateConfigToAdditionalTask;
        VirtualRobot::RobotPtr _robotAdditionalTask;
        VirtualRobot::RobotNodePrismaticPtr _virtualPrismaticJoint;
        VirtualRobot::RobotNodeSetPtr _headNodeSet;
        std::unique_ptr<VirtualRobot::GazeIK> _gazeIK;
 
        std::vector<VirtualRobot::RobotNodePtr> _rtRobotNodes;
 
        // node names for RobotState::jointValues
        std::vector<std::string> _additionalTaskRobotNodeNames;
 
        std::vector<armarx::ControlTarget1DoFActuatorPosition*> _rtCtrlTargets;
 
        // publishing
        TripleBuffer<armarx::view_selection::gaze_targets::GazeTarget>
            _gazeTarget_rtRunToPublishing;
 
        StatusReporter _statusReporter;
 
        GazeControllerStatusListenerPrx _statusTopic;
 
        std::atomic<float> _publishAngularError = 0.0;
        std::atomic<float> _publishLateralError = 0.0;
 
        std::atomic<float> _publishCurrentPitchAngle = 0.0;
        std::atomic<float> _publishCurrentYawAngle = 0.0;
        std::atomic<float> _publishTargetPitchAngle = 0.0;
        std::atomic<float> _publishTargetYawAngle = 0.0;
 
        std::atomic_bool rtReady = false;
    };
} // namespace armarx::view_selection::gaze_controller::gaze_ik