EntityDrawerComponent.h

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * 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    MemoryX::ArmarXObjects::EntityDrawerComponent
 * @author     Nikolaus Vahrenkamp ( vahrenkamp at kit dot edu )
 * @date       2015
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
 
// Coin3D & SoQt
 
#include <Inventor/nodes/SoNode.h>
#include <Inventor/nodes/SoSeparator.h>
#include <Inventor/sensors/SoTimerSensor.h>
 
// ArmarX
#include <ArmarXCore/core/Component.h>
 
#include <RobotAPI/components/DebugDrawer/DebugDrawerComponent.h>
 
#include <MemoryX/core/GridFileManager.h>
#include <MemoryX/interface/components/PriorKnowledgeInterface.h>
#include <MemoryX/interface/gui/EntityDrawerInterface.h>
#include <MemoryX/interface/memorytypes/MemoryEntities.h>
#include <MemoryX/libraries/memorytypes/entity/ObjectClass.h>
 
namespace memoryx
{
 
    /*!
     * \class EntityDrawerPropertyDefinitions
     * \brief
     */
    class EntityDrawerPropertyDefinitions : public armarx::DebugDrawerPropertyDefinitions
    {
    public:
        EntityDrawerPropertyDefinitions(std::string prefix) :
            armarx::DebugDrawerPropertyDefinitions(prefix)
        {
            defineOptionalProperty<std::string>("CommonStorageName",
                                                "CommonStorage",
                                                "Name of the the CommonStorage memory component");
            defineOptionalProperty<std::string>("PriorKnowledgeName",
                                                "PriorKnowledge",
                                                "Name of the the PriorKnowledge memory component");
        }
    };
 
    /*!
      \class EntityDrawerComponent
      \ingroup MemoryX-Components
     * \brief The EntityDrawerComponent class implements a component that listens to layered / debug drawer commands and creates internal representations of the visualization
     * which can be conveniently used by gui components to visualize the content.
     * Basically it is a armarx::DebugDrawerComponent with additional memroy features. In addition to all debug drawer fucntions it is capable of showing memory entities, e.g. objects.
     *
     * \see armarx::DebugDrawerComponent
     *
     * The following plugins listen to the EntityDrawer topic:
     * \see memoryx::WorkingMemoryGuiPlugin
     */
    class EntityDrawerComponent :
        virtual public memoryx::EntityDrawerInterface,
        virtual public armarx::DebugDrawerComponent
    {
    public:
        /*!
         * \brief EntityDrawerComponent Constructs a debug drawer
         */
        EntityDrawerComponent();
 
        // inherited from Component
        std::string
        getDefaultName() const override
        {
            return "EntityDrawer";
        }
 
        static std::string GetDefaultName();
 
        void onInitComponent() override;
        void onConnectComponent() override;
        void onDisconnectComponent() override;
        void onExitComponent() override;
 
 
        void setObjectVisu(const std::string& layerName,
                           const std::string& objectName,
                           const memoryx::ObjectClassBasePtr& objectClassBase,
                           const armarx::PoseBasePtr& globalPose,
                           const Ice::Current& c = Ice::emptyCurrent) override;
        void setObjectVisuByName(const std::string& layerName,
                                 const std::string& customObjectName,
                                 const std::string& objectClassName,
                                 const armarx::PoseBasePtr& globalPose,
                                 const Ice::Current& c = Ice::emptyCurrent) override;
        void updateObjectPose(const std::string& layerName,
                              const std::string& objectName,
                              const armarx::PoseBasePtr& globalPose,
                              const Ice::Current& c = Ice::emptyCurrent) override;
        /*!
         * \brief updateObjectColor Colorizes the object visualization
         * \param layerName The layer
         * \param objectName The object identifier
         * \param c The draw color, if all is set to 0, the colorization is disabled (i.e. the original vizualization shows up)
         */
        void updateObjectColor(const std::string& layerName,
                               const std::string& objectName,
                               const armarx::DrawColor& color,
                               const Ice::Current& c = Ice::emptyCurrent) override;
 
        void updateObjectTransparency(const std::string& layerName,
                                      const std::string& objectName,
                                      float alpha,
                                      const Ice::Current& c = Ice::emptyCurrent) override;
        void removeObjectVisu(const std::string& layerName,
                              const std::string& objectName,
                              const Ice::Current& c = Ice::emptyCurrent) override;
 
        /*!
         * \see PropertyUser::createPropertyDefinitions()
         */
        armarx::PropertyDefinitionsPtr
        createPropertyDefinitions() override
        {
            return armarx::PropertyDefinitionsPtr(
                new EntityDrawerPropertyDefinitions(getConfigIdentifier()));
        }
 
        ~EntityDrawerComponent() override;
 
    protected:
        struct EntityData : public DrawData
        {
            EntityData()
            {
                updateColor = false;
                updatePose = false;
            }
 
            memoryx::ObjectClassPtr objectClass;
 
            bool updateColor;
            VirtualRobot::VisualizationFactory::Color color;
 
            bool updatePose;
            Eigen::Matrix4f globalPose;
        };
 
        struct EntityUpdateData
        {
            std::map<std::string, EntityData> entities;
        };
 
        EntityUpdateData accumulatedCustomUpdateData;
 
        void onUpdateVisualization() override;
        void removeCustomVisu(const std::string& layerName, const std::string& name) override;
 
        void drawEntity(const EntityData& d);
 
        void removeEntity(const std::string& layerName, const std::string& name);
 
        VirtualRobot::SceneObjectPtr requestEntity(const EntityData& d);
 
        std::map<std::string, VirtualRobot::SceneObjectPtr> activeObjects;
        std::map<std::string, VirtualRobot::ManipulationObjectPtr> objectCache;
 
        memoryx::PriorKnowledgeInterfacePrx priorKnowledgePrx;
        memoryx::PersistentObjectClassSegmentBasePrx objectClassSegment;
 
        GridFileManagerPtr fileManager;
 
 
        void onRemoveAccumulatedData(const std::string& layerName) override;
    };
 
    using EntityDrawerComponentPtr = IceInternal::Handle<EntityDrawerComponent>;
 
} // namespace memoryx