robot_conversions.cpp

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#include "robot_conversions.h"
 
#include <filesystem>
 
#include <ArmarXCore/core/logging/Logging.h>
 
#include <RobotAPI/libraries/armem/core/aron_conversions.h>
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem_robot_state/aron/RobotDescription.aron.generated.h>
#include <RobotAPI/libraries/armem_robot_state/aron_conversions.h>
#include <RobotAPI/libraries/aron/common/aron_conversions.h>
 
 
namespace fs = ::std::filesystem;
 
namespace armarx::armem::robot_state
{
 
    std::optional<description::RobotDescription>
    convertRobotDescription(const armem::wm::EntityInstance& instance)
    {
        arondto::RobotDescription aronRobotDescription;
        try
        {
            aronRobotDescription.fromAron(instance.data());
        }
        catch (...)
        {
            ARMARX_WARNING << "Conversion to RobotDescription failed!";
            return std::nullopt;
        }
 
        description::RobotDescription robotDescription{
            .name = "",
            .xml = ::armarx::PackagePath("", fs::path("")), // initialize empty, no default c'tor
            .visualization = {},
            .info = {}
        };
 
        fromAron(aronRobotDescription, robotDescription);
 
        return robotDescription;
    }
 
    std::optional<RobotState>
    convertRobotState(const armem::wm::EntityInstance& instance)
    {
        arondto::Robot aronRobot;
        try
        {
            aronRobot.fromAron(instance.data());
        }
        catch (...)
        {
            ARMARX_WARNING << "Conversion to RobotState failed!";
            return std::nullopt;
        }
 
        RobotState robotState;
        fromAron(aronRobot.state, robotState);
 
        return robotState;
    }
 
} // namespace armarx::armem::robot_state