Component.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    navigation::ArmarXObjects::human_simulator
 * @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 <mutex>
 
#include <string>
#include <VirtualRobot/VirtualRobot.h>
#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
#include <ArmarXCore/core/Component.h>
 
#include "RobotAPI/libraries/ArmarXObjects/plugins/ObjectPoseClientPlugin.h"
#include "RobotAPI/libraries/armem/client/plugins/ReaderWriterPlugin.h"
#include "RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h"
 
// #include <ArmarXCore/libraries/ArmarXCoreComponentPlugins/DebugObserverComponentPlugin.h>
 
// #include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
 
#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
 
#include <armarx/navigation/memory/client/costmap/Reader.h>
#include <armarx/navigation/memory/client/human/Writer.h>
#include <armarx/navigation/simulation/SimulatedHuman.h>
// #include <Simulator.h>
#include "RVO.h"
#include <armarx/navigation/components/human_simulator/ComponentInterface.h>
 
namespace armarx::navigation::components::human_simulator
{
 
    class Component :
        virtual public armarx::Component,
        virtual public armarx::navigation::components::human_simulator::ComponentInterface,
        virtual public armarx::ObjectPoseClientPluginUser,
        // , virtual public armarx::DebugObserverComponentPluginUser
        // , virtual public armarx::LightweightRemoteGuiComponentPluginUser
        virtual public armarx::ArVizComponentPluginUser
    {
    public:
        Component();
 
        /// @see armarx::ManagedIceObject::getDefaultName()
        std::string getDefaultName() const override;
 
        /// Get the component's default name.
        static std::string GetDefaultName();
 
 
    protected:
        /// @see PropertyUser::createPropertyDefinitions()
        armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
 
        /// @see armarx::ManagedIceObject::onInitComponent()
        void onInitComponent() override;
 
        /// @see armarx::ManagedIceObject::onConnectComponent()
        void onConnectComponent() override;
 
        /// @see armarx::ManagedIceObject::onDisconnectComponent()
        void onDisconnectComponent() override;
 
        /// @see armarx::ManagedIceObject::onExitComponent()
        void onExitComponent() override;
 
 
        /* (Requires armarx::LightweightRemoteGuiComponentPluginUser.)
        /// This function should be called once in onConnect() or when you
        /// need to re-create the Remote GUI tab.
        void createRemoteGuiTab();
 
        /// After calling `RemoteGui_startRunningTask`, this function is
        /// called periodically in a separate thread. If you update variables,
        /// make sure to synchronize access to them.
        void RemoteGui_update() override;
        */
 
 
    private:
        // Private methods go here.
 
        // Forward declare `Properties` if you used it before its defined.
        // struct Properties;
 
        /* (Requires the armarx::ArVizComponentPluginUser.)
        /// Draw some boxes in ArViz.
        void drawBoxes(const Properties& p, viz::Client& arviz);
        */
 
        void runPeriodically();
 
        void setPreferredVelocities(RVO::RVOSimulator* simulator,
                                    const std::vector<RVO::Vector2>& goals);
 
 
    private:
        static const std::string defaultName;
 
        PeriodicTask<Component>::pointer_type task;
 
 
        // Private member variables go here.
 
 
        /// Properties shown in the Scenario GUI.
        struct Properties
        {
            int taskPeriodMs = 100;
 
 
            std::size_t nHumans = 4;
 
            human::simulation::SimulatedHumanParams humanParams;
 
            std::string robotName = "Armar6";
 
            std::string objectPoseProviderName = "R003_grasping_challenge";
        };
        Properties properties;
        /* Use a mutex if you access variables from different threads
         * (e.g. ice functions and RemoteGui_update()).
        std::mutex propertiesMutex;
        */
 
 
        /* (Requires the armarx::LightweightRemoteGuiComponentPluginUser.)
        /// Tab shown in the Remote GUI.
        struct RemoteGuiTab : armarx::RemoteGui::Client::Tab
        {
            armarx::RemoteGui::Client::LineEdit boxLayerName;
            armarx::RemoteGui::Client::IntSpinBox numBoxes;
 
            armarx::RemoteGui::Client::Button drawBoxes;
        };
        RemoteGuiTab tab;
        */
 
 
        /* (Requires the armarx::ArVizComponentPluginUser.)
         * When used from different threads, an ArViz client needs to be synchronized.
        /// Protects the arviz client inherited from the ArViz plugin.
        std::mutex arvizMutex;
        */
 
        template <typename T>
        using ReaderWriterPlugin = armem::client::plugins::ReaderWriterPlugin<T>;
 
        VirtualRobot::RobotPtr robot;
 
        std::size_t robotAgentId;
 
        ReaderWriterPlugin<armem::robot_state::VirtualRobotReader>* virtualRobotReaderPlugin =
            nullptr;
 
        ReaderWriterPlugin<memory::client::costmap::Reader>* costmapReaderPlugin = nullptr;
 
 
        ReaderWriterPlugin<memory::client::human::Writer>* humanWriterPlugin = nullptr;
 
 
        std::vector<human::simulation::SimulatedHuman> simulatedHumans;
 
        // hrvo::Simulator simulator;
        RVO::RVOSimulator simulator;
 
        std::vector<RVO::Vector2> goals;
    };
 
} // namespace armarx::navigation::components::human_simulator