Component.cpp

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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::navigation_skill_provider
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @date       2023
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
 
#include "Component.h"
 
#include <ArmarXCore/libraries/DecoupledSingleComponent/Decoupled.h>
 
#include <armarx/navigation/skills/GuideHumanToRoom.h>
#include <armarx/navigation/skills/MoveRelativePlanar.h>
#include <armarx/navigation/skills/MoveXMeters.h>
#include <armarx/navigation/skills/NavigateTo.h>
#include <armarx/navigation/skills/NavigateToChargingStation.h>
#include <armarx/navigation/skills/NavigateToLocation.h>
#include <armarx/navigation/skills/RotateXDegrees.h>
#include <armarx/navigation/skills/constants.h>
 
namespace armarx::navigation::components::navigation_skill_provider
{
    Component::Component()
    {
        addPlugin(virtualRobotReaderPlugin);
        addPlugin(costmapReaderPlugin);
        addPlugin(graphReaderPlugin);
        addPlugin(roomsReaderPlugin);
    }
 
    const std::string Component::defaultName = skills::constants::NavigationSkillProviderName;
 
    armarx::PropertyDefinitionsPtr
    Component::createPropertyDefinitions()
    {
        armarx::PropertyDefinitionsPtr def =
            new armarx::ComponentPropertyDefinitions(getConfigIdentifier());
 
        def->component(navigatorPrx, "navigator");
 
        def->required(properties.robotName, "RobotName", "Default robot name.");
 
        auto optionalSubSkillID =
            [&def](armarx::skills::SkillID& skillID, const std::string& nameBase)
        {
            ARMARX_CHECK(skillID.providerId.has_value());
            def->optional(skillID.providerId->providerName, nameBase + ".providerName");
            def->optional(skillID.skillName, nameBase + ".skillName");
        };
 
        optionalSubSkillID(properties.navigateToNamedLocation.subSkillIDs.navigateToLocation,
                           "p.navigateToNamedLocation.subSkillIDs.navigateToLocation");
        optionalSubSkillID(properties.navigateToChargingStation.subSkillIDs.navigateToNamedLocation,
                           "p.navigateToChargingStation.subSkillIDs.navigateToNamedLocation");
 
        return def;
    }
 
    void
    Component::onInitComponent()
    {
        // Topics and properties defined above are automagically registered.
 
        // Keep debug observer data until calling `sendDebugObserverBatch()`.
        // (Requies the armarx::DebugObserverComponentPluginUser.)
        // setDebugObserverBatchModeEnabled(true);
    }
 
    void
    Component::onConnectComponent()
    {
        // Do things after connecting to topics and components.
 
        iceNavigator.setNavigatorComponent(navigatorPrx);
 
        {
            skills::NavigateTo::Services srv{
                .iceNavigator = iceNavigator,
                .memoryNameSystem = memoryNameSystem(),
            };
            addSkillFactory<skills::NavigateTo>(srv);
        }
 
        {
            skills::NavigateToLocation::Services srv{
                .iceNavigator = iceNavigator,
                .memoryNameSystem = memoryNameSystem(),
            };
            addSkillFactory<skills::NavigateToLocation>(srv);
        }
 
        {
            skills::NavigateToNamedLocation::Services services{
                .locationReader = graphReaderPlugin->get(),
            };
            addSkillFactory<skills::NavigateToNamedLocation>(properties.navigateToNamedLocation,
                                                             services);
        }
 
        {
            addSkillFactory<skills::NavigateToChargingStation>(
                properties.navigateToChargingStation);
        }
 
        {
            skills::MoveXMeters::Services srv{
                .iceNavigator = iceNavigator,
                .memoryNameSystem = memoryNameSystem(),
            };
            addSkillFactory<skills::MoveXMeters>(srv);
        }
 
        {
 
            skills::RotateXDegrees::Services srv{
                .iceNavigator = iceNavigator,
                .memoryNameSystem = memoryNameSystem(),
            };
            addSkillFactory<skills::RotateXDegrees>(srv);
        }
 
        {
            skills::MoveRelativePlanar::Properties properties{
                .robotName = this->properties.robotName,
            };
            skills::MoveRelativePlanar::Services srv{
                .iceNavigator = iceNavigator,
                .memoryNameSystem = memoryNameSystem(),
                .robotReader = virtualRobotReaderPlugin->get(),
            };
            addSkillFactory<skills::MoveRelativePlanar>(properties, srv);
        }
 
        {
            ARMARX_CHECK_NOT_NULL(virtualRobotReaderPlugin);
            ARMARX_CHECK_NOT_NULL(virtualRobotReaderPlugin);
            ARMARX_CHECK_NOT_NULL(roomsReaderPlugin);
 
            skills::GuideHumanToRoom::Services srv{.iceNavigator = iceNavigator,
                                                   .memoryNameSystem = memoryNameSystem(),
                                                   .virtualRobotReader =
                                                       virtualRobotReaderPlugin->get(),
                                                   .costmapReader = costmapReaderPlugin->get(),
                                                   .roomsReader = roomsReaderPlugin->get(),
                                                   .arviz = arviz};
 
            addSkillFactory<skills::GuideHumanToRoom>(srv);
        }
 
 
        /* (Requies the armarx::DebugObserverComponentPluginUser.)
        // Use the debug observer to log data over time.
        // The data can be viewed in the ObserverView and the LivePlotter.
        // (Before starting any threads, we don't need to lock mutexes.)
        {
            setDebugObserverDatafield("numBoxes", properties.numBoxes);
            setDebugObserverDatafield("boxLayerName", properties.boxLayerName);
            sendDebugObserverBatch();
        }
        */
 
        /* (Requires the armarx::ArVizComponentPluginUser.)
        // Draw boxes in ArViz.
        // (Before starting any threads, we don't need to lock mutexes.)
        drawBoxes(properties, arviz);
        */
 
        /* (Requires the armarx::LightweightRemoteGuiComponentPluginUser.)
        // Setup the remote GUI.
        {
            createRemoteGuiTab();
            RemoteGui_startRunningTask();
        }
        */
    }
 
    void
    Component::onDisconnectComponent()
    {
    }
 
    void
    Component::onExitComponent()
    {
    }
 
    std::string
    Component::getDefaultName() const
    {
        return Component::defaultName;
    }
 
    std::string
    Component::GetDefaultName()
    {
        return Component::defaultName;
    }
 
    /* (Requires the armarx::LightweightRemoteGuiComponentPluginUser.)
    void
    Component::createRemoteGuiTab()
    {
        using namespace armarx::RemoteGui::Client;
 
        // Setup the widgets.
 
        tab.boxLayerName.setValue(properties.boxLayerName);
 
        tab.numBoxes.setValue(properties.numBoxes);
        tab.numBoxes.setRange(0, 100);
 
        tab.drawBoxes.setLabel("Draw Boxes");
 
        // Setup the layout.
 
        GridLayout grid;
        int row = 0;
        {
            grid.add(Label("Box Layer"), {row, 0}).add(tab.boxLayerName, {row, 1});
            ++row;
 
            grid.add(Label("Num Boxes"), {row, 0}).add(tab.numBoxes, {row, 1});
            ++row;
 
            grid.add(tab.drawBoxes, {row, 0}, {2, 1});
            ++row;
        }
 
        VBoxLayout root = {grid, VSpacer()};
        RemoteGui_createTab(getName(), root, &tab);
    }
 
 
    void
    Component::RemoteGui_update()
    {
        if (tab.boxLayerName.hasValueChanged() || tab.numBoxes.hasValueChanged())
        {
            std::scoped_lock lock(propertiesMutex);
            properties.boxLayerName = tab.boxLayerName.getValue();
            properties.numBoxes = tab.numBoxes.getValue();
 
            {
                setDebugObserverDatafield("numBoxes", properties.numBoxes);
                setDebugObserverDatafield("boxLayerName", properties.boxLayerName);
                sendDebugObserverBatch();
            }
        }
        if (tab.drawBoxes.wasClicked())
        {
            // Lock shared variables in methods running in seperate threads
            // and pass them to functions. This way, the called functions do
            // not need to think about locking.
            std::scoped_lock lock(propertiesMutex, arvizMutex);
            drawBoxes(properties, arviz);
        }
    }
    */
 
 
    /* (Requires the armarx::ArVizComponentPluginUser.)
    void
    Component::drawBoxes(const Component::Properties& p, viz::Client& arviz)
    {
        // Draw something in ArViz (requires the armarx::ArVizComponentPluginUser.
        // See the ArVizExample in RobotAPI for more examples.
 
        viz::Layer layer = arviz.layer(p.boxLayerName);
        for (int i = 0; i < p.numBoxes; ++i)
        {
            layer.add(viz::Box("box_" + std::to_string(i))
                      .position(Eigen::Vector3f(i * 100, 0, 0))
                      .size(20).color(simox::Color::blue()));
        }
        arviz.commit(layer);
    }
    */
 
 
    ARMARX_REGISTER_COMPONENT_EXECUTABLE(Component, Component::GetDefaultName());
 
} // namespace armarx::navigation::components::navigation_skill_provider