ik_demo.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    skills::ArmarXObjects::armar6_ik_demo
 * @author     Rainer Kartmann ( rainer dot kartmann at kit dot edu )
 * @date       2022
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
 
#include "ik_demo.h"
 
#include <Eigen/Core>
 
#include <SimoxUtility/color/Color.h>
 
// #include <ArmarXCore/libraries/DecoupledSingleComponent/Decoupled.h>
#include <ArmarXCore/core/time/CycleUtil.h>
 
#include <RobotAPI/components/ArViz/Client/Client.h>
 
#include "IkDemo.h"
 
 
namespace viz = armarx::viz;
 
namespace armar6::skills::components::armar6_ik_demo
{
 
    const std::string ik_demo::defaultName = "IkDemo";
 
    ik_demo::ik_demo() : impl(new IkDemo)
    {
    }
 
    armarx::PropertyDefinitionsPtr
    ik_demo::createPropertyDefinitions()
    {
        armarx::PropertyDefinitionsPtr def =
            new armarx::ComponentPropertyDefinitions(getConfigIdentifier());
 
        // Publish to a topic (passing the TopicListenerPrx).
        // def->topic(myTopicListener);
 
        // Subscribe to a topic (passing the topic name).
        // def->topic<PlatformUnitListener>("MyTopic");
 
        // Use (and depend on) another component (passing the ComponentInterfacePrx).
        // def->component(myComponentProxy)
 
        impl->defineProperties(*def);
 
 
        // Add a required property. (The component won't start without a value being set.)
        // def->required(properties.boxLayerName, "p.box.LayerName", "Name of the box layer in ArViz.");
 
        // Add an optionalproperty.
        // def->optional(properties.numBoxes, "p.box.Number", "Number of boxes to draw in ArViz.");
 
        return def;
    }
 
    void
    ik_demo::onInitComponent()
    {
        // Topics and properties defined above are automagically registered.
 
        // Keep debug observer data until calling `sendDebugObserverBatch()`.
        // (Requies the armarx::DebugObserverComponentPluginUser.)
        // setDebugObserverBatchModeEnabled(true);
    }
 
    void
    ik_demo::onConnectComponent()
    {
        impl->remote.arviz = arviz;
 
        task = new armarx::SimpleRunningTask<>([this]() { this->run(); });
        task->start();
 
        /* (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::LightweightRemoteGuiComponentPluginUser.)
        // Setup the remote GUI.
        {
            createRemoteGuiTab();
            RemoteGui_startRunningTask();
        }
        */
    }
 
    void
    ik_demo::onDisconnectComponent()
    {
        const bool join = true;
        task->stop(join);
        task = nullptr;
    }
 
    void
    ik_demo::onExitComponent()
    {
    }
 
    void
    ik_demo::run()
    {
        impl->start();
 
        armarx::CycleUtil cycle(10.0f);
        while (!task->isStopped())
        {
            impl->update();
 
            cycle.waitForCycleDuration();
        }
    }
 
    std::string
    ik_demo::getDefaultName() const
    {
        return ik_demo::defaultName;
    }
 
    std::string
    ik_demo::GetDefaultName()
    {
        return ik_demo::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);
        }
    }
    */
 
 
    // ARMARX_REGISTER_COMPONENT_EXECUTABLE(ik_demo, ik_demo::GetDefaultName());
 
} // namespace armar6::skills::components::armar6_ik_demo