SegmentAdapter.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    RobotAPI::armem_objects::Adapter
 * @author     Rainer Kartmann ( rainer dot kartmann at kit dot edu )
 * @date       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <mutex>
 
#include <VirtualRobot/VirtualRobot.h>
#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
 
#include <ArmarXGui/libraries/RemoteGui/Client/Widgets.h>
 
#include "RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h"
#include <RobotAPI/components/ArViz/Client/Client.h>
#include <RobotAPI/interface/armem/server/ObjectMemoryInterface.h>
#include <RobotAPI/interface/core/RobotState.h>
#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
#include <RobotAPI/libraries/armem_objects/server/instance/Decay.h>
#include <RobotAPI/libraries/armem_objects/server/instance/RobotHeadMovement.h>
#include <RobotAPI/libraries/armem_objects/server/instance/Segment.h>
#include <RobotAPI/libraries/armem_objects/server/instance/Visu.h>
 
 
#define ICE_CURRENT_ARG const Ice::Current& = Ice::emptyCurrent
 
namespace armarx::armem::server::obj::instance
{
 
    /**
     * @brief Helps implementing the `armarx::armem::server::ObjectInstanceSegmentInterface`.
     */
    class SegmentAdapter :
        virtual public armarx::Logging,
        virtual public armarx::armem::server::ObjectInstanceSegmentInterface
    {
    public:
        SegmentAdapter(MemoryToIceAdapter& iceMemory);
 
        std::string getName() const;
        void defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix = "");
 
        void init();
        void connect(robot_state::VirtualRobotReader* virtualRobotReader,
                     KinematicUnitObserverInterfacePrx kinematicUnitObserver,
                     viz::Client arviz,
                     DebugObserverInterfacePrx debugObserver);
 
        void disconnect();
 
 
        // ObjectPoseTopic interface
    public:
        virtual void reportProviderAvailable(const std::string& providerName,
                                             const objpose::ProviderInfo& info,
                                             ICE_CURRENT_ARG) override;
        virtual void reportObjectPoses(const std::string& providerName,
                                       const objpose::data::ProvidedObjectPoseSeq& objectPoses,
                                       ICE_CURRENT_ARG) override;
 
        // ObjectInstanceSegmentInterface interface
    public:
        // OBJECT POSES
 
        virtual objpose::data::ObjectPoseSeq getObjectPoses(ICE_CURRENT_ARG) override;
        virtual objpose::data::ObjectPoseSeq
        getObjectPosesByProvider(const std::string& providerName, ICE_CURRENT_ARG) override;
 
        // PROVIDER INFORMATION
 
        virtual bool hasProvider(const std::string& providerName, ICE_CURRENT_ARG) override;
        virtual objpose::ProviderInfo getProviderInfo(const std::string& providerName,
                                                      ICE_CURRENT_ARG) override;
        virtual Ice::StringSeq getAvailableProviderNames(ICE_CURRENT_ARG) override;
        virtual objpose::ProviderInfoMap getAvailableProvidersInfo(ICE_CURRENT_ARG) override;
 
 
        // REQUESTING
 
        virtual objpose::observer::RequestObjectsOutput
        requestObjects(const objpose::observer::RequestObjectsInput& input,
                       ICE_CURRENT_ARG) override;
 
        // ATTACHING
 
        virtual objpose::AttachObjectToRobotNodeOutput
        attachObjectToRobotNode(const objpose::AttachObjectToRobotNodeInput& input,
                                ICE_CURRENT_ARG) override;
        virtual objpose::DetachObjectFromRobotNodeOutput
        detachObjectFromRobotNode(const objpose::DetachObjectFromRobotNodeInput& input,
                                  ICE_CURRENT_ARG) override;
        virtual objpose::DetachAllObjectsFromRobotNodesOutput
        detachAllObjectsFromRobotNodes(const objpose::DetachAllObjectsFromRobotNodesInput& input,
                                       ICE_CURRENT_ARG) override;
 
        virtual objpose::AgentFramesSeq getAttachableFrames(ICE_CURRENT_ARG) override;
 
        // HEAD MOVEMENT SIGNALS
 
        virtual objpose::SignalHeadMovementOutput
        signalHeadMovement(const objpose::SignalHeadMovementInput& input, ICE_CURRENT_ARG) override;
 
        // PREDICTING
 
        virtual objpose::ObjectPosePredictionResultSeq
        predictObjectPoses(const objpose::ObjectPosePredictionRequestSeq& requests,
                           ICE_CURRENT_ARG) override;
 
        virtual armem::prediction::data::PredictionEngineSeq
            getAvailableObjectPoseEngines(ICE_CURRENT_ARG) override;
 
 
    private:
        void updateProviderInfo(const std::string& providerName, const objpose::ProviderInfo& info);
 
        void updateObjectPoses(const std::string& providerName,
                               const objpose::data::ProvidedObjectPoseSeq& providedPoses);
        void handleProviderUpdate(const std::string& providerName);
 
 
        // Visualization
 
        void visualizeRun();
 
 
    public:
        static const std::string linearPredictionEngineID;
        static const std::vector<PredictionEngine> predictionEngines;
 
 
    private:
        viz::Client arviz;
        DebugObserverInterfacePrx debugObserver;
 
        instance::Segment segment;
 
        instance::RobotHeadMovement robotHead;
        std::mutex robotHeadMutex;
 
        instance::Visu visu;
        std::mutex visuMutex;
 
        Segment::Calibration calibration;
 
        armarx::SimpleRunningTask<>::pointer_type attachmentUpdateTask;
 
        bool enableContinuousAttachmentUpdates = true;
 
    public:
        struct RemoteGui
        {
            armarx::RemoteGui::Client::GroupBox group;
            armarx::RemoteGui::Client::VBoxLayout layout;
 
            instance::Visu::RemoteGui visu;
            instance::Segment::RemoteGui segment;
            instance::Decay::RemoteGui decay;
            instance::RobotHeadMovement::RemoteGui robotHead;
 
            void setup(const SegmentAdapter& adapter);
            void update(SegmentAdapter& adapter);
        };
    };
 
} // namespace armarx::armem::server::obj::instance
 
#undef ICE_CURRENT_ARG