WorkingMemoryToArViz.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    MemoryX::ArmarXObjects::WorkingMemoryToArViz
 * @author     Rainer Kartmann ( rainer dot kartmann at kit dot edu )
 * @date       2020
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "WorkingMemoryToArViz.h"
 
#include <SimoxUtility/algorithm/string.h>
 
#include <ArmarXCore/core/time/CycleUtil.h>
 
namespace armarx
{
    WorkingMemoryToArVizPropertyDefinitions::WorkingMemoryToArVizPropertyDefinitions(
        std::string prefix) :
        armarx::ComponentPropertyDefinitions(prefix)
    {
    }
 
    armarx::PropertyDefinitionsPtr
    WorkingMemoryToArViz::createPropertyDefinitions()
    {
        ARMARX_TRACE;
        armarx::PropertyDefinitionsPtr defs =
            (new WorkingMemoryToArVizPropertyDefinitions(getConfigIdentifier()));
 
        defs->defineOptionalProperty<std::string>(
            "PriorKnowledgeName", "PriorKnowledge", "Prior knowledge name.");
        defs->defineOptionalProperty<std::string>(
            "WorkingMemoryName", "WorkingMemory", "Working memory name.");
        defs->defineOptionalProperty<std::string>(
            "RobotStateComponentName", "RobotStateComponent", "Robot state component name.");
 
 
        defs->defineOptionalProperty<std::string>(
            "ObjectClassBlackWhitelistTopic",
            "WorkingMemoryToArVizObjectClassBlackWhitelistUpdates",
            "The topic where updates to the object class black-whitelist are published.");
        defs->defineOptionalProperty<std::vector<std::string>>(
                "ObjectClassWhitelist",
                {},
                "If not empty, only these object classes are shown (comma separated list).")
            .map("[empty whitelist]", {});
        defs->defineOptionalProperty<std::vector<std::string>>(
                "ObjectClassBlacklist",
                {},
                "These object classes will never be shown (comma separated list).")
            .map("[empty blacklist]", {});
 
 
        defs->optional(
            p.updateFrequency, "p.UpdateFrequency", "Target number of updates per second.");
 
        defs->optional(p.floor.show, "p.floor.Show", "Whether to show the floor.");
        defs->optional(
            p.floor.height,
            "p.floor.Height",
            "Height (z) of the floor plane. \n"
            "Set slightly below 0 to avoid z-fighting when drawing planes on the ground.");
        defs->optional(p.loadObjectDatasetsStr,
                       "p.loadDatasets",
                       "Only load the files for the following datasets, separated by ;. Load all "
                       "if input is empty.");
 
 
        return defs;
    }
 
    std::string
    WorkingMemoryToArViz::getDefaultName() const
    {
        return "WorkingMemoryToArViz";
    }
 
    void
    WorkingMemoryToArViz::onInitComponent()
    {
        ARMARX_TRACE;
        usingProxyFromProperty("PriorKnowledgeName");
        usingProxyFromProperty("WorkingMemoryName");
        usingProxyFromProperty("RobotStateComponentName");
 
        usingTopicFromProperty("ObjectClassBlackWhitelistTopic");
    }
 
    void
    WorkingMemoryToArViz::onConnectComponent()
    {
        ARMARX_TRACE;
        getProxyFromProperty(priorKnowledge, "PriorKnowledgeName");
        getProxyFromProperty(workingMemory, "WorkingMemoryName");
        getProxyFromProperty(robotStateComponent, "RobotStateComponentName");
 
        auto datasets = simox::alg::split(p.loadObjectDatasetsStr, ";");
 
        drawer.setArViz(arviz);
        drawer.initFromProxies(priorKnowledge, workingMemory, robotStateComponent, datasets);
        {
            ARMARX_TRACE;
            armarx::BlackWhitelistUpdate update;
            getProperty(update.whitelist.set, "ObjectClassWhitelist");
            getProperty(update.blacklist.set, "ObjectClassBlacklist");
            drawer.updateObjectClassBlackWhitelist(update);
        }
 
        if (p.floor.show > 0)
        {
            drawer.updateFloorObject(p.floor.height);
        }
 
        // A periodic task logs an important info when the cycle time is not met.
        // To avoid this, we use a running task.
        task = new armarx::SimpleRunningTask<>(
            [this]()
            {
                ARMARX_TRACE_LITE;
                CycleUtil cycle(int(1000 / p.updateFrequency));
 
                while (task && !task->isStopped())
                {
                    {
                        std::scoped_lock lock(drawerMutex);
                        drawer.updateObjects();
                    }
                    cycle.waitForCycleDuration();
                }
            });
 
        task->start();
    }
 
    void
    WorkingMemoryToArViz::onDisconnectComponent()
    {
        ARMARX_TRACE;
        if (task)
        {
            task->stop();
            task = nullptr;
        }
    }
 
    void
    WorkingMemoryToArViz::onExitComponent()
    {
        ARMARX_TRACE;
    }
 
    void
    WorkingMemoryToArViz::updateBlackWhitelist(const BlackWhitelistUpdate& update,
                                               const Ice::Current&)
    {
        ARMARX_TRACE;
        std::scoped_lock lock(drawerMutex);
        drawer.updateObjectClassBlackWhitelist(update);
    }
 
    void
    WorkingMemoryToArViz::attachObjectToRobotNode(
        const memoryx::AttachObjectToRobotNodeInput& input,
        const Ice::Current&)
    {
        ARMARX_TRACE;
        std::scoped_lock lock(drawerMutex);
        drawer.attachObjectToRobotNode(input);
    }
 
    void
    WorkingMemoryToArViz::detachObjectFromRobotNode(
        const memoryx::DetachObjectFromRobotNodeInput& input,
        const Ice::Current&)
    {
        ARMARX_TRACE;
        std::scoped_lock lock(drawerMutex);
        drawer.detachObjectFromRobotNode(input);
    }
 
} // namespace armarx