GraspMemory.h

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#pragma once
 
 
#include <cstdint>
#include <memory>
 
#include <VirtualRobot/VirtualRobot.h>
 
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/services/tasks/RunningTask.h>
#include <ArmarXCore/interface/observers/ObserverInterface.h>
 
#include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.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 <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
#include <RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h>
#include <RobotAPI/libraries/armem_grasping/server/KnownGraspProviderSegment.h>
 
namespace armarx::armem::server::grasp
{
    /**
     * @defgroup Component-GraspMemory GraspMemory
     * @ingroup RobotAPI-Components
     * A description of the component GraspMemory.
     *
     * @class GraspMemory
     * @ingroup Component-GraspMemory
     * @brief Brief description of class GraspMemory.
     *
     * Detailed description of class GraspMemory.
     */
    class GraspMemory :
        virtual public armarx::Component,
        virtual public armem::server::ReadWritePluginUser,
        virtual public armarx::LightweightRemoteGuiComponentPluginUser,
        virtual public armarx::ArVizComponentPluginUser,
        virtual public armarx::ObjectPoseClientPluginUser
    {
    public:
        GraspMemory();
 
        /// @see armarx::ManagedIceObject::getDefaultName()
        std::string getDefaultName() const override;
 
 
    public:
        armem::data::CommitResult commit(const armem::data::Commit& commit,
                                         const Ice::Current&) override;
 
 
    public:
        armem::actions::GetActionsOutputSeq
        getActions(const armem::actions::GetActionsInputSeq& inputs) override;
        armem::actions::ExecuteActionOutputSeq
        executeActions(const armem::actions::ExecuteActionInputSeq& inputs) override;
 
        void createRemoteGuiTab();
        void RemoteGui_update() override;
 
 
    protected:
        PropertyDefinitionsPtr createPropertyDefinitions() override;
 
        void onInitComponent() override;
        void onConnectComponent() override;
        void onDisconnectComponent() override;
        void onExitComponent() override;
 
 
    private:
        DebugObserverInterfacePrx debugObserver;
 
        struct CoreSegmentProperties
        {
            std::int64_t maxHistorySize = 100;
        };
 
        struct Properties
        {
            struct CoreSegments
            {
                CoreSegmentProperties graspCandidate;
                CoreSegmentProperties bimanualGraspCandidate;
                CoreSegmentProperties knownGraspCandidate;
            } coreSeg;
        };
 
        Properties properties_;
 
        // segments
        armem::grasping::segment::KnownGraspProviderSegment knownGraspProviderSegment;
 
        struct RemoteGuiTab : RemoteGui::Client::Tab
        {
            std::atomic_bool rebuild = false;
 
            // RemoteGui::Client::ComboBox selectCoreSegment;
            RemoteGui::Client::ComboBox selectProvider;
            RemoteGui::Client::ComboBox selectEntity;
            RemoteGui::Client::ComboBox selectSnapshot;
            RemoteGui::Client::CheckBox showUnlimitedInstances;
            RemoteGui::Client::IntSpinBox maxInstances;
            RemoteGui::Client::Button selectAll;
            RemoteGui::Client::Button deselectAll;
            std::map<std::string, RemoteGui::Client::CheckBox> checkInstances;
        };
 
        struct GuiInfo
        {
            // int coreSegIndex = 0;
            int providerIndex = 0;
            int entityIndex = 0;
            int snapshotIndex = 0;
 
            int maxInstances = 10;
            bool unlimitedInstances = false;
 
            RemoteGuiTab tab;
 
            std::string coreSegment = "GraspCandidate";
            std::string provider = "";
            std::string entity = "";
            std::string snapshot = "";
 
            std::map<std::string, Time> timeMap;
 
            std::mutex visualizationMutex;
            std::vector<armem::MemoryID> visibleInstanceIds;
            std::vector<std::string> activeLayers;
            std::vector<armem::MemoryID> trackedEntityIds;
            bool trackNewEntities{true};
        };
 
        GuiInfo gui;
 
        bool enableRemoteGui{true};
 
        bool enableVisualizeKnownGraspCandidates = false;
        bool enableVisualizeKnownGraspCandidatesPreposes = false;
        bool enableVisualizeKnownGraspCandidatesApproach = false;
 
 
        std::size_t frequencyHzVisualizeKnownGraspCandidates = 5;
 
        void visualizeGraspCandidates();
        void visualizeKnownGraspCandidates();
 
        void addInstanceToVisu(const armem::MemoryID& instance);
        void removeInstanceFromVisu(const armem::MemoryID& instance);
        void addToHighlightLayer(const armem::MemoryID& memoryID, const std::string color);
 
 
        armem::client::plugins::ReaderWriterPlugin<armem::robot_state::VirtualRobotReader>*
            virtualRobotReaderPlugin = nullptr;
 
 
        std::map<std::string, VirtualRobot::RobotPtr> robots;
 
        RunningTask<GraspMemory>::pointer_type taskVisuKnownGrasps;
 
        std::map<std::string, viz::Layer> graspVisuPerObject;
    };
} // namespace armarx::armem::server::grasp