InterventionDebugger.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::ArmarXObjects::InterventionDebugger
 * @date       2026
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/interface/components/EmergencyStopInterface.h>
 
#include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
#include <ArmarXGui/libraries/RemoteGui/Client/Tab.h>
#include <ArmarXGui/libraries/RemoteGui/Client/Widgets.h>
 
#include <RobotAPI/interface/units/GamepadUnit.h>
 
namespace armarx
{
    using namespace armarx::RemoteGui::Client;
 
    class InterventionDebuggerPropertyDefinitions : public armarx::ComponentPropertyDefinitions
    {
    public:
        InterventionDebuggerPropertyDefinitions(std::string prefix) :
            armarx::ComponentPropertyDefinitions(prefix)
        {
            defineOptionalProperty<std::string>(
                "GamepadTopicName", "GamepadValues", "Name of the Gamepad Topic to publish to");
            defineOptionalProperty<std::string>(
                "EmergencyStopTopicName",
                "EmergencyStop",
                "Name of the Emergency Stop Topic to publish to");
            defineOptionalProperty<std::string>(
                "DeviceName", "InterventionDebugger", "Simulated gamepad device name");
            defineOptionalProperty<std::string>(
                "GamepadName", "VirtualGamepad", "Simulated gamepad name");
        }
    };
 
    struct GamepadButtonsTab : Tab
    {
        // Analog sticks
        FloatSlider leftStickX;
        FloatSlider leftStickY;
        FloatSlider rightStickX;
        FloatSlider rightStickY;
 
        // D-Pad
        FloatSlider dPadX;
        FloatSlider dPadY;
 
        // Triggers
        FloatSlider leftTrigger;
        FloatSlider rightTrigger;
 
        // Buttons
        ToggleButton aButton;
        ToggleButton bButton;
        ToggleButton xButton;
        ToggleButton yButton;
        ToggleButton leftButton;
        ToggleButton rightButton;
        ToggleButton backButton;
        ToggleButton startButton;
        ToggleButton theMiddleButton;
        ToggleButton leftStickButton;
        ToggleButton rightStickButton;
 
        // Reset
        Button resetAll;
    };
 
    struct EmergencyStopTab : Tab
    {
        ToggleButton emergencyStopActive;
    };
 
    /**
     * @defgroup Component-InterventionDebugger InterventionDebugger
     * @ingroup RobotAPI-Components
     *
     * @class InterventionDebugger
     * @ingroup Component-InterventionDebugger
     * @brief Debug component for InterventionObserver.
     *
     * Provides a RemoteGui with clickable buttons and sliders to simulate
     * gamepad input and emergency stop events. Publishes to the same topics
     * that InterventionObserver subscribes to.
     */
    class InterventionDebugger :
        virtual public armarx::Component,
        virtual public armarx::LightweightRemoteGuiComponentPluginUser
    {
    public:
        InterventionDebugger();
 
        std::string
        getDefaultName() const override
        {
            return "InterventionDebugger";
        }
 
        static std::string
        GetDefaultName()
        {
            return "InterventionDebugger";
        }
 
    protected:
        void onInitComponent() override;
        void onConnectComponent() override;
        void onDisconnectComponent() override;
        void onExitComponent() override;
 
        armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
 
    private:
        void RemoteGui_update() override;
 
        void createGamepadTab();
        void updateGamepadTab();
 
        void createEmergencyStopTab();
        void updateEmergencyStopTab();
 
        void publishGamepadState();
        void publishEmergencyStopState(EmergencyStopState state);
 
    private:
        GamepadButtonsTab gamepadTab;
        EmergencyStopTab estopTab;
 
        GamepadUnitListenerPrx gamepadTopicPrx;
        EmergencyStopListenerPrx emergencyStopTopicPrx;
 
        std::string deviceName;
        std::string gamepadName;
 
        EmergencyStopState lastPublishedEstopState = EmergencyStopState::eEmergencyStopInactive;
    };
} // namespace armarx