ConfigurableNJointControllerBase.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/>.
 *
 * @author      (  )
 * @date       2024
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedClass.h>
 
#include <armarx/control/interface/ConfigurableNJointControllerInterface.h>
 
namespace armarx::control::njoint_controller::core
{
 
 
    template <typename _AronConfigT>
    class ConfigurableNJointControllerBase :
        public armarx::control::ConfigurableNJointControllerInterface
    {
    public:
        using AronConfigT = _AronConfigT;
        using ConfigurableNJointControllerBaseT = ConfigurableNJointControllerBase<AronConfigT>;
 
        ConfigurableNJointControllerBase(const NJointControllerConfigPtr& config) :
            configData_(readConfig(config))
        {
            // check if nodeSetName is set properly
            using IceConfigPtrT = control::ConfigurableNJointControllerConfigPtr;
 
            const IceConfigPtrT cfg = IceConfigPtrT::dynamicCast(config);
            ARMARX_CHECK_EXPRESSION(!cfg->nodeSetName.empty());
        }
 
        virtual ~ConfigurableNJointControllerBase() = default;
 
        void
        updateConfig(const ::armarx::aron::data::dto::DictPtr& dto,
                     const Ice::Current& iceCurrent) override
        {
            const AronConfigT configData = AronConfigT::FromAron(dto);
            updateConfig(configData);
        }
 
    protected:
        // access to the initial config data (set in constructor)
        const AronConfigT&
        initialConfigData() const
        {
            return configData_;
        }
 
        virtual void updateConfig(const AronConfigT& configData) = 0;
 
    private:
        AronConfigT
        readConfig(const NJointControllerConfigPtr& config) const
        {
            static_assert(std::is_base_of<armarx::aron::codegenerator::cpp::AronGeneratedClass,
                                          AronConfigT>::value,
                          "AronConfigT must be a generated class from Aron!");
 
            using IceConfigPtrT = control::ConfigurableNJointControllerConfigPtr;
 
            // convert to ice type
            const IceConfigPtrT cfg = IceConfigPtrT::dynamicCast(config);
            ARMARX_CHECK_EXPRESSION(cfg);
 
            // convert to aron type
            AronConfigT configData = AronConfigT::FromAron(cfg->config);
            return configData;
        }
 
        const AronConfigT configData_;
    };
 
} // namespace armarx::control::njoint_controller::core