SkillsMemory.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::SkillsMemory
 * @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
 */
 
#pragma once
 
// Base Class
#include <vector>
#include <ArmarXCore/core/Component.h>
 
// ArmarX
#include <ArmarXCore/interface/core/Profiler.h>
#include <ArmarXCore/observers/ObserverObjectFactories.h>
 
 
#include "RobotAPI/libraries/armem_skills/server/segment/ProfileLibrarySegment.h"
#include <RobotAPI/interface/skills/SkillMemoryInterface.h>
#include <RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h>
#include <RobotAPI/libraries/armem_skills/aron/Statechart.aron.generated.h>
#include <RobotAPI/libraries/armem_skills/server/StatechartListenerComponentPlugin.h>
#include <RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.h>
#include <RobotAPI/libraries/armem_skills/server/segment/ComposedSkillLibrarySegment.h>
#include <RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.h>
#include <RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.h>
#include <RobotAPI/libraries/armem_skills/server/segment/StatechartListenerSegment.h>
#include <RobotAPI/libraries/skills/core/aron/FluxioSkill.aron.generated.h>
#include <RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h>
#include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
#include <ArmarXGui/libraries/RemoteGui/Client/Tab.h>
#include <ArmarXGui/libraries/RemoteGui/Client/Widgets.h>
 
namespace armarx
{
    /**
     * @defgroup Component-SkillsMemory SkillsMemory
     * @ingroup RobotAPI-Components
     * A description of the component SkillsMemory.
     *
     * @class SkillsMemory
     * @ingroup Component-SkillsMemory
     * @brief Brief description of class SkillsMemory.
     *
     * Detailed description of class SkillsMemory.
     */
    class SkillsMemory :
        virtual public armarx::Component,
        virtual public skills::dti::SkillMemoryInterface,
 
        virtual public armem::server::ReadWritePluginUser,
        virtual public LightweightRemoteGuiComponentPluginUser,
 
        virtual public StatechartListenerComponentPluginUser,
        virtual public SkillManagerComponentPluginUser
    {
    public:
        SkillsMemory();
 
        /// @see armarx::ManagedIceObject::getDefaultName()
        std::string getDefaultName() const override;
 
        // Override StatechartListener
        void
        reportStatechartTransitionWithParameters(const ProfilerStatechartTransitionWithParameters&,
                                                 const Ice::Current&) override;
        void reportStatechartTransitionWithParametersList(
            const ProfilerStatechartTransitionWithParametersList&,
            const Ice::Current&) override;
 
        // Override SkillManager to add memory functions
        void addProvider(const skills::manager::dto::ProviderInfo& info,
                         const Ice::Current& current) override;
 
        void removeProvider(const skills::manager::dto::ProviderID& provider,
                            const Ice::Current& current) override;
 
        skills::manager::dto::SkillStatusUpdate
        executeSkill(const skills::manager::dto::SkillExecutionRequest& info,
                     const Ice::Current& current) override;
 
 
        skills::manager::dto::SkillExecutionID
        executeSkillAsync(const skills::manager::dto::SkillExecutionRequest& info,
                          const Ice::Current& current) override;
 
        void updateStatusForSkill(const skills::provider::dto::SkillStatusUpdate& update,
                                  const skills::callback::dto::ProviderID& id,
                                  const Ice::Current& current) override;
 
        IceUtil::Optional<skills::manager::dto::SkillStatusUpdate>
        getSkillExecutionStatus(const skills::manager::dto::SkillExecutionID& executionId,
                                const Ice::Current& current) override;
 
        skills::manager::dto::SkillStatusUpdateMap
        getSkillExecutionStatuses(const Ice::Current& current) override;
 
        // WritingInterface interface
        armem::data::CommitResult commit(const armem::data::Commit& commit,
                                         const Ice::Current&) override;
 
        //****************************//
        //** Fluxio related methods **//
        //****************************//
 
        void saveSkill(const skills::manager::arondto::FluxioSkill& skillt) override;
        std::optional<std::vector<skills::manager::arondto::FluxioSkill>> loadCompositeSkills() override;
        std::optional<std::vector<skills::manager::arondto::FluxioSkill>> loadCompositeSkillsOfProvider(const std::string& providerId) override;
 
        void addProfile(const skills::manager::arondto::FluxioProfile& profile) override;
        std::optional<std::vector<skills::manager::arondto::FluxioProfile>> loadProfiles() override;
 
    protected:
        /// @see armarx::ManagedIceObject::onInitComponent()
        void onInitComponent() override;
 
        /// @see armarx::ManagedIceObject::onConnectComponent()
        void onConnectComponent() override;
 
        /// @see armarx::ManagedIceObject::onDisconnectComponent()
        void onDisconnectComponent() override;
 
        /// @see armarx::ManagedIceObject::onExitComponent()
        void onExitComponent() override;
 
        /// @see PropertyUser::createPropertyDefinitions()
        armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
 
 
    private:
        static constexpr const char* MemoryName = "Skill";
 
        struct Properties
        {
            bool useDebugObserver = true;
        };
 
        Properties p;
 
        skills::segment::StatechartListenerProviderSegment statechartListenerProviderSegment;
        skills::segment::ExecutableSkillLibraryCoreSegment executableSkillCoreSegment;
        skills::segment::ComposedSkillLibraryCoreSegment composedSkillCoreSegment;
        skills::segment::ProfileLibraryCoreSegment profileCoreSegment;
        skills::segment::SkillEventCoreSegment skillEventCoreSegment;
        skills::segment::SkillExecutionRequestCoreSegment skillExecutionRequestCoreSegment;
 
        DebugObserverInterfacePrx debugObserver;
 
        // RemoteGUI
        void RemoteGui_update() override;
        void createRemoteGuiTab();
        void clearSkillEventsWorkingMemory();
        void clearSkillExecutionRequestsWorkingMemory();
 
        struct RemoteGuiTab : RemoteGui::Client::Tab
        {
            RemoteGui::Client::Button clearSkillEventsButton;
            RemoteGui::Client::Button clearSkillExecutionRequestsButton;
        };
        RemoteGuiTab tab;
 
    };
} // namespace armarx