Split controller into planning #1
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Add comparators needed by visionmanager
Two key issues: webstack client and planning clients' exceptions headers needed different include guards and we need GetTransform.
In particular, the heartbeat socket just subscribes to the heartbeat port and polls, whereas the command just publishes to the command port (_zmqPort). In my... wisdom, I'd conflated these.
More ZMQ foolishness. Turns out we have a lot more types of socket than I was accounting for, but it's the ZMQ_REQ type we want, probably -- see the old code here: https://git.mujin.co.jp/dev/controllerclientcpp/-/blob/master/src/mujinzmq.cpp#L395 (note: the github has something outdated).
… split-controller-into-planning Note: for some reason the header wasn't properly merged. But the cpp should have the necessary history.
There's some minor renaming, the addition of a CopyableRapidJsonDocument, and a unit field.
… split-controller-into-planning This is to recover new definitions in the RegisterMinViableRegionInfo struct.
…commit/a910b423c1e5f4527c06c08e0a77329dcbf1c686. In particular, I didn't propogate the changes to deseralize the RegisterMinViableInfo using its method.
hemangandhi
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Aug 25, 2023
Note: #1 will remote the need for this by just having a ZMQ client, but that's more refactoring than strictly needed for the split, so we'll use this factory function briefly.
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(I'm a bit shocked this is mergeable automatically.) This is also so we have the diffs in one place.
This might be a bit more taxing than the webstack merge -- in particular, the planning client definitely doesn't have good files you can base diffs off since
binpickingtaskandbinpickingzmqtaskare merged into one functionality. I can try to get that as a separate branch first, so that this merge just has the follow-on renaming, perhaps.There's some decisions about removing some of the files here that I need to walk back for sure, but we might actually want them in the webstack client, so will discuss those.