HumanMemory.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::ExampleMemory
 * @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
 
#include <mutex>
 
#include "ArmarXCore/libraries/ArmarXCoreComponentPlugins/DebugObserverComponentPlugin.h"
#include <ArmarXCore/core/Component.h>
 
#include "RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h"
#include "RobotAPI/libraries/armem/client/plugins/ReaderWriterPlugin.h"
#include "RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h"
#include <RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h>
 
#include "VisionX/libraries/armem_human/server/Visualization.h"
#include <VisionX/components/armem/server/HumanMemory/ComponentInterface.h>
#include <VisionX/libraries/armem_human/aron/HumanPose.aron.generated.h>
#include <VisionX/libraries/armem_human/server/HumanMemoryServerInterface.h>
#include <VisionX/libraries/armem_human/server/IdentificationSegment.h>
#include <VisionX/libraries/armem_human/server/PersonInstanceSegment.h>
#include <VisionX/libraries/armem_human/server/PoseSegment.h>
#include <VisionX/libraries/armem_human/server/face_recognition/Segment.h>
#include <VisionX/libraries/armem_human/server/profile/Segment.h>
 
namespace armarx::armem::server::human_memory
{
    class HumanMemory :
        virtual public armarx::Component,
        virtual public armem::server::ReadWritePluginUser,
        virtual public ComponentInterface,
        virtual public ArVizComponentPluginUser,
        virtual public DebugObserverComponentPluginUser
    {
    public:
        HumanMemory();
 
        std::string getDefaultName() const override;
 
    protected:
        armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
 
        void onInitComponent() override;
        void onConnectComponent() override;
        void onDisconnectComponent() override;
        void onExitComponent() override;
 
        const VirtualRobot::RobotPtr& getSynchronizedRobot(const std::string& robotName,
                                                           const armarx::DateTime& timestamp);
 
        void
        commitHumanPosesInCameraFrame(const ::armarx::aron::data::dto::AronDictSeq& dictSeq,
                                      const ::std::string& providerName,
                                      const ::armarx::core::time::dto::DateTime& timestamp,
                                      const ::Ice::Current& /*c*/ = ::Ice::emptyCurrent) override;
 
        void commitHumanPoses(const std::vector<::armarx::human::arondto::HumanPose>& humanPoses,
                              const std::string& providerName,
                              const armarx::DateTime& timestamp);
 
    private:
        human::ProfileSegment profileSegment;
        human::PersonInstanceSegment personInstanceSegment;
        human::PoseSegment poseSegment;
        human::FaceRecognitionSegment faceRecognitionSegment;
        human::IdentificationSegment identificationSegment;
 
        human::Visu visu;
 
        client::plugins::ReaderWriterPlugin<robot_state::VirtualRobotReader>*
            virtualRobotReaderPlugin = nullptr;
 
        std::mutex robotsMtx;
        std::map<std::string, VirtualRobot::RobotPtr> robots;
    };
 
} // namespace armarx::armem::server::human_memory