HumanPoseReader.cpp

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#include "HumanPoseReader.h"
 
#include <iterator>
 
#include "ArmarXCore/core/exceptions/local/ExpressionException.h"
#include "ArmarXCore/core/logging/Logging.h"
 
#include <RobotAPI/libraries/armem/util/util.h>
 
#include <VisionX/libraries/armem_human/aron/HumanPose.aron.generated.h>
#include <VisionX/libraries/armem_human/aron_conversions.h>
 
 
namespace armarx::armem::human::client
{
    Reader::~Reader() = default;
 
    armarx::armem::client::query::Builder
    Reader::buildQuery(const Query& query) const
    {
        armarx::armem::client::query::Builder qb;
 
        armarx::armem::client::query::CoreSegmentSelector& coreSegmentQuery =
            qb.coreSegments().withName(properties().coreSegmentName);
 
        armarx::armem::client::query::ProviderSegmentSelector& providerQuery =
            [&]() -> armem::client::query::ProviderSegmentSelector&
        {
            if (not query.providerName.empty())
            {
                return coreSegmentQuery.providerSegments().withName(query.providerName);
            }
            return coreSegmentQuery.providerSegments().all();
        }();
 
        providerQuery.entities()
            .all()
            .snapshots()
            .beforeOrAtTime(query.timestamp);
 
        return qb;
    }
 
    std::string
    Reader::propertyPrefix() const
    {
        return "mem.human.pose.";
    }
 
    armarx::armem::client::util::SimpleReaderBase::Properties
    Reader::defaultProperties() const
    {
        return {.memoryName = "Human", .coreSegmentName = "Pose"};
    }
 
    std::vector<HumanPose>
    asHumanPoses(const wm::ProviderSegment& providerSegment,
                 const DateTime& timestamp,
                 const Duration& maxAge)
    {
        ARMARX_TRACE;
 
        // ARMARX_CHECK(not providerSegment.empty()) << "No entities";
        // ARMARX_CHECK(providerSegment.size() == 1) << "There should be only one entity!";
 
        std::vector<HumanPose> humanPoses;
        providerSegment.forEachEntity(
            [&](const wm::Entity& entity)
            {
                ARMARX_TRACE;
 
                const auto& entitySnapshot = entity.getLatestSnapshot();
                // Not clear yet why, but it seems that this sometimes happens (not frequently).
                // ARMARX_CHECK(not entitySnapshot.empty()) << "No entity snapshot instances";
 
                entitySnapshot.forEachInstance(
                    [&humanPoses, &timestamp, &maxAge](const auto& entityInstance)
                    {
                        ARMARX_TRACE;
 
                        const core::time::Duration dtToNow =
                            timestamp - entityInstance.metadata().referencedTime;
 
                        if (dtToNow < maxAge and dtToNow.isPositive())
                        {
                            const auto aronDto =
                                tryCast<armarx::human::arondto::HumanPose>(entityInstance);
                            ARMARX_CHECK(aronDto) << "Failed casting to HumanPose";
 
                            HumanPose humanPose;
                            fromAron(*aronDto, humanPose);
                            humanPose.timestamp = entityInstance.metadata().referencedTime;
 
                            humanPoses.push_back(humanPose);
                        };
                    });
            });
 
        // when no humans are in the scene, this is empty
        //ARMARX_CHECK_NOT_EMPTY(humanPoses);
 
        return humanPoses;
    }
 
    Reader::Result
    Reader::query(const Query& query) const
    {
        ARMARX_TRACE;
        const auto qb = buildQuery(query);
 
        ARMARX_DEBUG << "[MappingDataReader] query ... ";
 
        const armem::client::QueryResult qResult = memoryReader().query(qb.buildQueryInput());
 
        ARMARX_DEBUG << "[MappingDataReader] result: " << qResult;
 
        if (not qResult.success)
        {
            ARMARX_WARNING << "Failed to query data from memory: " << qResult.errorMessage;
            return {.humanPoses = {},
                    .status = Result::Status::Error,
                    .errorMessage = qResult.errorMessage};
        }
 
        ARMARX_TRACE;
        const auto coreSegment = qResult.memory.getCoreSegment(properties().coreSegmentName);
 
        if (query.providerName.empty())
        {
            ARMARX_TRACE;
 
            std::vector<HumanPose> allHumanPoses;
 
            coreSegment.forEachProviderSegment(
                [&allHumanPoses, &query](const auto& providerSegment)
                {
                    const std::vector<HumanPose> humanPoses =
                        asHumanPoses(providerSegment, query.timestamp, query.maxAge);
                    std::copy(
                        humanPoses.begin(), humanPoses.end(), std::back_inserter(allHumanPoses));
                });
 
            if (allHumanPoses.empty())
            {
                // ARMARX_WARNING << "No entities.";
                return {.humanPoses = {},
                        .status = Result::Status::NoData,
                        .errorMessage = "No entities"};
            }
 
            return Result{.humanPoses = allHumanPoses, .status = Result::Status::Success};
        }
 
        ARMARX_TRACE;
 
        // -> provider segment name is set
        if (not coreSegment.hasProviderSegment(query.providerName))
        {
            ARMARX_INFO << deactivateSpam(5) << "Provider segment `" << query.providerName
                        << "` does not exist (yet).";
            return {.humanPoses = {}, .status = Result::Status::NoData};
        }
 
        ARMARX_TRACE;
 
        const wm::ProviderSegment& providerSegment =
            coreSegment.getProviderSegment(query.providerName);
 
        if (providerSegment.empty())
        {
            ARMARX_WARNING << "No entities.";
            return {
                .humanPoses = {}, .status = Result::Status::NoData, .errorMessage = "No entities"};
        }
 
        try
        {
            ARMARX_TRACE;
 
            const auto humanPoses = asHumanPoses(providerSegment, query.timestamp, query.maxAge);
            return Result{.humanPoses = humanPoses, .status = Result::Status::Success};
        }
        catch (...)
        {
            return Result{.status = Result::Status::Error,
                          .errorMessage = GetHandledExceptionString()};
        }
    }
 
} // namespace armarx::armem::human::client