ReadWritePluginUser.h

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#pragma once
 
#include <ArmarXCore/core/ManagedIceObject.h>
 
#include <RobotAPI/interface/armem/server/MemoryInterface.h>
#include <RobotAPI/libraries/armem/client/plugins/ListeningPluginUser.h>
#include <RobotAPI/libraries/armem/core/actions.h>
#include <RobotAPI/libraries/armem/server/forward_declarations.h>
 
namespace armarx::armem::server::plugins
{
 
    class Plugin;
 
    /**
     * @brief Base class of memory server components.
     *
     * Implements the server ice interfaces using the ice adapter of the plugin.
     */
    class ReadWritePluginUser :
        virtual public ManagedIceObject,
        virtual public MemoryInterface,
        virtual public client::plugins::ListeningPluginUser
    {
    public:
        ReadWritePluginUser();
        virtual ~ReadWritePluginUser() override;
 
 
        void setMemoryName(const std::string& memoryName);
 
 
        // WritingInterface interface
        virtual data::AddSegmentsResult
        addSegments(const data::AddSegmentsInput& input,
                    const Ice::Current& = Ice::emptyCurrent) override;
        data::AddSegmentsResult addSegments(const data::AddSegmentsInput& input,
                                            bool addCoreSegments);
 
        virtual data::CommitResult commit(const data::Commit& commit,
                                          const Ice::Current& = Ice::emptyCurrent) override;
 
 
        // ReadingInterface interface
        virtual armem::query::data::Result query(const armem::query::data::Input& input,
                                                 const Ice::Current& = Ice::emptyCurrent) override;
        virtual armem::structure::data::GetServerStructureResult
        getServerStructure(const Ice::Current& = Ice::emptyCurrent) override;
 
 
        // StoringInterface interface
        virtual dto::DirectlyStoreResult
        directlyStore(const dto::DirectlyStoreInput&,
                      const Ice::Current& = Ice::emptyCurrent) override;
        virtual dto::StartRecordResult
        startRecord(const dto::StartRecordInput& startRecordInput,
                    const Ice::Current& = Ice::emptyCurrent) override;
        virtual dto::StopRecordResult stopRecord(const Ice::Current& = Ice::emptyCurrent) override;
        virtual dto::RecordStatusResult
        getRecordStatus(const Ice::Current& = Ice::emptyCurrent) override;
 
        // ActionsInterface interface
        virtual armem::actions::GetActionsOutputSeq
        getActions(const armem::actions::GetActionsInputSeq& inputs);
        virtual armem::actions::ExecuteActionOutputSeq
        executeActions(const armem::actions::ExecuteActionInputSeq& inputs);
 
        virtual armem::actions::GetActionsOutputSeq
        getActions(const armem::actions::GetActionsInputSeq& inputs,
                   const ::Ice::Current&) override;
        virtual armem::actions::ExecuteActionOutputSeq
        executeActions(const armem::actions::ExecuteActionInputSeq& inputs,
                       const ::Ice::Current&) override;
 
        // PredictingInterface interface
        virtual armem::prediction::data::PredictionResultSeq
        predict(const armem::prediction::data::PredictionRequestSeq& requests);
 
        // Unless you need very unusual behavior from this method for your memory server,
        // it is better to set the available prediction engines in the memory itself
        // and let it handle the requests than to override this.
        virtual armem::prediction::data::EngineSupportMap getAvailableEngines();
 
        virtual armem::prediction::data::PredictionResultSeq
        predict(const armem::prediction::data::PredictionRequestSeq& requests,
                const ::Ice::Current&) override;
        virtual armem::prediction::data::EngineSupportMap
        getAvailableEngines(const ::Ice::Current&) override;
 
        //test
        armem::CommitResult reloadFromLTM();
 
    public:
        Plugin& memoryServerPlugin();
 
        server::wm::Memory& workingMemory();
        MemoryToIceAdapter& iceAdapter();
 
        server::ltm::Memory& longtermMemory();
 
 
    private:
        plugins::Plugin* plugin = nullptr;
    };
 
} // namespace armarx::armem::server::plugins
 
namespace armarx::armem::server
{
    using plugins::ReadWritePluginUser;
}