Reader.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/>.
 *
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @date       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <mutex>
#include <optional>
 
#include <VirtualRobot/VirtualRobot.h>
 
#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
 
#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
#include <RobotAPI/libraries/armem/client/Reader.h>
 
#include "interfaces.h"
 
namespace armarx::armem::articulated_object
{
 
    class Reader : virtual public ReaderInterface
    {
    public:
        Reader() = default;
        virtual ~Reader() = default;
 
        void
        registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def)
        {
        }
 
        void connect(armem::client::MemoryNameSystem& memoryNameSystem);
 
        bool synchronize(ArticulatedObject& obj,
                         const armem::Time& timestamp,
                         const std::optional<std::string>& providerName) override;
 
        std::optional<ArticulatedObject>
        get(const std::string& name,
            const armem::Time& timestamp,
            const std::optional<std::string>& providerName) override;
        ArticulatedObject get(const ArticulatedObjectDescription& description,
                              const armem::Time& timestamp,
                              const std::string& instanceName,
                              const std::optional<std::string>& providerName) override;
 
        std::optional<robot::RobotState> queryState(const std::string& instanceName,
                                                    const armem::Time& timestamp,
                                                    const std::optional<std::string>& providerName);
        std::optional<robot::RobotDescription>
        queryDescription(const std::string& name,
                         const armem::Time& timestamp,
                         const std::optional<std::string>& providerName);
 
        std::vector<robot::RobotDescription>
        queryDescriptions(const armem::Time& timestamp,
                          const std::optional<std::string>& providerName);
 
        std::string getProviderName() const;
        void setProviderName(const std::string& providerName);
 
    protected:
        std::optional<robot::RobotState>
        getArticulatedObjectState(const armarx::armem::wm::Memory& memory) const;
        std::optional<robot::RobotDescription>
        getRobotDescription(const armarx::armem::wm::Memory& memory) const;
        std::vector<robot::RobotDescription>
        getRobotDescriptions(const armarx::armem::wm::Memory& memory) const;
 
    private:
        void updateKnownObjects(const armem::MemoryID& subscriptionID,
                                const std::vector<armem::MemoryID>& snapshotIDs);
        void updateKnownObject(const armem::MemoryID& snapshotId);
 
        const std::string propertyPrefix = "mem.obj.articulated.";
 
        armem::client::Reader memoryReader;
        std::mutex memoryWriterMutex;
    };
 
 
} // namespace armarx::armem::articulated_object