Writer.h

Go to the documentation of this file.

/*
 * 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 <ArmarXCore/core/application/properties/forward_declarations.h>
 
#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
#include <RobotAPI/libraries/armem/client/Reader.h>
#include <RobotAPI/libraries/armem/client/Writer.h>
 
#include "interfaces.h"
 
namespace armarx::armem::articulated_object
{
 
    class Writer : virtual public WriterInterface
    {
    public:
        Writer() = default;
        ~Writer() override = default;
 
        void registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def);
        void connect(armem::client::MemoryNameSystem& memoryNameSystem);
 
 
        bool store(const ArticulatedObject& obj) const override;
 
        bool storeInstance(const ArticulatedObject& obj) const;
        std::optional<armem::MemoryID> storeClass(const ArticulatedObject& obj) const;
 
        // const std::string& getPropertyPrefix() const override;
 
        std::string getProviderName() const;
        void setProviderName(const std::string& providerName);
 
 
    private:
        std::optional<armem::MemoryID> storeOrGetClass(const ArticulatedObject& obj) const;
 
        void updateKnownObjects(const armem::MemoryID& subscriptionID,
                                const std::vector<armem::MemoryID>& snapshotIDs);
        void updateKnownObjects();
        void updateKnownObject(const armem::MemoryID& snapshotId);
 
        // TODO duplicate
        std::unordered_map<std::string, armem::MemoryID>
        queryDescriptions(const armem::Time& timestamp);
        std::optional<robot_state::description::RobotDescription>
        getRobotDescription(const armarx::armem::wm::Memory& memory) const;
        std::unordered_map<std::string, armem::MemoryID>
        getRobotDescriptions(const armarx::armem::wm::Memory& memory) const;
 
        struct Properties
        {
            std::string memoryName = "Object";
            std::string coreInstanceSegmentName = "Instance";
            std::string coreClassSegmentName = "Class";
            std::string providerName = "";
 
            bool allowClassCreation = false;
        } properties;
 
        const std::string propertyPrefix = "mem.obj.articulated.";
 
        armem::client::Writer memoryWriter;
        mutable std::mutex memoryWriterMutex;
 
        armem::client::Reader memoryReader;
        mutable std::mutex memoryReaderMutex;
 
        // key: name of object: RobotDescription::name
        mutable std::unordered_map<std::string, MemoryID> knownObjects;
    };
 
 
} // namespace armarx::armem::articulated_object