SkillEventSegment.h

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#pragma once
 
#include <thread>
 
// Base Class
#include <RobotAPI/libraries/armem/server/segment/SpecializedSegment.h>
 
// ArmarX
#include <RobotAPI/interface/skills/SkillManagerInterface.h>
#include <RobotAPI/interface/skills/SkillProviderInterface.h>
#include <RobotAPI/libraries/armem_skills/aron/Skill.aron.generated.h>
#include <RobotAPI/libraries/skills/core/SkillStatusUpdate.h>
 
namespace armarx::skills::segment
{
    class SkillEventCoreSegment : public armem::server::segment::SpecializedCoreSegment
    {
        using Base = armem::server::segment::SpecializedCoreSegment;
 
    public:
        static constexpr const char* CoreSegmentName = "SkillEvent";
 
        SkillEventCoreSegment(armem::server::MemoryToIceAdapter& iceMemory);
 
        void defineProperties(PropertyDefinitionsPtr defs, const std::string& prefix);
        void init();
 
        void addSkillUpdateEvent(const skills::SkillStatusUpdate& update);
 
        std::map<skills::SkillExecutionID, skills::SkillStatusUpdate> getSkillStatusUpdates();
 
        std::optional<skills::SkillStatusUpdate>
        getSkillStatusUpdate(const skills::SkillExecutionID& id);
 
    private:
    };
} // namespace armarx::skills::segment