SpecializedProviderSegment.cpp

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#include "SpecializedProviderSegment.h"
 
#include <ArmarXCore/core/application/properties/PluginAll.h>
#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
 
#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
#include <RobotAPI/libraries/aron/core/type/variant/container/Object.h>
 
namespace armarx::armem::server::segment
{
    SpecializedProviderSegment::SpecializedProviderSegment(
        armem::server::MemoryToIceAdapter& iceMemory,
        const std::string& defaultProviderSegmentName,
        const std::string& defaultCoreSegmentName,
        aron::type::ObjectPtr providerSegmentAronType,
        aron::type::ObjectPtr coreSegmentAronType,
        int defaultMaxHistorySize,
        const std::vector<PredictionEngine>& providerSegmentPredictionEngines,
        const std::vector<PredictionEngine>& coreSegmentPredictionEngines) :
        Base(iceMemory),
        aronType(providerSegmentAronType),
        predictionEngines(providerSegmentPredictionEngines),
        coreSegment(iceMemory,
                    defaultCoreSegmentName,
                    coreSegmentAronType,
                    -1,
                    providerSegmentPredictionEngines),
        properties({defaultProviderSegmentName, defaultMaxHistorySize})
    {
        Logging::setTag("armarx::armem::SpecializedProviderSegment");
    }
 
    SpecializedProviderSegment::~SpecializedProviderSegment()
    {
    }
 
    void
    SpecializedProviderSegment::defineProperties(armarx::PropertyDefinitionsPtr defs,
                                                 const std::string& prefix)
    {
        ARMARX_CHECK_NOT_NULL(defs);
 
        coreSegment.defineProperties(defs, prefix);
 
        defs->optional(properties.segmentName,
                       prefix + "seg.ProviderSegmentName",
                       "Name of the " + properties.segmentName + " provider segment.");
 
        defs->optional(properties.maxHistorySize,
                       prefix + "seg.ProviderMaxHistorySize",
                       "Maximal size of the " + properties.segmentName +
                           " entity histories (-1 for infinite).");
    }
 
    void
    SpecializedProviderSegment::init()
    {
        ARMARX_CHECK_NOT_NULL(iceMemory.workingMemory);
 
        coreSegment.init();
 
        Logging::setTag(properties.segmentName + " Provider Segment");
 
        if (coreSegment.segmentPtr->hasProviderSegment(properties.segmentName))
        {
            segmentPtr = &coreSegment.segmentPtr->getProviderSegment(properties.segmentName);
        }
        else
        {
            ARMARX_INFO << "Adding provider segment '" << properties.segmentName << "'";
            segmentPtr = &coreSegment.segmentPtr->addProviderSegment(properties.segmentName);
 
            segmentPtr->aronType() = aronType;
            segmentPtr->setMaxHistorySize(properties.maxHistorySize);
            segmentPtr->setPredictionEngines(predictionEngines);
        }
    }
 
    void
    SpecializedProviderSegment::setDefaultProviderSegmentName(
        const std::string& providerSegmentName)
    {
        this->properties.segmentName = providerSegmentName;
    }
 
    void
    SpecializedProviderSegment::setDefaultMaxHistorySize(int64_t maxHistorySize)
    {
        this->properties.maxHistorySize = maxHistorySize;
    }
 
    void
    SpecializedProviderSegment::setAronType(aron::type::ObjectPtr aronType)
    {
        this->aronType = aronType;
    }
 
    void
    SpecializedProviderSegment::setPredictionEngines(
        const std::vector<PredictionEngine>& predictionEngines)
    {
        this->predictionEngines = predictionEngines;
    }
 
    wm::ProviderSegment&
    SpecializedProviderSegment::getProviderSegment()
    {
        ARMARX_CHECK_NOT_NULL(segmentPtr);
        return *segmentPtr;
    }
 
    const wm::ProviderSegment&
    SpecializedProviderSegment::getProviderSegment() const
    {
        ARMARX_CHECK_NOT_NULL(segmentPtr);
        return *segmentPtr;
    }
 
} // namespace armarx::armem::server::segment