ViewSelection.cpp

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#include "ViewSelection.h"
 
#include <optional>
#include <string>
#include <vector>
 
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/time.h>
#include <ArmarXCore/core/time/Clock.h>
 
#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/core/Commit.h>
#include <RobotAPI/libraries/armem/core/MemoryID.h>
#include <RobotAPI/libraries/armem/core/error/mns.h>
#include <RobotAPI/libraries/aron/core/aron_conversions.h>
#include <RobotAPI/libraries/core/FramedPose.h>
 
#include <armarx/view_selection/gaze_targets/GazeTarget.h>
#include <armarx/view_selection/gaze_targets/aron/GazeTarget.aron.generated.h>
#include <armarx/view_selection/gaze_targets/aron_conversions.h>
#include <armarx/view_selection/memory/constants.h>
 
namespace armarx::view_selection::client
{
 
    ViewSelection::ViewSelection(armarx::armem::client::MemoryNameSystem& mns,
                                 std::string providerSegmentName) :
        memoryNameSystem(mns),
        providerSegmentName(providerSegmentName),
        coreSegmentID(memory::constants::ViewMemoryName,
                      memory::constants::GazeTargetCoreSegmentName)
    {
        ;
    }
 
    ViewSelection::~ViewSelection() = default;
 
    void
    ViewSelection::connect()
    {
        ARMARX_IMPORTANT << "ViewSelection: Waiting for memory '" << coreSegmentID << "' ...";
        try
        {
            memoryWriter = memoryNameSystem.useWriter(coreSegmentID);
            memoryReader = memoryNameSystem.useReader(coreSegmentID);
            ARMARX_IMPORTANT << "ViewSelection: Connected to memory '" << coreSegmentID << "'";
        }
        catch (const armem::error::CouldNotResolveMemoryServer& e)
        {
            ARMARX_ERROR << e.what();
            return;
        }
    }
 
    std::optional<gaze_targets::GazeTarget>
    ViewSelection::readGazeTarget(const std::string& name)
    {
        armem::client::query::Builder qb;
        armem::MemoryID entityId =
            coreSegmentID.withProviderSegmentName(providerSegmentName).withEntityName(name);
        qb.latestEntitySnapshot(entityId);
        auto queryResult = memoryReader.query(qb.buildQueryInput());
 
        const auto* entityInstance = queryResult.memory.findLatestInstance(entityId);
 
        if (entityInstance != nullptr)
        {
            gaze_targets::GazeTarget gazeTarget = armarx::aron::fromAron<gaze_targets::GazeTarget>(
                gaze_targets::arondto::GazeTarget::FromAron(entityInstance->data()));
 
            return gazeTarget;
        }
 
        ARMARX_VERBOSE << "No memory found with id:" << entityId;
        return std::nullopt;
    }
 
    void
    ViewSelection::commitGazeTarget(const gaze_targets::GazeTarget& target)
    {
        if (not memoryWriter)
        {
            ARMARX_WARNING << "Memory writer is null. Did you forget to call "
                              "ViewSelection::connect() in onConnectComponent()?";
            return;
        }
        if (target.name == "")
        {
            ARMARX_WARNING << "The target name is empty. Did you forget to initialize it?";
            return;
        }
 
        gaze_targets::arondto::GazeTarget dto;
        toAron(dto, target);
 
        armem::EntityUpdate update;
        update.entityID =
            coreSegmentID.withProviderSegmentName(providerSegmentName).withEntityName(dto.name);
        update.referencedTime = armarx::Clock::Now();
        update.instancesData = {dto.toAron()};
        memoryWriter.commit(update);
    }
 
    void
    ViewSelection::commitGazeTargets(const std::vector<gaze_targets::GazeTarget>& targets)
    {
        for (const auto& target : targets)
        {
            commitGazeTarget(target);
        }
    }
 
} // namespace armarx::view_selection::client