ViewSelection.cpp

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#include "ViewSelection.h"
 
#include <memory>
#include <optional>
#include <string>
#include <vector>
 
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/time.h>
#include <ArmarXCore/core/time/Clock.h>
#include <ArmarXCore/core/util/StringHelpers.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/client/services/MemoryPolling.h>
#include <armarx/view_selection/client/services/MemorySubscriber.h>
#include <armarx/view_selection/gaze_targets/GazeTarget.h>
#include <armarx/view_selection/gaze_targets/GazeTargetStatus.h>
#include <armarx/view_selection/gaze_targets/aron/GazeTarget.aron.generated.h>
#include <armarx/view_selection/gaze_targets/aron/GazeTargetStatus.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),
        statusCoreSegmentID(memory::constants::ViewMemoryName,
                            memory::constants::GazeTargetStatusCoreSegmentName)
    {
        ;
    }
 
    ViewSelection::~ViewSelection() = default;
 
    void
    ViewSelection::connect(const StatusDelivery statusDelivery)
    {
        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;
        }
 
        statusHandler = [&]() -> std::unique_ptr<MemoryStatusHandlerBase>
        {
            switch (statusDelivery)
            {
                case StatusDelivery::Subscription:
                    return std::make_unique<MemorySubscriber>(providerSegmentName,
                                                              memoryNameSystem);
                case StatusDelivery::Polling:
                    return std::make_unique<MemoryPolling>(providerSegmentName, memoryNameSystem);
            }
 
            return nullptr;
        }();
 
        waiter.emplace(*statusHandler);
    }
 
    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;
    }
 
    armem::MemoryID
    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 armem::MemoryID();
        }
        if (target.name == "")
        {
            ARMARX_WARNING << "The target name is empty. Did you forget to initialize it?";
            return armem::MemoryID();
        }
 
        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()};
 
        const armem::EntityUpdateResult result = memoryWriter.commit(update);
 
        if (not result.success)
        {
            ARMARX_WARNING << "Failed to commit gaze target " << QUOTED(target.name) << ": "
                           << result.errorMessage;
            return armem::MemoryID();
        }
 
        return result.snapshotID;
    }
 
    std::optional<gaze_targets::GazeTargetStatus>
    ViewSelection::readGazeTargetStatus(const std::string& name)
    {
        armem::client::query::Builder qb;
        const armem::MemoryID entityId =
            statusCoreSegmentID.withProviderSegmentName(providerSegmentName).withEntityName(name);
        qb.latestEntitySnapshot(entityId);
 
        const auto queryResult = memoryReader.query(qb.buildQueryInput());
        const auto* entityInstance = queryResult.memory.findLatestInstance(entityId);
 
        if (entityInstance == nullptr)
        {
            ARMARX_VERBOSE << "No gaze target status found with id:" << entityId;
            return std::nullopt;
        }
 
        gaze_targets::GazeTargetStatus status;
        fromAron(gaze_targets::arondto::GazeTargetStatus::FromAron(entityInstance->data()), status);
 
        return status;
    }
 
    GazeTargetWaiter::Result
    ViewSelection::commitGazeTargetAndWait(const gaze_targets::GazeTarget& target,
                                           const armarx::Duration& timeout,
                                           const std::function<bool()>& shouldAbort)
    {
        if (not waiter.has_value())
        {
            ARMARX_WARNING << "Cannot wait for gaze target " << QUOTED(target.name)
                           << ": ViewSelection::connect() was not called.";
            return GazeTargetWaiter::Result{.status = {}, .message = "not connected"};
        }
 
        // Armed before the commit: the scheduler can publish the first update before commit()
        // has even returned.
        waiter->expect(target.name);
 
        const armem::MemoryID gazeTargetID = commitGazeTarget(target);
 
        if (not gazeTargetID.hasEntityName())
        {
            waiter->forget(target.name);
            return GazeTargetWaiter::Result{.status = {}, .message = "commit failed"};
        }
 
        // Narrow from the name to this exact request, now that its ID is known.
        waiter->bind(target.name, gazeTargetID);
 
        return waiter->wait(target.name, timeout, shouldAbort);
    }
 
    void
    ViewSelection::releaseGazeTarget(const gaze_targets::GazeTarget& target)
    {
        gaze_targets::GazeTarget released = target;
        released.priority =
            gaze_targets::TargetPriority(gaze_targets::AttentionType::TaskDriven, 0.F);
        released.duration = armarx::Duration::Seconds(0);
        released.keepInQueue = false;
 
        commitGazeTarget(released);
    }
 
    void
    ViewSelection::commitGazeTargets(const std::vector<gaze_targets::GazeTarget>& targets)
    {
        for (const auto& target : targets)
        {
            commitGazeTarget(target);
        }
    }
 
} // namespace armarx::view_selection::client