Reads data from a memory server. More...

#include <RobotAPI/libraries/armem/client/Reader.h>

Public Member Functions
server::dto::DirectlyStoreResult	directlyStore (const server::dto::DirectlyStoreInput &input) const

QueryResult	getAll (armem::query::DataMode dataMode=armem::query::DataMode::WithData) const
	Get the whole memory content.

QueryResult	getAllLatestSnapshots (armem::query::DataMode dataMode=armem::query::DataMode::WithData) const
	Get all latest snapshots in the memory.

std::map< MemoryID, std::vector< PredictionEngine > >	getAvailablePredictionEngines () const
	Get the list of prediction engines supported by the memory.

std::optional< wm::EntitySnapshot >	getLatestSnapshotIn (const MemoryID &id, armem::query::DataMode dataMode=armem::query::DataMode::WithData) const
	Get the latest snapshot under the given memory ID.

std::optional< wm::EntitySnapshot >	getLatestSnapshotOf (const std::vector< MemoryID > &snapshotIDs) const
	Query the given snapshot and return the latest existing snapshot.

QueryResult	getLatestSnapshotsIn (const MemoryID &id, armem::query::DataMode dataMode=armem::query::DataMode::WithData) const
	Get the latest snapshots under the given memory ID.

	operator bool () const

std::vector< PredictionResult >	predict (const std::vector< PredictionRequest > &requests) const
	Get a prediction for the state of multiple entity instances in the future.

QueryResult	query (armem::query::data::MemoryQueryPtr query, armem::client::MemoryNameSystem &mns, int recursionDepth=-1) const

QueryResult	query (armem::query::data::MemoryQueryPtr query, armem::query::DataMode dataMode=armem::query::DataMode::WithData) const

armem::query::data::Result	query (const armem::query::data::Input &input) const

armem::query::data::Result	query (const armem::query::data::Input &input, armem::client::MemoryNameSystem &mns, int recursionDepth=-1) const

QueryResult	query (const armem::query::data::MemoryQuerySeq &queries, armem::client::MemoryNameSystem &mns, int recursionDepth=-1) const

QueryResult	query (const armem::query::data::MemoryQuerySeq &queries, armem::query::DataMode dataMode=armem::query::DataMode::WithData) const

QueryResult	query (const QueryBuilder &queryBuilder) const

QueryResult	query (const QueryBuilder &queryBuilder, armem::client::MemoryNameSystem &mns, int recursionDepth=-1) const

QueryResult	query (const QueryInput &input) const
	Perform a query on the WM.

QueryResult	query (const QueryInput &input, armem::client::MemoryNameSystem &mns, int recursionDepth=-1) const
	Perform a query with recursive memory link resolution.

armem::query::data::Result	queryLTM (const armem::query::data::Input &input, bool storeIntoWM=false) const
	Queries the linked ltms.

QueryResult	queryLTM (const QueryInput &input, bool storeIntoWM=false) const
	Queries the linked ltms.

QueryResult	queryMemoryIDs (const std::vector< MemoryID > &ids, armem::query::DataMode dataMode=armem::query::DataMode::WithData) const
	Query a specific set of memory IDs.

	Reader (const Reader &)=default
	Construct a memory reader.

	Reader (server::ReadingMemoryInterfacePrx readingMemory=nullptr, server::PredictingMemoryInterfacePrx predictingMemory=nullptr, server::ReadingLongTermMemoryInterfacePrx readingLtmMemory=nullptr)

void	setPredictingMemory (server::PredictingMemoryInterfacePrx predictingMemory)

void	setReadingLtmMemory (server::ReadingLongTermMemoryInterfacePrx readingLtmMemory)

void	setReadingMemory (server::ReadingMemoryInterfacePrx readingMemory)

void	startRecording () const

void	stopRecording () const

Public Attributes
server::PredictingMemoryInterfacePrx	predictionPrx

server::ReadingLongTermMemoryInterfacePrx	readingLtmPrx

server::ReadingMemoryInterfacePrx	readingPrx

Detailed Description

Reads data from a memory server.

Definition at line 24 of file Reader.h.

Constructor & Destructor Documentation

◆ Reader() [1/2]

Reader ( const Reader & )

default

Construct a memory reader.

Parameters

memory The memory proxy.

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◆ Reader() [2/2]

Reader	(	server::ReadingMemoryInterfacePrx	readingMemory = nullptr,
		server::PredictingMemoryInterfacePrx	predictingMemory = nullptr,
		server::ReadingLongTermMemoryInterfacePrx	readingLtmMemory = nullptr )

Definition at line 59 of file Reader.cpp.

Member Function Documentation

◆ directlyStore()

server::dto::DirectlyStoreResult directlyStore ( const server::dto::DirectlyStoreInput & input ) const

Definition at line 500 of file Reader.cpp.

◆ getAll()

QueryResult getAll ( armem::query::DataMode dataMode = armem::query::DataMode::WithData ) const

Get the whole memory content.

Parameters

dataMode With or without data.

Returns: The query result.

Definition at line 489 of file Reader.cpp.

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◆ getAllLatestSnapshots()

QueryResult getAllLatestSnapshots ( armem::query::DataMode dataMode = armem::query::DataMode::WithData ) const

Get all latest snapshots in the memory.

Parameters

dataMode With or without data.

Returns: The query result.

Definition at line 478 of file Reader.cpp.

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◆ getAvailablePredictionEngines()

std::map< MemoryID, std::vector< PredictionEngine > > getAvailablePredictionEngines ( ) const

Get the list of prediction engines supported by the memory.

The predictionPrx must not be null when calling this function.

Returns: a map from memory containers to their supported engines

Definition at line 621 of file Reader.cpp.

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◆ getLatestSnapshotIn()

std::optional< wm::EntitySnapshot > getLatestSnapshotIn	(	const MemoryID &	id,
		armem::query::DataMode	dataMode = armem::query::DataMode::WithData ) const

Get the latest snapshot under the given memory ID.

Parameters

id	A memory, core segment, provider segment or entity ID.
dataMode	With or without data.

Returns: The latest contained snapshot, if any.

Definition at line 449 of file Reader.cpp.

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◆ getLatestSnapshotOf()

std::optional< wm::EntitySnapshot > getLatestSnapshotOf ( const std::vector< MemoryID > & snapshotIDs ) const

Query the given snapshot and return the latest existing snapshot.

Parameters

snapshotIDs The snapshot (or entity) IDs.

Returns: The latest snapshot contained in the query result, if any.

Definition at line 397 of file Reader.cpp.

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◆ getLatestSnapshotsIn()

QueryResult getLatestSnapshotsIn	(	const MemoryID &	id,
		armem::query::DataMode	dataMode = armem::query::DataMode::WithData ) const

Get the latest snapshots under the given memory ID.

Parameters

id	A memory, core segment, provider segment or entity ID.
dataMode	With or without data.

Returns: The query result.

Definition at line 427 of file Reader.cpp.

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◆ operator bool()

operator bool ( ) const

inline

Definition at line 215 of file Reader.h.

◆ predict()

std::vector< PredictionResult > predict ( const std::vector< PredictionRequest > & requests ) const

Get a prediction for the state of multiple entity instances in the future.

The timestamp to predict the entities' state at is given via the snapshot given in the MemoryID.

The predictionPrx must not be null when calling this function.

Parameters

requests a list of requests for entity instance predictions

Returns: the vector of prediction results

Definition at line 577 of file Reader.cpp.

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◆ query() [1/10]

QueryResult query	(	armem::query::data::MemoryQueryPtr	query,
		armem::client::MemoryNameSystem &	mns,
		int	recursionDepth = -1 ) const

See also: Reader::query(const QueryInput&, armem::client::MemoryNameSystem, int)

Definition at line 222 of file Reader.cpp.

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◆ query() [2/10]

QueryResult query	(	armem::query::data::MemoryQueryPtr	query,
		armem::query::DataMode	dataMode = armem::query::DataMode::WithData ) const

Definition at line 155 of file Reader.cpp.

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◆ query() [3/10]

armem::query::data::Result query ( const armem::query::data::Input & input ) const

Definition at line 125 of file Reader.cpp.

◆ query() [4/10]

armem::query::data::Result query	(	const armem::query::data::Input &	input,
		armem::client::MemoryNameSystem &	mns,
		int	recursionDepth = -1 ) const

See also: Reader::query(const QueryInput&, armem::client::MemoryNameSystem, int)

Definition at line 185 of file Reader.cpp.

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◆ query() [5/10]

QueryResult query	(	const armem::query::data::MemoryQuerySeq &	queries,
		armem::client::MemoryNameSystem &	mns,
		int	recursionDepth = -1 ) const

See also: Reader::query(const QueryInput&, armem::client::MemoryNameSystem, int)

Definition at line 230 of file Reader.cpp.

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◆ query() [6/10]

QueryResult query	(	const armem::query::data::MemoryQuerySeq &	queries,
		armem::query::DataMode	dataMode = armem::query::DataMode::WithData ) const

Definition at line 161 of file Reader.cpp.

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◆ query() [7/10]

QueryResult query ( const QueryBuilder & queryBuilder ) const

Definition at line 171 of file Reader.cpp.

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◆ query() [8/10]

QueryResult query	(	const QueryBuilder &	queryBuilder,
		armem::client::MemoryNameSystem &	mns,
		int	recursionDepth = -1 ) const

See also: Reader::query(const QueryInput&, armem::client::MemoryNameSystem, int)

Definition at line 240 of file Reader.cpp.

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◆ query() [9/10]

QueryResult query ( const QueryInput & input ) const

Perform a query on the WM.

Definition at line 119 of file Reader.cpp.

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◆ query() [10/10]

QueryResult query	(	const QueryInput &	input,
		armem::client::MemoryNameSystem &	mns,
		int	recursionDepth = -1 ) const

Perform a query with recursive memory link resolution.

Resolves the links in the query result using the given MemoryNameSystem and inserts the data into the MemoryLink objects' data fields. If the inserted data also contains links, those will be resolved as well up to and including the given recursion depth. Link cycles are detected; the first repeated memory ID will not be inserted into the data. Setting the recursion depth to -1 is equivalent to an infinite recursion depth.

Standalone MemoryID subobjects are ignored; only MemoryIDs inside of MemoryLink subobjects are resolved. Empty or unresolvable MemoryIDs are ignored - this includes MemoryIDs whose Entity fields are not set. If the data associated with a MemoryID could not be retrieved or its type does not match the template type of the MemoryLink, it is ignored.

Parameters

input	the query to perform
mns	the MemoryNameSystem to use when resolving MemoryLinks
recursionDepth	how many layers of MemoryLinks to resolve

Definition at line 177 of file Reader.cpp.

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◆ queryLTM() [1/2]

armem::query::data::Result queryLTM	(	const armem::query::data::Input &	input,
		bool	storeIntoWM = false ) const

Queries the linked ltms.

Parameters

storeIntoWM if true the ltm result is also commited to the wm en if recording mode is disabled

Definition at line 89 of file Reader.cpp.

◆ queryLTM() [2/2]

QueryResult queryLTM	(	const QueryInput &	input,
		bool	storeIntoWM = false ) const

Queries the linked ltms.

Parameters

storeIntoWM if true the ltm result is also commited to the wm en if recording mode is disabled

Definition at line 83 of file Reader.cpp.

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◆ queryMemoryIDs()

QueryResult queryMemoryIDs	(	const std::vector< MemoryID > &	ids,
		armem::query::DataMode	dataMode = armem::query::DataMode::WithData ) const

Query a specific set of memory IDs.

Each ID can refer to an entity, a snapshot or an instance. When not referring to an entity instance, the latest snapshot and first instance will be queried, respectively.

All memory IDs must refer to the memory this reader is reading from. If an ID refers to another memory, the query will not find it and it will not be part of the result.

Parameters

ids	The entity, snapshot or instance IDs.
dataMode	Whether to include instance data or just meta data.

Returns: The query result.

Definition at line 374 of file Reader.cpp.

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◆ setPredictingMemory()

void setPredictingMemory ( server::PredictingMemoryInterfacePrx predictingMemory )

Definition at line 571 of file Reader.cpp.

◆ setReadingLtmMemory()

void setReadingLtmMemory ( server::ReadingLongTermMemoryInterfacePrx readingLtmMemory )

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◆ setReadingMemory()

void setReadingMemory ( server::ReadingMemoryInterfacePrx readingMemory )

Definition at line 565 of file Reader.cpp.

◆ startRecording()

void startRecording ( ) const

Definition at line 517 of file Reader.cpp.

◆ stopRecording()

void stopRecording ( ) const

Definition at line 544 of file Reader.cpp.

Member Data Documentation

◆ predictionPrx

server::PredictingMemoryInterfacePrx predictionPrx

Definition at line 228 of file Reader.h.

◆ readingLtmPrx

server::ReadingLongTermMemoryInterfacePrx readingLtmPrx

Definition at line 229 of file Reader.h.

◆ readingPrx

server::ReadingMemoryInterfacePrx readingPrx

Definition at line 227 of file Reader.h.

The documentation for this class was generated from the following files:

RobotAPI/libraries/armem/client/Reader.h
RobotAPI/libraries/armem/client/Reader.cpp

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Reader() [1/2]

◆ Reader() [2/2]

Member Function Documentation

◆ directlyStore()

◆ getAll()

◆ getAllLatestSnapshots()

◆ getAvailablePredictionEngines()

◆ getLatestSnapshotIn()

◆ getLatestSnapshotOf()

◆ getLatestSnapshotsIn()

◆ operator bool()

◆ predict()

◆ query() [1/10]

◆ query() [2/10]

◆ query() [3/10]

◆ query() [4/10]

◆ query() [5/10]

◆ query() [6/10]

◆ query() [7/10]

◆ query() [8/10]

◆ query() [9/10]

◆ query() [10/10]

◆ queryLTM() [1/2]

◆ queryLTM() [2/2]

◆ queryMemoryIDs()

◆ setPredictingMemory()

◆ setReadingLtmMemory()

◆ setReadingMemory()

◆ startRecording()

◆ stopRecording()

Member Data Documentation

◆ predictionPrx

◆ readingLtmPrx

◆ readingPrx