Builder.h

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#pragma once
 
#include <RobotAPI/interface/armem/query.h>
#include <RobotAPI/libraries/armem/client/Query.h>
 
#include "selectors.h"
 
namespace armarx::armem::client::query
{
    // ToDo: Make a memory selector (but this level is not in ice, yet)
    /**
     * @brief The query::Builder class provides a fluent-style specification of
     * hierarchical queries.
     *
     * Syntax:
     *
     * @code
     * TODO
     * @endcode
     */
    class Builder : public detail::ParentSelectorOps<Builder, CoreSegmentSelector>
    {
    public:
        Builder(armem::query::DataMode dataMode = armem::query::DataMode::WithData,
                armem::query::QueryTarget target = armem::query::QueryTarget::WM);
 
        /// Start specifying core segments.
        CoreSegmentSelector& coreSegments();
        CoreSegmentSelector& coreSegments(const CoreSegmentSelector& selector);
 
        template <class... Ts>
        CoreSegmentSelector&
        coreSegments(Ts... args)
        {
            return _addChild(args...);
        }
 
        // Short hands for common queries
 
        /// Get all snapshots from all entities in all segments.
        void all();
        /// Get all latest snapshots from entities in all segments.
        void allLatest();
 
        /// Get all snapshots from all entities in all provider segments in a core segment.
        void allInCoreSegment(const MemoryID& coreSegmentID);
        /// Get latest snapshots from all entities in all provider segments in a core segment.
        void allLatestInCoreSegment(const MemoryID& coreSegmentID);
 
        /// Get all snapshots from all entities in a provider segment.
        void allInProviderSegment(const MemoryID& providerSegmentID);
        /// Get latest snapshots from all entities in a provider segment.
        void allLatestInProviderSegment(const MemoryID& providerSegmentID);
 
        void allEntitySnapshots(const MemoryID& entityID);
        void latestEntitySnapshot(const MemoryID& entityID);
 
        void singleEntitySnapshot(const MemoryID& snapshotID);
        void multipleEntitySnapshots(const std::vector<MemoryID>& snapshotIDs);
 
 
        QueryInput buildQueryInput() const;
        armem::query::data::Input buildQueryInputIce() const;
 
        armem::query::data::MemoryQuerySeq buildMemoryQueries() const;
 
 
    public:
        armem::query::DataMode dataMode;
        armem::query::QueryTarget queryTarget;
    };
 
} // namespace armarx::armem::client::query