Writer.cpp

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#include "Writer.h"
 
#include <mutex>
#include <string>
#include <unordered_map>
 
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/time/DateTime.h>
 
#include <RobotAPI/libraries/armem/core/Commit.h>
#include <RobotAPI/libraries/armem/core/MemoryID.h>
#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
 
#include <armarx/navigation/core/constants.h>
#include <armarx/navigation/memory/constants.h>
 
namespace armarx::navigation::memory::client::param
{
    bool
    Writer::store(const std::unordered_map<core::StackLayer, aron::data::DictPtr>& stack,
                  const std::string& clientID,
                  const armarx::core::time::DateTime& timestamp)
    {
        ARMARX_CHECK(not stack.empty());
 
        armem::Commit commit;
 
        for (const auto& [layer, data] : stack)
        {
            const std::string layerName = core::StackLayerNames.to_name(layer);
 
            armem::EntityUpdate update;
            update.entityID = armem::MemoryID()
                                  .withMemoryName(properties().memoryName)
                                  .withCoreSegmentName(properties().coreSegmentName)
                                  .withProviderSegmentName(clientID)
                                  .withEntityName(layerName)
                                  .withTimestamp(timestamp);
            update.referencedTime = timestamp;
            update.instancesData = {data};
            commit.add(update);
        }
 
        std::lock_guard g{writeMutex};
        armem::CommitResult updateResult = memoryWriter().commit(commit);
 
        ARMARX_DEBUG << updateResult;
 
        if (not updateResult.allSuccess())
        {
            ARMARX_ERROR << updateResult.allErrorMessages();
        }
        return updateResult.allSuccess();
    }
 
    std::string
    Writer::propertyPrefix() const
    {
        return "mem.nav.param.";
    }
 
    Writer::Properties
    Writer::defaultProperties() const
    {
        return Properties{
            .memoryName = memory::constants::NavigationMemoryName,
            .coreSegmentName = memory::constants::ParameterizationCoreSegmentName,
            .providerName = "" // clientId
        };
    }
 
} // namespace armarx::navigation::memory::client::param