Reader.h

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/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @date       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <optional>
#include <string>
#include <vector>
 
#include <RobotAPI/interface/armem/server/MemoryInterface.h>
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/client/util/SimpleReaderBase.h>
#include <RobotAPI/libraries/armem/core/MemoryID.h>
#include <RobotAPI/libraries/armem/core/forward_declarations.h>
 
#include <armarx/navigation/algorithms/Room.h>
 
namespace armarx::navigation::memory::client::rooms
{
 
    class Reader : virtual public armarx::armem::client::util::SimpleReaderBase
    {
    public:
        using armarx::armem::client::util::SimpleReaderBase::SimpleReaderBase;
        ~Reader() override;
 
        struct Query
        {
            std::optional<std::string> providerName = std::nullopt;
            std::optional<std::string> name = std::nullopt; // this is the room name
            armem::Time timestamp;
        };
 
        /// A room together with the memory ID of the entity instance it was read from.
        struct Entry
        {
            /// The full ID of the entity instance (including provider segment and entity name).
            armem::MemoryID instanceID;
            armarx::navigation::algorithms::Room room;
        };
 
        struct Result
        {
            std::vector<armarx::navigation::algorithms::Room> rooms;
 
            /// The same rooms as in `rooms`, but with their memory IDs attached.
            std::vector<Entry> entries;
 
            enum Status
            {
                Success,
                NoData,
                Error
            } status;
 
            std::string errorMessage = "";
 
            operator bool() const noexcept
            {
                return status == Status::Success;
            }
        };
 
        Result query(const Query& query) const;
 
        ::armarx::armem::client::query::Builder buildQuery(const Query& query) const;
 
        /**
         * @brief The proxy of the memory server this reader is connected to.
         *
         * Can be cast to a more specific interface (e.g. the `NavigationMemoryInterface`)
         * to access memory-specific functionality such as exporting to disk.
         */
        armem::server::ReadingMemoryInterfacePrx readingPrx() const;
 
    protected:
        std::string propertyPrefix() const override;
        Properties defaultProperties() const override;
    };
 
} // namespace armarx::navigation::memory::client::rooms