KnownGraspProviderSegment.h

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#pragma once
 
#include <filesystem>
#include <optional>
 
#include <ArmarXCore/core/services/tasks/TaskUtil.h>
 
#include "RobotAPI/libraries/ArmarXObjects/ObjectID.h"
#include "RobotAPI/libraries/ArmarXObjects/ObjectInfo.h"
#include "RobotAPI/libraries/armem/server/forward_declarations.h"
#include "RobotAPI/libraries/armem/server/segment/SpecializedProviderSegment.h"
#include <RobotAPI/libraries/armem_grasping/aron/KnownGraspCandidate.aron.generated.h>
 
namespace armarx::armem::grasping::segment
{
    class KnownGraspProviderSegment : public armem::server::segment::SpecializedProviderSegment
    {
        using Base = armem::server::segment::SpecializedProviderSegment;
 
    public:
        KnownGraspProviderSegment(armem::server::MemoryToIceAdapter& iceMemory);
 
        void init() override;
 
    private:
        void loadMemory();
        std::optional<arondto::KnownGraspInfo> knownGraspInfoFromObjectInfo(const ObjectInfo&);
 
        struct GraspFileInfo
        {
            PackageFileLocation fileLocInfo;
            ObjectID objectId;
 
            static GraspFileInfo FromObjectInfo(const ObjectInfo& objectInfo)
            {
                const std::string objectClassName = objectInfo.className();
                PackageFileLocation fileLocInfo = objectInfo.file(".xml", "_Grasps");
 
                return GraspFileInfo{.fileLocInfo = fileLocInfo, .objectId = objectInfo.id()};
            }
        };
 
        std::optional<arondto::KnownGraspInfo>
        knownGraspInfoFromFile(const GraspFileInfo& graspFileInfo);
 
        void installFileWatcher();
 
        SimpleRunningTask<>::pointer_type fileWatcherTask;
 
    public:
        static const constexpr char* CORE_SEGMENT_NAME = "KnownGraspCandidate";
        static const constexpr char* PROVIDER_SEGMENT_NAME = "PriorKnowledgeData";
 
    private:
        static const constexpr char* PREPOSE_SUFFIX = "_Prepose";
        static const constexpr char* GRASP_OPTIONAL_SUFFIX = "_Grasp";
    };
} // namespace armarx::armem::grasping::segment