SkillStatusReader.cpp

Go to the documentation of this file.

#include "SkillStatusReader.h"
 
#include <ArmarXCore/core/logging/Logging.h>
 
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem_skills/aron/Skill.aron.generated.h>
 
namespace armarx::armem::skills::client
{
 
    SkillStatusReader::~SkillStatusReader() = default;
 
    std::optional<armarx::core::time::DateTime>
    SkillStatusReader::queryLatestExecutionStartedTimestamp(
        const std::string& providerName,
        const std::string& skillName) const
    {
        armarx::armem::client::query::Builder qb;
 
        qb.coreSegments()
            .withName(properties().coreSegmentName)
            .providerSegments()
            .withName(providerName)
            .entities()
            .withName(skillName)
            .snapshots()
            .latest();
 
        const auto qResult = memoryReader().query(qb.buildQueryInput());
 
        if (!qResult.success)
        {
            ARMARX_WARNING << "[SkillStatusReader] Query failed: " << qResult.errorMessage;
            return std::nullopt;
        }
 
        if (!qResult.memory.hasCoreSegment(properties().coreSegmentName))
        {
            return std::nullopt;
        }
 
        const auto& coreSegment =
            qResult.memory.getCoreSegment(properties().coreSegmentName);
 
        if (!coreSegment.hasProviderSegment(providerName))
        {
            return std::nullopt;
        }
 
        const auto& providerSegment = coreSegment.getProviderSegment(providerName);
 
        if (!providerSegment.hasEntity(skillName))
        {
            return std::nullopt;
        }
 
        const auto& entity = providerSegment.getEntity(skillName);
 
        if (entity.empty())
        {
            return std::nullopt;
        }
 
        const auto& latestSnapshot = entity.getLatestSnapshot();
 
        std::optional<armarx::core::time::DateTime> result;
 
        latestSnapshot.forEachInstance(
            [&result](const auto& instance)
            {
                try
                {
                    const auto dto =
                        armarx::skills::arondto::SkillStatusUpdate::FromAron(
                            instance.data());
                    result = dto.executionStartedTimestamp;
                }
                catch (...)
                {
                }
            });
 
        return result;
    }
 
    std::string
    SkillStatusReader::propertyPrefix() const
    {
        return "mem.skill_status.";
    }
 
    armarx::armem::client::util::SimpleReaderBase::Properties
    SkillStatusReader::defaultProperties() const
    {
        return {.memoryName = "Skill", .coreSegmentName = "SkillEvent"};
    }
 
} // namespace armarx::armem::skills::client