PersonInstanceReader.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     Timo Birr ( timo dot birr at kit dot edu )
 * @date       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <cstdint>
#include <string>
#include <vector>
 
#include "RobotAPI/libraries/armem/core/forward_declarations.h"
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/client/util/SimpleReaderBase.h>
 
#include <VisionX/libraries/armem_human/types.h>
 
namespace armarx::armem::human::client
{
 
    class PersonInstanceReader : virtual public armarx::armem::client::util::SimpleReaderBase
    {
    public:
        using Base = armarx::armem::client::util::SimpleReaderBase;
 
        using armarx::armem::client::util::SimpleReaderBase::SimpleReaderBase;
        ~PersonInstanceReader() override;
 
        struct Query
        {
            // if empty, will query all providers
            std::string providerName;
            armem::Time timestamp;
 
            Duration maxAge;
        };
 
        struct Result
        {
            std::vector<PersonInstance> personInstances{};
 
            enum class Status: std::uint8_t
            {
                Success,
                NoData,
                Error
            };
            
            Status status;
 
            std::string errorMessage = "";
 
            operator bool() const noexcept
            {
                return status != Status::Error;
            }
        };
 
        struct QueryResolved : Query
        {
            bool resolveFaceDetection = true;
            bool resolveHumanPose = true;
            bool resolveProfile = true;
        };
 
        struct ResultResolved
        {
            std::vector<MemoryResolvedPersonInstance> personInstances;
 
            using Status = Result::Status;
            Status status;
            std::string errorMessage = "";
 
            operator bool() const noexcept
            {
                return status != Result::Status::Error;
            }
        };
 
        Result query(const Query& query) const;
 
        ResultResolved queryResolved(const QueryResolved& query) const;
 
    protected:
        ::armarx::armem::client::query::Builder buildQuery(const Query& query) const;
 
        std::string propertyPrefix() const override;
        Properties defaultProperties() const override;
    };
 
} // namespace armarx::armem::human::client