SemanticGraphStorage.cpp

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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/>.
 *
 * @package    VisionX::ArmarXObjects::SemanticGraphStorage
 * @author     Fabian Paus ( fabian dot paus at kit dot edu )
 * @date       2019
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "SemanticGraphStorage.h"
 
#include <ArmarXCore/libraries/DecoupledSingleComponent/Decoupled.h>
 
namespace armarx
{
    SemanticGraphStoragePropertyDefinitions::SemanticGraphStoragePropertyDefinitions(
        std::string prefix) :
        armarx::ComponentPropertyDefinitions(prefix)
    {
        defineOptionalProperty<std::string>(
            "SemanticGraphTopicName",
            "SemanticGraphTopic",
            "Name of the topic on which attributed graphs are reported");
    }
 
    std::string
    SemanticGraphStorage::GetDefaultName()
    {
        return "SemanticGraphStorage";
    }
 
    std::string
    SemanticGraphStorage::getDefaultName() const
    {
        return GetDefaultName();
    }
 
    void
    SemanticGraphStorage::onInitComponent()
    {
        usingTopicFromProperty("SemanticGraphTopicName");
    }
 
    void
    SemanticGraphStorage::onConnectComponent()
    {
    }
 
    void
    SemanticGraphStorage::onDisconnectComponent()
    {
    }
 
    void
    SemanticGraphStorage::onExitComponent()
    {
    }
 
    semantic::data::GraphMap
    armarx::SemanticGraphStorage::getAll(const Ice::Current&)
    {
        std::unique_lock<std::mutex> lock(graphsMutex);
 
        return graphs;
    }
 
    void
    SemanticGraphStorage::remove(const std::string& id, const Ice::Current&)
    {
        std::unique_lock<std::mutex> lock(graphsMutex);
 
        graphs.erase(id);
    }
 
    void
    SemanticGraphStorage::removeAll(const Ice::Current&)
    {
        std::unique_lock<std::mutex> lock(graphsMutex);
 
        graphs.clear();
    }
 
    void
    SemanticGraphStorage::reportGraph(std::string const& id,
                                      semantic::data::Graph const& graph,
                                      const Ice::Current&)
    {
        ARMARX_INFO << "Got graph with ID: " << id;
 
        std::unique_lock<std::mutex> lock(graphsMutex);
 
        graphs[id] = graph;
    }
 
    armarx::PropertyDefinitionsPtr
    SemanticGraphStorage::createPropertyDefinitions()
    {
        return armarx::PropertyDefinitionsPtr(
            new SemanticGraphStoragePropertyDefinitions(getConfigIdentifier()));
    }
 
    ARMARX_REGISTER_COMPONENT_EXECUTABLE(::armarx::SemanticGraphStorage, ::armarx::SemanticGraphStorage::GetDefaultName());
} // namespace armarx