Segment.h

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#pragma once
 
#include <mutex>
#include <string>
 
#include <ArmarXGui/libraries/RemoteGui/Client/Widgets.h>
 
#include <RobotAPI/components/ArViz/Client/Client.h>
#include <RobotAPI/libraries/ArmarXObjects/ObjectFinder.h>
#include <RobotAPI/libraries/ArmarXObjects/ObjectID.h>
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/server/segment/SpecializedSegment.h>
#include <RobotAPI/libraries/armem_objects/server/class/FloorVis.h>
 
namespace armarx::armem::arondto
{
    class ObjectClass;
}
 
namespace armarx::armem::server::obj::clazz
{
 
    class Segment : public segment::SpecializedCoreSegment
    {
    public:
        Segment(armem::server::MemoryToIceAdapter& iceMemory);
        virtual ~Segment() override;
 
 
        void defineProperties(armarx::PropertyDefinitionsPtr defs,
                              const std::string& prefix = "") override;
        void init() override;
        void connect(viz::Client arviz);
 
 
        void loadByObjectFinder(const std::string& objectsPackage);
        void loadByObjectFinder(const ObjectFinder& finder);
        void loadByObjectFinder();
 
        void reloadObjectClassesByObjectFinder();
 
        void visualizeClass(const MemoryID& entityID, bool showAABB = true, bool showOOBB = true);
 
 
        arondto::ObjectClass objectClassFromInfo(const ObjectInfo& info);
 
 
    private:
        ObjectFinder objectFinder;
 
        viz::Client arviz;
        FloorVis floorVis;
 
        struct Properties
        {
            std::string objectsPackage = ObjectFinder::DefaultObjectsPackageName;
            bool loadFromObjectsPackage = true;
        };
 
        Properties p;
 
 
    public:
        struct RemoteGui
        {
            armarx::RemoteGui::Client::GroupBox group;
 
            struct Data
            {
                armarx::RemoteGui::Client::GroupBox group;
 
                armarx::RemoteGui::Client::Button reloadButton;
                armarx::RemoteGui::Client::IntSpinBox maxHistorySize;
                armarx::RemoteGui::Client::CheckBox infiniteHistory;
 
                void setup(const Segment& segment);
                void update(Segment& segment);
 
                bool rebuild = false;
            };
 
            Data data;
 
            struct Visu
            {
                armarx::RemoteGui::Client::GroupBox group;
 
                std::vector<MemoryID> showOptionsIndex;
                armarx::RemoteGui::Client::ComboBox showComboBox;
                armarx::RemoteGui::Client::Button showButton;
 
                void setup(const Segment& segment);
                void update(Segment& segment);
            };
 
            Visu visu;
 
            void setup(const Segment& segment);
            void update(Segment& segment);
        };
    };
 
} // namespace armarx::armem::server::obj::clazz