MemoryStatusPublisher.h

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#pragma once
 
#include <experimental/memory>
#include <functional>
#include <map>
#include <mutex>
#include <string>
 
#include <RobotAPI/libraries/armem/core/MemoryID.h>
 
#include <armarx/view_selection/gaze_scheduler/StatusPublisherInterface.h>
#include <armarx/view_selection/gaze_targets/GazeTargetStatus.h>
#include <armarx/view_selection/memory/client/status/Writer.h>
 
namespace armarx::view_selection::gaze_scheduler
{
 
    /**
     * @brief Accumulates each target's lifecycle and commits it to View/GazeTargetStatus.
     *
     * Every transition publishes a snapshot carrying *all* timestamps seen so far.  A client that
     * only ever observes the final snapshot -- a poller, or anyone that was slow -- can therefore
     * still tell whether the target was reached before it ended.  A pure event stream would lose
     * that.
     */
    class MemoryStatusPublisher : virtual public StatusPublisherInterface
    {
    public:
        explicit MemoryStatusPublisher(
            std::experimental::observer_ptr<memory::client::status::Writer> writer);
 
        void requested(const armem::MemoryID& gazeTargetID,
                       const armarx::DateTime& creationTimestamp) override;
        void scheduled(const armem::MemoryID& gazeTargetID) override;
        void reached(const armem::MemoryID& gazeTargetID,
                     const gaze_controller::GazeResidual& residual) override;
        void preempted(const armem::MemoryID& gazeTargetID, const std::string& reason) override;
        void released(const armem::MemoryID& gazeTargetID, const std::string& reason) override;
        void aborted(const armem::MemoryID& gazeTargetID, const std::string& reason) override;
 
        bool wasReached(const armem::MemoryID& gazeTargetID) const override;
 
    private:
        /// Applies `mutate` to the target's accumulated lifecycle, then publishes the result.
        /// Terminal states drop the accumulator entry so it cannot grow without bound.
        void publish(const armem::MemoryID& gazeTargetID,
                     const std::function<void(gaze_targets::GazeTargetStatus&)>& mutate);
 
        const std::experimental::observer_ptr<memory::client::status::Writer> writer;
 
        mutable std::mutex mutex;
 
        std::map<armem::MemoryID, gaze_targets::GazeTargetStatus> lifecycles;
    };
 
} // namespace armarx::view_selection::gaze_scheduler