SpecializedCoreSegment.cpp

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#include "SpecializedCoreSegment.h"
 
#include <ArmarXCore/core/application/properties/PluginAll.h>
#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
 
#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
#include <RobotAPI/libraries/aron/core/type/variant/container/Object.h>
 
namespace armarx::armem::server::segment
{
 
    SpecializedCoreSegment::SpecializedCoreSegment(
        armem::server::MemoryToIceAdapter& iceMemory,
        const std::string& defaultCoreSegmentName,
        aron::type::ObjectPtr coreSegmentAronType,
        int defaultMaxHistorySize,
        const std::vector<PredictionEngine>& predictionEngines) :
        Base(iceMemory),
        aronType(coreSegmentAronType),
        predictionEngines(predictionEngines),
        properties({defaultCoreSegmentName, defaultMaxHistorySize})
    {
        Logging::setTag("armarx::armem::SpecializedCoreSegment");
    }
 
    SpecializedCoreSegment::~SpecializedCoreSegment()
    {
    }
 
    void
    SpecializedCoreSegment::defineProperties(armarx::PropertyDefinitionsPtr defs,
                                             const std::string& prefix)
    {
        ARMARX_CHECK_NOT_NULL(defs);
 
        defs->optional(properties.segmentName,
                       prefix + "seg.CoreSegmentName",
                       "Name of the " + properties.segmentName + " core segment.");
 
        defs->optional(properties.maxHistorySize,
                       prefix + "seg.CoreMaxHistorySize",
                       "Maximal size of the " + properties.segmentName +
                           " entity histories (-1 for infinite).");
    }
 
    void
    SpecializedCoreSegment::init()
    {
        ARMARX_CHECK_NOT_NULL(iceMemory.workingMemory);
        Logging::setTag(properties.segmentName + " Core Segment");
 
        if (iceMemory.workingMemory->hasCoreSegment(properties.segmentName))
        {
            segmentPtr = &iceMemory.workingMemory->getCoreSegment(properties.segmentName);
        }
        else
        {
            ARMARX_INFO << "Adding core segment '" << properties.segmentName << "'";
            segmentPtr = &iceMemory.workingMemory->addCoreSegment(
                properties.segmentName, aronType, predictionEngines);
 
            segmentPtr->aronType() = aronType;
            segmentPtr->setMaxHistorySize(properties.maxHistorySize);
            segmentPtr->setPredictionEngines(predictionEngines);
            ARMARX_DEBUG << "New core segment has aron type: " << segmentPtr->hasAronType();
        }
    }
 
    void
    SpecializedCoreSegment::setDefaultCoreSegmentName(const std::string& coreSegmentName)
    {
        this->properties.segmentName = coreSegmentName;
    }
 
    void
    SpecializedCoreSegment::setDefaultMaxHistorySize(int64_t maxHistorySize)
    {
        this->properties.maxHistorySize = maxHistorySize;
    }
 
    void
    SpecializedCoreSegment::setAronType(aron::type::ObjectPtr aronType)
    {
        this->aronType = aronType;
    }
 
    void
    SpecializedCoreSegment::setPredictionEngines(
        const std::vector<PredictionEngine>& predictionEngines)
    {
        this->predictionEngines = predictionEngines;
    }
 
    wm::CoreSegment&
    SpecializedCoreSegment::getCoreSegment()
    {
        ARMARX_CHECK_NOT_NULL(segmentPtr);
        return *segmentPtr;
    }
 
    const wm::CoreSegment&
    SpecializedCoreSegment::getCoreSegment() const
    {
        ARMARX_CHECK_NOT_NULL(segmentPtr);
        return *segmentPtr;
    }
} // namespace armarx::armem::server::segment