HumanActivityReader.cpp

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#include "HumanActivityReader.h"
 
#include <iterator>
 
#include "ArmarXCore/core/exceptions/local/ExpressionException.h"
#include "ArmarXCore/core/logging/Logging.h"
 
#include <RobotAPI/libraries/armem/util/util.h>
 
#include <VisionX/libraries/armem_human/aron/HumanActivity.aron.generated.h>
#include <VisionX/libraries/armem_human/aron_conversions.h>
 
namespace armarx::armem::human::client
{
    ActivityReader::~ActivityReader() = default;
 
    armarx::armem::client::query::Builder
    ActivityReader::buildQuery(const Query& query) const
    {
        armarx::armem::client::query::Builder qb;
 
        armarx::armem::client::query::CoreSegmentSelector& coreSegmentQuery =
            qb.coreSegments().withName(properties().coreSegmentName);
 
        armarx::armem::client::query::ProviderSegmentSelector& providerQuery =
            [&]() -> armem::client::query::ProviderSegmentSelector&
        {
            if (not query.providerName.empty())
            {
                return coreSegmentQuery.providerSegments().withName(query.providerName);
            }
            return coreSegmentQuery.providerSegments().all();
        }();
 
        providerQuery.entities().all().snapshots().beforeOrAtTime(query.timestamp);
 
        return qb;
    }
 
    ::armarx::armem::client::query::Builder
    ActivityReader::buildLatestQuery(const Query& query) const
    {
        armarx::armem::client::query::Builder qb;
 
        armarx::armem::client::query::CoreSegmentSelector& coreSegmentQuery =
            qb.coreSegments().withName(properties().coreSegmentName);
 
        armarx::armem::client::query::ProviderSegmentSelector& providerQuery =
            [&]() -> armem::client::query::ProviderSegmentSelector&
        {
            if (not query.providerName.empty())
            {
                return coreSegmentQuery.providerSegments().withName(query.providerName);
            }
            return coreSegmentQuery.providerSegments().all();
        }();
 
        providerQuery.entities().all().snapshots().latest();
 
        return qb;
    }
 
    std::vector<HumanActivity>
    ActivityReader::asHumanActivities(const wm::ProviderSegment& providerSegment,
                                      const DateTime& timestamp,
                                      const Duration& maxAge) const
    {
        ARMARX_TRACE;
        std::vector<HumanActivity> activities;
 
        providerSegment.forEachEntity(
            [&](const wm::Entity& entity)
            {
                ARMARX_TRACE;
 
                const auto& entitySnapshot = entity.getLatestSnapshot();
 
                entitySnapshot.forEachInstance(
                    [&activities, &timestamp, &maxAge](const auto& entityInstance)
                    {
                        ARMARX_TRACE;
 
                        const core::time::Duration dtToNow =
                            timestamp - entityInstance.metadata().referencedTime;
 
                        if (dtToNow < maxAge and dtToNow.isPositive())
                        {
                            const auto aronDto =
                                tryCast<armarx::human::arondto::HumanActivity>(entityInstance);
                            ARMARX_CHECK(aronDto) << "Failed casting to HumanActivity";
 
                            HumanActivity activity;
                            fromAron(*aronDto, activity);
 
                            activities.push_back(activity);
                        };
                    });
            });
 
        return activities;
    }
 
    std::string
    ActivityReader::propertyPrefix() const
    {
        return "mem.human.activity.";
    }
 
    armarx::armem::client::util::SimpleReaderBase::Properties
    ActivityReader::defaultProperties() const
    {
        return {.memoryName = "Human", .coreSegmentName = "HumanActivity"};
    }
 
    ActivityReader::Result
    ActivityReader::query(const Query& query, bool latest) const
    {
        ARMARX_TRACE;
 
        ::armarx::armem::client::query::Builder qb;
        if (latest)
        {
            qb = buildLatestQuery(query);
        }
        else
        {
            qb = buildQuery(query);
        }
 
        ARMARX_DEBUG << "[ActivityReader] query ... ";
 
        const armem::client::QueryResult qResult = memoryReader().query(qb.buildQueryInput());
 
        ARMARX_DEBUG << "[ActivityReader] result: " << qResult;
 
        if (not qResult.success)
        {
            ARMARX_WARNING << "Failed to query data from memory: " << qResult.errorMessage;
            return {.activities = {},
                    .status = Result::Status::Error,
                    .errorMessage = qResult.errorMessage};
        }
 
        ARMARX_TRACE;
        const auto coreSegment = qResult.memory.getCoreSegment(properties().coreSegmentName);
 
        if (query.providerName.empty())
        {
            ARMARX_TRACE;
 
            std::vector<HumanActivity> allActivities;
 
            coreSegment.forEachProviderSegment(
                [this, &allActivities, &query](const auto& providerSegment)
                {
                    const std::vector<HumanActivity> activities =
                        asHumanActivities(providerSegment, query.timestamp, query.maxAge);
                    std::copy(activities.begin(),
                              activities.end(),
                              std::back_inserter(allActivities));
                });
 
            if (allActivities.empty())
            {
                return {.activities = {},
                        .status = Result::Status::NoData,
                        .errorMessage = "No entities"};
            }
 
            return Result{.activities = allActivities, .status = Result::Status::Success};
        }
 
        ARMARX_TRACE;
 
        // -> provider segment name is set
        if (not coreSegment.hasProviderSegment(query.providerName))
        {
            ARMARX_INFO << deactivateSpam(5) << "Provider segment `" << query.providerName
                        << "` does not exist (yet).";
            return {.activities = {}, .status = Result::Status::NoData};
        }
 
        ARMARX_TRACE;
 
        const wm::ProviderSegment& providerSegment =
            coreSegment.getProviderSegment(query.providerName);
 
        if (providerSegment.empty())
        {
            ARMARX_WARNING << "No entities.";
            return {.activities = {},
                    .status = Result::Status::NoData,
                    .errorMessage = "No entities"};
        }
 
        try
        {
            ARMARX_TRACE;
 
            const auto activities = asHumanActivities(providerSegment, query.timestamp, query.maxAge);
            return Result{.activities = activities, .status = Result::Status::Success};
        }
        catch (...)
        {
            return Result{.status = Result::Status::Error,
                          .errorMessage = GetHandledExceptionString()};
        }
    }
 
    std::vector<HumanActivity>
    ActivityReader::queryActivitiesForPerson(const std::string& firstName,
                                             const std::string& lastName,
                                             const Duration& maxAge,
                                             const std::string& providerName)
    {
        Query queryDefinition = Query{.providerName = providerName,
                                      .timestamp = armem::Time::Now(),
                                      .maxAge = maxAge};
 
        auto queryResult = query(queryDefinition, true);
 
        std::vector<HumanActivity> matchingActivities;
 
        if (queryResult.status == Result::Status::Success)
        {
            for (const auto& activity : queryResult.activities)
            {
                if (activity.personID.has_value() &&
                    activity.personID.value().firstName == firstName &&
                    activity.personID.value().lastName == lastName)
                {
                    matchingActivities.push_back(activity);
                }
            }
 
            if (matchingActivities.empty())
            {
                ARMARX_INFO << "No activities found for person " << firstName << " " << lastName;
            }
        }
        else
        {
            ARMARX_WARNING << "Failed to query activities from memory";
        }
 
        return matchingActivities;
    }
 
    std::optional<HumanActivity>
    ActivityReader::queryLatestActivityForPerson(const std::string& firstName,
                                                  const std::string& lastName,
                                                  const std::string& providerName)
    {
        Query queryDefinition = Query{.providerName = providerName,
                                      .timestamp = armem::Time::Now(),
                                      .maxAge = armarx::Duration::Minutes(1000)};
 
        auto queryResult = query(queryDefinition, true);
 
        if (queryResult.status == Result::Status::Success)
        {
            // Find the latest activity for the given person
            std::optional<HumanActivity> latestActivity;
            DateTime latestTime;
 
            for (const auto& activity : queryResult.activities)
            {
                if (activity.personID.has_value() &&
                    activity.personID.value().firstName == firstName &&
                    activity.personID.value().lastName == lastName)
                {
                    if (!latestActivity.has_value() || activity.startTime > latestTime)
                    {
                        latestActivity = activity;
                        latestTime = activity.startTime;
                    }
                }
            }
 
            if (latestActivity.has_value())
            {
                return latestActivity;
            }
            else
            {
                ARMARX_INFO << "No activities found for person " << firstName << " " << lastName;
            }
        }
        else
        {
            ARMARX_WARNING << "Failed to query activities from memory";
        }
 
        return std::nullopt;
    }
 
} // namespace armarx::armem::human::client