MemoryViewerModel.h

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2012-2025, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * 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    RobotStateComponent::
 * @author     Samet Soenmez (uewtt at student dot kit dot edu)
 * @date       2025t
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <string>
#include <vector>
#include <map>
#include <future>
#include <mutex>
 
#include <ArmarXCore/interface/observers/ObserverInterface.h>
#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
#include <RobotAPI/libraries/armem/client/Reader.h>
#include <RobotAPI/libraries/armem/client/Writer.h>
#include <RobotAPI/libraries/armem_gui/util/MemoryTypes.h>
#include <RobotAPI/libraries/armem/core/query/DataMode.h>
#include <RobotAPI/libraries/armem/client/query/Builder.h>
 
 
namespace armarx::armem::gui::model
{
    /**
     * @brief stores data that is used by the controllers
     */
    class MemoryViewerModel
    {
    public:
 
        MemoryViewerModel();
 
        std::vector<std::string> getEnabledMemories() const;
        const armem::wm::Memory* getSingleMemoryData(const std::string& memoryName);
        armem::client::QueryInput queryInput() const;
 
        // Getter functions
        std::map<std::string, armem::gui::ActiveMemoryState> activeMemoryStates();
        armem::client::MemoryNameSystem& mns();
        DebugObserverInterfacePrx& debugObserver();
        bool initialized() const;
        bool connected() const;
        std::map<std::string, armem::client::Reader>& memoryReaders();
        std::map<std::string, armem::client::Writer>& memoryWriters();
        std::map<std::string, armem::client::Reader> memoryReadersCopy() const;
        std::map<std::string, armem::client::Writer> memoryWritersCopy() const;
        std::map<std::string, armem::wm::Memory>& memoryData();
        std::map<std::string, armem::wm::Memory> memoryDataCopy() const;
        int recursionDepth() const;
        armem::query::DataMode dataMode() const;
        bool dropRemovedMemories() const;
        bool dropDisabledMemories() const;
        client::query::SnapshotSelector selector() const;
 
        // Setter functions
        void setMns(std::unique_ptr<armem::client::MemoryNameSystem> mns);
        void setDebugObserver(const DebugObserverInterfacePrx& observer);
        void setInitialized(bool val);
        void setConnected(bool val);
        void setMemoryReaders(std::map<std::string, armem::client::Reader> readers);
        void setMemoryWriters(std::map<std::string, armem::client::Writer> writers);
        void setMemoryData(std::map<std::string, armem::wm::Memory> data);
        void setActiveMemoryStates(std::map<std::string, armem::gui::ActiveMemoryState>);
        void setRecursionDepth(int value);
        void setDataMode(armem::query::DataMode dataMode);
        void setDropRemovedMemories(bool val);
        void setDropDisabledMemories(bool val);
        void setSelector(client::query::SnapshotSelector selector);
 
 
    private:
        std::unique_ptr<armem::client::MemoryNameSystem> _mns;
 
        DebugObserverInterfacePrx _debugObserver;
 
        std::atomic_bool _initialized = false;
        std::atomic_bool _connected = false;
 
        std::map<std::string, armem::client::Reader> _memoryReaders;
        std::map<std::string, armem::client::Writer> _memoryWriters;
 
        std::map<std::string, armem::wm::Memory> _memoryData;
 
        std::map<std::string, armem::gui::ActiveMemoryState> _activeMemoryStates;
        int _recursionDepth = 0;
        armem::query::DataMode _dataMode = armem::query::DataMode::WithData;
        bool _dropRemovedMemories = true;
        bool _dropDisabledMemories = false;
        client::query::SnapshotSelector _selector;
        mutable std::mutex _memoryDataMutex;
    };
}