HumanActivityWriter.h

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#pragma once
 
 
#include <mutex>
#include <optional>
#include <string>
 
#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
 
#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
#include <RobotAPI/libraries/armem/client/Writer.h>
#include <RobotAPI/libraries/armem/client/util/SimpleWriterBase.h>
 
#include <VisionX/libraries/armem_human/aron/HumanActivity.aron.generated.h>
#include <VisionX/libraries/armem_human/client/HumanActivityReader.h>
#include <VisionX/libraries/armem_human/types.h>
 
namespace armarx::armem::human::client
{
 
    class ActivityWriter : virtual public armem::client::util::SimpleWriterBase
    {
    public:
        using armem::client::util::SimpleWriterBase::SimpleWriterBase;
 
        ActivityWriter();
 
        ~ActivityWriter() override;
 
        void registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def);
        void connect(armem::client::MemoryNameSystem& memoryNameSystem);
 
        std::string
        propertyPrefix() const override
        {
            return "mem.human.activity.";
        };
 
        Properties
        defaultProperties() const override
        {
            return Properties{
                .memoryName = "Human", .coreSegmentName = "HumanActivity", .providerName = ""};
        };
 
        bool commitHumanActivity(const HumanActivity& activity,
                                 const std::string& provider,
                                 const armem::Time& referencedTime);
 
        bool commitHumanActivities(const std::vector<HumanActivity>& activities,
                                   const std::string& provider,
                                   const armem::Time& referencedTime);
 
    private:
        armarx::armem::human::client::ActivityReader reader;
    };
 
} // namespace armarx::armem::human::client