MemoryPolling.cpp

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#include "MemoryPolling.h"
 
#include <string>
 
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/time/Clock.h>
#include <ArmarXCore/core/time/Duration.h>
#include <ArmarXCore/core/util/StringHelpers.h>
 
#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/core/MemoryID.h>
 
#include <armarx/view_selection/memory/constants.h>
 
namespace armarx::view_selection::client
{
 
    namespace
    {
        constexpr int pollIntervalMs = 100;
    }
 
    MemoryPolling::MemoryPolling(const std::string& providerSegmentName,
                                 armem::client::MemoryNameSystem& mns) :
        providerSegmentName(providerSegmentName),
        memoryNameSystem(mns),
        lastPolled(armarx::Clock::Now())
    {
        memoryReader = memoryNameSystem.getReader(
            armem::MemoryID().withMemoryName(memory::constants::ViewMemoryName));
 
        ARMARX_INFO << "Polling gaze target status updates for provider segment "
                    << QUOTED(providerSegmentName) << " every " << pollIntervalMs << " ms.";
 
        task = new armarx::PeriodicTask<MemoryPolling>(this, &MemoryPolling::poll, pollIntervalMs);
        task->start();
    }
 
    MemoryPolling::~MemoryPolling()
    {
        if (task and task->isRunning())
        {
            task->stop();
        }
    }
 
    void
    MemoryPolling::poll()
    {
        const armarx::DateTime now = armarx::Clock::Now();
 
        armem::client::query::Builder qb;
        qb.coreSegments()
            .withName(memory::constants::GazeTargetStatusCoreSegmentName)
            .providerSegments()
            .withName(providerSegmentName)
            .entities()
            .all()
            .snapshots()
            .timeRange(lastPolled, now);
 
        const armem::client::QueryResult result = memoryReader.query(qb.buildQueryInput());
 
        if (not result.success)
        {
            ARMARX_WARNING << deactivateSpam(0.1F)
                           << "Failed to poll gaze target status updates: " << result.errorMessage;
            return;
        }
 
        // Advance past the window we just consumed.  The extra microsecond keeps a snapshot exactly
        // on the boundary from being dispatched twice.
        lastPolled = now + armarx::Duration::MicroSeconds(1);
 
        handleMemory(result.memory);
    }
 
} // namespace armarx::view_selection::client