MemorySubscriber.cpp

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#include "MemorySubscriber.h"
 
#include <string>
#include <vector>
 
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/util/StringHelpers.h>
 
#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
#include <RobotAPI/libraries/armem/client/Reader.h>
#include <RobotAPI/libraries/armem/core/MemoryID.h>
 
#include <armarx/view_selection/memory/constants.h>
 
namespace armarx::view_selection::client
{
 
    MemorySubscriber::MemorySubscriber(const std::string& providerSegmentName,
                                       armem::client::MemoryNameSystem& mns) :
        providerSegmentName(providerSegmentName), memoryNameSystem(mns)
    {
        memoryReader = memoryNameSystem.getReader(
            armem::MemoryID().withMemoryName(memory::constants::ViewMemoryName));
 
        const armem::MemoryID subscriptionID =
            armem::MemoryID()
                .withMemoryName(memory::constants::ViewMemoryName)
                .withCoreSegmentName(memory::constants::GazeTargetStatusCoreSegmentName)
                .withProviderSegmentName(providerSegmentName);
 
        ARMARX_INFO << "Subscribing to gaze target status updates under "
                    << QUOTED(subscriptionID.str()) << ".";
 
        subscriptionHandle =
            memoryNameSystem.subscribe(subscriptionID, this, &MemorySubscriber::onEntityUpdate);
    }
 
    MemorySubscriber::~MemorySubscriber() = default;
 
    void
    MemorySubscriber::onEntityUpdate(const std::vector<armem::MemoryID>& snapshotIDs)
    {
        const armem::client::QueryResult result = memoryReader.queryMemoryIDs(snapshotIDs);
 
        if (not result.success)
        {
            ARMARX_WARNING << deactivateSpam(0.1F)
                           << "Failed to look up gaze target status updates: "
                           << result.errorMessage;
            return;
        }
 
        handleMemory(result.memory);
    }
 
} // namespace armarx::view_selection::client