ObjectSpokenNames.h

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/*
 * This file is part of ArmarX.
 *
 * 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    RobotAPI::ArmarXObjects::OpossumLogger
 * @author     Joana Plewnia ( joana dot plewnia at kit dot edu )
 * @date       2026
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <map>
#include <mutex>
#include <optional>
#include <string>
#include <utility>
 
#include <RobotAPI/libraries/ArmarXObjects/ObjectFinder.h>
 
#include "SkillEventRenderer.h"
 
namespace armarx::opossum
{
 
    /**
     * @brief Spoken object names from PriorKnowledgeData, for use as a
     * `SpokenNameLookup`.
     *
     * Looks up `<dataset>/<className>/<className>_names.json` via
     * `ObjectFinder`; if that yields nothing (the dataset is unknown to
     * PriorKnowledgeData, as for `MobileKitchen/mobile-fridge`), the class name
     * is searched in all datasets. Results, including misses, are cached: only
     * about a quarter of the known classes carry a names file, so misses are
     * common and re-checking the filesystem for them would be wasteful.
     *
     * Thread-safe.
     */
    class ObjectSpokenNames
    {
    public:
        ObjectSpokenNames() = default;
 
        /// The spoken name of an object class, or `std::nullopt` if it has none.
        std::optional<std::string> operator()(const std::string& dataset,
                                              const std::string& className);
 
        /// This resolver as a `SpokenNameLookup`. Must not outlive this object.
        SpokenNameLookup asLookup();
 
    private:
        std::optional<std::string> load(const std::string& dataset, const std::string& className);
 
        armarx::ObjectFinder finder;
 
        std::mutex mutex;
        std::map<std::pair<std::string, std::string>, std::optional<std::string>> cache;
    };
 
} // namespace armarx::opossum