StatechartListenerSegment.h

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#pragma once
 
// Base Class
#include <RobotAPI/libraries/armem/server/segment/SpecializedSegment.h>
 
// ArmarX
#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
#include <ArmarXCore/interface/core/Profiler.h>
#include <ArmarXCore/observers/ObserverObjectFactories.h>
 
namespace armarx::skills::segment
{
    class StatechartListenerProviderSegment :
        public armem::server::segment::SpecializedProviderSegment
    {
        using Base = armem::server::segment::SpecializedProviderSegment;
 
    public:
        StatechartListenerProviderSegment(armem::server::MemoryToIceAdapter& iceMemory);
 
        void defineProperties(PropertyDefinitionsPtr defs, const std::string& prefix);
        void init();
 
        void
        reportStatechartTransitionWithParameters(const ProfilerStatechartTransitionWithParameters&);
        void reportStatechartTransitionWithParametersList(
            const ProfilerStatechartTransitionWithParametersList&);
 
    private:
        std::string getStatechartName(std::string stateName);
 
    private:
        struct Properties
        {
            // Statechart transition logging
            std::string statechartCoreSegmentName = "Statechart";
            std::string statechartTransitionsProviderSegmentName = "Transitions";
            std::string statechartTransitionsTopicName = "StateReportingTopic";
        };
 
        Properties p;
    };
} // namespace armarx::skills::segment