Segment.cpp

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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    VisionX::ArmarXObjects::armem_images_server
 * @author     Rainer Kartmann ( rainer dot kartmann at kit dot edu )
 * @date       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "Segment.h"
 
#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
 
#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
 
#include <VisionX/libraries/armem_human/aron/FaceRecognition.aron.generated.h>
#include <VisionX/libraries/armem_human/aron_conversions.h>
#include <VisionX/libraries/armem_human/memory_ids.h>
#include <VisionX/libraries/armem_human/types.h>
 
namespace armarx::armem::server::human::facerecog
{
 
    const std::string Segment::CORE_SEGMENT_NAME =
        armarx::human::FaceRecognitionCoreSegmentID.coreSegmentName;
 
    Segment::Segment(armem::server::MemoryToIceAdapter& iceMemory) :
        Base(iceMemory,
             CORE_SEGMENT_NAME,
             armarx::human::arondto::FaceRecognition::ToAronType(),
             64)
    {
    }
 
    void
    Segment::defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix)
    {
        Base::defineProperties(defs, prefix);
        defs->optional(properties.loadDummyEntries,
                       prefix + "loadDummyEntries",
                       "Initialise FaceRecognition segment with some dummy entries.");
    }
 
    void
    Segment::init()
    {
        Base::init();
 
        if (properties.loadDummyEntries)
        {
            loadDummyEntries();
        }
    }
 
    void
    Segment::loadDummyEntries()
    {
        armem::Commit commit;
        const armem::Time now = armem::Time::Now();
        using armarx::human::arondto::FaceRecognition;
 
        armarx::armem::arondto::MemoryID rainer;
        rainer.memoryName = "Human";
        rainer.coreSegmentName = "Profile";
        rainer.providerSegmentName = "jubot_long_term_memory_data";
        rainer.entityName = "rainer-kartmann";
        {
            FaceRecognition fr;
            fr.profileID = rainer;
            armem::EntityUpdate& update = commit.add();
            update.entityID =
                getCoreSegment().id().withProviderSegmentName("Dummy").withEntityName("rainer");
            update.referencedTime = update.sentTime = update.arrivedTime = now;
            update.instancesData = {fr.toAron()};
        }
        {
            FaceRecognition fr;
            armem::EntityUpdate& update = commit.add();
            update.entityID =
                getCoreSegment().id().withProviderSegmentName("Dummy").withEntityName("unknown");
            update.referencedTime = update.sentTime = update.arrivedTime = now;
            update.instancesData = {fr.toAron()};
        }
 
        iceMemory.commit(commit);
    }
 
    std::map<std::string, std::vector<armarx::armem::human::FaceRecognition>>
    Segment::getFaceRecognitionEntities(const Duration& maxAge) const
    {
        std::map<std::string, std::vector<armarx::armem::human::FaceRecognition>>
            faceRecognitionMap;
 
        const auto now = armarx::Clock::Now();
 
        return segmentPtr->doLocked(
            [&]
            {
                segmentPtr->forEachProviderSegment(
                    [&](const wm::ProviderSegment& provSegment)
                    {
                        faceRecognitionMap[provSegment.name()] = {};
 
                        provSegment.forEachEntity(
                            [&](const wm::Entity& entity)
                            {
                                if (entity.empty())
                                {
                                    return;
                                }
                                entity.getLatestSnapshot().forEachInstance(
                                    [&](const wm::EntityInstance& instance)
                                    {
                                        armarx::human::arondto::FaceRecognition dto;
                                        dto.fromAron(instance.data());
 
 
                                        armarx::armem::human::FaceRecognition bo;
                                        fromAron(dto, bo);
 
                                        if ((now - instance.metadata().referencedTime) < maxAge)
                                        {
                                            faceRecognitionMap[provSegment.name()].push_back(bo);
                                        }
                                    });
                            });
                    });
 
                return faceRecognitionMap;
            });
    }
 
    armarx::armem::human::FaceRecognition
    Segment::getFaceRecognition(armarx::armem::MemoryID memoryID) const
    {
        wm::EntityInstance* instance = segmentPtr->findInstance(memoryID);
        armarx::armem::human::FaceRecognition faceReco;
        armarx::human::arondto::FaceRecognition dto;
        dto.fromAron(instance->data());
        fromAron(dto, faceReco);
        return faceReco;
    }
 
} // namespace armarx::armem::server::human::facerecog