MemoryBase.h

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#pragma once
 
#include <map>
#include <string>
 
#include "CoreSegmentBase.h"
#include "detail/MemoryContainerBase.h"
#include "detail/Predictive.h"
#include "detail/iteration_mixins.h"
#include "detail/lookup_mixins.h"
 
namespace armarx::armem::base
{
 
    /**
     * @brief Data of a memory consisting of multiple core segments.
     */
    template <class _CoreSegmentT, class _Derived>
    class MemoryBase :
        public detail::MemoryContainerBase<std::map<std::string, _CoreSegmentT>, _Derived>,
        public detail::PredictiveContainer<_Derived>,
        public detail::ForEachEntityInstanceMixin<_Derived>,
        public detail::ForEachEntitySnapshotMixin<_Derived>,
        public detail::ForEachEntityMixin<_Derived>,
        public detail::ForEachProviderSegmentMixin<_Derived>,
        public detail::GetFindInstanceMixin<_Derived>,
        public detail::GetFindSnapshotMixin<_Derived>,
        public detail::GetFindEntityMixin<_Derived>,
        public detail::GetFindProviderSegmentMixin<_Derived>
    {
        using Base = detail::MemoryContainerBase<std::map<std::string, _CoreSegmentT>, _Derived>;
 
    public:
        using typename Base::ContainerT;
        using typename Base::DerivedT;
 
        using CoreSegmentT = _CoreSegmentT;
        using ProviderSegmentT = typename CoreSegmentT::ProviderSegmentT;
        using EntityT = typename ProviderSegmentT::EntityT;
        using EntitySnapshotT = typename EntityT::EntitySnapshotT;
        using EntityInstanceT = typename EntitySnapshotT::EntityInstanceT;
 
        using ChildT = CoreSegmentT;
 
        struct UpdateResult
        {
            armarx::armem::UpdateType memoryUpdateType;
            armarx::armem::UpdateType coreSegmentUpdateType;
            armarx::armem::UpdateType providerSegmentUpdateType;
            armarx::armem::UpdateType entityUpdateType;
            MemoryID id;
            std::vector<EntitySnapshotT> removedSnapshots;
            std::vector<EntitySnapshotT> updatedSnapshots;
 
            UpdateResult() = default;
 
            UpdateResult(const typename CoreSegmentT::UpdateResult& c) :
                coreSegmentUpdateType(c.coreSegmentUpdateType),
                providerSegmentUpdateType(c.providerSegmentUpdateType),
                entityUpdateType(c.entityUpdateType),
                id(c.id),
                removedSnapshots(c.removedSnapshots),
                updatedSnapshots(c.updatedSnapshots)
            {
            }
        };
 
    public:
        MemoryBase()
        {
        }
 
        explicit MemoryBase(const std::string& name,
                            const std::vector<PredictionEngine>& predictionEngines = {}) :
            MemoryBase(MemoryID().withMemoryName(name), predictionEngines)
        {
        }
 
        explicit MemoryBase(const MemoryID& id,
                            const std::vector<PredictionEngine>& predictionEngines = {}) :
            Base(id), detail::PredictiveContainer<_Derived>(predictionEngines)
        {
        }
 
        MemoryBase(const MemoryBase& other) = default;
        MemoryBase(MemoryBase&& other) = default;
        MemoryBase& operator=(const MemoryBase& other) = default;
        MemoryBase& operator=(MemoryBase&& other) = default;
 
        // READ ACCESS
 
        // Get key
        inline std::string&
        name()
        {
            return this->id().memoryName;
        }
 
        inline const std::string&
        name() const
        {
            return this->id().memoryName;
        }
 
        // Has child by key
        bool
        hasCoreSegment(const std::string& name) const
        {
            return this->findCoreSegment(name) != nullptr;
        }
 
        // Has child by MemoryID
        bool
        hasCoreSegment(const MemoryID& coreSegmentID) const
        {
            return this->findCoreSegment(coreSegmentID) != nullptr;
        }
 
        // Find child by key
        CoreSegmentT*
        findCoreSegment(const std::string& name)
        {
            return detail::findChildByKey(name, this->_container);
        }
 
        const CoreSegmentT*
        findCoreSegment(const std::string& name) const
        {
            return detail::findChildByKey(name, this->_container);
        }
 
        // Get child by key
        CoreSegmentT&
        getCoreSegment(const std::string& name)
        {
            return detail::getChildByKey(name, this->_container, *this);
        }
 
        const CoreSegmentT&
        getCoreSegment(const std::string& name) const
        {
            return detail::getChildByKey(name, this->_container, *this);
        }
 
        // Find child by MemoryID
        CoreSegmentT*
        findCoreSegment(const MemoryID& coreSegmentID)
        {
            detail::checkHasCoreSegmentName(coreSegmentID);
            return this->findCoreSegment(coreSegmentID.coreSegmentName);
        }
 
        const CoreSegmentT*
        findCoreSegment(const MemoryID& coreSegmentID) const
        {
            detail::checkHasCoreSegmentName(coreSegmentID);
            return this->findCoreSegment(coreSegmentID.coreSegmentName);
        }
 
        // Get child by MemoryID
        CoreSegmentT&
        getCoreSegment(const MemoryID& coreSegmentID)
        {
            detail::checkHasCoreSegmentName(coreSegmentID);
            return this->getCoreSegment(coreSegmentID.coreSegmentName);
        }
 
        const CoreSegmentT&
        getCoreSegment(const MemoryID& coreSegmentID) const
        {
            detail::checkHasCoreSegmentName(coreSegmentID);
            return this->getCoreSegment(coreSegmentID.coreSegmentName);
        }
 
        // get/findInstance are provided by GetFindInstanceMixin
        // get/findSnapshot are provided by GetFindSnapshotMixin
        // get/findEntity are provided by GetFindEntityMixin
        // get/findProviderSegment are provided by GetFindProviderSegmentMixin
 
 
        // ITERATION
 
        /**
         * @param func Function like: bool process(CoreSegmentT& coreSeg)
         */
        template <class CoreSegmentFunctionT>
        bool
        forEachCoreSegment(CoreSegmentFunctionT&& func)
        {
            return this->forEachChild(func);
        }
 
        /**
         * @param func Function like: bool process(const CoreSegmentT& coreSeg)
         */
        template <class CoreSegmentFunctionT>
        bool
        forEachCoreSegment(CoreSegmentFunctionT&& func) const
        {
            return this->forEachChild(func);
        }
 
        // forEachProviderSegment() is provided by ForEachProviderSegmentMixin.
        // forEachEntity() is provided by ForEachEntityMixin.
        // forEachSnapshot() is provided by ForEachEntitySnapshotMixin.
        // forEachInstance() is provided by ForEachEntityInstanceMixin.
 
 
        /**
         * @param func Function like void process(EntityInstanceT& instance)>
         */
        template <class InstanceFunctionT>
        bool
        forEachInstanceIn(const MemoryID& id, InstanceFunctionT&& func)
        {
            return detail::forEachInstanceIn(
                id,
                func,
                *this,
                id.hasCoreSegmentName(),
                id.hasCoreSegmentName() ? this->findCoreSegment(id.coreSegmentName) : nullptr);
        }
 
        /**
         * @param func Function like void process(EntityInstanceT& instance)>
         */
        template <class InstanceFunctionT>
        bool
        forEachInstanceIn(const MemoryID& id, InstanceFunctionT&& func) const
        {
            return detail::forEachInstanceIn(
                id,
                func,
                *this,
                id.hasCoreSegmentName(),
                id.hasCoreSegmentName() ? this->findCoreSegment(id.coreSegmentName) : nullptr);
        }
 
        std::vector<std::string>
        getCoreSegmentNames() const
        {
            return simox::alg::get_keys(this->_container);
        }
 
        // MODIFICATION
 
        void
        setName(const std::string& name)
        {
            this->id().memoryName = name;
        }
 
        /**
         * @brief Add an empty core segment with the given name, type and prediction engines.
         * @param name The core segment name.
         * @param coreSegmentType The core segment type (optional).
         * @param predictionEngines The prediction engines supported by the core segment (optional).
         * @return The added core segment.
         */
        CoreSegmentT&
        addCoreSegment(const std::string& name,
                       aron::type::ObjectPtr coreSegmentType = nullptr,
                       const std::vector<PredictionEngine>& predictionEngines = {})
        {
            ARMARX_DEBUG << "Adding core segment " << name << " with type "
                         << (coreSegmentType != nullptr);
            CoreSegmentT& c =
                this->_derived().addCoreSegment(name, name, coreSegmentType, predictionEngines);
            if (coreSegmentType != nullptr)
            {
                c.setAronType(coreSegmentType);
            }
            ARMARX_DEBUG << "Newly added core segment " << name << " has type: " << c.hasAronType();
            return c;
        }
 
        /// Copy and insert a core segment.
        CoreSegmentT&
        addCoreSegment(const CoreSegmentT& coreSegment)
        {
            return this->_derived().addCoreSegment(coreSegment.name(), CoreSegmentT(coreSegment));
        }
 
        /// Move and insert a core segment.
        CoreSegmentT&
        addCoreSegment(CoreSegmentT&& coreSegment)
        {
            const std::string name = coreSegment.name(); // Copy before move.
            return this->_derived().addCoreSegment(name, std::move(coreSegment));
        }
 
        /// Move and insert a core segment.
        template <class... Args>
        CoreSegmentT&
        addCoreSegment(const std::string& name, Args... args)
        {
            CoreSegmentT& child = this->template _addChild<ChildT>(name, args...);
            child.id() = this->id().withCoreSegmentName(name);
            ARMARX_DEBUG << "Templated copy of core segment with name " << name
                         << " has aron type: " << child.hasAronType();
            return child;
        }
 
        /**
         * @brief Store all updates in `commit`.
         * @param commit The commit.
         * @return The resulting memory IDs.
         */
        std::vector<UpdateResult>
        update(const Commit& commit,
               const bool addMissingCoreSegmentDuringUpdate = false,
               const bool checkMemoryName = true)
        {
            std::vector<UpdateResult> results;
            for (const EntityUpdate& update : commit.updates)
            {
                results.push_back(
                    this->update(update, addMissingCoreSegmentDuringUpdate, checkMemoryName));
            }
            return results;
        }
 
        /**
         * @brief Store the given update.
         * @param update The update.
         * @return The resulting entity snapshot's ID.
         */
        UpdateResult
        update(const EntityUpdate& update,
               const bool addMissingCoreSegmentDuringUpdate = false,
               const bool checkMemoryName = true)
        {
            if (checkMemoryName)
            {
                this->_checkContainerName(update.entityID.memoryName, this->name());
            }
 
            ARMARX_DEBUG << "Adding update for " << update.entityID.coreSegmentName;
 
            auto [inserted, coreSeg] = _addCoreSegmentIfMissing(update.entityID.coreSegmentName,
                                                                addMissingCoreSegmentDuringUpdate);
 
            // Update entry.
            UpdateResult ret(coreSeg->update(update));
            if (inserted)
            {
                ARMARX_DEBUG << "Inserted new core segment";
                ret.memoryUpdateType = UpdateType::InsertedNew;
            }
            else
            {
                ret.memoryUpdateType = UpdateType::UpdatedExisting;
            }
            return ret;
        }
 
        /**
         * @brief Merge another memory into this one. Append all data and types if possible
         * @param m The other memory
         */
        template <class OtherDerivedT>
        void
        append(const OtherDerivedT& other)
        {
            other.forEachCoreSegment(
                [this](const auto& coreSeg)
                {
                    auto it = this->_container.find(coreSeg.name());
                    if (it == this->_container.end())
                    {
                        it = this->_container
                                 .emplace(coreSeg.name(),
                                          this->id().withCoreSegmentName(coreSeg.name()))
                                 .first;
                        it->second.aronType() = coreSeg.aronType();
                    }
 
                    /*TODO: if (it->second.aronType() != coreSeg.aronType())
                    {
                        ARMARX_WARNING << "When appending a wm to another wm type conflicts have "
                                          "been found. Setting the type to NULL...";
                        it->second.aronType() = nullptr;
                    }*/
 
                    it->second.append(coreSeg);
                    return true;
                });
        }
 
        bool
        equalsDeep(const MemoryBase& other) const
 
        {
            //std::cout << "Memory::equalsDeep" << std::endl;
            if (this->size() != other.size())
            {
                return false;
            }
            for (const auto& [key, core] : this->_container)
            {
                if (not other.hasCoreSegment(key))
                {
                    return false;
                }
                if (not core.equalsDeep(other.getCoreSegment(key)))
                {
                    return false;
                }
            }
            return true;
        }
 
        static std::string
        getLevelName()
        {
            return "memory";
        }
 
        std::string
        getKeyString() const
        {
            return this->name();
        }
 
 
    protected:
        std::pair<bool, CoreSegmentT*>
        _addCoreSegmentIfMissing(const std::string& coreSegmentName,
                                 const bool addMissingCoreSegmentDuringUpdate)
        {
            CoreSegmentT* coreSeg = nullptr;
 
            ARMARX_DEBUG << "Checking for CoreSegment for " << coreSegmentName << ": "
                         << this->hasCoreSegment(coreSegmentName);
 
            if (!this->hasCoreSegment(coreSegmentName))
            {
                if (addMissingCoreSegmentDuringUpdate)
                {
                    ARMARX_DEBUG << "adding empty core segment " << coreSegmentName << " to "
                                 << this->id();
                    // Insert into map.
                    coreSeg = &addCoreSegment(coreSegmentName);
                    return {true, coreSeg};
                }
                else
                {
                    throw error::MissingEntry::create<CoreSegmentT>(coreSegmentName, *this);
                }
            }
            else
            {
                auto memID = this->id().withCoreSegmentName(coreSegmentName);
                coreSeg = &this->getCoreSegment(coreSegmentName);
                return {false, coreSeg};
            }
        }
    };
} // namespace armarx::armem::base