Reader.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/>.
 *
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @date       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <cstdint>
#include <string>
#include <vector>
 
#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
 
#include "RobotAPI/libraries/armem_laser_scans/types.h"
#include <RobotAPI/libraries/armem/client.h>
#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
#include <RobotAPI/libraries/armem/client/Reader.h>
#include <RobotAPI/libraries/armem/client/query/Builder.h>
 
namespace armarx
{
    class ManagedIceObject;
}
 
namespace armarx::armem::laser_scans::client
{
 
    struct TimeRange
    {
        Time min;
        Time max;
    };
 
    /**
    * @defgroup Component-ExampleClient ExampleClient
    * @ingroup RobotAPI-Components
    * A description of the component ExampleClient.
    *
    * @class ExampleClient
    * @ingroup Component-ExampleClient
    * @brief Brief description of class ExampleClient.
    *
    * Detailed description of class ExampleClient.
    */
    class Reader
    {
    public:
        Reader();
        virtual ~Reader();
 
        void connect(armem::client::MemoryNameSystem& memoryNameSystem);
 
        struct Query
        {
            std::string agent;
 
            // if not provided, only latest is queried
            std::optional<TimeRange> timeRange;
 
            // if empty, all sensors will be queried
            std::vector<std::string> sensorList;
        };
 
        struct Result
        {
 
            std::vector<LaserScanStamped> laserScans;
 
            std::set<std::string> sensors;
 
            enum Status
            {
                Error,
                Success
            } status;
 
            std::string errorMessage;
        };
 
        Result queryData(const Query& query) const;
 
        void registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def);
 
        armarx::armem::client::query::Builder buildQuery(const Query& query) const;
 
    private:
        armem::client::Reader memoryReader;
 
        // Properties
        struct Properties
        {
        } properties;
 
        const std::string propertyPrefix = "mem.vision.laser_scans.";
    };
 
} // namespace armarx::armem::laser_scans::client