SemanticGraphStorageComponentPlugin.cpp

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#include "SemanticGraphStorageComponentPlugin.h"
 
#include <VirtualRobot/VirtualRobot.h>
 
#include <ArmarXCore/core/Component.h>
 
#include <VisionX/libraries/SemanticObjectRelations/ice_serialization.h>
 
namespace armarx
{
    namespace plugins
    {
 
        void
        SemanticGraphStorageComponentPlugin::preOnInitComponent()
        {
            parent<Component>().offeringTopicFromProperty(PROPERTY_NAME);
        }
 
        void
        SemanticGraphStorageComponentPlugin::preOnConnectComponent()
        {
            parent<Component>().getTopicFromProperty(topic, PROPERTY_NAME);
        }
 
        void
        SemanticGraphStorageComponentPlugin::postCreatePropertyDefinitions(
            PropertyDefinitionsPtr& properties)
        {
            if (!properties->hasDefinition(PROPERTY_NAME))
            {
                properties->defineOptionalProperty<std::string>(
                    PROPERTY_NAME, "SemanticGraphTopic", "Name of the SemanticGraphTopic");
            }
        }
 
    } // namespace plugins
 
    SemanticGraphStorageComponentPluginUser::SemanticGraphStorageComponentPluginUser()
    {
        addPlugin(plugin);
    }
 
    const semantic::GraphStorageTopicPrx&
    SemanticGraphStorageComponentPluginUser::getGraphStorageTopic()
    {
        return plugin->topic;
    }
 
    void
    armarx::SemanticGraphStorageComponentPluginUser::storeGraph(
        std::string const& name,
        const semrel::AttributedGraph& graph)
    {
        armarx::semantic::data::Graph iceGraph = armarx::semantic::toIce(graph);
        getGraphStorageTopic()->reportGraph(name, iceGraph);
    }
 
} // namespace armarx