HumanRobotInteractionWriter.h

Go to the documentation of this file.

/*
 * 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     Joana Plewnia ( joana dot plewnia at kit dot edu )
 * @date       2025
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
 
#include <mutex>
#include <optional>
#include <string>
 
#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
 
#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
#include <RobotAPI/libraries/armem/client/Writer.h>
#include <RobotAPI/libraries/armem/client/util/SimpleWriterBase.h>
 
#include <VisionX/libraries/armem_human/aron/HumanRobotInteraction.aron.generated.h>
#include <VisionX/libraries/armem_human/client/HumanRobotInteractionReader.h>
#include <VisionX/libraries/armem_human/types.h>
 
namespace armarx::armem::human::client
{
 
    class InteractionWriter : virtual public armem::client::util::SimpleWriterBase
    {
    public:
        using armem::client::util::SimpleWriterBase::SimpleWriterBase;
 
        InteractionWriter();
 
        ~InteractionWriter() override;
 
        void registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def);
        void connect(armem::client::MemoryNameSystem& memoryNameSystem);
 
        std::string
        propertyPrefix() const override
        {
            return "mem.human.interaction.";
        };
 
        Properties
        defaultProperties() const override
        {
            return Properties{.memoryName = "Human",
                              .coreSegmentName = "HumanRobotInteraction",
                              .providerName = ""};
        };
 
        bool commitHumanRobotInteraction(const HumanRobotInteraction& interaction,
                                         const std::string& provider,
                                         const armem::Time& referencedTime);
 
        bool commitHumanRobotInteractions(const std::vector<HumanRobotInteraction>& interactions,
                                          const std::string& provider,
                                          const armem::Time& referencedTime);
 
    private:
        armarx::armem::human::client::InteractionReader reader;
    };
 
} // namespace armarx::armem::human::client