PersistentWorldStateSegment.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/>.
*
* @package    MemoryX::MemoryTypes
* @author     Thomas von der Heyde (tvh242 at hotmail dot com)
* @date       2014
* @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
*             GNU General Public License
*/
 
#pragma once
 
#include <ArmarXCore/core/system/ImportExportComponent.h>
 
#include <MemoryX/core/memory/PersistentEntitySegment.h>
#include <MemoryX/interface/core/EntityBase.h>
#include <MemoryX/interface/memorytypes/MemoryEntities.h>
#include <MemoryX/interface/memorytypes/MemorySegments.h>
 
namespace memoryx
{
    class ARMARXCOMPONENT_IMPORT_EXPORT PersistentWorldStateSegment :
        virtual public PersistentEntitySegment,
        virtual public PersistentWorldStateSegmentBase
    {
    public:
        PersistentWorldStateSegment(CollectionInterfacePrx entityCollection,
                                    Ice::CommunicatorPtr ic,
                                    bool useMongoIds = true) :
            PersistentEntitySegment(entityCollection, ic, useMongoIds),
            PersistentWorldStateSegmentBase()
        {
        }
 
        ObjectInstanceBasePtr
        getWorldInstanceById(const ::std::string& id,
                             const ::Ice::Current& = Ice::emptyCurrent) const
        {
            ObjectInstanceBasePtr res = ObjectInstanceBasePtr::dynamicCast(getEntityById(id));
 
            if (!res)
            {
                ARMARX_WARNING_S << "Entity with id " << id << " is not of type ObjectInstance!"
                                 << std::endl;
            }
 
            return res;
        }
 
        ObjectInstanceBasePtr
        getWorldInstanceByName(const ::std::string& name,
                               const ::Ice::Current& = Ice::emptyCurrent) const
        {
            ObjectInstanceBasePtr res = ObjectInstanceBasePtr::dynamicCast(getEntityByName(name));
 
            if (!res)
            {
                ARMARX_WARNING_S << "Entity with name " << name << " is not of type ObjectInstance!"
                                 << std::endl;
            }
 
            return res;
        }
 
        ObjectInstanceList
        getWorldInstancesByClass(const ::std::string& className,
                                 const ::Ice::Current& c = Ice::emptyCurrent) const
        {
            NameList classList;
            classList.push_back(className);
            return getWorldInstancesByClassList(classList, c);
        }
 
        ObjectInstanceList
        getWorldInstancesByClassList(const NameList& classList,
                                     const ::Ice::Current& c = Ice::emptyCurrent) const
        {
            ObjectInstanceList result;
            armarx::ScopedSharedLockPtr lock(getReadLock(c));
 
 
            for (EntityMap::const_iterator it = entityMap.begin(); it != entityMap.end(); ++it)
            {
                ObjectInstanceBasePtr inst = ObjectInstanceBasePtr::dynamicCast(it->second);
                ClassProbabilityMap instClasses = inst->getClasses();
 
                for (NameList::const_iterator itCls = classList.begin(); itCls != classList.end();
                     ++itCls)
                {
                    if (instClasses.count(*itCls))
                    {
                        result.push_back(inst);
                        break;
                    }
                }
            }
 
            return result;
        }
    };
 
    using PersistentWorldStateSegmentPtr = IceInternal::Handle<PersistentWorldStateSegment>;
 
} // namespace memoryx