LocalizationQuery.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::Observers
* @author     Kai Welke (welke at kit dot edu), David Schiebener (david dot schiebener at kit dot edu)
* @copyright  2012 Humanoids Group, HIS, KIT
* @license    http://www.gnu.org/licenses/gpl-2.0.txt
*             GNU General Public License
*/
#pragma once
 
// memoryx types
#include <MemoryX/interface/memorytypes/MemorySegments.h>
#include <MemoryX/interface/workingmemory/WorkingMemoryUpdaterBase.h>
#include <MemoryX/libraries/helpers/ObjectRecognitionHelpers/LocalizationJob.h>
#include <MemoryX/libraries/memorytypes/entity/ObjectClass.h>
 
// std
#include <map>
#include <set>
#include <string>
 
namespace armarx::VariantType
{
    const armarx::VariantTypeId LocalizationQuery =
        armarx::Variant::addTypeName("::armarx::LocalizationQueryBase");
}
 
namespace memoryx
{
    class LocalizationQuery;
    using LocalizationQueryPtr = IceInternal::Handle<LocalizationQuery>;
 
    /**
     * @brief The LocalizationQuery class is used to create LocalizationJob instances and provide an interface to query if the jobs have finished running
     */
    class LocalizationQuery : virtual public LocalizationQueryBase
    {
        friend class LocalizationJob;
        friend class ObjectLocalizationMemoryUpdater;
        friend class armarx::GenericFactory<LocalizationQueryBase, LocalizationQuery>;
 
    public:
        LocalizationQuery(const std::string& queryName,
                          const std::string& objectClassName,
                          int cycleTimeMS,
                          int priority);
 
        /**
         * @brief getFinished indicates if there are localization jobs in the queue which have not finished yet
         * @return true if all localization jobs have finished running, false otherwise
         */
        bool getFinished();
 
    public:
        // inherited from VariantDataClass
        Ice::ObjectPtr
        ice_clone() const override
        {
            return this->clone();
        }
 
        // inherited from variantdataclass
        armarx::VariantDataClassPtr
        clone(const Ice::Current& c = Ice::emptyCurrent) const override
        {
            LocalizationQueryPtr query =
                new LocalizationQuery(queryName, className, cycleTimeMS, priority);
            query->jobsFinished = jobsFinished;
            return query;
        }
 
        std::string
        output(const Ice::Current& c = Ice::emptyCurrent) const override
        {
            return "";
        }
 
        int
        getType(const Ice::Current& c = Ice::emptyCurrent) const override
        {
            return armarx::VariantType::LocalizationQuery;
        }
 
        bool
        validate(const Ice::Current& c = Ice::emptyCurrent) override
        {
            return true;
        }
 
        void
        serialize(const ::armarx::ObjectSerializerBasePtr&,
                  const Ice::Current& = Ice::emptyCurrent) const override
        {
        }
 
        void
        deserialize(const ::armarx::ObjectSerializerBasePtr&,
                    const Ice::Current& = Ice::emptyCurrent) override
        {
        }
 
    private:
        LocalizationQuery()
        {
        }
 
        std::vector<LocalizationJobPtr>
        createJobs(const memoryx::ObjectClassMemorySegmentBasePtr& objectClassSegment);
        void setJobFinished(std::string recognitionMethod);
        ObjectClassPtr getLocalizableObjectClass(const EntityBasePtr& entity);
 
        std::mutex jobsMutex;
    };
} // namespace memoryx