BaseQueryProcessorBase.h

Go to the documentation of this file.

#pragma once
 
#include <set>
#include <vector>
 
#include <Ice/Handle.h>
 
#include <RobotAPI/interface/armem/query.h>
#include <RobotAPI/libraries/armem/core/query/QueryTarget.h>
 
#include <ArmarXCore/core/logging/Logging.h>
 
 
namespace armarx::armem::server::query_proc::base
{
 
    using QueryTarget = armem::query::data::QueryTarget::QueryTargetEnum;
 
    /**
     * @brief Base class for memory query processors.
     */
    template <class DataT, class ResultT, class QueryT>
    class BaseQueryProcessorBase
    {
    public:
        using QueryPtrT = ::IceInternal::Handle<QueryT>;
        using QuerySeqT = std::vector<QueryPtrT>;
 
 
    public:
        virtual ~BaseQueryProcessorBase() = default;
 
        ResultT
        process(const QueryT& query, const DataT& data) const
        {
            ARMARX_TRACE;
 
            ResultT result{data.id()};
            this->process(result, query, data);
            return result;
        }
 
        ResultT
        process(const QueryPtrT& query, const DataT& data) const
        {
            ARMARX_TRACE;
 
            return this->process(*query, *data);
        }
 
        ResultT
        process(const QuerySeqT& queries, const DataT& data) const
        {
            ARMARX_TRACE;
 
            ResultT result{data.id()};
            this->process(result, queries, data);
            return result;
        }
 
        void
        process(ResultT& result, const QuerySeqT& queries, const DataT& data) const
        {
            ARMARX_TRACE;
 
            if (queries.empty())
            {
                return;
            }
 
            for (const auto& query : queries)
            {
                this->process(result, *query, data);
            }
        }
 
        /**
         * @brief Process the query and populate `result`.
         *
         * @param result The result container.
         * @param query The query.
         * @param data The source container.
         */
        virtual void process(ResultT& result, const QueryT& query, const DataT& data) const = 0;
    };
 
 
} // namespace armarx::armem::server::query_proc::base