TaskOutcomeWriter.h

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#pragma once
 
#include <string>
#include <vector>
 
#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 <RobotAPI/libraries/armem_task_outcome/types.h>
 
namespace armarx::armem::task_outcome::client
{
 
    class TaskOutcomeWriter : virtual public armem::client::util::SimpleWriterBase
    {
    public:
        using armem::client::util::SimpleWriterBase::SimpleWriterBase;
 
        TaskOutcomeWriter();
        ~TaskOutcomeWriter() override;
 
        void registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def);
        void connect(armem::client::MemoryNameSystem& memoryNameSystem);
 
        std::string
        propertyPrefix() const override
        {
            return "mem.task_outcome.";
        };
 
        Properties
        defaultProperties() const override
        {
            return Properties{
                .memoryName = "TaskOutcome",
                .coreSegmentName = "TaskOutcome",
                .providerName = ""};
        };
 
        bool commitTaskOutcome(const TaskOutcome& outcome,
                               const std::string& provider,
                               const armem::Time& referencedTime);
 
        bool commitTaskOutcomes(const std::vector<TaskOutcome>& outcomes,
                                const std::string& provider,
                                const armem::Time& referencedTime);
    };
 
} // namespace armarx::armem::task_outcome::client