Segment.cpp

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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    VisionX::ArmarXObjects::armem_images_server
 * @author     Rainer Kartmann ( rainer dot kartmann at kit dot edu )
 * @date       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "Segment.h"
 
#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
 
#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
 
#include <VisionX/libraries/armem_human/Info.h>
#include <VisionX/libraries/armem_human/aron/Person.aron.generated.h>
#include <VisionX/libraries/armem_human/memory_ids.h>
 
#include "Finder.h"
 
 
namespace fs = std::filesystem;
 
namespace armarx::armem::server::human::profile
{
    const std::string Segment::CORE_SEGMENT_NAME =
        armarx::human::ProfileCoreSegmentID.coreSegmentName;
 
    using Person = armarx::human::arondto::Person;
    using Info = armarx::armem::human::Info;
 
    Segment::Segment(armem::server::MemoryToIceAdapter& iceMemory) :
        Base(iceMemory, CORE_SEGMENT_NAME, armarx::human::arondto::Person::ToAronType(), 64)
    {
    }
 
    Segment::Properties::PriorKnowledge::PriorKnowledge() : packageName(Finder::DefaultPackageName)
    {
    }
 
    void
    Segment::defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix)
    {
        Base::defineProperties(defs, prefix);
        defs->optional(properties.priorKnowledge.load,
                       prefix + "pk.load",
                       "Load profiles from prior knowledge on startup.");
        defs->optional(properties.priorKnowledge.packageName,
                       prefix + "pk.packageName",
                       "ArmarX package to load human profiles from.");
        defs->optional(
            properties.priorKnowledge.loadFaceImages,
            prefix + "pk.loadFaceImages",
            "Load face images of the people described in the prior knowledge profiles on startup.");
    }
 
    void
    Segment::init()
    {
        Base::init();
        if (properties.priorKnowledge.load)
        {
            loadPriorKnowledge(properties.priorKnowledge.packageName,
                               properties.priorKnowledge.loadFaceImages);
        }
    }
 
    void
    Segment::loadPriorKnowledge()
    {
        loadPriorKnowledge(Finder::DefaultPackageName);
    }
 
    void
    Segment::loadPriorKnowledge(const std::string& dataPackageName, const bool loadFaceImages)
    {
        const armem::Time now = armem::Time::Now();
 
        Finder finder(dataPackageName);
        const std::vector<Info> infos = finder.findAll();
 
        ARMARX_INFO << "Loading " << infos.size() << " human profiles ...";
        armem::Commit commit;
        for (const Info& info : infos)
        {
            if (std::optional<Person> profile = info.loadProfile(loadFaceImages))
            {
                armem::EntityUpdate& update = commit.add();
                update.entityID = getCoreSegment()
                                      .id()
                                      .withProviderSegmentName(dataPackageName)
                                      .withEntityName(info.id());
                update.referencedTime = update.sentTime = update.arrivedTime = now;
                update.instancesData = {profile->toAron()};
            }
        }
 
        if (commit.updates.size() > 0)
        {
            iceMemory.commit(commit);
        }
    }
 
} // namespace armarx::armem::server::human::profile