EqualityFilter.h

Go to the documentation of this file.

#pragma once
 
#include <map>
#include <vector>
 
// Base Class
#include "../Filter.h"
 
// Aron
#include <chrono>
 
#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
 
namespace armarx::armem::server::ltm::processor::filter
{
    class SnapshotEqualityFilter : public SnapshotFilter
    {
    public:
        static const constexpr char* NAME = "SnapshotEqualityFilter";
 
        SnapshotEqualityFilter() = default;
 
        virtual bool accept(const armem::wm::EntitySnapshot& e, bool simulatedVersion) override;
        void configure(const nlohmann::json& json) override;
 
        FilterStatistics getFilterStatistics() override;
        std::string getName() override;
 
    private:
        bool checkSnapshotEquality(
            const armem::wm::EntitySnapshot& oldSnapshot, 
            const armem::wm::EntitySnapshot& newSnapshot);
        bool checkInstanceEquality(
            const aron::data::VariantPtr& oldData, 
            const aron::data::VariantPtr& newData);
    private:
        std::map<MemoryID, long> timestampLastCommitInMs;
        FilterStatistics stats;
        std::unordered_map<std::string, armem::wm::EntitySnapshot> lastAcceptedSnapshots;
    };
} // namespace armarx::armem::server::ltm::processor::filter