Writer.cpp

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#include "Writer.h"
 
#include <mutex>
#include <string>
 
#include <ArmarXCore/core/logging/Logging.h>
 
#include <RobotAPI/libraries/armem/client/util/SimpleWriterBase.h>
#include <RobotAPI/libraries/armem/core/Commit.h>
#include <RobotAPI/libraries/armem/core/MemoryID.h>
#include <RobotAPI/libraries/armem/core/forward_declarations.h>
 
#include <armarx/navigation/algorithms/orientation_aware/Costmap3D.h>
#include <armarx/navigation/algorithms/aron_conversions.h>
#include <armarx/navigation/memory/constants.h>
 
namespace armarx::navigation::memory::client::costmap3d
{
    Writer::~Writer() = default;
 
    bool
    Writer::store(const algorithms::orientation_aware::Costmap3D& grid,
                  const std::string& name,
                  const std::string& providerName,
                  const armem::Time& timestamp)
    {
        std::lock_guard g{writeMutex};
 
        const auto result =
            memoryWriter().addSegment(memory::constants::Costmap3DCoreSegmentName, providerName);
 
        if (not result.success)
        {
            ARMARX_ERROR << result.errorMessage;
 
            // TODO(fabian.reister): message
            return false;
        }
 
        const auto providerId = armem::MemoryID(result.segmentID);
        const auto entityID = providerId.withEntityName(name).withTimestamp(timestamp);
 
        armem::EntityUpdate update;
        update.entityID = entityID;
 
        auto aronCostmap3D = algorithms::toAron(grid);
 
        update.instancesData = {aronCostmap3D};
        update.referencedTime = timestamp;
 
        ARMARX_DEBUG << "Committing " << update << " at time " << timestamp;
        armem::EntityUpdateResult updateResult = memoryWriter().commit(update);
 
        ARMARX_DEBUG << updateResult;
 
        if (not updateResult.success)
        {
            ARMARX_ERROR << updateResult.errorMessage;
        }
 
        return updateResult.success;
    }
 
    std::string
    Writer::propertyPrefix() const
    {
        return "mem.nav.costmap3d.";
    }
 
    armarx::armem::client::util::SimpleWriterBase::SimpleWriterBase::Properties
    Writer::defaultProperties() const
    {
        return SimpleWriterBase::Properties{.memoryName = memory::constants::NavigationMemoryName,
                                            .coreSegmentName =
                                                memory::constants::Costmap3DCoreSegmentName};
    }
 
} // namespace armarx::navigation::memory::client::costmap3d