ObjectSpokenNames.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    RobotAPI::ArmarXObjects::OpossumLogger
 * @author     Joana Plewnia ( joana dot plewnia at kit dot edu )
 * @date       2026
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "ObjectSpokenNames.h"
 
#include <ArmarXCore/core/logging/Logging.h>
 
#include <RobotAPI/libraries/ArmarXObjects/ObjectInfo.h>
 
namespace armarx::opossum
{
 
    std::optional<std::string>
    ObjectSpokenNames::operator()(const std::string& dataset, const std::string& className)
    {
        const auto key = std::make_pair(dataset, className);
 
        std::scoped_lock lock(mutex);
        if (const auto cached = cache.find(key); cached != cache.end())
        {
            return cached->second;
        }
 
        std::optional<std::string> spokenName;
        try
        {
            spokenName = load(dataset, className);
        }
        catch (const std::exception& e)
        {
            ARMARX_WARNING << deactivateSpam(60) << "Failed to look up the spoken name of '"
                           << dataset << "/" << className << "': " << e.what()
                           << ". Falling back to the class name.";
        }
 
        cache.emplace(key, spokenName);
        return spokenName;
    }
 
    std::optional<std::string>
    ObjectSpokenNames::load(const std::string& dataset, const std::string& className)
    {
        // Note that findObject() with a non-empty dataset does not check whether
        // that dataset exists -- an unknown dataset simply yields an ObjectInfo
        // without a names file, which is exactly the miss we then retry below.
        for (const std::string& datasetToTry : {dataset, std::string()})
        {
            const std::optional<ObjectInfo> info = finder.findObject(datasetToTry, className);
            if (not info.has_value())
            {
                continue;
            }
            const std::optional<std::vector<std::string>> spokenNames = info->loadSpokenNames();
            if (spokenNames.has_value() and not spokenNames->empty())
            {
                return spokenNames->front();
            }
            if (datasetToTry.empty())
            {
                break;
            }
        }
        return std::nullopt;
    }
 
    SpokenNameLookup
    ObjectSpokenNames::asLookup()
    {
        return [this](const std::string& dataset, const std::string& className)
        { return (*this)(dataset, className); };
    }
 
} // namespace armarx::opossum