EntitySnapshotBase.h

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#pragma once
 
#include <functional>
 
// BaseClass
#include <RobotAPI/libraries/armem/core/MemoryID.h>
#include <RobotAPI/libraries/armem/core/wm/aron_conversions.h>
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
 
#include "EntityBase.h"
#include "MemoryItem.h"
 
namespace armarx::armem::server::ltm::detail
{
    /// @brief Interface functions for the longterm memory classes
    template <class InstanceT>
    class EntitySnapshotBase : public MemoryItem
    {
    public:
        struct Statistics
        {
            long recordedInstances = 0;
        };
 
    public:
        using MemoryItem::MemoryItem;
 
        /// return the full sub-ltm as a wm::EntitySnapshot with only references
        /// the ltm may be huge, use with caution
        void
        loadAllReferences(armem::wm::EntitySnapshot& e) const
        {
            _loadAllReferences(e);
        }
 
        /// convert the references of the input into a wm::Memory
        void
        resolve(armem::wm::EntitySnapshot& e) const
        {
            _resolve(e);
        }
 
        /// encode the content of a wm::Memory and store
        void
        store(const armem::wm::EntitySnapshot& e)
        {
            _store(e);
        }
 
        /// statistics
        void
        resetStatistics()
        {
            statistics.recordedInstances = 0;
        }
 
        Statistics
        getStatistics() const
        {
            return statistics;
        }
 
        static std::string
        getLevelName()
        {
            return "LT-EntitySnapshot";
        }
 
        /// iterate over all Instance segments of this ltm
        virtual bool forEachInstance(std::function<void(InstanceT&)> func) const = 0;
 
        /// check if Instance segment exists
        virtual bool hasInstance(const int) const = 0;
 
        /// find Instance segment
        virtual std::shared_ptr<InstanceT> findInstance(const int) const = 0;
 
    protected:
        virtual void _loadAllReferences(armem::wm::EntitySnapshot&) const = 0;
        virtual void _resolve(armem::wm::EntitySnapshot&) const = 0;
        virtual void _store(const armem::wm::EntitySnapshot&) = 0;
 
    protected:
        mutable std::recursive_mutex ltm_mutex;
 
        Statistics statistics;
    };
} // namespace armarx::armem::server::ltm::detail