ComposedSkillLibrarySegment.h

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#pragma once
 
// Base Class
#include <vector>
#include <RobotAPI/libraries/armem/server/segment/SpecializedSegment.h>
 
// ArmarX
#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
#include <ArmarXCore/interface/core/Profiler.h>
#include <ArmarXCore/observers/ObserverObjectFactories.h>
 
#include <RobotAPI/interface/skills/SkillManagerInterface.h>
#include <RobotAPI/interface/skills/SkillProviderInterface.h>
#include <RobotAPI/libraries/armem_skills/aron/Skill.aron.generated.h>
#include <RobotAPI/libraries/skills/core/ProviderInfo.h>
#include <RobotAPI/libraries/skills/core/aron/FluxioSkill.aron.generated.h>
 
namespace armarx::skills::segment
{
    class ComposedSkillLibraryCoreSegment : public armem::server::segment::SpecializedCoreSegment
    {
        using Base = armem::server::segment::SpecializedCoreSegment;
 
    public:
        static constexpr const char* CoreSegmentName = "ComposedSkill";
 
        ComposedSkillLibraryCoreSegment(armem::server::MemoryToIceAdapter& iceMemory);
 
        void defineProperties(PropertyDefinitionsPtr defs, const std::string& prefix);
        void init();
 
        void addSkill(const skills::manager::arondto::FluxioSkill& skill);
 
        std::optional<std::vector<skills::manager::arondto::FluxioSkill>> getSkills() const;
        std::optional<std::vector<skills::manager::arondto::FluxioSkill>> getSkillsOfProvider(const std::string& providerId) const;
 
    private:
        static const int maxHistorySize = 7;
    };
} // namespace armarx::skills::segment