SpecializedProviderSegment.h

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#pragma once
 
#include <string>
 
#include <ArmarXCore/core/application/properties/forward_declarations.h>
#include <ArmarXCore/core/logging/Logging.h>
 
#include <RobotAPI/libraries/armem/server/forward_declarations.h>
#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
#include <RobotAPI/libraries/aron/core/type/variant/forward_declarations.h>
 
#include "SpecializedCoreSegment.h"
 
namespace armarx::armem::server::segment
{
    /**
         * @brief A base class for provider segments
         */
    class SpecializedProviderSegment : public detail::SegmentBase<server::wm::ProviderSegment>
    {
        using Base = detail::SegmentBase<server::wm::ProviderSegment>;
 
    public:
        SpecializedProviderSegment(
            MemoryToIceAdapter& iceMemory,
            const std::string& defaultProviderSegmentName = "",
            const std::string& defaultCoreSegmentName = "",
            aron::type::ObjectPtr providerSegmentAronType = nullptr,
            aron::type::ObjectPtr coreSegmentAronType = nullptr,
            int defaultMaxHistorySize = 10,
            const std::vector<PredictionEngine>& providerSegmentPredictionEngines = {},
            const std::vector<PredictionEngine>& coreSegmentPredictionEngines = {});
 
        virtual ~SpecializedProviderSegment() override;
 
        virtual void defineProperties(armarx::PropertyDefinitionsPtr defs,
                                      const std::string& prefix = "") override;
        virtual void init() override;
 
        void setDefaultProviderSegmentName(const std::string& providerSegmentName);
        void setDefaultMaxHistorySize(int64_t maxHistorySize);
        void setAronType(aron::type::ObjectPtr aronType);
        void setPredictionEngines(const std::vector<PredictionEngine>& predictionEngines);
 
        wm::ProviderSegment& getProviderSegment();
        const wm::ProviderSegment& getProviderSegment() const;
 
 
    public:
        aron::type::ObjectPtr aronType;
        std::vector<PredictionEngine> predictionEngines;
        SpecializedCoreSegment coreSegment;
 
        struct Properties
        {
            std::string segmentName;
            int64_t maxHistorySize;
        };
 
        Properties properties;
    };
} // namespace armarx::armem::server::segment