Query.h

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#pragma once
 
#include <RobotAPI/interface/armem/query.h>
#include <RobotAPI/libraries/armem/core/SuccessHeader.h>
#include <RobotAPI/libraries/armem/core/query/DataMode.h>
#include <RobotAPI/libraries/armem/core/query/QueryTarget.h>
#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
 
namespace armarx::armem::client::query
{
    // #include <RobotAPI/libraries/armem/client/query/Builder.h>
    class Builder;
} // namespace armarx::armem::client::query
 
namespace armarx::armem::client
{
    using QueryBuilder = query::Builder;
 
    /**
     * @brief A query for parts of a memory.
     */
    struct QueryInput
    {
        /**
         * @brief The queries.
         */
        armem::query::data::MemoryQuerySeq memoryQueries;
        /**
         * @brief Whether entity instance data (i.e., their payload) should be transferred.
         */
        armem::query::DataMode dataMode;
 
        static QueryInput fromIce(const armem::query::data::Input& ice);
        armem::query::data::Input toIce() const;
    };
 
    /**
     * @brief Result of a `QueryInput`.
     *
     * If `success` is false, an error occurred during the query. In this case, `errorMessage` can
     * contain more information.
     *
     * @note An empty result is valid, i.e. successful. In other words, an empty result is not a
     * failure. To check whether any entity snapshot matched the query, use `memory.hasSnapshots()`
     * or `memory.hasInstances()`.
     *
     * @see wm::Memory::hasInstances(), wm::Memory::hasSnapshots()
     */
    struct QueryResult : public detail::SuccessHeader
    {
        /**
         * @brief The slice of the memory that matched the query.
         *
         * To check whether the memory contains any snapshots or instances, use
         * `memory.hasSnapshots()` or `memory.hasInstances()`.
         */
        wm::Memory memory;
 
 
        static QueryResult fromIce(const armem::query::data::Result& ice);
        armem::query::data::Result toIce() const;
 
        friend std::ostream& operator<<(std::ostream& os, const QueryResult& rhs);
    };
 
    void toIce(armem::query::data::Input& ice, const QueryInput& input);
    void fromIce(const armem::query::data::Input& ice, QueryInput& input);
 
    void toIce(armem::query::data::Result& ice, const QueryResult& result);
    void fromIce(const armem::query::data::Result& ice, QueryResult& result);
 
} // namespace armarx::armem::client