WorkingMemoryExample.h

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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    MemoryX::WorkingMemoryExample
* @author     (kozlov at kit dot edu)
* @date       2012
* @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
*             GNU General Public License
*/
 
#pragma once
 
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/system/ImportExportComponent.h>
 
#include <RobotAPI/interface/core/RobotState.h>
 
#include <MemoryX/interface/components/LongtermMemoryInterface.h>
#include <MemoryX/interface/components/WorkingMemoryInterface.h>
 
namespace memoryx
{
 
    class WorkingMemoryExamplePropertyDefinitions : public armarx::ComponentPropertyDefinitions
    {
    public:
        WorkingMemoryExamplePropertyDefinitions(std::string prefix) :
            ComponentPropertyDefinitions(prefix)
        {
            defineOptionalProperty<std::string>(
                "TestToRun", "UpdateNotifications", "Name of test that should be executed");
            defineOptionalProperty<std::string>(
                "SnapshotName", "", "Name of WM snapshot to load (if TestToRun=SnapshotLoad)");
            defineOptionalProperty<std::string>(
                "CommonPlacesSnapshot",
                "dataset1_1205",
                "Name of secondary WM snapshot to load (if TestToRun=CommonPlaces)");
        }
    };
 
    class ARMARXCOMPONENT_IMPORT_EXPORT WorkingMemoryExample :
        virtual public armarx::Component,
        virtual public WorkingMemoryListenerInterface
    {
    public:
        /**
         * @see PropertyUser::createPropertyDefinitions()
         */
        armarx::PropertyDefinitionsPtr
        createPropertyDefinitions() override
        {
            return armarx::PropertyDefinitionsPtr(
                new WorkingMemoryExamplePropertyDefinitions(getConfigIdentifier()));
        }
 
        // inherited from Component
        std::string
        getDefaultName() const override
        {
            return "WorkingMemoryExample";
        }
 
        void onInitComponent() override;
        void onConnectComponent() override;
 
        void reportEntityCreated(const std::string& segmentName,
                                 const ::memoryx::EntityBasePtr& entity,
                                 const ::Ice::Current& = Ice::emptyCurrent) override;
        void reportEntityUpdated(const std::string& segmentName,
                                 const ::memoryx::EntityBasePtr& entityOld,
                                 const ::memoryx::EntityBasePtr& entityNew,
                                 const ::Ice::Current& = Ice::emptyCurrent) override;
        void reportEntityRemoved(const std::string& segmentName,
                                 const ::memoryx::EntityBasePtr& entity,
                                 const ::Ice::Current& = Ice::emptyCurrent) override;
        void reportSnapshotLoaded(const std::string& segmentName,
                                  const ::Ice::Current& = Ice::emptyCurrent) override;
        void reportSnapshotCompletelyLoaded(const Ice::Current& c = Ice::emptyCurrent) override;
        void reportMemoryCleared(const std::string& segmentName,
                                 const ::Ice::Current& = Ice::emptyCurrent) override;
 
    private:
        WorkingMemoryInterfacePrx memoryPrx;
        LongtermMemoryInterfacePrx longtermMemoryPrx;
        armarx::RobotStateComponentInterfacePrx robotStateComponentPrx;
        std::string testToRun;
 
        void testFileTransfer();
        void testUpdateObserver();
        void testObjectMovement();
        void testSnapshots();
        void testCommonPlaces();
        void testAgent();
    };
 
 
} // namespace memoryx