SkillEventSegment.h

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#pragma once
 
#include <thread>
 
// Base Class
#include <RobotAPI/libraries/armem/server/segment/SpecializedSegment.h>
#include <RobotAPI/libraries/armem/server/ltm/Memory.h>
 
// ArmarX
#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/SkillStatusUpdate.h>
 
namespace armarx::skills::segment
{
    class SkillEventCoreSegment : public armem::server::segment::SpecializedCoreSegment
    {
        using Base = armem::server::segment::SpecializedCoreSegment;
 
    public:
        static constexpr const char* CoreSegmentName = "SkillEvent";
 
        SkillEventCoreSegment(armem::server::MemoryToIceAdapter& iceMemory);
 
        void defineProperties(PropertyDefinitionsPtr defs, const std::string& prefix);
        void init();
 
        void addSkillUpdateEvent(const skills::SkillStatusUpdate& update);
 
        std::map<skills::SkillExecutionID, skills::SkillStatusUpdate> getSkillStatusUpdates();
 
        std::optional<skills::SkillStatusUpdate>
        getSkillStatusUpdate(const skills::SkillExecutionID& id);
 
        /**
         * @brief Clear all snapshots from the working memory of this
         *        core segment, consolidating them into @p ltm first if
         *        @c ltm.isRecording() returns true.
         *
         * Mirrors the state after a fresh memory restart.
         *
         * @param ltm            Target LTM; written only if recording.
         * @param memoryName     Memory name used for the temporary WM slice.
         * @param[out] consolidated  Set to true iff snapshots were written to LTM.
         * @return Number of snapshots that were removed from working memory.
         */
        std::size_t clearAndConsolidate(armem::server::ltm::Memory& ltm,
                                        const std::string& memoryName,
                                        bool& consolidated);
 
    private:
        struct Properties
        {
            armarx::skills::SkillEventListenerInterfacePrx skillEventTopic;
        };
 
        Properties p;
 
    };
} // namespace armarx::skills::segment