SkillExecutionRequestSegment.h

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#pragma once
 
// Base Class
#include <RobotAPI/libraries/armem/server/segment/SpecializedSegment.h>
#include <RobotAPI/libraries/armem/server/ltm/Memory.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/skills/core/SkillExecutionRequest.h>
 
namespace armarx::skills::segment
{
    class SkillExecutionRequestCoreSegment : public armem::server::segment::SpecializedCoreSegment
    {
        using Base = armem::server::segment::SpecializedCoreSegment;
 
    public:
        static constexpr const char* CoreSegmentName = "SkillExecutionRequest";
 
        SkillExecutionRequestCoreSegment(armem::server::MemoryToIceAdapter& iceMemory);
 
        void defineProperties(PropertyDefinitionsPtr defs, const std::string& prefix);
        void init();
 
        skills::SkillExecutionRequest convertCommit(const aron::data::dto::DictPtr& commitData);
 
        void addSkillExecutionRequest(const skills::SkillExecutionRequest& info);
 
        /**
         * @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.
         * @return Number of snapshots removed from working memory.
         */
        std::size_t clearAndConsolidate(armem::server::ltm::Memory& ltm,
                                        const std::string& memoryName,
                                        bool& consolidated);
    };
} // namespace armarx::skills::segment