From 2633f10f6fc1384f34ffbad164b49aed16dbf086 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Wed, 21 Jul 2021 15:12:23 +0200
Subject: [PATCH] Add SpecializedSegment to reduce duplicated code
---
.../RobotAPI/libraries/armem/CMakeLists.txt | 2 +
.../server/segment/SpecializedSegment.cpp | 79 +++++++++++++++++++
.../armem/server/segment/SpecializedSegment.h | 77 ++++++++++++++++++
3 files changed, 158 insertions(+)
create mode 100644 source/RobotAPI/libraries/armem/server/segment/SpecializedSegment.cpp
create mode 100644 source/RobotAPI/libraries/armem/server/segment/SpecializedSegment.h
diff --git a/source/RobotAPI/libraries/armem/CMakeLists.txt b/source/RobotAPI/libraries/armem/CMakeLists.txt
index 7dd0264f1..ae63606b7 100644
--- a/source/RobotAPI/libraries/armem/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem/CMakeLists.txt
@@ -104,6 +104,7 @@ set(LIB_FILES
server/MemoryRemoteGui.cpp
server/RemoteGuiAronDataVisitor.cpp
+ server/segment/SpecializedSegment.cpp
server/query_proc/base/BaseQueryProcessorBase.cpp
server/query_proc/base/EntityQueryProcessorBase.cpp
server/query_proc/base/ProviderSegmentQueryProcessorBase.cpp
@@ -225,6 +226,7 @@ set(LIB_HEADERS
server/MemoryRemoteGui.h
server/RemoteGuiAronDataVisitor.h
+ server/segment/SpecializedSegment.h
server/query_proc.h
server/query_proc/base/BaseQueryProcessorBase.h
server/query_proc/base/EntityQueryProcessorBase.h
diff --git a/source/RobotAPI/libraries/armem/server/segment/SpecializedSegment.cpp b/source/RobotAPI/libraries/armem/server/segment/SpecializedSegment.cpp
new file mode 100644
index 000000000..8184e27c9
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/segment/SpecializedSegment.cpp
@@ -0,0 +1,79 @@
+#include "SpecializedSegment.h"
+
+#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
+#include <ArmarXCore/core/application/properties/PluginAll.h>
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+#include <RobotAPI/libraries/aron/core/navigator/type/container/Object.h>
+#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
+
+
+namespace armarx::armem::server::segment
+{
+
+ SpecializedSegment::SpecializedSegment(
+ server::MemoryToIceAdapter& iceMemory,
+ aron::typenavigator::ObjectNavigatorPtr aronType,
+ const std::string& defaultCoreSegmentName,
+ int64_t defaultMaxHistorySize
+ ) :
+ iceMemory(iceMemory), aronType(aronType)
+ {
+ setDefaultCoreSegmentName(defaultCoreSegmentName);
+ setDefaultMaxHistorySize(defaultMaxHistorySize);
+ }
+
+
+ SpecializedSegment::~SpecializedSegment()
+ {
+ }
+
+
+ void SpecializedSegment::defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix)
+ {
+ defs->optional(properties.coreSegmentName,
+ prefix + "seg.CoreSegmentName",
+ "Name of the " + properties.coreSegmentName + " core segment.");
+
+ defs->optional(properties.maxHistorySize,
+ prefix + "seg.MaxHistorySize",
+ "Maximal size of the " + properties.coreSegmentName + " entity histories (-1 for infinite).");
+ }
+
+
+ void SpecializedSegment::init()
+ {
+ ARMARX_CHECK_NOT_NULL(iceMemory.workingMemory);
+ Logging::setTag(properties.coreSegmentName + " Core Segment");
+
+ ARMARX_INFO << "Adding core segment '" << properties.coreSegmentName << "'";
+ coreSegment = &iceMemory.workingMemory->addCoreSegment(properties.coreSegmentName, aronType);
+ coreSegment->setMaxHistorySize(properties.maxHistorySize);
+ }
+
+
+ std::mutex& SpecializedSegment::mutex() const
+ {
+ ARMARX_CHECK_NOT_NULL(coreSegment);
+ return coreSegment->mutex();
+ }
+
+
+ void SpecializedSegment::setDefaultCoreSegmentName(const std::string& coreSegmentName)
+ {
+ this->properties.coreSegmentName = coreSegmentName;
+ }
+
+
+ void SpecializedSegment::setDefaultMaxHistorySize(int64_t maxHistorySize)
+ {
+ this->properties.maxHistorySize = maxHistorySize;
+ }
+
+
+ void SpecializedSegment::setAronType(aron::typenavigator::ObjectNavigatorPtr aronType)
+ {
+ this->aronType = aronType;
+ }
+
+}
diff --git a/source/RobotAPI/libraries/armem/server/segment/SpecializedSegment.h b/source/RobotAPI/libraries/armem/server/segment/SpecializedSegment.h
new file mode 100644
index 000000000..fd3a456c5
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/segment/SpecializedSegment.h
@@ -0,0 +1,77 @@
+#pragma once
+
+#include <mutex>
+#include <string>
+
+#include <ArmarXCore/core/application/properties/forward_declarations.h>
+#include <ArmarXCore/core/logging/Logging.h>
+
+
+namespace armarx::aron::typenavigator
+{
+ using ObjectNavigatorPtr = std::shared_ptr<class ObjectNavigator>;
+}
+namespace armarx::armem
+{
+ namespace server
+ {
+ class MemoryToIceAdapter;
+ }
+
+ namespace wm
+ {
+ class CoreSegment;
+ }
+}
+
+namespace armarx::armem::server::segment
+{
+
+ /**
+ * @brief Specialized management of a core segment.
+ */
+ class SpecializedSegment :
+ public armarx::Logging
+ {
+ public:
+
+ SpecializedSegment(
+ server::MemoryToIceAdapter& iceMemory,
+ aron::typenavigator::ObjectNavigatorPtr aronType = nullptr,
+ const std::string& defaultCoreSegmentName = "",
+ int64_t defaultMaxHistorySize = -1);
+
+ virtual ~SpecializedSegment();
+
+
+ virtual void defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix = "");
+ virtual void init();
+ // void connect();
+
+ std::mutex& mutex() const;
+
+
+ protected:
+
+ void setDefaultCoreSegmentName(const std::string& coreSegmentName);
+ void setDefaultMaxHistorySize(int64_t maxHistorySize);
+ void setAronType(aron::typenavigator::ObjectNavigatorPtr aronType);
+
+
+ protected:
+
+ server::MemoryToIceAdapter& iceMemory;
+ wm::CoreSegment* coreSegment = nullptr;
+ aron::typenavigator::ObjectNavigatorPtr aronType;
+
+ struct Properties
+ {
+ std::string coreSegmentName = "";
+ int64_t maxHistorySize = -1;
+ };
+ Properties properties;
+
+
+ };
+
+}
--
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