Revert "armem_objects: attachments segment (first draft)"

This reverts commit 0bf60a5d.

source/RobotAPI/libraries/armem_objects/server/attachments/Segment.cpp

-#include "Segment.h"
-
-#include <sstream>
-
-#include <ArmarXCore/core/time/TimeUtil.h>
-#include "ArmarXCore/core/logging/Logging.h"
-
-#include "RobotAPI/libraries/aron/common/aron_conversions.h"
-
-#include <RobotAPI/libraries/armem/core/aron_conversions.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/Visitor.h>
-#include "RobotAPI/libraries/armem/core/MemoryID.h"
-#include <RobotAPI/libraries/armem/client/Writer.h>
-#include <RobotAPI/libraries/armem/client/query/Builder.h>
-#include <RobotAPI/libraries/armem/client/query/query_fns.h>
-#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
-
-#include <RobotAPI/libraries/armem_objects/aron/Robot.aron.generated.h>
-#include <RobotAPI/libraries/armem_objects/aron_conversions.h>
-#include "RobotAPI/libraries/armem_objects/articulated_object_conversions.h"
-
-
-namespace armarx::armem::server::obj::attachments
-{
-
-    Segment::Segment(armem::server::MemoryToIceAdapter& memoryToIceAdapter, std::mutex& memoryMutex) :
-        iceMemory(memoryToIceAdapter),
-        memoryMutex(memoryMutex)
-    {
-        Logging::setTag("Attachments");
-    }
-
-    Segment::~Segment() = default;
-
-    void Segment::defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix)
-    {
-        defs->optional(p.coreClassSegmentName, prefix + "CoreSegmentName", "Name of the object instance core segment.");
-        defs->optional(p.maxHistorySize, prefix + "MaxHistorySize", "Maximal size of object poses history (-1 for infinite).");
-    }
-
-    void Segment::init()
-    {
-        ARMARX_CHECK_NOT_NULL(iceMemory.workingMemory);
-
-        coreSegment = &iceMemory.workingMemory->addCoreSegment(p.coreClassSegmentName, arondto::Robot::toInitialAronType());
-        coreSegment->setMaxHistorySize(p.maxHistorySize);
-    }
-
-    void Segment::connect(viz::Client arviz)
-    {
-        // this->visu = std::make_unique<Visu>(arviz, *this);
-    }
-
-
-    std::unordered_map<armem::MemoryID, ::armarx::armem::articulated_object::ArticulatedObjectDescription> Segment::getKnownObjectClasses() const
-    {
-        std::unordered_map<armem::MemoryID, ::armarx::armem::articulated_object::ArticulatedObjectDescription> objects;
-
-        for (const auto& [_, provSeg] : iceMemory.workingMemory->getCoreSegment(p.coreClassSegmentName))
-        {
-            for (const auto& [name, entity] :  provSeg.entities())
-            {
-                const auto& entityInstance = entity.getLatestSnapshot().getInstance(0);
-                const auto description = articulated_object::convertRobotDescription(entityInstance);
-
-                if (not description)
-                {
-                    ARMARX_WARNING << "Could not convert entity instance to 'RobotDescription'";
-                    continue;
-                }
-
-                ARMARX_DEBUG << "Key is " << armem::MemoryID(entity.id());
-
-                objects.emplace(armem::MemoryID(entity.id()), *description);
-            }
-        }
-
-        ARMARX_INFO << deactivateSpam(10) <<  "Number of known articulated object classes: " << objects.size();
-
-        return objects;
-    }
-
-
-
-    // void Segment::RemoteGui::setup(const Segment& data)
-    // {
-    //     using namespace armarx::RemoteGui::Client;
-
-    //     maxHistorySize.setValue(std::max(1, int(data.p.maxHistorySize)));
-    //     maxHistorySize.setRange(1, 1e6);
-    //     infiniteHistory.setValue(data.p.maxHistorySize == -1);
-    //     discardSnapshotsWhileAttached.setValue(data.p.discardSnapshotsWhileAttached);
-
-    //     GridLayout grid;
-    //     int row = 0;
-    //     grid.add(Label("Max History Size"), {row, 0}).add(maxHistorySize, {row, 1});
-    //     row++;
-    //     grid.add(Label("Infinite History Size"), {row, 0}).add(infiniteHistory, {row, 1});
-    //     row++;
-    //     grid.add(Label("Discard Snapshots while Attached"), {row, 0}).add(discardSnapshotsWhileAttached, {row, 1});
-    //     row++;
-
-    //     group.setLabel("Data");
-    //     group.addChild(grid);
-    // }
-
-    // void Segment::RemoteGui::update(Segment& data)
-    // {
-    //     if (infiniteHistory.hasValueChanged() || maxHistorySize.hasValueChanged()
-    //         || discardSnapshotsWhileAttached.hasValueChanged())
-    //     {
-    //         std::scoped_lock lock(data.memoryMutex);
-
-    //         if (infiniteHistory.hasValueChanged() || maxHistorySize.hasValueChanged())
-    //         {
-    //             data.p.maxHistorySize = infiniteHistory.getValue() ? -1 : maxHistorySize.getValue();
-    //             if (data.coreSegment)
-    //             {
-    //                 data.coreSegment->setMaxHistorySize(long(data.p.maxHistorySize));
-    //             }
-    //         }
-
-    //         data.p.discardSnapshotsWhileAttached = discardSnapshotsWhileAttached.getValue();
-    //     }
-    // }
-
-}  // namespace armarx::armem::server::obj::articulated_object_class