add loadProfiles to skillmemory

source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp

@@ -256,4 +256,9 @@ namespace armarx
     {
         profileCoreSegment.addProfile(profile);
     }
+
+    std::optional<std::vector<skills::manager::arondto::FluxioProfile>> SkillsMemory::loadProfiles()
+    {
+        return profileCoreSegment.getProfiles();
+    }
 } // namespace armarx

source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h

@@ -118,6 +118,7 @@ namespace armarx
         std::optional<std::vector<skills::manager::arondto::FluxioSkill>> loadCompositeSkillsOfProvider(const std::string& providerId) override;
 
         void addProfile(const skills::manager::arondto::FluxioProfile& profile) override;
+        std::optional<std::vector<skills::manager::arondto::FluxioProfile>> loadProfiles() override;
 
     protected:
         /// @see armarx::ManagedIceObject::onInitComponent()

source/RobotAPI/libraries/armem_skills/server/segment/ProfileLibrarySegment.cpp

 #include "ProfileLibrarySegment.h"
+#include <vector>
 
 #include <SimoxUtility/algorithm/string.h>
 
 #include <ArmarXCore/core/time/ice_conversions.h>
 
+#include "RobotAPI/libraries/armem/client/query/Builder.h"
 #include "RobotAPI/libraries/armem/core/Commit.h"
 #include "RobotAPI/libraries/armem/core/MemoryID.h"
 #include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
@@ -52,4 +54,31 @@ namespace armarx::skills::segment
         // Commit data to memory and notify
         iceMemory.commit(commit);
     }
+
+    std::optional<std::vector<skills::manager::arondto::FluxioProfile>> ProfileLibraryCoreSegment::getProfiles() const {
+        std::vector<skills::manager::arondto::FluxioProfile> ret;
+        armarx::armem::client::query::Builder qb;
+        qb.allLatestInCoreSegment(id());
+        armem::client::QueryResult qresult = iceMemory.query(qb.buildQueryInput());
+        if (!qresult.success)
+        {
+            ARMARX_WARNING << "Query failed: " << qresult.errorMessage;
+            return std::nullopt;
+        }
+
+        const armem::wm::Memory& data = qresult.memory;
+
+        data.forEachInstance(
+            [&ret](const armem::wm::EntityInstance& instance)
+            {
+                auto profile = instance.dataAs<skills::manager::arondto::FluxioProfile>();
+                if (profile.deleted)
+                {
+                    return;
+                }
+                ret.push_back(profile);
+            });
+
+        return ret;
+    }
 } // namespace armarx::skills::segment

source/RobotAPI/libraries/armem_skills/server/segment/ProfileLibrarySegment.h

 #pragma once
 
 // Base Class
+#include <optional>
+#include <vector>
 #include <RobotAPI/libraries/armem/server/segment/SpecializedSegment.h>
 
 // ArmarX
@@ -29,5 +31,6 @@ namespace armarx::skills::segment
         void init();
 
         void addProfile(const skills::manager::arondto::FluxioProfile& profile);
+        std::optional<std::vector<skills::manager::arondto::FluxioProfile>> getProfiles() const;
 };
 } // namespace armarx::skills::segment

source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp

@@ -771,4 +771,11 @@ namespace armarx
     {
         // Implemented in derived class
     }
+
+    std::optional<std::vector<skills::manager::arondto::FluxioProfile>>
+    SkillManagerComponentPluginUser::loadProfiles()
+    {
+        // Implemented in derived class
+        return {};
+    }
 } // namespace armarx

source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.h

@@ -156,6 +156,7 @@ namespace armarx
         virtual std::optional<std::vector<skills::manager::arondto::FluxioSkill>> loadCompositeSkillsOfProvider(const std::string& providerId);
 
         virtual void addProfile(const skills::manager::arondto::FluxioProfile& profile);
+        virtual std::optional<std::vector<skills::manager::arondto::FluxioProfile>> loadProfiles();
 
     private:
         armarx::plugins::SkillManagerComponentPlugin* plugin = nullptr;