From 94b541a471bb9cc5875435b6fc07987c535c49d2 Mon Sep 17 00:00:00 2001
From: Firat Yusuf Duran <uzivy@student.kit.edu>
Date: Sun, 15 Sep 2024 13:35:57 +0200
Subject: [PATCH] add loadProfiles to skillmemory
---
.../server/SkillsMemory/SkillsMemory.cpp | 5 ++++
.../armem/server/SkillsMemory/SkillsMemory.h | 1 +
.../server/segment/ProfileLibrarySegment.cpp | 29 +++++++++++++++++++
.../server/segment/ProfileLibrarySegment.h | 3 ++
.../SkillManagerComponentPluginUser.cpp | 7 +++++
.../manager/SkillManagerComponentPluginUser.h | 1 +
6 files changed, 46 insertions(+)
diff --git a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
index 1119465a1..a02a8f8af 100644
--- a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
+++ b/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
diff --git a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h
index 1155b05d8..8f117a5cb 100644
--- a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h
+++ b/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()
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/ProfileLibrarySegment.cpp b/source/RobotAPI/libraries/armem_skills/server/segment/ProfileLibrarySegment.cpp
index 0d3d49d1f..075e0f192 100644
--- a/source/RobotAPI/libraries/armem_skills/server/segment/ProfileLibrarySegment.cpp
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/ProfileLibrarySegment.cpp
@@ -1,9 +1,11 @@
#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
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/ProfileLibrarySegment.h b/source/RobotAPI/libraries/armem_skills/server/segment/ProfileLibrarySegment.h
index 61c5a9fc1..2032163c5 100644
--- a/source/RobotAPI/libraries/armem_skills/server/segment/ProfileLibrarySegment.h
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/ProfileLibrarySegment.h
@@ -1,6 +1,8 @@
#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
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp
index 39b5d2d71..31b002a43 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp
+++ b/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
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.h b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.h
index 89d148029..1eb873f36 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.h
+++ b/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;
--
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