From a2dee547e0fe396413ceca59709247af49f305a4 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Mon, 28 Oct 2024 04:52:21 +0100
Subject: [PATCH] object class reader: +getAllObjectClasses
---
.../client/class/ClassReader.cpp | 42 +++++++++++++++++--
.../armem_objects/client/class/ClassReader.h | 2 +
2 files changed, 40 insertions(+), 4 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_objects/client/class/ClassReader.cpp b/source/RobotAPI/libraries/armem_objects/client/class/ClassReader.cpp
index ca365080d..de1a50c49 100644
--- a/source/RobotAPI/libraries/armem_objects/client/class/ClassReader.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/class/ClassReader.cpp
@@ -36,10 +36,10 @@ namespace armarx::armem::obj::clazz
{
armem::client::query::Builder builder;
auto& entities = builder.coreSegments()
- .withName(properties().coreSegmentName)
- .providerSegments()
- .all()
- .entities();
+ .withName(properties().coreSegmentName)
+ .providerSegments()
+ .all()
+ .entities();
for (const ObjectID& objectID : objectIDs)
{
@@ -67,6 +67,40 @@ namespace armarx::armem::obj::clazz
return objectClasses;
}
+ std::map<ObjectID, armem::clazz::ObjectClass>
+ ClassReader::getAllObjectClasses()
+ {
+ armem::client::query::Builder builder;
+
+ // clang-format off
+ builder
+ .coreSegments().withName(properties().coreSegmentName)
+ .providerSegments().all()
+ .entities().all()
+ .snapshots().latest();
+ // clang-format on
+
+ const armem::client::QueryResult result = memoryReader().query(builder);
+ if (not result.success)
+ {
+ throw armem::error::QueryFailed(result.errorMessage);
+ }
+
+ std::map<ObjectID, armem::clazz::ObjectClass> objectClasses;
+
+ result.memory.forEachInstance(
+ [&objectClasses](const armem::wm::EntityInstance& instance) -> bool
+ {
+ const ObjectID classID = ObjectID::FromString(instance.id().entityName);
+ auto aron = instance.dataAs<armarx::armem::arondto::ObjectClass>();
+ armarx::armem::clazz::fromAron(aron, objectClasses[classID]);
+
+ return true;
+ });
+
+ return objectClasses;
+ }
+
std::string
ClassReader::propertyPrefix() const
{
diff --git a/source/RobotAPI/libraries/armem_objects/client/class/ClassReader.h b/source/RobotAPI/libraries/armem_objects/client/class/ClassReader.h
index 8dd50018a..4fe194389 100644
--- a/source/RobotAPI/libraries/armem_objects/client/class/ClassReader.h
+++ b/source/RobotAPI/libraries/armem_objects/client/class/ClassReader.h
@@ -46,6 +46,8 @@ namespace armarx::armem::obj::clazz
std::map<armarx::ObjectID, armem::clazz::ObjectClass>
getObjectClasses(const std::vector<armarx::ObjectID>& objectIDs);
+ std::map<armarx::ObjectID, armem::clazz::ObjectClass> getAllObjectClasses();
+
protected:
std::string propertyPrefix() const final;
Properties defaultProperties() const final;
--
GitLab