diff --git a/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.cpp b/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.cpp
index e5d468c552d96d70d3ef4ae92196cdb714f39163..3d8907a348bad7051e3fc88239f3b816899acd5e 100644
--- a/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.cpp
+++ b/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.cpp
@@ -44,12 +44,6 @@ namespace armarx::armem::client::util
}
}
- std::mutex&
- SimpleWriterBase::memoryWriterMutex()
- {
- return memoryMutex;
- }
-
armem::client::Writer&
SimpleWriterBase::memoryWriter()
{
diff --git a/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.h b/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.h
index 13a54cc5b213a90e1949f73c1b11de716c0593cc..895376b0a2f3ff1f30fdd070c2e50c62b9aa2968 100644
--- a/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.h
+++ b/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.h
@@ -58,7 +58,6 @@ namespace armarx::armem::client::util
virtual std::string propertyPrefix() const = 0;
virtual Properties defaultProperties() const = 0;
- std::mutex& memoryWriterMutex();
armem::client::Writer& memoryWriter();
@@ -66,7 +65,6 @@ namespace armarx::armem::client::util
Properties props;
armem::client::Writer memoryWriterClient;
- std::mutex memoryMutex;
};
} // namespace armarx::armem::client::util
diff --git a/source/RobotAPI/libraries/armem_objects/CMakeLists.txt b/source/RobotAPI/libraries/armem_objects/CMakeLists.txt
index 63da8444d40d90e6c4e73a1a4fd755082f4914f9..bbb52cc2b5f473d71cbf1d7c73e39002368f71ad 100644
--- a/source/RobotAPI/libraries/armem_objects/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem_objects/CMakeLists.txt
@@ -36,6 +36,8 @@ armarx_add_library(
server/attachments/Segment.h
+ client/class/ClassReader.h
+ client/class/ClassWriter.h
client/articulated_object/Reader.h
client/articulated_object/Writer.h
client/articulated_object/ArticulatedObjectReader.h
@@ -55,6 +57,8 @@ armarx_add_library(
types.cpp
utils.cpp
+ client/class/ClassReader.cpp
+ client/class/ClassWriter.cpp
client/articulated_object/Reader.cpp
client/articulated_object/Writer.cpp
client/articulated_object/ArticulatedObjectReader.cpp
diff --git a/source/RobotAPI/libraries/armem_objects/client/class/ClassReader.cpp b/source/RobotAPI/libraries/armem_objects/client/class/ClassReader.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..bceba7d960ffbe41a620c36d47a5d8fc0897c157
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_objects/client/class/ClassReader.cpp
@@ -0,0 +1,45 @@
+#include "ClassReader.h"
+
+namespace armarx::armem::obj::clazz
+{
+ std::optional<armem::clazz::ObjectClass>
+ ClassReader::getObjectClass(const std::string& providerName, const ObjectID& id)
+ {
+ auto mid = armarx::armem::MemoryID();
+ mid.memoryName = properties().memoryName;
+ mid.coreSegmentName = properties().coreSegmentName;
+ mid.providerSegmentName = providerName;
+ mid.entityName = id.str();
+
+ auto i = this->memoryReader().getLatestSnapshotIn(mid);
+
+ if (i.has_value() && i->size() == 1)
+ {
+ auto& instance = i->getInstance(0);
+ auto aron = instance.dataAs<armarx::armem::arondto::ObjectClass>();
+
+ armem::clazz::ObjectClass objClass;
+ armarx::armem::clazz::fromAron(aron, objClass);
+
+ return objClass;
+ }
+
+ return std::nullopt;
+ }
+
+ std::string
+ ClassReader::propertyPrefix() const
+ {
+ return "classReader.";
+ }
+
+ client::util::SimpleReaderBase::Properties
+ ClassReader::defaultProperties() const
+ {
+ client::util::SimpleReaderBase::Properties p;
+ p.memoryName = "Object";
+ p.coreSegmentName = "Class";
+ return p;
+ }
+
+} // namespace armarx::armem::obj::clazz
diff --git a/source/RobotAPI/libraries/armem_objects/client/class/ClassReader.h b/source/RobotAPI/libraries/armem_objects/client/class/ClassReader.h
new file mode 100644
index 0000000000000000000000000000000000000000..4d2805b4f03e81bb6b58b65d73997eeae56755ab
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_objects/client/class/ClassReader.h
@@ -0,0 +1,49 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author Fabian Reister ( fabian dot reister at kit dot edu )
+ * @date 2021
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <mutex>
+#include <optional>
+
+#include <RobotAPI/libraries/armem/client/util/SimpleReaderBase.h>
+#include <RobotAPI/libraries/armem_objects/aron_conversions.h>
+#include <RobotAPI/libraries/armem_objects/types.h>
+
+namespace armarx::armem::obj::clazz
+{
+ class ClassReader : public armem::client::util::SimpleReaderBase
+ {
+ public:
+ ClassReader() = default;
+
+ std::optional<armem::clazz::ObjectClass> getObjectClass(const std::string& providerName,
+ const armarx::ObjectID& id);
+
+ protected:
+ std::string propertyPrefix() const final;
+ Properties defaultProperties() const final;
+
+ private:
+ };
+
+
+} // namespace armarx::armem::obj::clazz
diff --git a/source/RobotAPI/libraries/armem_objects/client/class/ClassWriter.cpp b/source/RobotAPI/libraries/armem_objects/client/class/ClassWriter.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..f9f1d109bca843610638ab3473314ab5fe1c4a03
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_objects/client/class/ClassWriter.cpp
@@ -0,0 +1,48 @@
+#include "ClassWriter.h"
+
+namespace armarx::armem::obj::clazz
+{
+ bool
+ ClassWriter::commitObjectClass(const armarx::armem::clazz::ObjectClass& c,
+ const armarx::core::time::DateTime& referenceTime)
+ {
+ armarx::armem::arondto::ObjectClass objClassAron;
+ armarx::armem::clazz::toAron(objClassAron, c);
+
+ armarx::armem::MemoryID mid;
+ mid.memoryName = properties().memoryName;
+ mid.coreSegmentName = properties().coreSegmentName;
+ mid.providerSegmentName = properties().providerName;
+ mid.entityName = c.id.str();
+
+ auto commit = armarx::armem::Commit();
+ auto& update = commit.add();
+
+ update.confidence = 1.0f;
+ update.referencedTime = referenceTime;
+ update.sentTime = armarx::core::time::DateTime::Now();
+ update.entityID = mid;
+ update.instancesData = {objClassAron.toAron()};
+
+ auto res = this->memoryWriter().commit(commit);
+
+ return res.allSuccess();
+ }
+
+ std::string
+ ClassWriter::propertyPrefix() const
+ {
+ return "classWriter.";
+ }
+
+ client::util::SimpleWriterBase::Properties
+ ClassWriter::defaultProperties() const
+ {
+ client::util::SimpleWriterBase::Properties p;
+ p.memoryName = "Object";
+ p.coreSegmentName = "Class";
+ p.providerName = providerName;
+ return p;
+ }
+
+} // namespace armarx::armem::obj::clazz
diff --git a/source/RobotAPI/libraries/armem_objects/client/class/ClassWriter.h b/source/RobotAPI/libraries/armem_objects/client/class/ClassWriter.h
new file mode 100644
index 0000000000000000000000000000000000000000..db17223ba7f8dc550283fb2aa5c1ed3d11872f7e
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_objects/client/class/ClassWriter.h
@@ -0,0 +1,50 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author Fabian Reister ( fabian dot reister at kit dot edu )
+ * @date 2021
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <mutex>
+#include <optional>
+
+#include <RobotAPI/libraries/armem/client/util/SimpleWriterBase.h>
+#include <RobotAPI/libraries/armem_objects/aron_conversions.h>
+#include <RobotAPI/libraries/armem_objects/types.h>
+
+namespace armarx::armem::obj::clazz
+{
+ class ClassWriter : public armem::client::util::SimpleWriterBase
+ {
+ public:
+ ClassWriter(const std::string& p) : providerName(p){};
+
+ bool commitObjectClass(const armarx::armem::clazz::ObjectClass& c,
+ const armarx::core::time::DateTime& referenceTime);
+
+ protected:
+ std::string propertyPrefix() const final;
+ Properties defaultProperties() const final;
+
+ private:
+ const std::string providerName;
+ };
+
+
+} // namespace armarx::armem::obj::clazz
diff --git a/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.cpp b/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.cpp
index a682162553005783d3ad74e42d78bffefbc09ae2..9c06db1e5ce466aaa3a1461f5274d99b26d64c91 100644
--- a/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.cpp
+++ b/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.cpp
@@ -1,19 +1,21 @@
#include "Writer.h"
-#include <RobotAPI/libraries/armem_vision/aron_conversions.h>
#include <RobotAPI/libraries/armem_vision/aron/OccupancyGrid.aron.generated.h>
-
+#include <RobotAPI/libraries/armem_vision/aron_conversions.h>
namespace armarx::armem::vision::occupancy_grid::client
{
Writer::~Writer() = default;
- bool Writer::store(const OccupancyGrid& grid,
- const std::string& frame,
- const std::string& providerName,
- const std::int64_t& timestamp)
+ bool
+ Writer::store(const OccupancyGrid& grid,
+ const std::string& frame,
+ const std::string& providerName,
+ const std::int64_t& timestamp)
{
- std::lock_guard g{memoryWriterMutex()};
+ static std::mutex mutex;
+
+ std::lock_guard g{mutex};
const auto result = memoryWriter().addSegment(properties().coreSegmentName, providerName);
@@ -28,7 +30,7 @@ namespace armarx::armem::vision::occupancy_grid::client
const auto iceTimestamp = Time(Duration::MicroSeconds(timestamp));
const auto providerId = armem::MemoryID(result.segmentID);
- const auto entityID = providerId.withEntityName(frame).withTimestamp(iceTimestamp);
+ const auto entityID = providerId.withEntityName(frame).withTimestamp(iceTimestamp);
armem::EntityUpdate update;
update.entityID = entityID;
@@ -41,7 +43,7 @@ namespace armarx::armem::vision::occupancy_grid::client
dict->addElement("grid", toAron(grid.grid));
update.instancesData = {dict};
- update.referencedTime = iceTimestamp;
+ update.referencedTime = iceTimestamp;
ARMARX_DEBUG << "Committing " << update << " at time " << iceTimestamp;
armem::EntityUpdateResult updateResult = memoryWriter().commit(update);
@@ -56,7 +58,8 @@ namespace armarx::armem::vision::occupancy_grid::client
return updateResult.success;
}
- std::string Writer::propertyPrefix() const
+ std::string
+ Writer::propertyPrefix() const
{
return "mem.vision.occupancy_grid.";
}
@@ -65,7 +68,7 @@ namespace armarx::armem::vision::occupancy_grid::client
Writer::defaultProperties() const
{
- return SimpleWriterBase::Properties{.memoryName = "Vision",
+ return SimpleWriterBase::Properties{.memoryName = "Vision",
.coreSegmentName = "OccupancyGrid"};
}
} // namespace armarx::armem::vision::occupancy_grid::client