From d9d30318ed20dadb6954a73ec656e3a1064742a2 Mon Sep 17 00:00:00 2001
From: Firat Yusuf Duran <uzivy@student.kit.edu>
Date: Fri, 13 Sep 2024 16:03:33 +0200
Subject: [PATCH] add profile core segment to skillmemory
---
.../server/SkillsMemory/SkillsMemory.cpp | 3 ++
.../armem/server/SkillsMemory/SkillsMemory.h | 2 +
.../libraries/armem_skills/CMakeLists.txt | 2 +
.../server/segment/ProfileLibrarySegment.cpp | 53 +++++++++++++++++++
.../server/segment/ProfileLibrarySegment.h | 35 ++++++++++++
5 files changed, 95 insertions(+)
create mode 100644 source/RobotAPI/libraries/armem_skills/server/segment/ProfileLibrarySegment.cpp
create mode 100644 source/RobotAPI/libraries/armem_skills/server/segment/ProfileLibrarySegment.h
diff --git a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
index efb6e446e..1e0842b2c 100644
--- a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
+++ b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
@@ -47,6 +47,7 @@ namespace armarx
statechartListenerProviderSegment(iceAdapter()),
executableSkillCoreSegment(iceAdapter()),
composedSkillCoreSegment(iceAdapter()),
+ profileCoreSegment(iceAdapter()),
skillEventCoreSegment(iceAdapter()),
skillExecutionRequestCoreSegment(iceAdapter())
{
@@ -62,6 +63,7 @@ namespace armarx
statechartListenerProviderSegment.defineProperties(defs, prefix + "statechartlistener.");
executableSkillCoreSegment.defineProperties(defs, prefix + "executableskill.");
composedSkillCoreSegment.defineProperties(defs, prefix + "composedskill.");
+ profileCoreSegment.defineProperties(defs, prefix + "profile.");
skillExecutionRequestCoreSegment.defineProperties(defs, prefix + "executionrequest.");
skillEventCoreSegment.defineProperties(defs, prefix + "event.");
@@ -81,6 +83,7 @@ namespace armarx
statechartListenerProviderSegment.init();
executableSkillCoreSegment.init();
composedSkillCoreSegment.init();
+ profileCoreSegment.init();
skillExecutionRequestCoreSegment.init();
skillEventCoreSegment.init();
}
diff --git a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h
index cd40868e6..30de2d17d 100644
--- a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h
+++ b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h
@@ -29,6 +29,7 @@
#include <ArmarXCore/interface/core/Profiler.h>
#include <ArmarXCore/observers/ObserverObjectFactories.h>
+#include "RobotAPI/libraries/armem_skills/server/segment/ProfileLibrarySegment.h"
#include <RobotAPI/interface/skills/SkillMemoryInterface.h>
#include <RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h>
#include <RobotAPI/libraries/armem_skills/aron/Statechart.aron.generated.h>
@@ -135,6 +136,7 @@ namespace armarx
skills::segment::StatechartListenerProviderSegment statechartListenerProviderSegment;
skills::segment::ExecutableSkillLibraryCoreSegment executableSkillCoreSegment;
skills::segment::ComposedSkillLibraryCoreSegment composedSkillCoreSegment;
+ skills::segment::ProfileLibraryCoreSegment profileCoreSegment;
skills::segment::SkillEventCoreSegment skillEventCoreSegment;
skills::segment::SkillExecutionRequestCoreSegment skillExecutionRequestCoreSegment;
};
diff --git a/source/RobotAPI/libraries/armem_skills/CMakeLists.txt b/source/RobotAPI/libraries/armem_skills/CMakeLists.txt
index 967384b58..5735dafed 100644
--- a/source/RobotAPI/libraries/armem_skills/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem_skills/CMakeLists.txt
@@ -22,6 +22,7 @@ armarx_add_library(
./server/segment/StatechartListenerSegment.cpp
./server/segment/ExecutableSkillLibrarySegment.cpp
./server/segment/ComposedSkillLibrarySegment.cpp
+ ./server/segment/ProfileLibrarySegment.cpp
./server/segment/SkillExecutionRequestSegment.cpp
./server/segment/SkillEventSegment.cpp
HEADERS
@@ -32,6 +33,7 @@ armarx_add_library(
./server/segment/StatechartListenerSegment.h
./server/segment/ExecutableSkillLibrarySegment.h
./server/segment/ComposedSkillLibrarySegment.h
+ ./server/segment/ProfileLibrarySegment.h
./server/segment/SkillExecutionRequestSegment.h
./server/segment/SkillEventSegment.h
)
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/ProfileLibrarySegment.cpp b/source/RobotAPI/libraries/armem_skills/server/segment/ProfileLibrarySegment.cpp
new file mode 100644
index 000000000..f1d93114a
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/ProfileLibrarySegment.cpp
@@ -0,0 +1,53 @@
+#include "ProfileLibrarySegment.h"
+
+#include <SimoxUtility/algorithm/string.h>
+
+#include <ArmarXCore/core/time/ice_conversions.h>
+
+#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
+#include <RobotAPI/libraries/armem_skills/aron_conversions.h>
+#include <RobotAPI/libraries/aron/converter/datatype/DatatypeConverterVisitor.h>
+#include <RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h>
+#include <RobotAPI/libraries/skills/core/aron/FluxioProfile.aron.generated.h>
+
+namespace armarx::skills::segment
+{
+ ProfileLibraryCoreSegment::ProfileLibraryCoreSegment(
+ armem::server::MemoryToIceAdapter& iceMemory) :
+ Base(iceMemory, CoreSegmentName, skills::manager::arondto::FluxioProfile::ToAronType())
+ {
+ }
+
+ void
+ ProfileLibraryCoreSegment::defineProperties(PropertyDefinitionsPtr defs,
+ const std::string& prefix)
+ {
+ this->setDefaultMaxHistorySize(3);
+ Base::defineProperties(defs, prefix);
+ }
+
+ void
+ ProfileLibraryCoreSegment::init()
+ {
+ Base::init();
+ }
+
+ void
+ ProfileLibraryCoreSegment::addProfile(const skills::manager::arondto::FluxioProfile& profile)
+ {
+ // // add skills
+ // auto provId = id().withProviderSegmentName(skill.skillProviderId.id);
+
+ // armem::Commit commit;
+ // auto& entityUpdate = commit.add();
+ // entityUpdate.confidence = 1.0;
+ // entityUpdate.referencedTime = armem::Time::Now();
+ // entityUpdate.sentTime = armem::Time::Now();
+ // entityUpdate.arrivedTime = armem::Time::Now();
+ // entityUpdate.instancesData = {skill.toAron()};
+ // entityUpdate.entityID = provId.withEntityName("ArmarBlow");
+
+ // // Commit data to memory and notify
+ // iceMemory.commit(commit);
+ }
+} // 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
new file mode 100644
index 000000000..a05bca90e
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/ProfileLibrarySegment.h
@@ -0,0 +1,35 @@
+#pragma once
+
+// Base Class
+#include <RobotAPI/libraries/armem/server/segment/SpecializedSegment.h>
+
+// ArmarX
+#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
+#include <ArmarXCore/interface/core/Profiler.h>
+#include <ArmarXCore/observers/ObserverObjectFactories.h>
+
+#include <RobotAPI/interface/skills/SkillManagerInterface.h>
+#include <RobotAPI/interface/skills/SkillProviderInterface.h>
+#include <RobotAPI/libraries/armem_skills/aron/Skill.aron.generated.h>
+#include <RobotAPI/libraries/skills/core/ProviderInfo.h>
+#include <RobotAPI/libraries/skills/core/aron/FluxioProfile.aron.generated.h>
+
+namespace armarx::skills::segment
+{
+ class ProfileLibraryCoreSegment : public armem::server::segment::SpecializedCoreSegment
+ {
+ using Base = armem::server::segment::SpecializedCoreSegment;
+
+ public:
+ static constexpr const char* CoreSegmentName = "Profile";
+
+ ProfileLibraryCoreSegment(armem::server::MemoryToIceAdapter& iceMemory);
+
+ void defineProperties(PropertyDefinitionsPtr defs, const std::string& prefix);
+ void init();
+
+ void addProfile(const skills::manager::arondto::FluxioProfile& profile);
+
+ size_t size() const;
+};
+} // namespace armarx::skills::segment
--
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