Draft: Make RobotStateMemory ready

Goal:

• Make stable (especially race conditions)
• Improve runtime
• Add profiling/monitoring
• Refactor code
• Add missing interfaces

source/RobotAPI/libraries/armem/server/segment/SpecializedSegment.cpp

+#include "SpecializedSegment.h"
+
+#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
+#include <ArmarXCore/core/application/properties/PluginAll.h>
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+#include <RobotAPI/libraries/aron/core/navigator/type/container/Object.h>
+#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
+
+
+namespace armarx::armem::server::segment
+{
+
+    SpecializedSegment::SpecializedSegment(
+            server::MemoryToIceAdapter& iceMemory,
+            aron::typenavigator::ObjectNavigatorPtr aronType,
+            const std::string& defaultCoreSegmentName,
+            int64_t defaultMaxHistorySize
+            ) :
+        iceMemory(iceMemory), aronType(aronType)
+    {
+        setDefaultCoreSegmentName(defaultCoreSegmentName);
+        setDefaultMaxHistorySize(defaultMaxHistorySize);
+    }
+
+
+    SpecializedSegment::~SpecializedSegment()
+    {
+    }
+
+
+    void SpecializedSegment::defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix)
+    {
+        defs->optional(properties.coreSegmentName,
+                       prefix + "seg.CoreSegmentName",
+                       "Name of the " + properties.coreSegmentName + " core segment.");
+
+        defs->optional(properties.maxHistorySize,
+                       prefix + "seg.MaxHistorySize",
+                       "Maximal size of the " + properties.coreSegmentName + " entity histories (-1 for infinite).");
+    }
+
+
+    void SpecializedSegment::init()
+    {
+        ARMARX_CHECK_NOT_NULL(iceMemory.workingMemory);
+        Logging::setTag(properties.coreSegmentName + " Core Segment");
+
+        ARMARX_INFO << "Adding core segment '" << properties.coreSegmentName << "'";
+        coreSegment = &iceMemory.workingMemory->addCoreSegment(properties.coreSegmentName, aronType);
+        coreSegment->setMaxHistorySize(properties.maxHistorySize);
+    }
+
+
+    std::mutex& SpecializedSegment::mutex() const
+    {
+        ARMARX_CHECK_NOT_NULL(coreSegment);
+        return coreSegment->mutex();
+    }
+
+
+    void SpecializedSegment::setDefaultCoreSegmentName(const std::string& coreSegmentName)
+    {
+        this->properties.coreSegmentName = coreSegmentName;
+    }
+
+
+    void SpecializedSegment::setDefaultMaxHistorySize(int64_t maxHistorySize)
+    {
+        this->properties.maxHistorySize = maxHistorySize;
+    }
+
+
+    void SpecializedSegment::setAronType(aron::typenavigator::ObjectNavigatorPtr aronType)
+    {
+        this->aronType = aronType;
+    }
+
+}