Draft: Make RobotStateMemory ready

Goal:

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

source/RobotAPI/libraries/armem_robot_state/server/description/Segment.h

@@ -21,94 +21,47 @@
 
 #pragma once
 
-#include <RobotAPI/interface/units/RobotUnit/RobotUnitInterface.h>
 #include <string>
 #include <optional>
 #include <mutex>
 #include <unordered_map>
 
-#include <ArmarXCore/core/logging/Logging.h>
-#include "ArmarXCore/core/application/properties/PropertyDefinitionContainer.h"
-
-// #include "ArmarXGui/libraries/RemoteGui/Client/Widgets.h"
-
-#include "RobotAPI/components/ArViz/Client/Client.h"
+#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
 
-#include "RobotAPI/libraries/armem/core/MemoryID.h"
-#include "RobotAPI/libraries/armem_objects/types.h"
-
-namespace armarx::armem
-{
-    namespace server
-    {
-        class MemoryToIceAdapter;
-    }
+#include <RobotAPI/interface/units/RobotUnit/RobotUnitInterface.h>
+#include <RobotAPI/libraries/armem/core/MemoryID.h>
+#include <RobotAPI/libraries/armem/server/segment/SpecializedSegment.h>
+#include <RobotAPI/libraries/armem_objects/types.h>
 
-    namespace wm
-    {
-        class CoreSegment;
-    }
-}  // namespace armarx::armem
 
 
 namespace armarx::armem::server::robot_state::description
 {
-    class Visu;
-
-    class Segment : public armarx::Logging
+    class Segment : public segment::SpecializedSegment
     {
     public:
-        Segment(server::MemoryToIceAdapter& iceMemory,
-                std::mutex& memoryMutex);
 
-        virtual ~Segment();
+        Segment(server::MemoryToIceAdapter& iceMemory);
+        virtual ~Segment() override;
 
-        void connect(const viz::Client& arviz, const RobotUnitInterfacePrx& robotUnitPrx);
 
-        void defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix = "");
+        void connect(const RobotUnitInterfacePrx& robotUnitPrx);
 
-        void init();
 
         /// mapping "robot name" -> "robot description"
         using RobotDescriptionMap = std::unordered_map<std::string, robot::RobotDescription>;
 
         RobotDescriptionMap getRobotDescriptions(const armem::Time& timestamp) const;
+        RobotDescriptionMap getRobotDescriptionsLocking(const armem::Time& timestamp) const;
+
 
     private:
 
-        void storeRobotDescription(const robot::RobotDescription& robotDescription);
+        void commitRobotDescription(const robot::RobotDescription& robotDescription);
         void updateRobotDescription();
 
-
-        server::MemoryToIceAdapter& iceMemory;
-        wm::CoreSegment* coreSegment = nullptr;
-        std::mutex& memoryMutex;
-
         RobotUnitInterfacePrx robotUnit;
 
-        struct Properties
-        {
-            std::string coreSegment = "Description";
-            int64_t maxHistorySize = -1;
-        };
-        Properties p;
-
-        // std::unique_ptr<Visu> visu;
-
-    public:
-
-        // struct RemoteGui
-        // {
-        //     armarx::RemoteGui::Client::GroupBox group;
-
-        //     armarx::RemoteGui::Client::IntSpinBox maxHistorySize;
-        //     armarx::RemoteGui::Client::CheckBox infiniteHistory;
-        //     armarx::RemoteGui::Client::CheckBox discardSnapshotsWhileAttached;
-
-        //     void setup(const Segment& data);
-        //     void update(Segment& data);
-        // };
-
     };
 
 }  // namespace armarx::armem::server::robot_state::description