add objclass reader and writer in armem_objects

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

source/RobotAPI/libraries/armem_objects/client/class/ClassReader.cpp

+#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

source/RobotAPI/libraries/armem_objects/client/class/ClassReader.h

+/*
+ * 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

source/RobotAPI/libraries/armem_objects/client/class/ClassWriter.cpp

+#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

source/RobotAPI/libraries/armem_objects/client/class/ClassWriter.h

+/*
+ * 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