From b2a1867c6b7ae781a3697b0a39c8e917cde7f319 Mon Sep 17 00:00:00 2001
From: Fabian Peller <fabian.peller-konrad@kit.edu>
Date: Thu, 16 Nov 2023 16:10:42 +0100
Subject: [PATCH] add objclass reader and writer in armem_objects
---
.../libraries/armem_objects/CMakeLists.txt | 4 ++
.../client/class/ClassReader.cpp | 45 +++++++++++++++++
.../armem_objects/client/class/ClassReader.h | 49 ++++++++++++++++++
.../client/class/ClassWriter.cpp | 48 ++++++++++++++++++
.../armem_objects/client/class/ClassWriter.h | 50 +++++++++++++++++++
5 files changed, 196 insertions(+)
create mode 100644 source/RobotAPI/libraries/armem_objects/client/class/ClassReader.cpp
create mode 100644 source/RobotAPI/libraries/armem_objects/client/class/ClassReader.h
create mode 100644 source/RobotAPI/libraries/armem_objects/client/class/ClassWriter.cpp
create mode 100644 source/RobotAPI/libraries/armem_objects/client/class/ClassWriter.h
diff --git a/source/RobotAPI/libraries/armem_objects/CMakeLists.txt b/source/RobotAPI/libraries/armem_objects/CMakeLists.txt
index 63da8444d..bbb52cc2b 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 000000000..bceba7d96
--- /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 000000000..4d2805b4f
--- /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 000000000..f9f1d109b
--- /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 000000000..db17223ba
--- /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
--
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