From 549cc1941da8f03670b476e445d1b37e2c3bdcbf Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Mon, 4 Dec 2023 14:30:14 +0100
Subject: [PATCH] Add getObjectClasses()
---
.../client/class/ClassReader.cpp | 40 +++++++++++++++++++
.../armem_objects/client/class/ClassReader.h | 14 +++++--
2 files changed, 50 insertions(+), 4 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_objects/client/class/ClassReader.cpp b/source/RobotAPI/libraries/armem_objects/client/class/ClassReader.cpp
index bceba7d96..aa16a8441 100644
--- a/source/RobotAPI/libraries/armem_objects/client/class/ClassReader.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/class/ClassReader.cpp
@@ -1,5 +1,9 @@
#include "ClassReader.h"
+#include <RobotAPI/libraries/armem/client/query.h>
+#include <RobotAPI/libraries/armem_objects/aron_conversions.h>
+#include <RobotAPI/libraries/armem_objects/types.h>
+
namespace armarx::armem::obj::clazz
{
std::optional<armem::clazz::ObjectClass>
@@ -27,6 +31,42 @@ namespace armarx::armem::obj::clazz
return std::nullopt;
}
+ std::map<ObjectID, armem::clazz::ObjectClass>
+ ClassReader::getObjectClasses(const std::vector<ObjectID>& objectIDs)
+ {
+ armem::client::query::Builder builder;
+ auto entities = builder.coreSegments()
+ .withName(properties().coreSegmentName)
+ .providerSegments()
+ .all()
+ .entities();
+
+ for (const ObjectID& objectID : objectIDs)
+ {
+ entities.withName(objectID.getClassID().str()).snapshots().latest();
+ }
+
+ const armem::client::QueryResult result = memoryReader().query(builder);
+ if (not result.success)
+ {
+ throw armem::error::QueryFailed(result.errorMessage);
+ }
+
+ std::map<ObjectID, armem::clazz::ObjectClass> objectClasses;
+
+ result.memory.forEachInstance(
+ [&objectClasses](const armem::wm::EntityInstance& instance) -> bool
+ {
+ const ObjectID classID = ObjectID::FromString(instance.id().entityName);
+ auto aron = instance.dataAs<armarx::armem::arondto::ObjectClass>();
+ armarx::armem::clazz::fromAron(aron, objectClasses[classID]);
+
+ return true;
+ });
+
+ return objectClasses;
+ }
+
std::string
ClassReader::propertyPrefix() const
{
diff --git a/source/RobotAPI/libraries/armem_objects/client/class/ClassReader.h b/source/RobotAPI/libraries/armem_objects/client/class/ClassReader.h
index 4d2805b4f..8dd50018a 100644
--- a/source/RobotAPI/libraries/armem_objects/client/class/ClassReader.h
+++ b/source/RobotAPI/libraries/armem_objects/client/class/ClassReader.h
@@ -21,11 +21,10 @@
#pragma once
-#include <mutex>
+#include <map>
#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
@@ -38,11 +37,18 @@ namespace armarx::armem::obj::clazz
std::optional<armem::clazz::ObjectClass> getObjectClass(const std::string& providerName,
const armarx::ObjectID& id);
+ /**
+ * @brief Get object class information for object class IDs.
+ * @param objectIDs The object class IDs.
+ * @return The corresponding object classes.
+ * @throw armarx::armem::error::QueryFailed If the memory query failed.
+ */
+ std::map<armarx::ObjectID, armem::clazz::ObjectClass>
+ getObjectClasses(const std::vector<armarx::ObjectID>& objectIDs);
+
protected:
std::string propertyPrefix() const final;
Properties defaultProperties() const final;
-
- private:
};
--
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