occupancy grid writer

source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.cpp

+#include "Writer.h"
+
+#include "RobotAPI/libraries/armem_vision/aron_conversions.h"
+#include <RobotAPI/libraries/armem_vision/aron/OccupancyGrid.aron.generated.h>
+
+namespace armarx::armem::vision::occupancy_grid::client
+{
+    bool Writer::store(const OccupancyGrid& grid,
+                       const std::string& frame,
+                       const std::string& agentName,
+                       const std::int64_t& timestamp)
+    {
+        std::lock_guard g{memoryWriterMutex()};
+
+        const auto result =
+            memoryWriter().addSegment(properties().memoryName, agentName);
+
+        if (not result.success)
+        {
+            ARMARX_ERROR << result.errorMessage;
+
+            // TODO(fabian.reister): message
+            return false;
+        }
+
+        const auto iceTimestamp = Time::microSeconds(timestamp);
+
+        const auto providerId = armem::MemoryID(result.segmentID);
+        const auto entityID =
+            providerId.withEntityName(frame).withTimestamp(iceTimestamp);
+
+        armem::EntityUpdate update;
+        update.entityID = entityID;
+
+        arondto::OccupancyGrid aronGrid;
+        // currently only sets the header
+        toAron(aronGrid, grid);
+
+        auto dict = aronGrid.toAron();
+        dict->addElement("grid", toAron(grid.grid));
+
+        update.instancesData = {dict};
+        update.timeCreated   = iceTimestamp;
+
+        ARMARX_DEBUG << "Committing " << update << " at time " << iceTimestamp;
+        armem::EntityUpdateResult updateResult = memoryWriter().commit(update);
+
+        ARMARX_DEBUG << updateResult;
+
+        if (not updateResult.success)
+        {
+            ARMARX_ERROR << updateResult.errorMessage;
+        }
+
+        return updateResult.success;
+    }
+
+    std::string Writer::propertyPrefix() const { return "mem.vision."; }
+
+    armarx::armem::client::util::SimpleWriterBase::SimpleWriterBase::Properties
+    Writer::defaultProperties() const
+    {
+
+        return SimpleWriterBase::Properties{.memoryName      = "Vision",
+                                            .coreSegmentName = "OccupancyGrid"};
+    }
+} // namespace armarx::armem::vision::occupancy_grid::client
\ No newline at end of file

source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.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/>.
+ *
+ * @package    RobotAPI::ArmarXObjects::
+ * @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 "RobotAPI/libraries/armem/client/util/SimpleWriterBase.h"
+#include "RobotAPI/libraries/armem_vision/types.h"
+
+namespace armarx::armem::vision::occupancy_grid::client
+{
+
+    /**
+    * @defgroup Component-ExampleClient ExampleClient
+    * @ingroup RobotAPI-Components
+    * A description of the component ExampleClient.
+    *
+    * @class ExampleClient
+    * @ingroup Component-ExampleClient
+    * @brief Brief description of class ExampleClient.
+    *
+    * Detailed description of class ExampleClient.
+    */
+    class Writer : virtual public armarx::armem::client::util::SimpleWriterBase
+    {
+      public:
+        using armarx::armem::client::util::SimpleWriterBase::SimpleWriterBase;
+        ~Writer() override;
+
+        bool store(const OccupancyGrid& grid,
+                   const std::string& frame,
+                   const std::string& agentName,
+                   const std::int64_t& timestamp);
+
+      protected:
+
+         std::string propertyPrefix() const override ;
+         Properties defaultProperties() const override;
+    };
+
+} // namespace armarx::armem::vision::occupancy_grid::client