complete_patterns_handler.cpp

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#include "world_model/complete_patterns_handler.hpp"

namespace world_model
{

CompletePatternsHandler::CompletePatternsHandler() : completePatterns() {
    debug_helper_ptr_ = DebugHelper::getInstance();
    ROS_INFO_STREAM("CompletePatternsHandler initialized");
}

bool CompletePatternsHandler::processPushCompletePatternsCall(asr_world_model::PushCompletePatterns::Request &request,
                                                              asr_world_model::PushCompletePatterns::Response &response) {
    debug_helper_ptr_->write(std::stringstream() << "Calling processPushCompletePatternsCall", (DebugHelper::SERVICE_CALLS + DebugHelper::COMPLETE_PATTERN));

    for (const asr_world_model::CompletePattern &completePattern : request.completePatterns) {
        CompletePatterns::iterator complete_it = completePatterns.find(completePattern.patternName);
        if (complete_it == completePatterns.end()) {
            completePatterns.insert(std::make_pair(completePattern.patternName, completePattern));
        } else {
            complete_it->second.confidence = completePattern.confidence;
        }
    }

    debug_helper_ptr_->write(std::stringstream() << "CompletePatterns after push:\n" << completePatterns, DebugHelper::COMPLETE_PATTERN);

    return true;
}

bool CompletePatternsHandler::processEmptyCompletePatternsServiceCall(asr_world_model::EmptyCompletePatterns::Request &request,
                                                              asr_world_model::EmptyCompletePatterns::Response &response) {
    debug_helper_ptr_->write(std::stringstream() << "Calling processEmptyCompletePatternsServiceCall", (DebugHelper::SERVICE_CALLS + DebugHelper::COMPLETE_PATTERN));

    completePatterns.clear();

    return true;
}

bool CompletePatternsHandler::processGetCompletePatternsServiceCall(asr_world_model::GetCompletePatterns::Request &request,
                                                                    asr_world_model::GetCompletePatterns::Response &response)
{
    debug_helper_ptr_->write(std::stringstream() << "Calling processGetCompletePatternsServiceCall", (DebugHelper::SERVICE_CALLS + DebugHelper::COMPLETE_PATTERN));

    for (const std::pair<std::string, asr_world_model::CompletePattern> &completePatternPair : completePatterns) {
        response.completePatterns.push_back(completePatternPair.second);
    }

    debug_helper_ptr_->write(std::stringstream() << "Returning completePatternsSet:\n" << response.completePatterns, DebugHelper::COMPLETE_PATTERN);

    return true;
}


std::ostream& operator<<(std::ostream &strm, const CompletePatterns &complete_patterns) {
    for (const std::pair<std::string, asr_world_model::CompletePattern> &completePatternPair : complete_patterns) {
        strm << completePatternPair.second;
    }
    return strm;
}

std::ostream& operator<<(std::ostream &strm, const std::vector<asr_world_model::CompletePattern> &complete_patterns) {
    for (const asr_world_model::CompletePattern &completePattern : complete_patterns) {
        strm << completePattern;
    }
    return strm;
}

}