Add ice conversions

source/RobotAPI/libraries/armem/core/ice_conversions.cpp

@@ -4,6 +4,7 @@
 namespace armarx
 {
 
+/*
     void armem::fromIce(long ice, Time& time)
     {
         time = Time::microSeconds(ice);
@@ -13,6 +14,7 @@ namespace armarx
     {
         ice = time.toMicroSeconds();
     }
+*/
 
 
     void armem::fromIce(const data::Commit& ice, Commit& commit)
@@ -98,3 +100,4 @@ namespace armarx
 
 
 
+

source/RobotAPI/libraries/armem/core/ice_conversions.h

@@ -7,11 +7,25 @@
 #include "Commit.h"
 
 
+namespace IceUtil
+{
+    // Define in original namespace to allow ADL.
+    inline void fromIce(long ice, Time& time)
+    {
+        time = Time::microSeconds(ice);
+    }
+    inline void toIce(long& ice, const Time& time)
+    {
+        ice = time.toMicroSeconds();
+    }
+}
+
+
 namespace armarx::armem
 {
 
-    void fromIce(long ice, Time& time);
-    void toIce(long& ice, const Time& time);
+    // void fromIce(long ice, Time& time);
+    // void toIce(long& ice, const Time& time);
 
 
     void fromIce(const data::Commit& ice, Commit& commit);
@@ -28,6 +42,12 @@ namespace armarx::armem
     void toIce(data::EntityUpdateResult& ice, const EntityUpdateResult& result);
 
 
+    template <class T>
+    void toIce(T& ice, const T& cpp)
+    {
+        ice = cpp;
+    }
+
     template <class IceT, class CppT>
     IceT toIce(const CppT& cpp)
     {
@@ -68,4 +88,24 @@ namespace armarx::armem
         return ices;
     }
 
+
+    template <class IceKeyT, class IceValueT, class CppKeyT, class CppValueT>
+    void toIce(std::map<IceKeyT, IceValueT>& iceMap,
+               const std::map<CppKeyT, CppValueT>& cppMap)
+    {
+        iceMap.clear();
+        for (const auto& [key, value] : cppMap)
+        {
+            iceMap.emplace(toIce<IceKeyT>(key), toIce<IceValueT>(value));
+        }
+    }
+
+    template <class IceKeyT, class IceValueT, class CppKeyT, class CppValueT>
+    std::map<IceKeyT, IceValueT> toIce(const std::map<CppKeyT, CppValueT>& cppMap)
+    {
+        std::map<IceKeyT, IceValueT> iceMap;
+        toIce(iceMap, cppMap);
+        return iceMap;
+    }
+
 }

source/RobotAPI/libraries/armem/query/ice_conversions.cpp

@@ -3,10 +3,10 @@
 #include "../core/ice_conversions.h"
 
 
-namespace armarx::armem
+namespace armarx
 {
 
-    void toIce(data::EntityMetadata& ice, const EntityMetadata& metadata)
+    void armem::toIce(data::EntityMetadata& ice, const EntityMetadata& metadata)
     {
         ice.confidence = metadata.confidence;
         toIce(ice.timeArrivedMicroSeconds, metadata.timeArrived);
@@ -14,22 +14,43 @@ namespace armarx::armem
         toIce(ice.timeSentMicroSeconds, metadata.timeSent);
     }
 
-    void toIce(data::EntityData& ice, const EntityData& data)
+    void armem::toIce(data::EntityData& ice, const EntityData& data)
     {
         ice.data = data.data;
         ice.index = data.index;
         toIce(ice.metadata, data.metadata);
     }
 
-    void toIce(data::EntitySnapshot& ice, const EntitySnapshot& snapshot)
+
+    void armem::toIce(data::EntitySnapshot& ice, const EntitySnapshot& snapshot)
     {
         toIce(ice.timeMicroSeconds, snapshot.time);
         toIce(ice.instances, snapshot.instances);
     }
 
-    void toIce(data::Entity& ice, const Entity& entity)
+    void armem::toIce(data::Entity& ice, const Entity& entity)
     {
         ice.name = entity.name;
+        toIce(ice.history, entity.history);
+    }
+
+
+    void armem::toIce(data::ProviderSegment& ice, const ProviderSegment& providerSegment)
+    {
+        ice.name = providerSegment.name;
+        toIce(ice.entities, providerSegment.entities);
+    }
+
+    void armem::toIce(data::CoreSegment& ice, const CoreSegment& coreSegment)
+    {
+        ice.name = coreSegment.name;
+        toIce(ice.providerSegments, coreSegment.providerSegments);
+    }
+
+    void armem::toIce(data::Memory& ice, const Memory& memory)
+    {
+        ice.name = memory.name;
+        toIce(ice.coreSegments, memory.coreSegments);
     }
 
 }

source/RobotAPI/libraries/armem/query/ice_conversions.h

@@ -8,11 +8,14 @@
 namespace armarx::armem
 {
 
-    // ice conversions
-
     void toIce(data::EntityMetadata& ice, const EntityMetadata& metadata);
     void toIce(data::EntityData& ice, const EntityData& data);
+
     void toIce(data::EntitySnapshot& ice, const EntitySnapshot& snapshot);
     void toIce(data::Entity& ice, const Entity& entity);
 
+    void toIce(data::ProviderSegment& ice, const ProviderSegment& providerSegment);
+    void toIce(data::CoreSegment& ice, const CoreSegment& coreSegment);
+    void toIce(data::Memory& ice, const Memory& memory);
+
 }