diff --git a/source/RobotAPI/components/armem/addon/LegacyRobotStateMemoryAdapter/LegacyRobotStateMemoryAdapter.cpp b/source/RobotAPI/components/armem/addon/LegacyRobotStateMemoryAdapter/LegacyRobotStateMemoryAdapter.cpp
index ae751bb1ac1bfb0ba8e51a4fc9fc11b28c0e3cf2..c9afa372dc20c08fc6e80ce2666214618d366286 100644
--- a/source/RobotAPI/components/armem/addon/LegacyRobotStateMemoryAdapter/LegacyRobotStateMemoryAdapter.cpp
+++ b/source/RobotAPI/components/armem/addon/LegacyRobotStateMemoryAdapter/LegacyRobotStateMemoryAdapter.cpp
@@ -96,7 +96,7 @@ namespace armarx::armem
armem::EntityUpdate entityUpdate;
entityUpdate.entityID = propEntityID;
- entityUpdate.timeCreated = Time(Duration::MicroSeconds(_timestampUpdateFirstModifiedInUs)); // we take the oldest timestamp
+ entityUpdate.referencedTime = Time(Duration::MicroSeconds(_timestampUpdateFirstModifiedInUs)); // we take the oldest timestamp
entityUpdate.instancesData =
{
@@ -128,7 +128,7 @@ namespace armarx::armem
armem::EntityUpdate locUpdate;
locUpdate.entityID = locEntityID;
- locUpdate.timeCreated = Time(Duration::MicroSeconds(_timestampUpdateFirstModifiedInUs));
+ locUpdate.referencedTime = Time(Duration::MicroSeconds(_timestampUpdateFirstModifiedInUs));
locUpdate.instancesData =
{
transform.toAron()
@@ -282,7 +282,7 @@ namespace armarx::armem
entityUpdate.entityID.entityName = "Armar3";
entityUpdate.instancesData = { desc.toAron() };
- entityUpdate.timeCreated = armem::Time::Now();
+ entityUpdate.referencedTime = armem::Time::Now();
auto res = memoryWriter.commit(c);
if (!res.allSuccess())
{
diff --git a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
index c072f6fce5ef567fafb8c804e479747a895e80c6..cde81dc6801e7205867c6ff6cd679c69a1db9d92 100644
--- a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
+++ b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
@@ -218,9 +218,9 @@ namespace armarx
// Prepare the update with some empty instances.
armem::EntityUpdate update;
update.entityID = entityID;
- update.timeCreated = armem::Time::Now();
+ update.referencedTime = armem::Time::Now();
- double diff = (update.timeCreated - runStarted).toMilliSecondsDouble() / 1000;
+ double diff = (update.referencedTime - runStarted).toMilliSecondsDouble() / 1000;
auto dict1 = std::make_shared<aron::data::Dict>();
auto dict2 = std::make_shared<aron::data::Dict>();
@@ -265,7 +265,7 @@ namespace armarx
{
armem::EntityUpdate& update = commit.add();
update.entityID = entityID;
- update.timeCreated = armem::Time::Now() + armem::Duration::Seconds(i);
+ update.referencedTime = armem::Time::Now() + armem::Duration::Seconds(i);
for (int j = 0; j < i; ++j)
{
update.instancesData.push_back(std::make_shared<aron::data::Dict>());
@@ -387,7 +387,7 @@ namespace armarx
{
armem::EntityUpdate& update = commit.add();
update.entityID = exampleDataProviderID.withEntityName("default");
- update.timeCreated = time;
+ update.referencedTime = time;
armem::example::ExampleData data;
toAron(data.memoryID, armem::MemoryID());
@@ -401,7 +401,7 @@ namespace armarx
{
armem::EntityUpdate& update = commit.add();
update.entityID = exampleDataProviderID.withEntityName("the answer");
- update.timeCreated = time;
+ update.referencedTime = time;
armem::example::ExampleData data;
data.the_bool = true;
@@ -488,7 +488,7 @@ namespace armarx
{
armem::EntityUpdate& update = commit.add();
update.entityID = linkedDataProviderID.withEntityName("yet_more_data");
- update.timeCreated = time;
+ update.referencedTime = time;
armem::example::LinkedData data;
data.yet_another_int = 42;
@@ -545,7 +545,7 @@ namespace armarx
{
armem::EntityUpdate& update = commit.add();
update.entityID = exampleDataProviderID.withEntityName("id to the_answer");
- update.timeCreated = time;
+ update.referencedTime = time;
armem::example::ExampleData data;
armem::toAron(data.memoryID, theAnswerSnapshotID);
@@ -556,7 +556,7 @@ namespace armarx
{
armem::EntityUpdate& update = commit.add();
update.entityID = exampleDataProviderID.withEntityName("id to self");
- update.timeCreated = time;
+ update.referencedTime = time;
armem::example::ExampleData data;
armem::toAron(data.memoryID, update.entityID.withTimestamp(time));
@@ -568,7 +568,7 @@ namespace armarx
{
armem::EntityUpdate& update = commit.add();
update.entityID = exampleDataProviderID.withEntityName("id to previous snapshot");
- update.timeCreated = time - armem::Duration::Seconds(1); // 1 sec in the past
+ update.referencedTime = time - armem::Duration::Seconds(1); // 1 sec in the past
armem::example::ExampleData data;
armem::toAron(data.memoryID, armem::MemoryID()); // First entry - invalid link
@@ -579,7 +579,7 @@ namespace armarx
{
armem::EntityUpdate& update = commit.add();
update.entityID = exampleDataProviderID.withEntityName("id to previous snapshot");
- update.timeCreated = time;
+ update.referencedTime = time;
armem::example::ExampleData data;
armem::toAron(data.memoryID, update.entityID.withTimestamp(time - armem::Duration::Seconds(1)));
@@ -634,7 +634,7 @@ namespace armarx
{
armem::EntityUpdate& update = commit.add();
update.entityID = exampleDataProviderID.withEntityName("link to yet_more_data");
- update.timeCreated = time;
+ update.referencedTime = time;
armem::example::ExampleData data;
armem::toAron(data.memoryID, armem::MemoryID());
@@ -686,7 +686,7 @@ namespace armarx
{
armem::EntityUpdate& update = commit.add();
update.entityID = exampleDataProviderID.withEntityName("some_new_fancy_entity_id");
- update.timeCreated = time;
+ update.referencedTime = time;
auto currentFolder = std::filesystem::current_path();
auto opencv_img = cv::imread((currentFolder / "images" / (std::to_string(imageCounter + 1) + ".jpg")).string());
@@ -708,7 +708,7 @@ namespace armarx
{
armem::EntityUpdate& update = commit.add();
update.entityID = exampleDataProviderID.withEntityName("unexpected_data");
- update.timeCreated = time;
+ update.referencedTime = time;
armem::example::ExampleData data;
toAron(data.memoryID, armem::MemoryID()); // ////1/1
diff --git a/source/RobotAPI/components/armem/client/ObjectInstanceToIndex/ObjectInstanceToIndex.cpp b/source/RobotAPI/components/armem/client/ObjectInstanceToIndex/ObjectInstanceToIndex.cpp
index fedf604b04009ee1b1b3ef18e36df93f7a57b6a4..23b426f37c9dc8942a621cde3b5746e6cdb52ae3 100644
--- a/source/RobotAPI/components/armem/client/ObjectInstanceToIndex/ObjectInstanceToIndex.cpp
+++ b/source/RobotAPI/components/armem/client/ObjectInstanceToIndex/ObjectInstanceToIndex.cpp
@@ -196,7 +196,7 @@ namespace armarx
armem::EntityUpdate& update = commit.add();
update.entityID = provSegID.withEntityName(instance.id().str());
- update.timeCreated = instance.id().timestamp;
+ update.referencedTime = instance.id().timestamp;
update.instancesData = { spatial.toAron() };
return true;
diff --git a/source/RobotAPI/components/armem/client/ObjectInstanceToIndex/impl/ObjectInstanceToIndex.cpp b/source/RobotAPI/components/armem/client/ObjectInstanceToIndex/impl/ObjectInstanceToIndex.cpp
index 4498d01cec8f60ba81e864438671dc254b2bf5e9..34901591b175f4b5e09dcef339868bbe488d5b50 100644
--- a/source/RobotAPI/components/armem/client/ObjectInstanceToIndex/impl/ObjectInstanceToIndex.cpp
+++ b/source/RobotAPI/components/armem/client/ObjectInstanceToIndex/impl/ObjectInstanceToIndex.cpp
@@ -75,7 +75,7 @@ namespace armarx::armem::objects
armem::EntityUpdate& update = commit.add();
update.entityID = indexSpatialProviderSegmentID.withEntityName(
objectInstanceID.getEntityID().str());
- update.timeCreated = objectPose.timestamp;
+ update.referencedTime = objectPose.timestamp;
update.instancesData = {spatial.toAron()};
}
@@ -114,7 +114,7 @@ namespace armarx::armem::objects
armem::EntityUpdate& update = commit.add();
update.entityID = indexNamedProviderSegmentID.withEntityName(
objectInstanceID.getEntityID().str());
- update.timeCreated = objectPose.timestamp;
+ update.referencedTime = objectPose.timestamp;
update.instancesData = {named.toAron()};
}
}
diff --git a/source/RobotAPI/components/armem/client/RobotStatePredictionClientExample/RobotStatePredictionClient.cpp b/source/RobotAPI/components/armem/client/RobotStatePredictionClientExample/RobotStatePredictionClient.cpp
index 3d98d0f2717747a91f7a56c3e0c547cbb0088fbd..492c2c14214d5b1a31a8c0998843a5b799ab495b 100644
--- a/source/RobotAPI/components/armem/client/RobotStatePredictionClientExample/RobotStatePredictionClient.cpp
+++ b/source/RobotAPI/components/armem/client/RobotStatePredictionClientExample/RobotStatePredictionClient.cpp
@@ -163,7 +163,7 @@ namespace armarx::armem::robot_state
{
armem::EntityUpdate update;
update.entityID = entityID;
- update.timeCreated = predictedTime;
+ update.referencedTime = predictedTime;
update.instancesData = {result.prediction};
coreSegment->update(update);
}
diff --git a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
index 77135658d4a93d47e0b4474002b589cf569de67f..981489f8621918a733208a0dc7c6c20d274ecfe9 100644
--- a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
+++ b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
@@ -197,7 +197,7 @@ namespace armarx
.withProviderSegmentName(memoryID.providerSegmentName)
.withEntityName(memoryID.entityName);
update.entityID = newID;
- update.timeCreated = armem::Time::Now();
+ update.referencedTime = armem::Time::Now();
update.instancesData = { instance->data() };
armem::Commit newCommit;
diff --git a/source/RobotAPI/interface/armem/commit.ice b/source/RobotAPI/interface/armem/commit.ice
index 17260a2136d2cc4c24d1ecd06f5f77ecbcb7f8c0..4a7008293fbe1bd2080ebf808f1bd28621792303 100644
--- a/source/RobotAPI/interface/armem/commit.ice
+++ b/source/RobotAPI/interface/armem/commit.ice
@@ -34,7 +34,7 @@ module armarx
{
armem::data::MemoryID entityID;
aron::data::dto::AronDictSeq instancesData;
- armarx::core::time::dto::DateTime timeCreated;
+ armarx::core::time::dto::DateTime referencedTime;
float confidence = 1.0;
armarx::core::time::dto::DateTime timeSent;
diff --git a/source/RobotAPI/interface/armem/memory.ice b/source/RobotAPI/interface/armem/memory.ice
index 617f7043f76019a2c474f588127dbcbd9c4f3991..63801dd4da540ae46fef76e993a862e4979409c7 100644
--- a/source/RobotAPI/interface/armem/memory.ice
+++ b/source/RobotAPI/interface/armem/memory.ice
@@ -38,9 +38,11 @@ module armarx
/// Ice Twin of `armarx::armem::EntityInstanceMetadata`.
class EntityInstanceMetadata
{
- armarx::core::time::dto::DateTime timeCreated;
- armarx::core::time::dto::DateTime timeSent;
- armarx::core::time::dto::DateTime timeArrived;
+ armarx::core::time::dto::DateTime referencedTime;
+ armarx::core::time::dto::DateTime sentTime;
+ armarx::core::time::dto::DateTime arrivedTime;
+ armarx::core::time::dto::DateTime lastAccessedTime;
+ long accessed = 0;
float confidence = 1.0;
};
diff --git a/source/RobotAPI/libraries/GraspingUtility/GraspCandidateWriter.cpp b/source/RobotAPI/libraries/GraspingUtility/GraspCandidateWriter.cpp
index 76200b0ab1772d68cd30482e577ae870e711af10..7aa20ba28af1b49404118cfedb3abd006d784738 100644
--- a/source/RobotAPI/libraries/GraspingUtility/GraspCandidateWriter.cpp
+++ b/source/RobotAPI/libraries/GraspingUtility/GraspCandidateWriter.cpp
@@ -170,7 +170,7 @@ namespace armarx::armem
armem::EntityUpdate update;
update.entityID = entityID;
update.instancesData = instances;
- update.timeCreated = timestamp;
+ update.referencedTime = timestamp;
ARMARX_DEBUG << "Committing " << update << " at time " << timestamp;
armem::EntityUpdateResult updateResult = memoryWriter.commit(update);
diff --git a/source/RobotAPI/libraries/armem/client/Writer.cpp b/source/RobotAPI/libraries/armem/client/Writer.cpp
index 3c4edce62f6cbc0b2d2dc908e673fbe06afe6f53..e9b06f66e1e297296a2f47c39cdf6474c0015795 100644
--- a/source/RobotAPI/libraries/armem/client/Writer.cpp
+++ b/source/RobotAPI/libraries/armem/client/Writer.cpp
@@ -84,12 +84,12 @@ namespace armarx::armem::client
EntityUpdateResult Writer::commit(
const MemoryID& entityID,
const std::vector<aron::data::DictPtr>& instancesData,
- Time timeCreated)
+ Time referencedTime)
{
EntityUpdate update;
update.entityID = entityID;
update.instancesData = instancesData;
- update.timeCreated = timeCreated;
+ update.referencedTime = referencedTime;
return commit(update);
}
diff --git a/source/RobotAPI/libraries/armem/client/Writer.h b/source/RobotAPI/libraries/armem/client/Writer.h
index 1d898bf6e3bc7382e4a4a22318507a3b29ee2cd7..6c4b223ce12e0ee80cd5564e2d2d3ad688661cbc 100644
--- a/source/RobotAPI/libraries/armem/client/Writer.h
+++ b/source/RobotAPI/libraries/armem/client/Writer.h
@@ -49,7 +49,7 @@ namespace armarx::armem::client
EntityUpdateResult commit(
const MemoryID& entityID,
const std::vector<aron::data::DictPtr>& instancesData,
- Time timeCreated);
+ Time referencedTime);
// with bare-ice types
data::CommitResult commit(const data::Commit& commit);
diff --git a/source/RobotAPI/libraries/armem/core/Commit.cpp b/source/RobotAPI/libraries/armem/core/Commit.cpp
index 3c311d2249c3dc7ebe6baee5779c9337b6e19a01..341d160ec7852bb9d397d283289a4944c1f98409 100644
--- a/source/RobotAPI/libraries/armem/core/Commit.cpp
+++ b/source/RobotAPI/libraries/armem/core/Commit.cpp
@@ -14,7 +14,7 @@ namespace armarx::armem
{
return os << "Entity update: "
<< "\n- success: \t" << rhs.entityID
- << "\n- timestamp: \t" << toDateTimeMilliSeconds(rhs.timeCreated)
+ << "\n- timestamp: \t" << toDateTimeMilliSeconds(rhs.referencedTime)
<< "\n- #instances: \t" << rhs.instancesData.size()
<< "\n"
;
@@ -25,7 +25,7 @@ namespace armarx::armem
return os << "Entity update result: "
<< "\n- success: \t" << (rhs.success ? "true" : "false")
<< "\n- snapshotID: \t" << rhs.snapshotID
- << "\n- time arrived: \t" << toDateTimeMilliSeconds(rhs.timeArrived)
+ << "\n- time arrived: \t" << toDateTimeMilliSeconds(rhs.arrivedTime)
<< "\n- error message: \t" << rhs.errorMessage
<< "\n"
;
diff --git a/source/RobotAPI/libraries/armem/core/Commit.h b/source/RobotAPI/libraries/armem/core/Commit.h
index 8a1da207528940d0db22dd004faae5b15e3d07f3..81d0413849549af39abb5f2733e76d53565a6f3b 100644
--- a/source/RobotAPI/libraries/armem/core/Commit.h
+++ b/source/RobotAPI/libraries/armem/core/Commit.h
@@ -36,7 +36,7 @@ namespace armarx::armem
* @brief Time when this entity update was created (e.g. time of image recording).
* This is the key of the entity's history.
*/
- Time timeCreated = Time::Invalid();
+ Time referencedTime = Time::Invalid();
// OPTIONAL
@@ -52,14 +52,14 @@ namespace armarx::armem
*
* Set automatically when sending the commit.
*/
- Time timeSent = Time::Invalid();
+ Time sentTime = Time::Invalid();
/**
* @brief Time when this update arrived at the memory server.
*
* Set by memory server on arrival.
*/
- Time timeArrived = Time::Invalid();
+ Time arrivedTime = Time::Invalid();
friend std::ostream& operator<<(std::ostream& os, const EntityUpdate& rhs);
@@ -74,7 +74,7 @@ namespace armarx::armem
bool success = false;
MemoryID snapshotID;
- Time timeArrived = Time::Invalid();
+ Time arrivedTime = Time::Invalid();
std::string errorMessage;
diff --git a/source/RobotAPI/libraries/armem/core/base/EntityBase.h b/source/RobotAPI/libraries/armem/core/base/EntityBase.h
index 9c9a8c88a535eb919029c16305f2af72e999423d..7b6972a93bf7dcad9d804a03136869472b364082 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntityBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/EntityBase.h
@@ -552,11 +552,11 @@ namespace armarx::armem::base
EntitySnapshotT* snapshot;
- auto it = this->_container.find(update.timeCreated);
+ auto it = this->_container.find(update.referencedTime);
if (it == this->_container.end())
{
// Insert into history.
- snapshot = &addSnapshot(update.timeCreated);
+ snapshot = &addSnapshot(update.referencedTime);
// ret.removedSnapshots = this->truncate();
ret.entityUpdateType = UpdateType::InsertedNew;
}
diff --git a/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.cpp b/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.cpp
index 1cc2e9544d00ce96d65658acaf853c670418bdce..a2cabd58bd92564c68374f0bf61ab06ef5990135 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.cpp
+++ b/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.cpp
@@ -3,11 +3,17 @@
namespace armarx::armem::base
{
+ void EntityInstanceMetadata::access() const
+ {
+ numAccessed++;
+ lastAccessedTime = armarx::core::time::DateTime::Now();
+ }
+
bool EntityInstanceMetadata::operator==(const EntityInstanceMetadata& other) const
{
- return timeCreated == other.timeCreated
- && timeSent == other.timeSent
- && timeArrived == other.timeArrived
+ return referencedTime == other.referencedTime
+ && sentTime == other.sentTime
+ && arrivedTime == other.arrivedTime
&& std::abs(confidence - other.confidence) < 1e-6f;
}
}
@@ -16,10 +22,11 @@ namespace armarx::armem::base
std::ostream& armarx::armem::base::operator<<(std::ostream& os, const EntityInstanceMetadata& d)
{
os << "EntityInstanceMetadata: "
- << "\n- t_create = \t" << armem::toStringMicroSeconds(d.timeCreated) << " us"
- << "\n- t_sent = \t" << armem::toStringMicroSeconds(d.timeSent) << " us"
- << "\n- t_arrived = \t" << armem::toStringMicroSeconds(d.timeArrived) << " us"
- << "\n- confidence = \t" << d.confidence << " us"
+ << "\n - t_referenced = \t" << armem::toStringMicroSeconds(d.referencedTime) << " us"
+ << "\n - t_sent = \t" << armem::toStringMicroSeconds(d.sentTime) << " us"
+ << "\n - t_arrived = \t" << armem::toStringMicroSeconds(d.arrivedTime) << " us"
+ << "\n - t_accessed = \t" << armem::toStringMicroSeconds(d.lastAccessedTime) << " us (" << d.numAccessed << ")"
+ << "\n - confidence = \t" << d.confidence << " us"
;
return os;
}
diff --git a/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h b/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h
index 02b2bcae49014e801c59d001fe9150dcae7a1b95..2dadcbc6784ac89dff3658c4d3c4c5282d3e7ef1 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h
@@ -14,6 +14,16 @@ namespace armarx::armem::base
*/
struct NoData
{
+ virtual ~NoData() = default;
+
+ bool operator==(const NoData& other)
+ {
+ return true;
+ }
+ bool operator!=(const NoData& other)
+ {
+ return false;
+ }
};
@@ -22,22 +32,34 @@ namespace armarx::armem::base
*/
struct EntityInstanceMetadata
{
- /// Time when this value was created.
- Time timeCreated;
+
+ virtual ~EntityInstanceMetadata() = default;
+
+ /**
+ * @brief Time this instance refers to.
+ *
+ * For example, the physical time point when an image was captured.
+ * If the image is processed, the result should have the same
+ * referencedTime as the image.
+ */
+ Time referencedTime = Time::Invalid();
+
/// Time when this value was sent to the memory.
- Time timeSent;
+ Time sentTime = Time::Invalid();
/// Time when this value has arrived at the memory.
- Time timeArrived;
+ Time arrivedTime = Time::Invalid();
/// An optional confidence, may be used for things like decay.
float confidence = 1.0;
- /// An optional value indicating the last access
- Time lastAccessed = Time::Invalid();
+ /// An optional value indicating the time of last access.
+ mutable Time lastAccessedTime = Time::Invalid();
- /// A counter how often the instance has been accessed
- unsigned long accessed = 0;
+ /// A counter how often the instance has been accessed.
+ mutable unsigned long numAccessed = 0;
+ /// Called whenever the entity instance this metadata belongs to is accessed (e.g. queried).
+ void access() const;
bool operator==(const EntityInstanceMetadata& other) const;
inline bool operator!=(const EntityInstanceMetadata& other) const
@@ -91,11 +113,11 @@ namespace armarx::armem::base
// Data
- EntityInstanceMetadata& metadata()
+ MetadataT& metadata()
{
return _metadata;
}
- const EntityInstanceMetadata& metadata() const
+ const MetadataT& metadata() const
{
return _metadata;
}
diff --git a/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h b/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h
index c983dd8dec8a9a351b0a4cd1efc9d00320f59a1c..b7048a6328990d6be2152c0559466cf1ff142b9e 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h
@@ -223,7 +223,7 @@ namespace armarx::armem::base
void update(const EntityUpdate& update)
{
- detail::throwIfNotEqual(time(), update.timeCreated);
+ detail::throwIfNotEqual(time(), update.referencedTime);
this->_container.clear();
for (int index = 0; index < int(update.instancesData.size()); ++index)
diff --git a/source/RobotAPI/libraries/armem/core/base/ice_conversions.cpp b/source/RobotAPI/libraries/armem/core/base/ice_conversions.cpp
index 6ec40abd7ec808b8aca5aaf3cb4a93a5772e17b1..42620f2d928b91f7941600315a9970b16111618c 100644
--- a/source/RobotAPI/libraries/armem/core/base/ice_conversions.cpp
+++ b/source/RobotAPI/libraries/armem/core/base/ice_conversions.cpp
@@ -56,16 +56,20 @@ namespace armarx::armem
void base::toIce(data::EntityInstanceMetadata& ice, const EntityInstanceMetadata& metadata)
{
ice.confidence = metadata.confidence;
- toIce(ice.timeArrived, metadata.timeArrived);
- toIce(ice.timeCreated, metadata.timeCreated);
- toIce(ice.timeSent, metadata.timeSent);
+ toIce(ice.arrivedTime, metadata.arrivedTime);
+ toIce(ice.referencedTime, metadata.referencedTime);
+ toIce(ice.sentTime, metadata.sentTime);
+ toIce(ice.lastAccessedTime, metadata.lastAccessedTime);
+ ice.accessed = metadata.numAccessed;
}
void base::fromIce(const data::EntityInstanceMetadata& ice, EntityInstanceMetadata& metadata)
{
metadata.confidence = ice.confidence;
- fromIce(ice.timeArrived, metadata.timeArrived);
- fromIce(ice.timeCreated, metadata.timeCreated);
- fromIce(ice.timeSent, metadata.timeSent);
+ fromIce(ice.arrivedTime, metadata.arrivedTime);
+ fromIce(ice.referencedTime, metadata.referencedTime);
+ fromIce(ice.sentTime, metadata.sentTime);
+ fromIce(ice.lastAccessedTime, metadata.lastAccessedTime);
+ metadata.numAccessed = ice.accessed;
}
diff --git a/source/RobotAPI/libraries/armem/core/ice_conversions.cpp b/source/RobotAPI/libraries/armem/core/ice_conversions.cpp
index dfd25e3ba39ca2bc9a18be1b45684d004255297f..5e1ace16263e1bcdd11a760e8aba7c5216afc36d 100644
--- a/source/RobotAPI/libraries/armem/core/ice_conversions.cpp
+++ b/source/RobotAPI/libraries/armem/core/ice_conversions.cpp
@@ -87,10 +87,10 @@ namespace armarx
std::transform(ice.instancesData.begin(), ice.instancesData.end(), std::back_inserter(update.instancesData),
aron::data::Dict::FromAronDictDTO);
- fromIce(ice.timeCreated, update.timeCreated);
+ fromIce(ice.referencedTime, update.referencedTime);
update.confidence = ice.confidence;
- fromIce(ice.timeSent, update.timeSent);
+ fromIce(ice.timeSent, update.sentTime);
}
void armem::toIce(data::EntityUpdate& ice, const EntityUpdate& update)
@@ -102,17 +102,17 @@ namespace armarx
std::transform(update.instancesData.begin(), update.instancesData.end(), std::back_inserter(ice.instancesData),
aron::data::Dict::ToAronDictDTO);
- toIce(ice.timeCreated, update.timeCreated);
+ toIce(ice.referencedTime, update.referencedTime);
ice.confidence = update.confidence;
- toIce(ice.timeSent, update.timeSent);
+ toIce(ice.timeSent, update.sentTime);
}
void armem::fromIce(const data::EntityUpdateResult& ice, EntityUpdateResult& result)
{
result.success = ice.success;
fromIce(ice.snapshotID, result.snapshotID);
- fromIce(ice.timeArrived, result.timeArrived);
+ fromIce(ice.timeArrived, result.arrivedTime);
result.errorMessage = ice.errorMessage;
}
@@ -120,7 +120,7 @@ namespace armarx
{
ice.success = result.success;
toIce(ice.snapshotID, result.snapshotID);
- toIce(ice.timeArrived, result.timeArrived);
+ toIce(ice.timeArrived, result.arrivedTime);
ice.errorMessage = result.errorMessage;
}
@@ -137,7 +137,7 @@ namespace armarx
void armem::fromIce(const data::EntityUpdate& ice, EntityUpdate& update, Time timeArrived)
{
fromIce(ice, update);
- update.timeArrived = timeArrived;
+ update.arrivedTime = timeArrived;
}
void armem::fromIce(const actions::data::MenuPtr& ice, actions::Menu& menu)
diff --git a/source/RobotAPI/libraries/armem/core/operations.cpp b/source/RobotAPI/libraries/armem/core/operations.cpp
index 51729c613b6d10e5903a92818d9e1b4fa507fa11..5ac621a9ec9bd0e1ca9bf3ef6a6ca0e16ceb5d49 100644
--- a/source/RobotAPI/libraries/armem/core/operations.cpp
+++ b/source/RobotAPI/libraries/armem/core/operations.cpp
@@ -25,7 +25,7 @@ namespace armarx
{
EntityUpdate up;
up.entityID = snapshot.id().getEntityID();
- up.timeCreated = snapshot.time();
+ up.referencedTime = snapshot.time();
up.instancesData = getAronData(snapshot);
return up;
}
diff --git a/source/RobotAPI/libraries/armem/core/wm/aron_conversions.cpp b/source/RobotAPI/libraries/armem/core/wm/aron_conversions.cpp
index d24ce36b544670f5e24e72177f64b839be52fc0d..e2ceb0f2ac5e77f23d0a8a330b9b7837699691fa 100644
--- a/source/RobotAPI/libraries/armem/core/wm/aron_conversions.cpp
+++ b/source/RobotAPI/libraries/armem/core/wm/aron_conversions.cpp
@@ -6,7 +6,7 @@
namespace armarx::armem
{
constexpr const char* DATA_WRAPPER_TIME_STORED_FIELD = "__WRITER_METADATA__TIME_STORED";
- constexpr const char* DATA_WRAPPER_TIME_CREATED_FIELD = "__ENTITY_METADATA__TIME_CREATED";
+ constexpr const char* DATA_WRAPPER_TIME_REFERENCED_FIELD = "__ENTITY_METADATA__TIME_REFERENCED";
constexpr const char* DATA_WRAPPER_TIME_SENT_FIELD = "__ENTITY_METADATA__TIME_SENT";
constexpr const char* DATA_WRAPPER_TIME_ARRIVED_FIELD = "__ENTITY_METADATA__TIME_ARRIVED";
constexpr const char* DATA_WRAPPER_CONFIDENCE_FIELD = "__ENTITY_METADATA__CONFIDENCE";
@@ -22,14 +22,14 @@ void armarx::armem::from_aron(const aron::data::DictPtr& metadata, const aron::d
e.data() = data;
- auto timeCreated = aron::data::Long::DynamicCastAndCheck(metadata->getElement(DATA_WRAPPER_TIME_CREATED_FIELD));
- m.timeCreated = Time(Duration::MicroSeconds(timeCreated->toAronLongDTO()->value));
+ auto referencedTime = aron::data::Long::DynamicCastAndCheck(metadata->getElement(DATA_WRAPPER_TIME_REFERENCED_FIELD));
+ m.referencedTime = Time(Duration::MicroSeconds(referencedTime->toAronLongDTO()->value));
auto timeSent = aron::data::Long::DynamicCastAndCheck(metadata->getElement(DATA_WRAPPER_TIME_SENT_FIELD));
- m.timeSent = Time(Duration::MicroSeconds(timeSent->toAronLongDTO()->value));
+ m.sentTime = Time(Duration::MicroSeconds(timeSent->toAronLongDTO()->value));
auto timeArrived = aron::data::Long::DynamicCastAndCheck(metadata->getElement(DATA_WRAPPER_TIME_ARRIVED_FIELD));
- m.timeArrived = Time(Duration::MicroSeconds(timeArrived->toAronLongDTO()->value));
+ m.arrivedTime = Time(Duration::MicroSeconds(timeArrived->toAronLongDTO()->value));
auto confidence = aron::data::Double::DynamicCastAndCheck(metadata->getElement(DATA_WRAPPER_CONFIDENCE_FIELD));
m.confidence = static_cast<float>(confidence->toAronDoubleDTO()->value);
@@ -41,24 +41,24 @@ void armarx::armem::to_aron(aron::data::DictPtr& metadata, aron::data::DictPtr&
data = e.data();
metadata = std::make_shared<aron::data::Dict>();
- auto timeWrapped = std::make_shared<aron::data::Long>();
+ auto timeWrapped = std::make_shared<aron::data::Long>(armarx::aron::Path(std::vector<std::string>{DATA_WRAPPER_TIME_STORED_FIELD}));
timeWrapped->setValue(Time::Now().toMicroSecondsSinceEpoch());
metadata->addElement(DATA_WRAPPER_TIME_STORED_FIELD, timeWrapped);
const wm::EntityInstanceMetadata& m = e.metadata();
- auto timeCreated = std::make_shared<aron::data::Long>();
- timeCreated->setValue(m.timeCreated.toMicroSecondsSinceEpoch());
- metadata->addElement(DATA_WRAPPER_TIME_CREATED_FIELD, timeCreated);
+ auto referencedTime = std::make_shared<aron::data::Long>(armarx::aron::Path(std::vector<std::string>{DATA_WRAPPER_TIME_REFERENCED_FIELD}));
+ referencedTime->setValue(m.referencedTime.toMicroSecondsSinceEpoch());
+ metadata->addElement(DATA_WRAPPER_TIME_REFERENCED_FIELD, referencedTime);
- auto timeSent = std::make_shared<aron::data::Long>();
- timeSent->setValue(m.timeSent.toMicroSecondsSinceEpoch());
+ auto timeSent = std::make_shared<aron::data::Long>(armarx::aron::Path(std::vector<std::string>{DATA_WRAPPER_TIME_SENT_FIELD}));
+ timeSent->setValue(m.sentTime.toMicroSecondsSinceEpoch());
metadata->addElement(DATA_WRAPPER_TIME_SENT_FIELD, timeSent);
- auto timeArrived = std::make_shared<aron::data::Long>();
- timeArrived->setValue(m.timeArrived.toMicroSecondsSinceEpoch());
+ auto timeArrived = std::make_shared<aron::data::Long>(armarx::aron::Path(std::vector<std::string>{DATA_WRAPPER_TIME_ARRIVED_FIELD}));
+ timeArrived->setValue(m.arrivedTime.toMicroSecondsSinceEpoch());
metadata->addElement(DATA_WRAPPER_TIME_ARRIVED_FIELD, timeArrived);
- auto confidence = std::make_shared<aron::data::Double>();
+ auto confidence = std::make_shared<aron::data::Double>(armarx::aron::Path(std::vector<std::string>{DATA_WRAPPER_CONFIDENCE_FIELD}));
confidence->setValue(static_cast<double>(m.confidence));
metadata->addElement(DATA_WRAPPER_CONFIDENCE_FIELD, confidence);
}
diff --git a/source/RobotAPI/libraries/armem/core/wm/memory_definitions.cpp b/source/RobotAPI/libraries/armem/core/wm/memory_definitions.cpp
index 0758020be61e3326c6b870b8bffae8d06e318a79..bfc408ac99a98a5bf1826f37334e1c331196ed1b 100644
--- a/source/RobotAPI/libraries/armem/core/wm/memory_definitions.cpp
+++ b/source/RobotAPI/libraries/armem/core/wm/memory_definitions.cpp
@@ -37,9 +37,9 @@ namespace armarx::armem::wm
this->_metadata.confidence = update.confidence;
- this->_metadata.timeCreated = update.timeCreated;
- this->_metadata.timeSent = update.timeSent;
- this->_metadata.timeArrived = update.timeArrived;
+ this->_metadata.referencedTime = update.referencedTime;
+ this->_metadata.sentTime = update.sentTime;
+ this->_metadata.arrivedTime = update.arrivedTime;
}
}
diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
index 63b9bba20d1575cc3377109b856d57a09bc4aae8..b70d98e4fb09a9d209c151dfcede09c551828367 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
@@ -187,7 +187,7 @@ namespace armarx::armem::server
result.success = true;
result.snapshotID = updateResult.id;
- result.timeArrived = update.timeArrived;
+ result.arrivedTime = update.arrivedTime;
for (const auto& snapshot : updateResult.removedSnapshots)
{
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/ltm/detail/EntityQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/ltm/detail/EntityQueryProcessorBase.h
index d9f64fc7a42508ddf297490d4ce8481a054fdb9a..42b87df82d95dcf6e264319dc5b6a7e868dbde94 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/ltm/detail/EntityQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/ltm/detail/EntityQueryProcessorBase.h
@@ -27,6 +27,7 @@ namespace armarx::armem::server::query_proc::ltm::detail
protected:
+ // default addResultSnapshot method. Always copies the data
void addResultSnapshot(ResultEntityT& result, const EntitySnapshotT& snapshot) const override
{
ResultSnapshotT s;
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/wm/detail/EntityQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/wm/detail/EntityQueryProcessorBase.h
index faa3fe544af4dedb4e4226123a1d422a2a1ed200..5fbd2300c13561d64075720d399bc0e4c87633f0 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/wm/detail/EntityQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/wm/detail/EntityQueryProcessorBase.h
@@ -2,6 +2,7 @@
#include "../../base/EntityQueryProcessorBase.h"
+#include <ArmarXCore/core/logging/Logging.h>
namespace armarx::armem::server::query_proc::wm::detail
{
@@ -32,7 +33,12 @@ namespace armarx::armem::server::query_proc::wm::detail
protected:
void addResultSnapshot(ResultEntityT& result, const EntitySnapshotT& snapshot) const override
{
- result.addSnapshot(snapshot);
+ snapshot.forEachInstance([](const typename EntitySnapshotT::EntityInstanceT& instance)
+ {
+ instance.metadata().access();
+ });
+ EntitySnapshotT copy = snapshot;
+ result.addSnapshot(std::move(copy));
}
};
}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/wm/wm.h b/source/RobotAPI/libraries/armem/server/query_proc/wm/wm.h
index 27e88e82881deb7ba6f47249d385867b134b9621..312a39896aa717fb8d17115dfe4c0c904a524181 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/wm/wm.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/wm/wm.h
@@ -53,15 +53,21 @@ namespace armarx::armem::server::query_proc::wm::detail
bool withData = (dataMode == armem::query::DataMode::WithData);
if (withData)
{
- result.addSnapshot(server::wm::EntitySnapshot{ snapshot });
+ Base::addResultSnapshot(result, snapshot);
}
else
{
+ // 1. access real data
+ snapshot.forEachInstance([](const server::wm::EntityInstance& i)
+ {
+ i.metadata().access();
+ });
+
+ // 2. create copy and remove data from copy
server::wm::EntitySnapshot copy = snapshot;
copy.forEachInstance([](server::wm::EntityInstance & i)
{
i.data() = nullptr;
- return true;
});
result.addSnapshot(std::move(copy));
}
diff --git a/source/RobotAPI/libraries/armem/server/test/ArMemLTMTest.cpp b/source/RobotAPI/libraries/armem/server/test/ArMemLTMTest.cpp
index edaa7bb5c5d92b57b0edf3918d1674db34337680..fd326aa038d122cb76a26ad34825dcab4f85b933 100644
--- a/source/RobotAPI/libraries/armem/server/test/ArMemLTMTest.cpp
+++ b/source/RobotAPI/libraries/armem/server/test/ArMemLTMTest.cpp
@@ -123,7 +123,7 @@ namespace ArMemLTMTest
}
update.entityID = armem::MemoryID::fromString(memoryName + "/TestCoreSegment/TestProvider/TestEntity");
update.instancesData = q;
- update.timeCreated = armem::Time::Now();
+ update.referencedTime = armem::Time::Now();
BOOST_CHECK_NO_THROW(providerSegment.update(update));
BOOST_CHECK_EQUAL(providerSegment.size(), 1);
}
diff --git a/source/RobotAPI/libraries/armem/server/test/ArMemMemoryTest.cpp b/source/RobotAPI/libraries/armem/server/test/ArMemMemoryTest.cpp
index 8c3052e7d3abebf761431789865f4d0f46633cc7..70a0a2839f7f575d02d876a2721c3b3a6c73b58c 100644
--- a/source/RobotAPI/libraries/armem/server/test/ArMemMemoryTest.cpp
+++ b/source/RobotAPI/libraries/armem/server/test/ArMemMemoryTest.cpp
@@ -653,7 +653,7 @@ struct CopyMoveCtorsOpsTest : public CopyMoveCtorsOpsTestBase
{
armem::EntityUpdate update;
update.entityID = armem::MemoryID("M", "C", "P", "E", armem::Time(armem::Duration::MicroSeconds(123000)), 0);
- update.timeCreated = update.entityID.timestamp;
+ update.referencedTime = update.entityID.timestamp;
update.instancesData.emplace_back();
in.update(update);
}
@@ -814,7 +814,7 @@ BOOST_AUTO_TEST_CASE(test_segment_setup)
std::make_shared<aron::data::Dict>(),
std::make_shared<aron::data::Dict>()
};
- update.timeCreated = armem::Time(armem::Duration::MilliSeconds(1000));
+ update.referencedTime = armem::Time(armem::Duration::MilliSeconds(1000));
BOOST_CHECK_NO_THROW(providerSegment.update(update));
BOOST_CHECK_EQUAL(providerSegment.size(), 1);
@@ -824,25 +824,25 @@ BOOST_AUTO_TEST_CASE(test_segment_setup)
wm::Entity& entity = providerSegment.getEntity("image");
BOOST_CHECK_EQUAL(entity.name(), "image");
BOOST_CHECK_EQUAL(entity.size(), 1);
- BOOST_CHECK(entity.hasSnapshot(update.timeCreated));
+ BOOST_CHECK(entity.hasSnapshot(update.referencedTime));
- wm::EntitySnapshot& entitySnapshot = entity.getSnapshot(update.timeCreated);
+ wm::EntitySnapshot& entitySnapshot = entity.getSnapshot(update.referencedTime);
BOOST_CHECK_EQUAL(entitySnapshot.size(), update.instancesData.size());
// Another update (on memory).
update.instancesData = { std::make_shared<aron::data::Dict>() };
- update.timeCreated = armem::Time(armem::Duration::MilliSeconds(2000));
+ update.referencedTime = armem::Time(armem::Duration::MilliSeconds(2000));
memory.update(update);
BOOST_CHECK_EQUAL(entity.size(), 2);
- BOOST_CHECK(entity.hasSnapshot(update.timeCreated));
- BOOST_CHECK_EQUAL(entity.getSnapshot(update.timeCreated).size(), update.instancesData.size());
+ BOOST_CHECK(entity.hasSnapshot(update.referencedTime));
+ BOOST_CHECK_EQUAL(entity.getSnapshot(update.referencedTime).size(), update.instancesData.size());
// A third update (on entity).
update.instancesData = { std::make_shared<aron::data::Dict>() };
- update.timeCreated = armem::Time(armem::Duration::MilliSeconds(3000));
+ update.referencedTime = armem::Time(armem::Duration::MilliSeconds(3000));
entity.update(update);
BOOST_CHECK_EQUAL(entity.size(), 3);
@@ -858,11 +858,11 @@ BOOST_AUTO_TEST_CASE(test_history_size_in_entity)
update.entityID.entityName = entity.name();
// With unlimited history.
- update.timeCreated = armem::Time(armem::Duration::MilliSeconds(1000));
+ update.referencedTime = armem::Time(armem::Duration::MilliSeconds(1000));
entity.update(update);
- update.timeCreated = armem::Time(armem::Duration::MilliSeconds(2000));
+ update.referencedTime = armem::Time(armem::Duration::MilliSeconds(2000));
entity.update(update);
- update.timeCreated = armem::Time(armem::Duration::MilliSeconds(3000));
+ update.referencedTime = armem::Time(armem::Duration::MilliSeconds(3000));
entity.update(update);
BOOST_CHECK_EQUAL(entity.size(), 3);
@@ -874,7 +874,7 @@ BOOST_AUTO_TEST_CASE(test_history_size_in_entity)
BOOST_CHECK(entity.hasSnapshot(armem::Time(armem::Duration::MilliSeconds(3000))));
- update.timeCreated = armem::Time(armem::Duration::MilliSeconds(4000));
+ update.referencedTime = armem::Time(armem::Duration::MilliSeconds(4000));
entity.update(update);
BOOST_CHECK_EQUAL(entity.size(), 2);
BOOST_CHECK(not entity.hasSnapshot(armem::Time(armem::Duration::MilliSeconds(2000))));
@@ -884,7 +884,7 @@ BOOST_AUTO_TEST_CASE(test_history_size_in_entity)
// Disable maximum history size.
entity.setMaxHistorySize(-1);
- update.timeCreated = armem::Time(armem::Duration::MilliSeconds(5000));
+ update.referencedTime = armem::Time(armem::Duration::MilliSeconds(5000));
entity.update(update);
BOOST_CHECK_EQUAL(entity.size(), 3);
BOOST_CHECK(entity.hasSnapshot(armem::Time(armem::Duration::MilliSeconds(3000))));
@@ -907,15 +907,15 @@ BOOST_AUTO_TEST_CASE(test_history_size_in_provider_segment)
{
update.entityID.entityName = name;
- update.timeCreated = armem::Time(armem::Duration::MilliSeconds(1000));
+ update.referencedTime = armem::Time(armem::Duration::MilliSeconds(1000));
providerSegment.update(update);
- update.timeCreated = armem::Time(armem::Duration::MilliSeconds(2000));
+ update.referencedTime = armem::Time(armem::Duration::MilliSeconds(2000));
providerSegment.update(update);
- update.timeCreated = armem::Time(armem::Duration::MilliSeconds(3000));
+ update.referencedTime = armem::Time(armem::Duration::MilliSeconds(3000));
providerSegment.update(update);
}
update.entityID.entityName = entityNames.back();
- update.timeCreated = armem::Time(armem::Duration::MilliSeconds(4000));
+ update.referencedTime = armem::Time(armem::Duration::MilliSeconds(4000));
providerSegment.update(update);
BOOST_CHECK_EQUAL(providerSegment.getEntity("A").size(), 3);
@@ -939,11 +939,11 @@ BOOST_AUTO_TEST_CASE(test_history_size_in_provider_segment)
providerSegment.setMaxHistorySize(2);
update.entityID.entityName = "C";
- update.timeCreated = armem::Time(armem::Duration::MilliSeconds(1000));
+ update.referencedTime = armem::Time(armem::Duration::MilliSeconds(1000));
providerSegment.update(update);
- update.timeCreated = armem::Time(armem::Duration::MilliSeconds(2000));
+ update.referencedTime = armem::Time(armem::Duration::MilliSeconds(2000));
providerSegment.update(update);
- update.timeCreated = armem::Time(armem::Duration::MilliSeconds(3000));
+ update.referencedTime = armem::Time(armem::Duration::MilliSeconds(3000));
providerSegment.update(update);
// Check correctly inherited history size.
@@ -958,7 +958,7 @@ BOOST_AUTO_TEST_CASE(test_history_size_in_provider_segment)
for (const std::string& name : entityNames)
{
update.entityID.entityName = name;
- update.timeCreated = armem::Time(armem::Duration::MilliSeconds(5000));
+ update.referencedTime = armem::Time(armem::Duration::MilliSeconds(5000));
providerSegment.update(update);
BOOST_CHECK_EQUAL(providerSegment.getEntity(name).getMaxHistorySize(), -1);
BOOST_CHECK_EQUAL(providerSegment.getEntity(name).size(), 3);
diff --git a/source/RobotAPI/libraries/armem/test/ArMemForEachTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemForEachTest.cpp
index f1b5b362318e577dda941c1dd8fff97dd3cf72d7..bf97734a52d7d9db9198101307270c23d8b07383 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemForEachTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemForEachTest.cpp
@@ -75,7 +75,7 @@ BOOST_AUTO_TEST_CASE(test_forEach)
EntityUpdate update;
update.entityID = eid;
- update.timeCreated = sid.timestamp;
+ update.referencedTime = sid.timestamp;
for (size_t i = 0; i <= s; ++i)
{
const MemoryID iid = sid.withInstanceIndex(int(i));
diff --git a/source/RobotAPI/libraries/armem_grasping/server/KnownGraspProviderSegment.cpp b/source/RobotAPI/libraries/armem_grasping/server/KnownGraspProviderSegment.cpp
index e5c40a12dbb73b0cef3569eb12d80fb1980f95f2..00bd50a3d4721765f2287482bd31f09540d480a3 100644
--- a/source/RobotAPI/libraries/armem_grasping/server/KnownGraspProviderSegment.cpp
+++ b/source/RobotAPI/libraries/armem_grasping/server/KnownGraspProviderSegment.cpp
@@ -127,7 +127,7 @@ namespace armarx::armem::grasping::segment
{
EntityUpdate& update = commit.add();
update.entityID = providerID.withEntityName(info.id().str());
- update.entityID.timestamp = update.timeArrived = update.timeCreated = update.timeSent = now;
+ update.entityID.timestamp = update.arrivedTime = update.referencedTime = update.sentTime = now;
update.instancesData =
{
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
index b9c789398b0d8ce5c6fb17e0c2cb44fb5bc5b531..4fdda00748d1201e84181c80e3054938c0143348 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
+++ b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
@@ -391,7 +391,7 @@ namespace armarx::armem::gui
entityUpdate.entityID = memId;
entityUpdate.confidence = 1.0;
entityUpdate.instancesData = {aron};
- entityUpdate.timeCreated = now;
+ entityUpdate.referencedTime = now;
it->second.commit(comm);
}
}
diff --git a/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp b/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp
index e2d04e0449c190acacf502bb0b847d785e7f85cd..1c7a40faed6b57b15bcd0a4ddd8677b103e8670d 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp
@@ -50,6 +50,7 @@ namespace armarx::armem::gui::instance
treeItemMetadata->addChild(new QTreeWidgetItem({"Time Created"}));
treeItemMetadata->addChild(new QTreeWidgetItem({"Time Sent"}));
treeItemMetadata->addChild(new QTreeWidgetItem({"Time Arrived"}));
+ treeItemMetadata->addChild(new QTreeWidgetItem({"Time Last Accessed"}));
QList<QTreeWidgetItem*> items = {treeItemInstanceID, treeItemMetadata};
tree->insertTopLevelItems(0, items);
@@ -110,9 +111,10 @@ namespace armarx::armem::gui::instance
std::vector<std::string> items =
{
std::to_string(metadata.confidence),
- armem::toDateTimeMilliSeconds(metadata.timeCreated),
- armem::toDateTimeMilliSeconds(metadata.timeSent),
- armem::toDateTimeMilliSeconds(metadata.timeArrived)
+ armem::toDateTimeMilliSeconds(metadata.referencedTime),
+ armem::toDateTimeMilliSeconds(metadata.sentTime),
+ armem::toDateTimeMilliSeconds(metadata.arrivedTime),
+ armem::toDateTimeMilliSeconds(metadata.lastAccessedTime) + " (" + std::to_string(metadata.numAccessed) + " times total)"
};
ARMARX_CHECK_EQUAL(static_cast<size_t>(treeItemMetadata->childCount()), items.size());
int i = 0;
diff --git a/source/RobotAPI/libraries/armem_laser_scans/client/common/Writer.cpp b/source/RobotAPI/libraries/armem_laser_scans/client/common/Writer.cpp
index 08f456b165d08e52c9c3ce0aed649aa96ec8f863..9a7aa7e5aa8a97032bd5ab9dcbe245b693a52cc3 100644
--- a/source/RobotAPI/libraries/armem_laser_scans/client/common/Writer.cpp
+++ b/source/RobotAPI/libraries/armem_laser_scans/client/common/Writer.cpp
@@ -83,7 +83,7 @@ namespace armarx::armem::laser_scans::client
dict->addElement("scan", toAron(laserScan));
update.instancesData = {dict};
- update.timeCreated = timestamp;
+ update.referencedTime = timestamp;
ARMARX_DEBUG << "Committing " << update << " at time " << timestamp;
armem::EntityUpdateResult updateResult = memoryWriter.commit(update);
diff --git a/source/RobotAPI/libraries/armem_motions/server/MotionSegment.cpp b/source/RobotAPI/libraries/armem_motions/server/MotionSegment.cpp
index 8e9621c5a711816c2e84762d9a9d59f10f333f03..76c811b3f05438c5d880da647afc54eb461dd114 100644
--- a/source/RobotAPI/libraries/armem_motions/server/MotionSegment.cpp
+++ b/source/RobotAPI/libraries/armem_motions/server/MotionSegment.cpp
@@ -76,9 +76,9 @@ namespace armarx::armem::server::motions::mdb::segment
auto& snapshot = entity.addSnapshot(op->createdDate);
armem::wm::EntityInstance& instance = snapshot.addInstance();
- instance.metadata().timeCreated = op->createdDate;
- instance.metadata().timeSent = Time::Now();
- instance.metadata().timeArrived = Time::Now();
+ instance.metadata().referencedTime = op->createdDate;
+ instance.metadata().sentTime = Time::Now();
+ instance.metadata().arrivedTime = Time::Now();
instance.metadata().confidence = 1.0;
instance.data() = op->toAron();
}
diff --git a/source/RobotAPI/libraries/armem_mps/server/MotionPrimitives/Segment.cpp b/source/RobotAPI/libraries/armem_mps/server/MotionPrimitives/Segment.cpp
index a45cd788ff673d0e5a9c78e5a92940d0d2daf3c9..23b68572384fb24b7b4f28729fe1041f60d8c307 100644
--- a/source/RobotAPI/libraries/armem_mps/server/MotionPrimitives/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_mps/server/MotionPrimitives/Segment.cpp
@@ -87,9 +87,9 @@ namespace armarx::armem::server::motions::mps::segment
ss << "Found valid instance at: " << pathToInfoJson << ". The motionID is: ";
armem::wm::EntityInstance instance;
- instance.metadata().timeCreated = armem::Time::Now(); //op->createdDate;
- instance.metadata().timeSent = armem::Time::Now();
- instance.metadata().timeArrived = armem::Time::Now();
+ instance.metadata().referencedTime = armem::Time::Now(); //op->createdDate;
+ instance.metadata().sentTime = armem::Time::Now();
+ instance.metadata().arrivedTime = armem::Time::Now();
instance.metadata().confidence = 1.0;
if(taskspace)
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
index fbce08b6323e1a1235bd000aadbd4e73ff6cbf8c..80c3168c5fc5e7c893c2813082171e5cd9c6319b 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
@@ -154,7 +154,7 @@ namespace armarx::armem::articulated_object
toAron(aronArticulatedObjectDescription, obj.description);
update.instancesData = {aronArticulatedObjectDescription.toAron()};
- update.timeCreated = timestamp;
+ update.referencedTime = timestamp;
ARMARX_DEBUG << "Committing " << update << " at time " << timestamp;
armem::EntityUpdateResult updateResult = memoryWriter.commit(update);
@@ -233,7 +233,7 @@ namespace armarx::armem::articulated_object
objectInstance.pose.objectID = cs;
update.instancesData = {objectInstance.toAron()};
- update.timeCreated = timestamp;
+ update.referencedTime = timestamp;
ARMARX_DEBUG << "Committing " << update << " at time " << timestamp;
armem::EntityUpdateResult updateResult = memoryWriter.commit(update);
diff --git a/source/RobotAPI/libraries/armem_objects/client/attachment/Writer.cpp b/source/RobotAPI/libraries/armem_objects/client/attachment/Writer.cpp
index 69f5806c2bb6dc4cbfae1f196d4f967c04ab9a12..9a59562ec531ce44644b4bda5ed2a8e9a0c6ac3e 100644
--- a/source/RobotAPI/libraries/armem_objects/client/attachment/Writer.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/attachment/Writer.cpp
@@ -82,7 +82,7 @@ namespace armarx::armem::attachment
toAron(aronAttachment, attachment);
update.instancesData = {aronAttachment.toAron()};
- update.timeCreated = timestamp;
+ update.referencedTime = timestamp;
ARMARX_DEBUG << "Committing " << update << " at time " << timestamp;
armem::EntityUpdateResult updateResult = memoryWriter.commit(update);
@@ -126,7 +126,7 @@ namespace armarx::armem::attachment
toAron(aronAttachment, attachment);
update.instancesData = {aronAttachment.toAron()};
- update.timeCreated = timestamp;
+ update.referencedTime = timestamp;
ARMARX_DEBUG << "Committing " << update << " at time " << timestamp;
armem::EntityUpdateResult updateResult = memoryWriter.commit(update);
diff --git a/source/RobotAPI/libraries/armem_objects/client/instance/ObjectWriter.cpp b/source/RobotAPI/libraries/armem_objects/client/instance/ObjectWriter.cpp
index 84b1e4613b8b4bbe8a72938949d503276500e407..8ee596b27069f82c9ff19d63efcd40e7cc819699 100644
--- a/source/RobotAPI/libraries/armem_objects/client/instance/ObjectWriter.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/instance/ObjectWriter.cpp
@@ -64,8 +64,8 @@ namespace armarx::armem::obj::instance
e.entityID.coreSegmentName = properties.coreSegmentName;
e.entityID.providerSegmentName = provider;
e.entityID.entityName = inst.pose.objectID.dataset + "/" + inst.pose.objectID.className + "/" + inst.pose.objectID.instanceName;
- e.timeCreated = t;
- e.timeSent = armem::Time::Now();
+ e.referencedTime = t;
+ e.sentTime = armem::Time::Now();
e.instancesData = { inst.toAron() };
auto res = memoryWriter.commit(c);
diff --git a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
index 4dcf3262724cd6a9626a967f9582d4514a478d89..c841afc4dc6afe2629802871399944a0ef39da04 100644
--- a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
@@ -95,7 +95,7 @@ namespace armarx::armem::server::obj::clazz
EntityUpdate& update = commit.add();
update.entityID = providerID.withEntityName(info.id().str());
- update.timeArrived = update.timeCreated = update.timeSent = now;
+ update.arrivedTime = update.referencedTime = update.sentTime = now;
arondto::ObjectClass objectClass = objectClassFromInfo(info);
update.instancesData =
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
index c17ce69020b2b7f2c363219339754919fc805723..b0726c001d978f7f98e5517e69248c6a9b4fd47f 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
@@ -335,8 +335,8 @@ namespace armarx::armem::server::obj::instance
providerName.empty() ? pose.providerName : providerName);
update.entityID = providerID.withEntityName(pose.objectID.str());
- update.timeArrived = now;
- update.timeCreated = pose.timestamp;
+ update.arrivedTime = now;
+ update.referencedTime = pose.timestamp;
update.confidence = pose.confidence;
arondto::ObjectInstance dto;
@@ -781,7 +781,7 @@ namespace armarx::armem::server::obj::instance
armem::Commit commit;
armem::EntityUpdate & update = commit.add();
update.entityID = objectEntity->id();
- update.timeCreated = now;
+ update.referencedTime = now;
{
arondto::ObjectInstance updated = data;
toAron(updated.pose.attachment, info);
@@ -889,7 +889,7 @@ namespace armarx::armem::server::obj::instance
armem::Commit commit;
armem::EntityUpdate & update = commit.add();
update.entityID = entity.id();
- update.timeCreated = now;
+ update.referencedTime = now;
{
arondto::ObjectInstance updated;
if (commitAttachedPose and data.pose.attachmentValid)
diff --git a/source/RobotAPI/libraries/armem_robot_state/client/common/RobotWriter.cpp b/source/RobotAPI/libraries/armem_robot_state/client/common/RobotWriter.cpp
index 579a335212beaeedcf61e2b77e279461345375f1..cfa84fb3f50ad95db2f82b29114cd2606250a2c4 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/common/RobotWriter.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/client/common/RobotWriter.cpp
@@ -85,7 +85,7 @@ namespace armarx::armem::robot_state
toAron(aronDescription, description);
update.instancesData = {aronDescription.toAron()};
- update.timeCreated = timestamp;
+ update.referencedTime = timestamp;
ARMARX_DEBUG << "Committing " << update << " at time " << timestamp;
armem::EntityUpdateResult updateResult = memoryWriter.commit(update);
@@ -129,7 +129,7 @@ namespace armarx::armem::robot_state
}
update.instancesData = {aronTransform.toAron()};
- update.timeCreated = timestamp;
+ update.referencedTime = timestamp;
ARMARX_DEBUG << "Committing " << update << " at time " << timestamp;
armem::EntityUpdateResult updateResult = memoryWriter.commit(update);
@@ -163,7 +163,7 @@ namespace armarx::armem::robot_state
aronProprioception.joints.position = jointMap;
update.instancesData = {aronProprioception.toAron()};
- update.timeCreated = timestamp;
+ update.referencedTime = timestamp;
ARMARX_DEBUG << "Committing " << update << " at time " << timestamp;
armem::EntityUpdateResult updateResult = memoryWriter.commit(update);
diff --git a/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformWriter.cpp b/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformWriter.cpp
index 932f55b0a6ea2ff74762a62ffa74f88d0ff18422..9f93ae53156e0da1e126ed7cc922905eb2f0796b 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformWriter.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformWriter.cpp
@@ -98,7 +98,7 @@ namespace armarx::armem::client::robot_state::localization
armem::EntityUpdate update;
update.entityID = entityID;
- update.timeCreated = timestamp;
+ update.referencedTime = timestamp;
arondto::Transform aronTransform;
toAron(aronTransform, transform);
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp b/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
index af2381c78d334e62ea39eb22978492ad66a32f1a..7a8f6ae0369050000b2a1b8f4df57ec4de4f050a 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
@@ -58,7 +58,7 @@ namespace armarx::armem::server::robot_state::description
EntityUpdate update;
update.entityID = providerID.withEntityName("description");
- update.timeArrived = update.timeCreated = update.timeSent = now;
+ update.arrivedTime = update.referencedTime = update.sentTime = now;
arondto::RobotDescription dto;
robot::toAron(dto, robotDescription);
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp b/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp
index 3fbf097937386a7d4973b55a22f76419d3f5d5eb..a503bae532af41ee91809d394c22cd74f4aab071 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp
@@ -187,7 +187,7 @@ namespace armarx::armem::server::robot_state::localization
EntityUpdate update;
update.entityID = providerID.withEntityName(transform.header.parentFrame + "," + transform.header.frame);
- update.timeArrived = update.timeCreated = update.timeSent = timestamp;
+ update.arrivedTime = update.referencedTime = update.sentTime = timestamp;
arondto::Transform aronTransform;
toAron(aronTransform, transform);
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotStateWriter.cpp b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotStateWriter.cpp
index 847ec98c82966408545a50bf9d7fa93fc7081d9f..0c5ac1284fba2003474b9f885682de280a5b4403 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotStateWriter.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotStateWriter.cpp
@@ -159,7 +159,7 @@ namespace armarx::armem::server::robot_state::proprioception
up.entityID = properties.robotUnitProviderID.withEntityName(
properties.robotUnitProviderID.providerSegmentName);
up.entityID.coreSegmentName =::armarx::armem::robot_state::constants::proprioceptionCoreSegment;
- up.timeCreated = data.timestamp;
+ up.referencedTime = data.timestamp;
up.instancesData = {data.proprioception};
}
@@ -169,7 +169,7 @@ namespace armarx::armem::server::robot_state::proprioception
up.entityID = properties.robotUnitProviderID.withEntityName(
properties.robotUnitProviderID.providerSegmentName);
up.entityID.coreSegmentName = ::armarx::armem::robot_state::constants::exteroceptionCoreSegment;
- up.timeCreated = data.timestamp;
+ up.referencedTime = data.timestamp;
up.instancesData = {data.exteroception};
}
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.cpp b/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.cpp
index ec84a4f91658a5b5ed7c8a50416a1b634142a491..df0f6da140cce0cca44a8a25c1b5d70fa96aa8a4 100644
--- a/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.cpp
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.cpp
@@ -49,7 +49,7 @@ namespace armarx::skills::segment
armem::Commit commit;
auto& entityUpdate = commit.add();
entityUpdate.confidence = 1.0;
- entityUpdate.timeCreated = armem::Time::Now();
+ entityUpdate.referencedTime = armem::Time::Now();
entityUpdate.instancesData = {skillDescription.toAron()};
entityUpdate.entityID = provId.withEntityName(skillDescription.skillName);
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.cpp b/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.cpp
index 51c72a4caa79ca48823dc06670d90989cf2c2d07..1fa0989e8938206462674f93d9646f48b065123f 100644
--- a/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.cpp
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.cpp
@@ -54,7 +54,7 @@ namespace armarx::skills::segment
armem::Commit comm;
auto& entityUpdate = comm.add();
entityUpdate.confidence = 1.0;
- entityUpdate.timeCreated = armem::Time::Now();
+ entityUpdate.referencedTime = armem::Time::Now();
entityUpdate.instancesData = { aron };
entityUpdate.entityID = commitId;
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp b/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp
index f8333282e1c09b206ef8829cbda44c64bde470ec..818f3d13bb4315ebf69909c744c042b1ac268a39 100644
--- a/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp
@@ -66,7 +66,7 @@ namespace armarx::skills::segment
entityUpdate.entityID = skillExecutionMemID;
entityUpdate.instancesData = { aron };
entityUpdate.confidence = 1.0;
- entityUpdate.timeCreated = armem::Time::Now();
+ entityUpdate.referencedTime = armem::Time::Now();
}
{
@@ -79,7 +79,7 @@ namespace armarx::skills::segment
entityUpdate.entityID = skillExecutionMemID;
entityUpdate.instancesData = { aron };
entityUpdate.confidence = 1.0;
- entityUpdate.timeCreated = armem::Time::Now();
+ entityUpdate.referencedTime = armem::Time::Now();
}
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/StatechartListenerSegment.cpp b/source/RobotAPI/libraries/armem_skills/server/segment/StatechartListenerSegment.cpp
index 46629f7cd066751e6286cb38cb081f5442b6b869..b2c5a53472a39c9dcf02f65323ff189caa3ae7b6 100644
--- a/source/RobotAPI/libraries/armem_skills/server/segment/StatechartListenerSegment.cpp
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/StatechartListenerSegment.cpp
@@ -31,7 +31,7 @@ namespace armarx::skills::segment
armem::EntityUpdate update;
update.entityID = segmentPtr->id().withEntityName(entityName);
- update.timeCreated = transitionTime;
+ update.referencedTime = transitionTime;
skills::arondto::Statechart::Transition data;
armem::toAron(data, t);
update.instancesData.push_back(data.toAron());
diff --git a/source/RobotAPI/libraries/armem_system_state/server/CPUSegment.cpp b/source/RobotAPI/libraries/armem_system_state/server/CPUSegment.cpp
index fa392c615789ffac9e8ae2b9fd70eda0052e6d27..9886fdbe2b73326ca8b614ab0ed039d52e4e2b6e 100644
--- a/source/RobotAPI/libraries/armem_system_state/server/CPUSegment.cpp
+++ b/source/RobotAPI/libraries/armem_system_state/server/CPUSegment.cpp
@@ -63,7 +63,7 @@ namespace armarx::armem::server::systemstate::segment
EntityUpdate update;
update.entityID = providerId.withEntityName("CurrentCpuLoad");
update.confidence = 1.0;
- update.timeCreated = armem::Time::Now();
+ update.referencedTime = armem::Time::Now();
update.instancesData = { data };
segmentPtr->update(update);
diff --git a/source/RobotAPI/libraries/armem_system_state/server/RAMSegment.cpp b/source/RobotAPI/libraries/armem_system_state/server/RAMSegment.cpp
index f02b8f4fa263687d52336012322ca640ecd84f1d..a201c4731c14a211cfb670608f8839acf19482d1 100644
--- a/source/RobotAPI/libraries/armem_system_state/server/RAMSegment.cpp
+++ b/source/RobotAPI/libraries/armem_system_state/server/RAMSegment.cpp
@@ -54,7 +54,7 @@ namespace armarx::armem::server::systemstate::segment
EntityUpdate update;
update.entityID = providerId.withEntityName("CurrentMemoryLoad");
update.confidence = 1.0;
- update.timeCreated = armem::Time::Now();
+ update.referencedTime = armem::Time::Now();
update.instancesData = { data };
segmentPtr->update(update);
diff --git a/source/RobotAPI/libraries/armem_vision/client/laser_scanner_features/Writer.cpp b/source/RobotAPI/libraries/armem_vision/client/laser_scanner_features/Writer.cpp
index 0b24561dd5507efeef77793a5285b5a3eb2b00c9..8ae7ba4379288420d3578d7f30ae9bc9c58c559d 100644
--- a/source/RobotAPI/libraries/armem_vision/client/laser_scanner_features/Writer.cpp
+++ b/source/RobotAPI/libraries/armem_vision/client/laser_scanner_features/Writer.cpp
@@ -91,7 +91,7 @@ namespace armarx::armem::vision::laser_scanner_features::client
ARMARX_TRACE;
update.instancesData = {dto.toAron()};
- update.timeCreated = timestamp;
+ update.referencedTime = timestamp;
ARMARX_DEBUG << "Committing " << update << " at time " << timestamp;
diff --git a/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.cpp b/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.cpp
index e781a2582e511b59f3ebefe9cde4a35d425da60a..a682162553005783d3ad74e42d78bffefbc09ae2 100644
--- a/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.cpp
+++ b/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.cpp
@@ -41,7 +41,7 @@ namespace armarx::armem::vision::occupancy_grid::client
dict->addElement("grid", toAron(grid.grid));
update.instancesData = {dict};
- update.timeCreated = iceTimestamp;
+ update.referencedTime = iceTimestamp;
ARMARX_DEBUG << "Committing " << update << " at time " << iceTimestamp;
armem::EntityUpdateResult updateResult = memoryWriter().commit(update);