diff --git a/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.cpp b/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.cpp
index 487c9c6fc4c732fc1d4fe2f126724cb74c8dd810..72e5b8f33073f716e9d3a299ea26dda288dc6066 100644
--- a/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.cpp
+++ b/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.cpp
@@ -42,7 +42,7 @@
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/client/query/query_fns.h>
#include <RobotAPI/libraries/armem/core/Time.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
#include <RobotAPI/libraries/armem/server/MemoryRemoteGui.h>
#include <RobotAPI/libraries/armem_objects/types.h>
diff --git a/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.h b/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.h
index f85a804e97337e1193ca1f38048beb103e65ce59..b4cab3fc71e6d6b1dd92e3128fd3a90a8c191109 100644
--- a/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.h
+++ b/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.h
@@ -14,7 +14,7 @@
#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
#include <RobotAPI/interface/armem/server/MemoryInterface.h>
#include <RobotAPI/libraries/armem/client/ComponentPlugin.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectReader.h>
#include <RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.h>
diff --git a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
index 8ae42e00bd5385886696dd6ead35feb927665947..036d27d2bf49f7d5ac9f84e940bf7e1e88b033b1 100644
--- a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
+++ b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
@@ -34,7 +34,7 @@
#include <RobotAPI/libraries/armem/client/query/query_fns.h>
#include <RobotAPI/libraries/armem/core/error.h>
#include <RobotAPI/libraries/armem/core/aron_conversions.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
#include <RobotAPI/components/armem/server/ExampleMemory/aron/ExampleData.aron.generated.h>
@@ -260,37 +260,24 @@ namespace armarx
if (qResult.success)
{
- armem::wm::Memory& memory = qResult.memory;
-
- ARMARX_CHECK_EQUAL(memory.coreSegments().size(), 1);
- armem::wm::CoreSegment& coreSeg = memory.coreSegments().begin()->second;
+ ARMARX_IMPORTANT << "Getting entity via ID";
- ARMARX_CHECK_EQUAL(coreSeg.providerSegments().size(), 1);
- armem::wm::ProviderSegment& provSeg = coreSeg.providerSegments().begin()->second;
+ armem::wm::Memory& memory = qResult.memory;
+ ARMARX_CHECK_GREATER_EQUAL(memory.size(), 1);
- ARMARX_CHECK_EQUAL(provSeg.entities().size(), 1);
- armem::wm::Entity& entity = provSeg.entities().begin()->second;
+ const armem::wm::Entity* entity = memory.findEntity(entityID);
+ ARMARX_CHECK_NOT_NULL(entity);
+ ARMARX_CHECK_GREATER_EQUAL(entity->size(), 1);
- ARMARX_CHECK_GREATER_EQUAL(entity.history().size(), 1);
- armem::wm::EntitySnapshot& snapshot = entity.history().begin()->second;
+ const armem::wm::EntitySnapshot& snapshot = entity->getLatestSnapshot();
+ ARMARX_CHECK_GREATER_EQUAL(snapshot.size(), 1);
ARMARX_INFO << "Result: "
- << "\n- memory: \t" << memory.name()
- << "\n- core segment: \t" << coreSeg.name()
- << "\n- prov segment: \t" << provSeg.name()
- << "\n- entity: \t" << entity.name()
+ << "\n- entity: \t" << entity->name()
<< "\n- snapshot: \t" << snapshot.time()
<< "\n- #instances: \t" << snapshot.size()
;
- ARMARX_IMPORTANT << "Getting entity via ID";
- const armem::wm::Entity& e = memory.getEntity(entityID);
- ARMARX_INFO << "Result: "
- << "\n- entity: \t" << e.name()
- << "\n- snapshot: \t" << e.getLatestSnapshot().time()
- << "\n- #instances: \t" << e.getLatestSnapshot().size()
- ;
-
// Show memory contents in remote gui.
tab.queryResult = std::move(memory);
tab.rebuild = true;
diff --git a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.h b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.h
index 5680e316a6228021932afea5d73abd02fdcda6d8..ca28ab86bc1e755c49b93649fd77b26aac0a4250 100644
--- a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.h
+++ b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.h
@@ -34,7 +34,7 @@
#include <RobotAPI/interface/armem/server/MemoryInterface.h>
#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
#include <RobotAPI/libraries/armem/client/ComponentPlugin.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
namespace armarx
diff --git a/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.cpp b/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.cpp
index 6650e573785cce732f0f2bbe7c128aa34fc58626..8ab75efc78ddad8492598356df374266947fe515 100644
--- a/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.cpp
+++ b/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.cpp
@@ -23,7 +23,7 @@
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/client/query/query_fns.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
#include <RobotAPI/libraries/armem/server/MemoryRemoteGui.h>
#include <RobotAPI/libraries/armem/core/Time.h>
diff --git a/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.h b/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.h
index 4e1d01f5564e96c7e46ad2db33081835873dd7a6..33770ad5425f8824fca2f40ae45323861f29cc91 100644
--- a/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.h
+++ b/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.h
@@ -33,7 +33,7 @@
#include <RobotAPI/interface/armem/server/MemoryInterface.h>
#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
#include <RobotAPI/libraries/armem/client/ComponentPlugin.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h>
diff --git a/source/RobotAPI/components/armem/server/ExampleMemory/test/ExampleMemoryTest.cpp b/source/RobotAPI/components/armem/server/ExampleMemory/test/ExampleMemoryTest.cpp
index c5ba35a13aa4ec127f64d0992021d29262d54407..56c9d08f49759de2f75c8085551ea63fb9263935 100644
--- a/source/RobotAPI/components/armem/server/ExampleMemory/test/ExampleMemoryTest.cpp
+++ b/source/RobotAPI/components/armem/server/ExampleMemory/test/ExampleMemoryTest.cpp
@@ -41,7 +41,7 @@ BOOST_AUTO_TEST_CASE(test_ExampleData_type)
{
armarx::aron::typenavigator::ObjectNavigatorPtr type = ExampleData::toAronType();
- BOOST_CHECK_EQUAL(type->childrenSize(), 15);
+ BOOST_CHECK_EQUAL(type->childrenSize(), 16);
armem::wm::Memory memory;
armem::wm::CoreSegment& core = memory.addCoreSegment("ExampleData", type);
diff --git a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
index c0a9fd2f33211d9a130f236b9350836b75b51466..6c86b6afa76fe043b4dea16affb609f7db049caf 100644
--- a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
+++ b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
@@ -29,7 +29,8 @@
#include <ArmarXCore/core/logging/Logging.h>
#include <RobotAPI/libraries/armem/core/error.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/CoreSegment.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
+#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/server/MemoryRemoteGui.h>
#include <RobotAPI/libraries/armem_skills/aron_conversions.h>
@@ -70,7 +71,7 @@ namespace armarx
workingMemory.name() = p.memoryName;
{
- armarx::armem::wm::CoreSegment& c = workingMemory.addCoreSegment(p.statechartCoreSegmentName, armarx::armem::arondto::Statechart::Transition::toAronType());
+ armarx::armem::server::wm::CoreSegment& c = workingMemory.addCoreSegment(p.statechartCoreSegmentName, armarx::armem::arondto::Statechart::Transition::toAronType());
c.addProviderSegment("Transitions", armarx::armem::arondto::Statechart::Transition::toAronType());
}
}
diff --git a/source/RobotAPI/gui-plugins/ObjectPoseGui/ObjectPoseGuiWidgetController.cpp b/source/RobotAPI/gui-plugins/ObjectPoseGui/ObjectPoseGuiWidgetController.cpp
index dffe7711debc728d596f5ecd7cd851df2527e120..adb7c77bd1e04491b7e16ecb1599119df0ee2ce6 100644
--- a/source/RobotAPI/gui-plugins/ObjectPoseGui/ObjectPoseGuiWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/ObjectPoseGui/ObjectPoseGuiWidgetController.cpp
@@ -201,7 +201,7 @@ namespace armarx
{
bool expand = item->childCount() == 0;
- TreeWidgetBuilder builder(objectPoses);
+ TreeWidgetBuilder<objpose::ObjectPose> builder;
builder.setNameFn([](const objpose::ObjectPose & pose)
{
return pose.objectID.str();
@@ -245,7 +245,7 @@ namespace armarx
return true;
});
- builder.updateTree(item, objectPoses);
+ builder.updateTreeWithContainer(item, objectPoses);
if (expand)
{
@@ -299,7 +299,7 @@ namespace armarx
{
(void) dataset;
- TreeWidgetBuilder builder(datasetData);
+ TreeWidgetBuilder<std::pair<std::string, std::string>> builder;
builder.setCompareFn([](const std::pair<std::string, std::string>& lhs, QTreeWidgetItem * item)
{
auto rhs = std::make_pair(item->text(0).toStdString(), item->text(1).toStdString());
@@ -324,7 +324,7 @@ namespace armarx
}
return true;
});
- builder.updateTree(datasetItem, datasetData);
+ builder.updateTreeWithContainer(datasetItem, datasetData);
return true;
});
diff --git a/source/RobotAPI/interface/armem/query.ice b/source/RobotAPI/interface/armem/query.ice
index 2a1586fece346e89cbe491cd21c026ddab603e0e..936294507f0b05627051fa6974309faa1db4d758 100644
--- a/source/RobotAPI/interface/armem/query.ice
+++ b/source/RobotAPI/interface/armem/query.ice
@@ -14,8 +14,7 @@ module armarx
enum QueryTarget
{
WM,
- LTM,
- Disk
+ LTM
};
sequence<QueryTarget> QueryTargets;
diff --git a/source/RobotAPI/interface/objectpose/ObjectPoseStorageInterface.ice b/source/RobotAPI/interface/objectpose/ObjectPoseStorageInterface.ice
index 3097f6c7596fd3fdf82aedd9d974712081cf503c..1dfe8b9f299d24684a0acdd3d6f53ed61063d397 100644
--- a/source/RobotAPI/interface/objectpose/ObjectPoseStorageInterface.ice
+++ b/source/RobotAPI/interface/objectpose/ObjectPoseStorageInterface.ice
@@ -81,7 +81,7 @@ module armarx
};
struct AttachObjectToRobotNodeOutput
{
- bool success;
+ bool success = false;
data::ObjectAttachmentInfo attachment;
};
@@ -99,7 +99,7 @@ module armarx
struct DetachObjectFromRobotNodeOutput
{
/// Whether the object was attached before.
- bool wasAttached;
+ bool wasAttached = false;
};
struct DetachAllObjectsFromRobotNodesInput
@@ -113,7 +113,7 @@ module armarx
struct DetachAllObjectsFromRobotNodesOutput
{
/// Number of objects that have been detached.
- int numDetached;
+ int numDetached = 0;
};
struct AgentFrames
diff --git a/source/RobotAPI/libraries/armem/CMakeLists.txt b/source/RobotAPI/libraries/armem/CMakeLists.txt
index ef5f227686bf252f3f7941fd3f0d96aed72442d1..457c62565e215c4d76a686cc73647aeb71397190 100644
--- a/source/RobotAPI/libraries/armem/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem/CMakeLists.txt
@@ -25,38 +25,34 @@ set(LIB_FILES
core/Commit.cpp
core/MemoryID.cpp
core/MemoryID_operators.cpp
+ core/operations.cpp
core/SuccessHeader.cpp
core/Time.cpp
- core/ice_conversions.cpp
core/aron_conversions.cpp
+ core/ice_conversions.cpp
core/json_conversions.cpp
core/base/detail/MemoryItem.cpp
- core/base/detail/MaxHistorySize.cpp
core/base/detail/MemoryContainerBase.cpp
core/base/detail/EntityContainerBase.cpp
core/base/detail/AronTyped.cpp
+ core/base/detail/iteration_mixins.cpp
+ core/base/detail/negative_index_semantics.cpp
- core/base/CoreSegmentBase.cpp
+ # core/base/CoreSegmentBase.cpp
core/base/EntityBase.cpp
core/base/EntityInstanceBase.cpp
core/base/EntitySnapshotBase.cpp
- core/base/MemoryBase.cpp
- core/base/ProviderSegmentBase.cpp
-
- core/workingmemory/ice_conversions.cpp
- core/workingmemory/detail/CopyWithoutData.cpp
- core/workingmemory/CoreSegment.cpp
- core/workingmemory/Entity.cpp
- core/workingmemory/EntityInstance.cpp
- core/workingmemory/EntitySnapshot.cpp
- core/workingmemory/Memory.cpp
- core/workingmemory/ProviderSegment.cpp
- core/workingmemory/ice_conversions.cpp
- core/workingmemory/json_conversions.cpp
- core/workingmemory/entityInstance_conversions.cpp
- core/workingmemory/visitor/Visitor.cpp
- core/workingmemory/visitor/FunctionalVisitor.cpp
+ # core/base/MemoryBase.cpp
+ # core/base/ProviderSegmentBase.cpp
+ core/base/ice_conversions.cpp
+
+ core/wm/memory_definitions.cpp
+ core/wm/ice_conversions.cpp
+ core/wm/json_conversions.cpp
+ core/wm/aron_conversions.cpp
+ core/wm/visitor/Visitor.cpp
+ core/wm/visitor/FunctionalVisitor.cpp
core/longtermmemory/CoreSegment.cpp
core/longtermmemory/Entity.cpp
@@ -98,6 +94,10 @@ set(LIB_FILES
server/MemoryRemoteGui.cpp
server/RemoteGuiAronDataVisitor.cpp
+ server/wm/memory_definitions.cpp
+ server/wm/ice_conversions.cpp
+ server/wm/detail/MaxHistorySize.cpp
+
server/segment/Segment.cpp
server/segment/SpecializedSegment.cpp
@@ -107,23 +107,9 @@ set(LIB_FILES
server/query_proc/base/CoreSegmentQueryProcessorBase.cpp
server/query_proc/base/MemoryQueryProcessorBase.cpp
- server/query_proc/workingmemory/BaseQueryProcessor.cpp
- server/query_proc/workingmemory/EntityQueryProcessor.cpp
- server/query_proc/workingmemory/ProviderSegmentQueryProcessor.cpp
- server/query_proc/workingmemory/CoreSegmentQueryProcessor.cpp
- server/query_proc/workingmemory/MemoryQueryProcessor.cpp
-
- server/query_proc/longtermmemory/BaseQueryProcessor.cpp
- server/query_proc/longtermmemory/EntityQueryProcessor.cpp
- server/query_proc/longtermmemory/ProviderSegmentQueryProcessor.cpp
- server/query_proc/longtermmemory/CoreSegmentQueryProcessor.cpp
- server/query_proc/longtermmemory/MemoryQueryProcessor.cpp
-
- server/query_proc/diskmemory/BaseQueryProcessor.cpp
- server/query_proc/diskmemory/EntityQueryProcessor.cpp
- server/query_proc/diskmemory/ProviderSegmentQueryProcessor.cpp
- server/query_proc/diskmemory/CoreSegmentQueryProcessor.cpp
- server/query_proc/diskmemory/MemoryQueryProcessor.cpp
+ server/query_proc/diskmemory.cpp
+ server/query_proc/ltm.cpp
+ server/query_proc/wm.cpp
mns/MemoryNameSystem.cpp
mns/ComponentPlugin.cpp
@@ -133,10 +119,13 @@ set(LIB_FILES
set(LIB_HEADERS
core.h
+ core/forward_declarations.h
+
core/Commit.h
core/DataMode.h
core/MemoryID.h
core/MemoryID_operators.h
+ core/operations.h
core/SuccessHeader.h
core/Time.h
core/aron_conversions.h
@@ -150,10 +139,11 @@ set(LIB_HEADERS
core/error/mns.h
core/base/detail/MemoryItem.h
- core/base/detail/MaxHistorySize.h
core/base/detail/MemoryContainerBase.h
core/base/detail/EntityContainerBase.h
core/base/detail/AronTyped.h
+ core/base/detail/iteration_mixins.h
+ core/base/detail/negative_index_semantics.h
core/base/CoreSegmentBase.h
core/base/EntityBase.h
@@ -161,20 +151,15 @@ set(LIB_HEADERS
core/base/EntitySnapshotBase.h
core/base/MemoryBase.h
core/base/ProviderSegmentBase.h
+ core/base/ice_conversions.h
- core/workingmemory/detail/CopyWithoutData.h
- core/workingmemory/CoreSegment.h
- core/workingmemory/Entity.h
- core/workingmemory/EntityInstance.h
- core/workingmemory/EntitySnapshot.h
- core/workingmemory/Memory.h
- core/workingmemory/ProviderSegment.h
- core/workingmemory/ice_conversions.h
- core/workingmemory/json_conversions.h
- core/workingmemory/entityInstance_conversions.h
- core/workingmemory/visitor.h
- core/workingmemory/visitor/Visitor.h
- core/workingmemory/visitor/FunctionalVisitor.h
+ core/wm.h
+ core/wm/memory_definitions.h
+ core/wm/aron_conversions.h
+ core/wm/ice_conversions.h
+ core/wm/json_conversions.h
+ core/wm/visitor/Visitor.h
+ core/wm/visitor/FunctionalVisitor.h
core/longtermmemory/CoreSegment.h
core/longtermmemory/Entity.h
@@ -217,45 +202,38 @@ set(LIB_HEADERS
client/util/SimpleWriterBase.h
server.h
+ server/forward_declarations.h
+
server/ComponentPlugin.h
server/MemoryToIceAdapter.h
server/MemoryRemoteGui.h
server/RemoteGuiAronDataVisitor.h
+ server/wm/memory_definitions.h
+ server/wm/ice_conversions.h
+ server/wm/detail/MaxHistorySize.h
+
server/segment/Segment.h
server/segment/SpecializedSegment.h
server/query_proc.h
+
+ server/query_proc/base.h
server/query_proc/base/BaseQueryProcessorBase.h
server/query_proc/base/EntityQueryProcessorBase.h
server/query_proc/base/ProviderSegmentQueryProcessorBase.h
server/query_proc/base/CoreSegmentQueryProcessorBase.h
server/query_proc/base/MemoryQueryProcessorBase.h
- server/query_proc/workingmemory/BaseQueryProcessor.h
- server/query_proc/workingmemory/EntityQueryProcessor.h
- server/query_proc/workingmemory/ProviderSegmentQueryProcessor.h
- server/query_proc/workingmemory/CoreSegmentQueryProcessor.h
- server/query_proc/workingmemory/MemoryQueryProcessor.h
-
- server/query_proc/longtermmemory/BaseQueryProcessor.h
- server/query_proc/longtermmemory/EntityQueryProcessor.h
- server/query_proc/longtermmemory/ProviderSegmentQueryProcessor.h
- server/query_proc/longtermmemory/CoreSegmentQueryProcessor.h
- server/query_proc/longtermmemory/MemoryQueryProcessor.h
-
- server/query_proc/diskmemory/BaseQueryProcessor.h
- server/query_proc/diskmemory/EntityQueryProcessor.h
- server/query_proc/diskmemory/ProviderSegmentQueryProcessor.h
- server/query_proc/diskmemory/CoreSegmentQueryProcessor.h
- server/query_proc/diskmemory/MemoryQueryProcessor.h
+ server/query_proc/diskmemory.h
+ server/query_proc/ltm.h
+ server/query_proc/wm.h
mns.h
mns/MemoryNameSystem.h
mns/ComponentPlugin.h
util/util.h
-
)
armarx_add_library(
diff --git a/source/RobotAPI/libraries/armem/client/Query.cpp b/source/RobotAPI/libraries/armem/client/Query.cpp
index 1777839f24e6f2522e7f0efb9670f79ff463231b..52000cf3d25f118ea80cf7dfc7c5ea5830cb36f8 100644
--- a/source/RobotAPI/libraries/armem/client/Query.cpp
+++ b/source/RobotAPI/libraries/armem/client/Query.cpp
@@ -1,6 +1,6 @@
#include "Query.h"
-#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
namespace armarx::armem::client
{
diff --git a/source/RobotAPI/libraries/armem/client/Query.h b/source/RobotAPI/libraries/armem/client/Query.h
index c6bb445bfe8ee9a3547ae621aa8c16ec8e0e2be9..56b9caa79b06bf598836a8cb4df5ab492177604a 100644
--- a/source/RobotAPI/libraries/armem/client/Query.h
+++ b/source/RobotAPI/libraries/armem/client/Query.h
@@ -3,10 +3,10 @@
// RobotAPI
#include <RobotAPI/interface/armem/query.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
#include <RobotAPI/libraries/armem/core/SuccessHeader.h>
#include <RobotAPI/libraries/armem/core/DataMode.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
namespace armarx::armem::client::query
diff --git a/source/RobotAPI/libraries/armem/client/Reader.cpp b/source/RobotAPI/libraries/armem/client/Reader.cpp
index a589512f13bcdaaa2536f597a54474eb72f96574..1f0e2ee51717e011de75f9fad4dd9c2c598ada88 100644
--- a/source/RobotAPI/libraries/armem/client/Reader.cpp
+++ b/source/RobotAPI/libraries/armem/client/Reader.cpp
@@ -6,9 +6,8 @@
#include <RobotAPI/libraries/armem/core/MemoryID_operators.h>
#include <RobotAPI/libraries/armem/core/longtermmemory/Memory.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/visitor.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
+#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
#include <RobotAPI/libraries/armem/util/util.h>
#include "query/Builder.h"
@@ -162,30 +161,25 @@ namespace armarx::armem::client
}
- struct FindLatestSnapshotVisitor : public wm::Visitor
- {
- std::optional<wm::EntitySnapshot> latest = std::nullopt;
-
- bool visitEnter(const wm::EntitySnapshot& snapshot) override;
- };
- bool FindLatestSnapshotVisitor::visitEnter(const wm::EntitySnapshot& snapshot)
- {
- if (not latest.has_value() or snapshot.time() < latest->time())
- {
- latest = snapshot;
- }
- return true;
- }
-
-
std::optional<wm::EntitySnapshot> Reader::getLatestSnapshotIn(const MemoryID& id, DataMode dataMode) const
{
client::QueryResult result = getLatestSnapshotsIn(id, dataMode);
if (result.success)
{
- FindLatestSnapshotVisitor visitor;
- visitor.applyTo(result.memory);
- return visitor.latest;
+ std::optional<wm::EntitySnapshot> latest = std::nullopt;
+ result.memory.forEachEntity([&latest](const wm::Entity & entity)
+ {
+ if (not entity.empty())
+ {
+ const wm::EntitySnapshot& snapshot = entity.getLatestSnapshot();
+ if (not latest.has_value() or latest->time() < snapshot.time())
+ {
+ latest = snapshot;
+ }
+ }
+ return true;
+ });
+ return latest;
}
else
{
diff --git a/source/RobotAPI/libraries/armem/client/Reader.h b/source/RobotAPI/libraries/armem/client/Reader.h
index 1d69491d2cf33e7bdf460634ef69bc26db4bb52b..e9ee1b69afef7d2befdaaf0169b0117a13edbad5 100644
--- a/source/RobotAPI/libraries/armem/client/Reader.h
+++ b/source/RobotAPI/libraries/armem/client/Reader.h
@@ -8,8 +8,7 @@
// RobotAPI
#include <RobotAPI/interface/armem/server/ReadingMemoryInterface.h>
#include <RobotAPI/interface/armem/server/StoringMemoryInterface.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.h>
-// #include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include "Query.h"
diff --git a/source/RobotAPI/libraries/armem/client/Writer.h b/source/RobotAPI/libraries/armem/client/Writer.h
index dd953fa368d9a46363677d3bc39bc71f8da2a9ce..92c7ce04a3d1ec9317f33404bafef2ac58c8c3cd 100644
--- a/source/RobotAPI/libraries/armem/client/Writer.h
+++ b/source/RobotAPI/libraries/armem/client/Writer.h
@@ -2,7 +2,7 @@
#include <RobotAPI/interface/armem/server/WritingMemoryInterface.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
namespace armarx::armem::client
diff --git a/source/RobotAPI/libraries/armem/client/query/selectors.cpp b/source/RobotAPI/libraries/armem/client/query/selectors.cpp
index 98e79d06ab3642b25bee40e89daf728ab3dfee2b..ecd3f8c5f4a1b3ed0a7dde04c8dc1ac8a06b5265 100644
--- a/source/RobotAPI/libraries/armem/client/query/selectors.cpp
+++ b/source/RobotAPI/libraries/armem/client/query/selectors.cpp
@@ -1,7 +1,7 @@
#include "selectors.h"
#include "RobotAPI/libraries/armem/core/ice_conversions.h"
-#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
namespace dq = ::armarx::armem::query::data;
diff --git a/source/RobotAPI/libraries/armem/core.h b/source/RobotAPI/libraries/armem/core.h
index c8ddee31ce054decbc8fdc33edf7959502601da7..11abe789b8cd0aef6ab2d9017c96cb1237cc5040 100644
--- a/source/RobotAPI/libraries/armem/core.h
+++ b/source/RobotAPI/libraries/armem/core.h
@@ -6,13 +6,7 @@
#include "core/MemoryID.h"
#include "core/Time.h"
-#include "core/workingmemory/Memory.h"
-#include "core/workingmemory/CoreSegment.h"
-#include "core/workingmemory/ProviderSegment.h"
-#include "core/workingmemory/Entity.h"
-#include "core/workingmemory/EntitySnapshot.h"
-#include "core/workingmemory/EntityInstance.h"
-#include "core/workingmemory/ice_conversions.h"
+#include "core/wm.h"
namespace armarx::armem
diff --git a/source/RobotAPI/libraries/armem/core/Commit.cpp b/source/RobotAPI/libraries/armem/core/Commit.cpp
index fed7ed660b450bb0865a018f9c8d7119dd96a7b4..fed012450b059f50159c659217694c160e8f636a 100644
--- a/source/RobotAPI/libraries/armem/core/Commit.cpp
+++ b/source/RobotAPI/libraries/armem/core/Commit.cpp
@@ -1,9 +1,11 @@
#include "Commit.h"
-#include <SimoxUtility/algorithm/apply.hpp>
+#include <RobotAPI/libraries/aron/core/navigator/data/container/Dict.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <SimoxUtility/algorithm/apply.hpp>
+
namespace armarx::armem
{
diff --git a/source/RobotAPI/libraries/armem/core/Commit.h b/source/RobotAPI/libraries/armem/core/Commit.h
index fc69a4b53dcaecc52d703aa42c00405f4162825f..685886a7f27b5d43b78cd0195693e32c3a58fffa 100644
--- a/source/RobotAPI/libraries/armem/core/Commit.h
+++ b/source/RobotAPI/libraries/armem/core/Commit.h
@@ -1,11 +1,12 @@
#pragma once
-#include <vector>
+#include <RobotAPI/libraries/armem/core/Time.h>
+#include <RobotAPI/libraries/armem/core/MemoryID.h>
-#include <RobotAPI/libraries/aron/core/navigator/data/container/Dict.h>
+#include <RobotAPI/libraries/aron/core/navigator/data/forward_declarations.h>
-#include "../core/MemoryID.h"
-#include "../core/Time.h"
+#include <memory>
+#include <vector>
namespace armarx::armem
diff --git a/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h b/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h
index 5e22ba7036a7d0b94a4a329e3d73e591b29a9543..0de79cccd0af6a85dd396b8891e91c572ee24fb2 100644
--- a/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h
@@ -6,7 +6,7 @@
#include "ProviderSegmentBase.h"
#include "detail/AronTyped.h"
#include "detail/EntityContainerBase.h"
-#include "detail/MaxHistorySize.h"
+#include "detail/iteration_mixins.h"
namespace armarx::armem::base
@@ -18,8 +18,10 @@ namespace armarx::armem::base
template <class _ProviderSegmentT, class _Derived>
class CoreSegmentBase :
public detail::EntityContainerBase<_ProviderSegmentT, typename _ProviderSegmentT::EntityT, _Derived>,
- public detail::MaxHistorySize,
- public detail::AronTyped
+ public detail::AronTyped,
+ public detail::ForEachEntityInstanceMixin<_Derived>,
+ public detail::ForEachEntitySnapshotMixin<_Derived>,
+ public detail::ForEachEntityMixin<_Derived>
{
using Base = detail::EntityContainerBase<_ProviderSegmentT, typename _ProviderSegmentT::EntityT, _Derived>;
@@ -50,20 +52,21 @@ namespace armarx::armem::base
{}
};
+
public:
CoreSegmentBase()
{
}
- CoreSegmentBase(const std::string& name, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr) :
- CoreSegmentBase(MemoryID().withCoreSegmentName(name), aronType)
+ explicit CoreSegmentBase(const std::string& name, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr) :
+ CoreSegmentBase(name, MemoryID(), aronType)
{
}
- CoreSegmentBase(const std::string& name, const MemoryID& parentID, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr) :
- CoreSegmentBase(parentID.withProviderSegmentName(name), aronType)
+ explicit CoreSegmentBase(const std::string& name, const MemoryID& parentID, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr) :
+ CoreSegmentBase(parentID.withCoreSegmentName(name), aronType)
{
}
- CoreSegmentBase(const MemoryID& id, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr) :
+ explicit CoreSegmentBase(const MemoryID& id, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr) :
Base(id),
AronTyped(aronType)
{
@@ -75,6 +78,8 @@ namespace armarx::armem::base
CoreSegmentBase& operator=(CoreSegmentBase&& other) = default;
+ // READ ACCESS
+
inline const std::string& name() const
{
return this->id().coreSegmentName;
@@ -85,19 +90,14 @@ namespace armarx::armem::base
}
- inline const auto& providerSegments() const
- {
- return this->_container;
- }
- inline auto& providerSegments()
+ bool hasProviderSegment(const std::string& name) const
{
- return this->_container;
+ return this->_container.count(name) > 0;
}
-
- bool hasProviderSegment(const std::string& name) const
+ std::vector<std::string> getProviderSegmentNames() const
{
- return this->_container.count(name) > 0;
+ return simox::alg::get_keys(this->_container);
}
ProviderSegmentT& getProviderSegment(const std::string& name)
@@ -119,13 +119,13 @@ namespace armarx::armem::base
}
using Base::getEntity;
- const EntityT& getEntity(const MemoryID& id) const override
+ const EntityT& getEntity(const MemoryID& id) const
{
this->_checkContainerName(id.coreSegmentName, this->getKeyString());
return getProviderSegment(id.providerSegmentName).getEntity(id);
}
- const EntityT* findEntity(const MemoryID& id) const override
+ const EntityT* findEntity(const MemoryID& id) const
{
this->_checkContainerName(id.coreSegmentName, this->getKeyString());
if (id.hasProviderSegmentName())
@@ -145,12 +145,51 @@ namespace armarx::armem::base
}
}
+
+ // ITERATION
+
+ /**
+ * @param func Function like: bool process(ProviderSegmentT& provSeg)
+ */
+ template <class ProviderSegmentFunctionT>
+ bool forEachProviderSegment(ProviderSegmentFunctionT&& func)
+ {
+ return this->forEachChild(func);
+ }
+ /**
+ * @param func Function like: bool process(const ProviderSegmentT& provSeg)
+ */
+ template <class ProviderSegmentFunctionT>
+ bool forEachProviderSegment(ProviderSegmentFunctionT&& func) const
+ {
+ return this->forEachChild(func);
+ }
+
+ // forEachEntity() is provided by ForEachEntityMixin.
+ // forEachSnapshot() is provided by ForEachEntitySnapshotMixin.
+ // forEachInstance() is provided by ForEachEntityInstanceMixin.
+
+
+ [[deprecated("Direct container access is deprecated. Use forEach*() instead.")]]
+ inline const auto& providerSegments() const
+ {
+ return this->_container;
+ }
+ [[deprecated("Direct container access is deprecated. Use forEach*() instead.")]]
+ inline auto& providerSegments()
+ {
+ return this->_container;
+ }
+
+
+ // MODIFICATION
+
/**
* @brief Updates an entity's history.
*
* Missing entity entries are added before updating.
*/
- virtual UpdateResult update(const EntityUpdate& update)
+ UpdateResult update(const EntityUpdate& update)
{
this->_checkContainerName(update.entityID.coreSegmentName, this->name());
@@ -185,7 +224,7 @@ namespace armarx::armem::base
}
else
{
- throw error::MissingEntry::create<EntitySnapshotT>(providerSegmentName, *this);
+ throw error::MissingEntry::create<ProviderSegmentT>(providerSegmentName, *this);
}
}
else
@@ -197,21 +236,18 @@ namespace armarx::armem::base
void append(const _Derived& m)
{
- ARMARX_INFO << "CoreSegment: Merge name '" << m.name() << "' into '" << name() << "'";
+ // ARMARX_INFO << "CoreSegment: Merge name '" << m.name() << "' into '" << name() << "'";
- for (const auto& [k, s] : m.container())
+ m.forEachProviderSegment([this](const ProviderSegmentT & provSeg)
{
- if (const auto& it = this->_container.find(k); it != this->_container.end())
+ auto it = this->_container.find(provSeg.name());
+ if (it == this->_container.end())
{
- // segment already exists
- it->second.append(s);
+ it = this->_container.emplace(provSeg.name(), this->id().withProviderSegmentName(provSeg.name())).first;
}
- else
- {
- auto wms = this->_container.emplace(k, this->id().withProviderSegmentName(k));
- wms.first->second.append(s);
- }
- }
+ it->second.append(provSeg);
+ return true;
+ });
}
/**
@@ -223,7 +259,7 @@ namespace armarx::armem::base
ProviderSegmentT& addProviderSegment(const std::string& name, aron::typenavigator::ObjectNavigatorPtr providerSegmentType = nullptr)
{
aron::typenavigator::ObjectNavigatorPtr type = providerSegmentType ? providerSegmentType : this->aronType();
- return addProviderSegment(ProviderSegmentT(name, type));
+ return addProviderSegment(ProviderSegmentT(name, this->id(), type));
}
/// Copy and insert a provider segment.
@@ -238,31 +274,18 @@ namespace armarx::armem::base
if (hasProviderSegment(providerSegment.name()))
{
throw armem::error::ContainerEntryAlreadyExists(
- providerSegment.getLevelName(), providerSegment.name(), getLevelName(), this->getKeyString());
+ ProviderSegmentT::getLevelName(), providerSegment.name(), getLevelName(), this->getKeyString());
}
auto it = this->_container.emplace(providerSegment.name(), std::move(providerSegment)).first;
it->second.id().setCoreSegmentID(this->id());
- it->second.setMaxHistorySize(_maxHistorySize);
return it->second;
}
- /**
- * @brief Sets the maximum history size of entities in this segment.
- * This affects all current entities as well as new ones.
- * @see Entity::setMaxHistorySize()
- */
- void setMaxHistorySize(long maxSize) override
- {
- MaxHistorySize::setMaxHistorySize(maxSize);
- for (auto& [name, seg] : this->_container)
- {
- seg.setMaxHistorySize(maxSize);
- }
- }
+ // MISC
- virtual bool equalsDeep(const CoreSegmentBase& other) const
+ bool equalsDeep(const DerivedT& other) const
{
//std::cout << "CoreSegment::equalsDeep" << std::endl;
if (this->size() != other.size())
@@ -283,33 +306,17 @@ namespace armarx::armem::base
return true;
}
- std::string getLevelName() const override
+ static std::string getLevelName()
{
return "core segment";
}
- std::string getKeyString() const override
+ std::string getKeyString() const
{
return this->name();
}
- protected:
-
- virtual void _copySelf(DerivedT& other) const override
- {
- Base::_copySelf(other);
- other.aronType() = _aronType;
- other._addMissingProviderSegmentDuringUpdate = _addMissingProviderSegmentDuringUpdate;
- }
- virtual void _copySelfEmpty(DerivedT& other) const override
- {
- Base::_copySelfEmpty(other);
- other.aronType() = _aronType;
- other._addMissingProviderSegmentDuringUpdate = _addMissingProviderSegmentDuringUpdate;
- }
-
-
private:
bool _addMissingProviderSegmentDuringUpdate = true;
diff --git a/source/RobotAPI/libraries/armem/core/base/EntityBase.cpp b/source/RobotAPI/libraries/armem/core/base/EntityBase.cpp
index 0d2c67b63d566f7170bd9b31cfaf18785b85f87b..d3038a357bdad823f04e8d154a569a7eebaf90d5 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntityBase.cpp
+++ b/source/RobotAPI/libraries/armem/core/base/EntityBase.cpp
@@ -1 +1,2 @@
#include "EntityBase.h"
+
diff --git a/source/RobotAPI/libraries/armem/core/base/EntityBase.h b/source/RobotAPI/libraries/armem/core/base/EntityBase.h
index 0775a71f977fde16966550f0506e9fd0f591e9a5..05cbf780d1e95611d629d320581122b59c5f358c 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntityBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/EntityBase.h
@@ -5,14 +5,13 @@
#include <SimoxUtility/algorithm/get_map_keys_values.h>
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-#include "../../core/Time.h"
-#include "../../core/MemoryID.h"
+#include <RobotAPI/libraries/armem/core/MemoryID.h>
+#include <RobotAPI/libraries/armem/core/Time.h>
#include "EntitySnapshotBase.h"
-#include "detail/MaxHistorySize.h"
#include "detail/MemoryContainerBase.h"
+#include "detail/iteration_mixins.h"
+#include "detail/negative_index_semantics.h"
namespace armarx::armem::base
@@ -40,7 +39,7 @@ namespace armarx::armem::base
template <class _EntitySnapshotT, class _Derived>
class EntityBase :
public detail::MemoryContainerBase<std::map<Time, _EntitySnapshotT>, _Derived>,
- public detail::MaxHistorySize
+ public detail::ForEachEntityInstanceMixin<_Derived>
{
using Base = detail::MemoryContainerBase<std::map<Time, _EntitySnapshotT>, _Derived>;
@@ -66,11 +65,11 @@ namespace armarx::armem::base
EntityBase()
{
}
- EntityBase(const std::string& name, const MemoryID& parentID = {}) :
+ explicit EntityBase(const std::string& name, const MemoryID& parentID = {}) :
EntityBase(parentID.withEntityName(name))
{
}
- EntityBase(const MemoryID& id) :
+ explicit EntityBase(const MemoryID& id) :
Base(id)
{
}
@@ -82,27 +81,7 @@ namespace armarx::armem::base
EntityBase& operator=(EntityBase&& other) = default;
- virtual bool equalsDeep(const EntityBase& other) const
- {
- //std::cout << "Entity::equalsDeep" << std::endl;
- if (this->size() != other.size())
- {
- return false;
- }
- for (const auto& [key, snapshot] : this->_container)
- {
- if (not other.hasSnapshot(key))
- {
- return false;
- }
- if (not snapshot.equalsDeep(other.getSnapshot(key)))
- {
- return false;
- }
- }
- return true;
- }
-
+ // READING
inline const std::string& name() const
{
@@ -113,26 +92,14 @@ namespace armarx::armem::base
return const_cast<std::string&>(const_cast<const EntityBase*>(this)->name());
}
-
- inline const ContainerT& history() const
- {
- return this->_container;
- }
- inline ContainerT& history()
- {
- return const_cast<ContainerT&>(const_cast<const EntityBase*>(this)->history());
- }
-
-
/**
* @brief Indicates whether a history entry for the given time exists.
*/
- virtual bool hasSnapshot(const Time& time)
+ bool hasSnapshot(const Time& time)
{
return const_cast<const EntityBase*>(this)->hasSnapshot(time);
}
-
- virtual bool hasSnapshot(const Time& time) const
+ bool hasSnapshot(const Time& time) const
{
return this->_container.count(time) > 0;
}
@@ -154,12 +121,7 @@ namespace armarx::armem::base
/**
* @brief Get all timestamps in the history.
*/
- virtual std::vector<Time> getTimestamps()
- {
- return const_cast<const EntityBase*>(this)->getTimestamps();
- }
-
- virtual std::vector<Time> getTimestamps() const
+ std::vector<Time> getTimestamps() const
{
return simox::alg::get_keys(this->_container);
}
@@ -172,12 +134,12 @@ namespace armarx::armem::base
*
* @throws `armem::error::MissingEntry` If there is no such entry.
*/
- virtual EntitySnapshotT& getSnapshot(const Time& time)
+ EntitySnapshotT& getSnapshot(const Time& time)
{
return const_cast<EntitySnapshotT&>(const_cast<const EntityBase*>(this)->getSnapshot(time));
}
- virtual const EntitySnapshotT& getSnapshot(const Time& time) const
+ const EntitySnapshotT& getSnapshot(const Time& time) const
{
auto it = this->_container.find(time);
if (it != this->_container.end())
@@ -210,149 +172,233 @@ namespace armarx::armem::base
{
return const_cast<EntitySnapshotT&>(const_cast<const EntityBase*>(this)->getLatestSnapshot());
}
-
const EntitySnapshotT& getLatestSnapshot() const
{
return getLatestItem().second;
}
/**
- * @brief Return the lastest snapshot before or at time.
+ * @brief Return the snapshot with the most recent timestamp.
+ * @return The latest snapshot.
+ * @throw `armem::error::EntityHistoryEmpty` If the history is empty.
+ */
+ EntitySnapshotT& getFirstSnapshot()
+ {
+ return const_cast<EntitySnapshotT&>(const_cast<const EntityBase*>(this)->getFirstSnapshot());
+ }
+ const EntitySnapshotT& getFirstSnapshot() const
+ {
+ return getFirstItem().second;
+ }
+
+
+ /**
+ * @brief Return the lastest snapshot before time.
* @param time The time.
* @return The latest snapshot.
* @throw `armem::error::EntityHistoryEmpty` If the history is empty.
* @throw `armem::error::MissingEntry` If no such snapshot
*/
- virtual const EntitySnapshotT& getLatestSnapshotBeforeOrAt(const Time& time) const
+ const EntitySnapshotT& getLatestSnapshotBefore(const Time& time) const
{
- // first element equal or greater
- typename ContainerT::const_iterator refIt = this->_container.upper_bound(time);
+ if (this->empty())
+ {
+ throw error::EntityHistoryEmpty(this->name());
+ }
- if (refIt == this->_container.begin())
+ // We want the rightmost element < time
+ // lower_bound() gives us the the leftmost >= time, which is probably the right neighbour
+ typename ContainerT::const_iterator greaterEq = this->_container.lower_bound(time);
+ // Special cases:
+ // refIt = begin() => no element < time
+ if (greaterEq == this->_container.begin())
{
- if (refIt->first == time)
- {
- return refIt->second;
- }
throw error::MissingEntry::create<EntitySnapshotT>(toDateTimeMilliSeconds(time), *this);
}
- // last element less than
- typename ContainerT::const_iterator refItPrev = std::prev(refIt);
+ // end(): No element >= time, we can still have one < time (rbegin()) => std::prev(end())
+ // empty has been checked above
- // ... or we return the element before if possible
- if (refItPrev != this->_container.begin())
- {
- return refItPrev->second;
- }
+ // std::prev of end() is ok
+ typename ContainerT::const_iterator less = std::prev(greaterEq);
- throw error::MissingEntry::create<EntitySnapshotT>(toDateTimeMilliSeconds(time), *this);
+ // we return the element before if possible
+ return less->second;
}
/**
- * @brief Return the lastest snapshot before time.
+ * @brief Return the lastest snapshot before or at time.
* @param time The time.
* @return The latest snapshot.
* @throw `armem::error::EntityHistoryEmpty` If the history is empty.
* @throw `armem::error::MissingEntry` If no such snapshot
*/
- virtual const EntitySnapshotT& getLatestSnapshotBefore(const Time& time) const
+ const EntitySnapshotT& getLatestSnapshotBeforeOrAt(const Time& time) const
+ {
+ return getLatestSnapshotBefore(time + Time::microSeconds(1));
+ }
+
+ /**
+ * @brief Return first snapshot after or at time.
+ * @param time The time.
+ * @return The first snapshot.
+ * @throw `armem::error::EntityHistoryEmpty` If the history is empty.
+ * @throw `armem::error::MissingEntry` If no such snapshot
+ */
+ const EntitySnapshotT& getFirstSnapshotAfterOrAt(const Time& time) const
{
- // first element equal or greater
- typename ContainerT::const_iterator refIt = this->_container.upper_bound(time);
+ // We want the leftmost element >= time.
+ // That's lower bound.
+ typename ContainerT::const_iterator greaterEq = this->_container.lower_bound(time);
- if (refIt == this->_container.begin())
+ if (greaterEq == this->_container.end())
{
throw error::MissingEntry::create<EntitySnapshotT>(toDateTimeMilliSeconds(time), *this);
}
+ return greaterEq->second;
+ }
- // last element less than
- typename ContainerT::const_iterator refItPrev = std::prev(refIt);
+ /**
+ * @brief Return first snapshot after time.
+ * @param time The time.
+ * @return The first snapshot.
+ * @throw `armem::error::EntityHistoryEmpty` If the history is empty.
+ * @throw `armem::error::MissingEntry` If no such snapshot
+ */
+ const EntitySnapshotT& getFirstSnapshotAfter(const Time& time) const
+ {
+ return getFirstSnapshotAfter(time - Time::microSeconds(1));
+ }
- // we return the element before if possible
- if (refItPrev != this->_container.begin())
- {
- return refItPrev->second;
- }
- throw error::MissingEntry::create<EntitySnapshotT>(toDateTimeMilliSeconds(time), *this);
+ // ITERATION
+
+ /**
+ * @param func Function like: bool process(EntitySnapshotT& snapshot)
+ */
+ template <class SnapshotFunctionT>
+ bool forEachSnapshot(SnapshotFunctionT&& func)
+ {
+ return this->forEachChild(func);
}
+ /**
+ * @param func Function like void process(const EntitySnapshotT& snapshot)
+ */
+ template <class SnapshotFunctionT>
+ bool forEachSnapshot(SnapshotFunctionT&& func) const
+ {
+ return this->forEachChild(func);
+ }
+ // forEachInstance() is provided by ForEachEntityInstanceMixin.
+
/**
- * @brief Return all snapshots before or at time.
+ * @brief Return all snapshots before (excluding) time.
* @param time The time.
* @return The latest snapshots.
- * @throw `armem::error::EntityHistoryEmpty` If the history is empty.
- * @throw `armem::error::MissingEntry` If no such snapshots
*/
- virtual const std::vector<std::reference_wrapper<const EntitySnapshotT>> getSnapshotsBefore(const Time& time) const
+ template <class FunctionT>
+ void forEachSnapshotBefore(const Time& time, FunctionT&& func) const
{
- std::vector<std::reference_wrapper<const EntitySnapshotT>> ret;
- const EntitySnapshotT& latest = getLatestSnapshotBefore(time);
-
for (const auto& [timestamp, snapshot] : this->_container)
{
- ret.emplace_back(snapshot);
- if (timestamp == latest.id().timestamp)
+ if (timestamp >= time)
+ {
+ break;
+ }
+ if (not call(func, snapshot))
{
break;
}
}
- return ret;
}
/**
- * @brief Return first snapshot after or at time.
+ * @brief Return all snapshots before or at time.
* @param time The time.
- * @return The first snapshot.
- * @throw `armem::error::EntityHistoryEmpty` If the history is empty.
- * @throw `armem::error::MissingEntry` If no such snapshot
+ * @return The latest snapshots.
*/
- virtual const EntitySnapshotT& getFirstSnapshotAfterOrAt(const Time& time) const
+ template <class FunctionT>
+ void forEachSnapshotBeforeOrAt(const Time& time, FunctionT&& func) const
{
- // first element equal or greater
- typename ContainerT::const_iterator refIt = this->_container.upper_bound(time);
-
- if (refIt == this->_container.end())
- {
- throw error::MissingEntry::create<EntitySnapshotT>(toDateTimeMilliSeconds(time), *this);
- }
- return refIt->second;
+ getSnapshotsBefore(time + Time::microSeconds(1), func);
}
+
/**
- * @brief Return first snapshot after time.
- * @param time The time.
- * @return The first snapshot.
- * @throw `armem::error::EntityHistoryEmpty` If the history is empty.
- * @throw `armem::error::MissingEntry` If no such snapshot
+ * @brief Return all snapshots between, including, min and max.
+ * @param min The lowest time to include.
+ * @param min The highest time to include.
+ * @return The snapshots in [min, max].
*/
- virtual const EntitySnapshotT& getFirstSnapshotAfter(const Time& time) const
+ template <class FunctionT>
+ void forEachSnapshotInTimeRange(const Time& min, const Time& max, FunctionT&& func) const
{
- // first element equal or greater
- typename ContainerT::const_iterator refIt = this->_container.upper_bound(time);
+ // Returns an iterator pointing to the first element that is not less than (i.e. greater or equal to) key.
+ auto begin = min.toMicroSeconds() > 0 ? this->_container.lower_bound(min) : this->_container.begin();
+ // Returns an iterator pointing to the first element that is *greater than* key.
+ auto end = max.toMicroSeconds() > 0 ? this->_container.upper_bound(max) : this->_container.end();
- if (refIt == this->_container.end())
+ for (auto it = begin; it != end && it != this->_container.end(); ++it)
{
- throw error::MissingEntry::create<EntitySnapshotT>(toDateTimeMilliSeconds(time), *this);
+ if (not call(func, it->second))
+ {
+ break;
+ }
}
+ }
- if (refIt->first > time)
+ /**
+ * @brief Return all snapshots from first to last index.
+ *
+ * Negative index are counted from the end, e.g.
+ * last == -1 results in getting all queries until the end.
+ *
+ * @param first The first index to include.
+ * @param first The last index to include.
+ * @return The snapshots in [first, last].
+ */
+ template <class FunctionT>
+ void forEachSnapshotInIndexRange(long first, long last, FunctionT&& func) const
+ {
+ if (this->empty())
{
- return refIt->second;
+ return;
}
- // first element greater than
- typename ContainerT::const_iterator refItNext = std::next(refIt);
+ const size_t first_ = detail::negativeIndexSemantics(first, this->size());
+ const size_t last_ = detail::negativeIndexSemantics(last, this->size());
- if (refItNext != this->_container.end())
+ if (first_ <= last_)
{
- return refItNext->second;
+ auto it = this->_container.begin();
+ std::advance(it, first_);
+
+ size_t num = last_ - first_ + 1; // +1 to make last inclusive
+ for (size_t i = 0; i < num; ++i, ++it)
+ {
+ if (not call(func, it->second))
+ {
+ break;
+ }
+ }
}
+ }
+
- throw error::MissingEntry::create<EntitySnapshotT>(toDateTimeMilliSeconds(time), *this);
+ [[deprecated("Direct container access is deprecated. Use forEach*() instead.")]]
+ inline const ContainerT& history() const
+ {
+ return this->_container;
}
+ [[deprecated("Direct container access is deprecated. Use forEach*() instead.")]]
+ inline ContainerT& history()
+ {
+ return const_cast<ContainerT&>(const_cast<const EntityBase*>(this)->history());
+ }
+
+ // MODIFICATION
/**
* @brief Add the given update to this entity's history.
@@ -371,7 +417,7 @@ namespace armarx::armem::base
{
// Insert into history.
snapshot = &addSnapshot(update.timeCreated);
- ret.removedSnapshots = truncate();
+ // ret.removedSnapshots = this->truncate();
ret.entityUpdateType = UpdateType::InsertedNew;
}
else
@@ -380,30 +426,30 @@ namespace armarx::armem::base
ret.entityUpdateType = UpdateType::UpdatedExisting;
}
// Update entry.
- snapshot->update(update, this->id());
+ snapshot->update(update);
ret.id = snapshot->id();
return ret;
}
+
void append(const DerivedT& m)
{
- ARMARX_INFO << "Entity: Merge name '" << m.name() << "' into '" << name() << "'";
+ // ARMARX_INFO << "Entity: Merge name '" << m.name() << "' into '" << name() << "'";
- for (const auto& [k, s] : m.container())
+ m.forEachSnapshot([this](const EntitySnapshotT & snapshot)
{
- if (const auto& it = this->_container.find(k); it != this->_container.end())
- {
- // segment already exists
- // We assume that a snapshot does not change, so ignore
- }
- else
+ auto it = this->_container.find(snapshot.time());
+ if (it == this->_container.end())
{
- auto snapshot = s.copy();
- snapshot.id() = this->id().withTimestamp(k); // update id (e.g. memory name) if necessary
- this->_container.insert(std::make_pair(k, std::move(snapshot)));
+ EntitySnapshotT copy { snapshot };
+ copy.id() = this->id().withTimestamp(snapshot.time()); // update id (e.g. memory name) if necessary
+ this->_container.emplace(snapshot.time(), copy);
}
- }
+ // else: segment already exists
+ // We assume that a snapshot does not change, so ignore
+ return true;
+ });
}
/**
@@ -425,26 +471,39 @@ namespace armarx::armem::base
EntitySnapshotT& addSnapshot(const Time& timestamp)
{
- return addSnapshot(EntitySnapshotT(timestamp));
+ return addSnapshot(EntitySnapshotT(timestamp, this->id()));
}
- /**
- * @brief Sets the maximum history size.
- *
- * The current history is truncated if necessary.
- */
- void setMaxHistorySize(long maxSize) override
+
+ // MISC
+
+ bool equalsDeep(const DerivedT& other) const
{
- MaxHistorySize::setMaxHistorySize(maxSize);
- truncate();
+ //std::cout << "Entity::equalsDeep" << std::endl;
+ if (this->size() != other.size())
+ {
+ return false;
+ }
+ for (const auto& [key, snapshot] : this->_container)
+ {
+ if (not other.hasSnapshot(key))
+ {
+ return false;
+ }
+ if (not snapshot.equalsDeep(other.getSnapshot(key)))
+ {
+ return false;
+ }
+ }
+ return true;
}
- std::string getKeyString() const override
+ std::string getKeyString() const
{
return this->id().entityName;
}
- std::string getLevelName() const override
+ static std::string getLevelName()
{
return "entity";
}
@@ -452,28 +511,11 @@ namespace armarx::armem::base
protected:
- /// If maximum size is set, ensure `history`'s is not higher.
- std::vector<EntitySnapshotT> truncate()
- {
- std::vector<EntitySnapshotT> removedElements;
- if (_maxHistorySize >= 0)
- {
- while (this->_container.size() > size_t(_maxHistorySize))
- {
- removedElements.push_back(std::move(this->_container.begin()->second));
- this->_container.erase(this->_container.begin());
- }
- ARMARX_CHECK_LESS_EQUAL(this->_container.size(), _maxHistorySize);
- }
- return removedElements;
- }
-
/**
* @brief Return the snapshot with the most recent timestamp.
* @return The latest snapshot.
* @throw `armem::error::EntityHistoryEmpty` If the history is empty.
*/
- virtual
const typename ContainerT::value_type&
getLatestItem() const
{
@@ -484,6 +526,22 @@ namespace armarx::armem::base
return *this->_container.rbegin();
}
+ /**
+ * @brief Return the snapshot with the least recent timestamp.
+ * @return The first snapshot.
+ * @throw `armem::error::EntityHistoryEmpty` If the history is empty.
+ */
+ const typename ContainerT::value_type&
+ getFirstItem() const
+ {
+ if (this->_container.empty())
+ {
+ throw armem::error::EntityHistoryEmpty(name(), "when getting the first snapshot.");
+ }
+ return *this->_container.begin();
+ }
+
+
};
}
diff --git a/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.cpp b/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.cpp
index a6cfc7103728d5a81fecefe4ade6c96efef2814e..1cc2e9544d00ce96d65658acaf853c670418bdce 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.cpp
+++ b/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.cpp
@@ -1 +1,25 @@
#include "EntityInstanceBase.h"
+
+
+namespace armarx::armem::base
+{
+ bool EntityInstanceMetadata::operator==(const EntityInstanceMetadata& other) const
+ {
+ return timeCreated == other.timeCreated
+ && timeSent == other.timeSent
+ && timeArrived == other.timeArrived
+ && std::abs(confidence - other.confidence) < 1e-6f;
+ }
+}
+
+
+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"
+ ;
+ return os;
+}
diff --git a/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h b/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h
index 8dd474c667687e6235a96a191e577163ca194cba..fcb1869f791d9094fd793ff3af721e5fb942f111 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h
@@ -1,17 +1,53 @@
#pragma once
-#include "../../core/Time.h"
+#include <RobotAPI/libraries/armem/core/Commit.h>
+#include <RobotAPI/libraries/armem/core/Time.h>
-#include "../Commit.h"
#include "detail/MemoryItem.h"
namespace armarx::armem::base
{
+
+ /**
+ * @brief Default data of an entity instance (empty).
+ */
+ struct NoData
+ {
+ };
+
+
+ /**
+ * @brief Metadata of an entity instance.
+ */
+ struct EntityInstanceMetadata
+ {
+ /// Time when this value was created.
+ Time timeCreated;
+ /// Time when this value was sent to the memory.
+ Time timeSent;
+ /// Time when this value has arrived at the memory.
+ Time timeArrived;
+
+ /// An optional confidence, may be used for things like decay.
+ float confidence = 1.0;
+
+
+ bool operator==(const EntityInstanceMetadata& other) const;
+ inline bool operator!=(const EntityInstanceMetadata& other) const
+ {
+ return !(*this == other);
+ }
+ };
+
+ std::ostream& operator<<(std::ostream& os, const EntityInstanceMetadata& rhs);
+
+
+
/**
* @brief Data of a single entity instance.
*/
- template <class _DerivedT>
+ template <class _DataT = NoData, class _MetadataT = EntityInstanceMetadata>
class EntityInstanceBase :
public detail::MemoryItem
{
@@ -19,19 +55,18 @@ namespace armarx::armem::base
public:
- using DerivedT = _DerivedT;
+ using MetadataT = _MetadataT;
+ using DataT = _DataT;
- public:
-
EntityInstanceBase()
{
}
- EntityInstanceBase(int index, const MemoryID& parentID = {}) :
+ explicit EntityInstanceBase(int index, const MemoryID& parentID = {}) :
EntityInstanceBase(parentID.withInstanceIndex(index))
{
}
- EntityInstanceBase(const MemoryID& id) :
+ explicit EntityInstanceBase(const MemoryID& id) :
Base(id)
{
}
@@ -46,40 +81,47 @@ namespace armarx::armem::base
return id().instanceIndex;
}
- /**
- * @brief Fill `*this` with the update's values.
- * @param update The update.
- * @param index The instances index.
- */
- virtual void update(const EntityUpdate& update, int index) = 0;
- virtual bool equalsDeep(const DerivedT& other) const = 0;
+ EntityInstanceMetadata& metadata()
+ {
+ return _metadata;
+ }
+ const EntityInstanceMetadata& metadata() const
+ {
+ return _metadata;
+ }
- virtual DerivedT copy() const
+ const DataT& data() const
{
- DerivedT d;
- this->_copySelf(d);
- return d;
+ return _data;
}
+ DataT& data()
+ {
+ return _data;
+ }
- std::string getLevelName() const override
+
+ static std::string getLevelName()
{
return "entity instance";
}
- std::string getKeyString() const override
+ std::string getKeyString() const
{
return std::to_string(index());
}
+
protected:
- virtual void _copySelf(DerivedT& other) const
- {
- Base::_copySelf(other);
- }
+ /// The metadata.
+ MetadataT _metadata;
+
+ /// The data. May be nullptr.
+ DataT _data;
+
};
diff --git a/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.cpp b/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.cpp
index 5f7899f50d954f16b2d9c0a9569519529895eb20..72b4c48877c78dce70737fa58c58cd1b82b2d2e5 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.cpp
+++ b/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.cpp
@@ -1 +1,11 @@
#include "EntitySnapshotBase.h"
+
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+
+void armarx::armem::base::detail::throwIfNotEqual(const Time& ownTime, const Time& updateTime)
+{
+ ARMARX_CHECK_EQUAL(ownTime, updateTime)
+ << "Cannot update a snapshot to an update with another timestamp. \n"
+ << "Note: A snapshot's timestamp must not be changed after construction.";
+}
diff --git a/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h b/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h
index cf68286be26368cb4821fecbbe241e3ef33e0fbe..36d7274acedb92271587e3ba941345254033d840 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h
@@ -1,6 +1,5 @@
#pragma once
-#include <memory>
#include <vector>
#include "../MemoryID.h"
@@ -8,8 +7,13 @@
#include "EntityInstanceBase.h"
#include "detail/MemoryContainerBase.h"
+#include "detail/iteration_mixins.h"
+namespace armarx::armem::base::detail
+{
+ void throwIfNotEqual(const Time& ownTime, const Time& updateTime);
+}
namespace armarx::armem::base
{
/**
@@ -34,11 +38,11 @@ namespace armarx::armem::base
EntitySnapshotBase()
{
}
- EntitySnapshotBase(Time time, const MemoryID& parentID = {}) :
+ explicit EntitySnapshotBase(Time time, const MemoryID& parentID = {}) :
EntitySnapshotBase(parentID.withTimestamp(time))
{
}
- EntitySnapshotBase(const MemoryID& id) :
+ explicit EntitySnapshotBase(const MemoryID& id) :
Base(id)
{
}
@@ -49,24 +53,7 @@ namespace armarx::armem::base
EntitySnapshotBase& operator=(EntitySnapshotBase&& other) = default;
- bool equalsDeep(const EntitySnapshotBase& other) const
- {
- //std::cout << "EntitySnapshot::equalsDeep" << std::endl;
- if (this->size() != other.size())
- {
- return false;
- }
- int i = 0;
- for (const auto& instance : this->_container)
- {
- if (not instance.equalsDeep(other.getInstance(i)))
- {
- return false;
- }
- i++;
- }
- return true;
- }
+ // READING
inline Time& time()
{
@@ -78,34 +65,6 @@ namespace armarx::armem::base
return this->id().timestamp;
}
-
- inline const std::vector<EntityInstanceT>& instances() const
- {
- return this->_container;
- }
- inline std::vector<EntityInstanceT>& instances()
- {
- return const_cast<std::vector<EntityInstanceT>&>(const_cast<const EntitySnapshotBase*>(this)->instances());
- }
-
-
- void update(const EntityUpdate& update, std::optional<MemoryID> parentID = std::nullopt)
- {
- if (parentID)
- {
- this->id() = *parentID;
- }
- time() = update.timeCreated;
-
- this->_container.clear();
- for (int i = 0; i < int(update.instancesData.size()); ++i)
- {
- EntityInstanceT& data = this->_container.emplace_back(i, this->id());
- data.update(update, i);
- }
- }
-
-
bool hasInstance(int index) const
{
size_t si = size_t(index);
@@ -122,7 +81,6 @@ namespace armarx::armem::base
{
return const_cast<EntityInstanceT&>(const_cast<const EntitySnapshotBase*>(this)->getInstance(index));
}
-
const EntityInstanceT& getInstance(int index) const
{
if (hasInstance(index))
@@ -135,6 +93,23 @@ namespace armarx::armem::base
}
}
+ EntityInstanceT* findInstance(int index)
+ {
+ return const_cast<EntityInstanceT*>(const_cast<const EntitySnapshotBase*>(this)->findInstance(index));
+ }
+ const EntityInstanceT* findInstance(int index) const
+ {
+ if (hasInstance(index))
+ {
+ return &this->_container[static_cast<size_t>(index)];
+ }
+ else
+ {
+ return nullptr;
+ }
+ }
+
+
/**
* @brief Get the given instance.
* @param index The instance's index.
@@ -157,6 +132,51 @@ namespace armarx::armem::base
}
+ // ITERATION
+
+ /**
+ * @param func Function like void process(EntityInstanceT& instance)>
+ */
+ template <class InstanceFunctionT>
+ bool forEachInstance(InstanceFunctionT&& func)
+ {
+ return this->forEachChild(func);
+ }
+ /**
+ * @param func Function like void process (const EntityInstanceT& instance)
+ */
+ template <class InstanceFunctionT>
+ bool forEachInstance(InstanceFunctionT&& func) const
+ {
+ return this->forEachChild(func);
+ }
+
+ [[deprecated("Direct container access is deprecated. Use forEach*() instead.")]]
+ inline const std::vector<EntityInstanceT>& instances() const
+ {
+ return this->_container;
+ }
+ [[deprecated("Direct container access is deprecated. Use forEach*() instead.")]]
+ inline std::vector<EntityInstanceT>& instances()
+ {
+ return const_cast<std::vector<EntityInstanceT>&>(const_cast<const EntitySnapshotBase*>(this)->instances());
+ }
+
+
+ // MODIFICATION
+
+ void update(const EntityUpdate& update)
+ {
+ detail::throwIfNotEqual(time(), update.timeCreated);
+
+ this->_container.clear();
+ for (int index = 0; index < int(update.instancesData.size()); ++index)
+ {
+ EntityInstanceT& data = this->_container.emplace_back(index, this->id());
+ data.update(update);
+ }
+ }
+
/**
* @brief Add a single instance with data.
* @param instance The instance.
@@ -181,27 +201,49 @@ namespace armarx::armem::base
"Cannot add an EntityInstance because its index is too big.");
}
- int new_index = this->_container.size();
- auto& it = this->_container.emplace_back(std::move(instance));
- it.index() = new_index;
- return it;
+ int index = static_cast<int>(this->_container.size());
+ EntityInstanceT& added = this->_container.emplace_back(std::move(instance));
+ added.id() = this->id().withInstanceIndex(index);
+ return added;
}
EntityInstanceT& addInstance()
{
- int new_index = this->_container.size();
- auto& it = this->_container.emplace_back(EntityInstanceT());;
- it.index() = new_index;
- it.id() = this->id().withInstanceIndex(new_index);
- return it;
+ int index = static_cast<int>(this->size());
+ EntityInstanceT& added = this->_container.emplace_back(EntityInstanceT());
+ added.id() = this->id().withInstanceIndex(index);
+ return added;
}
- std::string getKeyString() const override
+
+ // MISC
+
+ bool equalsDeep(const DerivedT& other) const
+ {
+ //std::cout << "EntitySnapshot::equalsDeep" << std::endl;
+ if (this->size() != other.size())
+ {
+ return false;
+ }
+ int i = 0;
+ for (const auto& instance : this->_container)
+ {
+ if (not instance.equalsDeep(other.getInstance(i)))
+ {
+ return false;
+ }
+ i++;
+ }
+ return true;
+ }
+
+
+ std::string getKeyString() const
{
return toDateTimeMilliSeconds(this->time());
}
- std::string getLevelName() const override
+ static std::string getLevelName()
{
return "entity snapshot";
}
diff --git a/source/RobotAPI/libraries/armem/core/base/MemoryBase.h b/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
index 1bc42b0cc579dbf8abe4f2831608166451ff8fbb..80b57801d0031c3b66a7e6b72573290ed8c05a5a 100644
--- a/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
@@ -7,6 +7,7 @@
#include "CoreSegmentBase.h"
#include "detail/EntityContainerBase.h"
+#include "detail/iteration_mixins.h"
namespace armarx::armem::base
@@ -17,7 +18,11 @@ namespace armarx::armem::base
*/
template <class _CoreSegmentT, class _Derived>
class MemoryBase :
- public detail::EntityContainerBase<_CoreSegmentT, typename _CoreSegmentT::ProviderSegmentT::EntityT, _Derived>
+ public detail::EntityContainerBase<_CoreSegmentT, typename _CoreSegmentT::ProviderSegmentT::EntityT, _Derived>,
+ public detail::ForEachEntityInstanceMixin<_Derived>,
+ public detail::ForEachEntitySnapshotMixin<_Derived>,
+ public detail::ForEachEntityMixin<_Derived>,
+ public detail::ForEachProviderSegmentMixin<_Derived>
{
using Base = detail::EntityContainerBase<_CoreSegmentT, typename _CoreSegmentT::ProviderSegmentT::EntityT, _Derived>;
@@ -57,11 +62,11 @@ namespace armarx::armem::base
MemoryBase()
{
}
- MemoryBase(const std::string& name) :
+ explicit MemoryBase(const std::string& name) :
MemoryBase(MemoryID().withMemoryName(name))
{
}
- MemoryBase(const MemoryID& id) :
+ explicit MemoryBase(const MemoryID& id) :
Base(id)
{
}
@@ -72,6 +77,8 @@ namespace armarx::armem::base
MemoryBase& operator=(MemoryBase&& other) = default;
+ // READ ACCESS
+
inline const std::string& name() const
{
return this->id().memoryName;
@@ -82,19 +89,14 @@ namespace armarx::armem::base
}
- inline auto& coreSegments() const
- {
- return this->_container;
- }
- inline auto& coreSegments()
+ bool hasCoreSegment(const std::string& name) const
{
- return this->_container;
+ return this->_container.count(name) > 0;
}
-
- bool hasCoreSegment(const std::string& name) const
+ std::vector<std::string> getCoreSegmentNames() const
{
- return this->_container.count(name) > 0;
+ return simox::alg::get_keys(this->_container);
}
CoreSegmentT& getCoreSegment(const std::string& name)
@@ -141,13 +143,13 @@ namespace armarx::armem::base
using Base::getEntity;
- const EntityT& getEntity(const MemoryID& id) const override
+ const EntityT& getEntity(const MemoryID& id) const
{
this->_checkContainerName(id.memoryName, this->name());
return getCoreSegment(id.coreSegmentName).getEntity(id);
}
- const EntityT* findEntity(const MemoryID& id) const override
+ const EntityT* findEntity(const MemoryID& id) const
{
this->_checkContainerName(id.memoryName, this->name());
if (id.hasCoreSegmentName())
@@ -167,32 +169,66 @@ namespace armarx::armem::base
}
}
+
+ // ITERATION
+
+ /**
+ * @param func Function like: bool process(CoreSegmentT& coreSeg)
+ */
+ template <class CoreSegmentFunctionT>
+ bool forEachCoreSegment(CoreSegmentFunctionT&& func)
+ {
+ return this->forEachChild(func);
+ }
+ /**
+ * @param func Function like: bool process(const CoreSegmentT& coreSeg)
+ */
+ template <class CoreSegmentFunctionT>
+ bool forEachCoreSegment(CoreSegmentFunctionT&& func) const
+ {
+ return this->forEachChild(func);
+ }
+
+ // forEachProviderSegment() is provided by ForEachProviderSegmentMixin.
+ // forEachEntity() is provided by ForEachEntityMixin.
+ // forEachSnapshot() is provided by ForEachEntitySnapshotMixin.
+ // forEachInstance() is provided by ForEachEntityInstanceMixin.
+
+
+ [[deprecated("Direct container access is deprecated. Use forEach*() instead.")]]
+ inline auto& coreSegments() const
+ {
+ return this->_container;
+ }
+ [[deprecated("Direct container access is deprecated. Use forEach*() instead.")]]
+ inline auto& coreSegments()
+ {
+ return this->_container;
+ }
+
+
+ // MODIFICATION
+
/**
* @brief Add an empty core segment with the given name.
* @param name The core segment name.
* @param coreSegmentType The core segment type (optional).
* @return The added core segment.
*/
- CoreSegmentT& addCoreSegment(const std::string& name, aron::typenavigator::ObjectNavigatorPtr coreSegmentType = nullptr)
+ CoreSegmentT& addCoreSegment(
+ const std::string& name, aron::typenavigator::ObjectNavigatorPtr coreSegmentType = nullptr)
{
- return addCoreSegment(CoreSegmentT(name, coreSegmentType));
+ return _addCoreSegment(name, name, this->id(), coreSegmentType);
}
/// Copy and insert a core segment.
CoreSegmentT& addCoreSegment(const CoreSegmentT& coreSegment)
{
- return addCoreSegment(CoreSegmentT(coreSegment));
+ return _addCoreSegment(coreSegment.name(), CoreSegmentT(coreSegment));
}
/// Move and insert a core segment.
CoreSegmentT& addCoreSegment(CoreSegmentT&& coreSegment)
{
- if (this->_container.count(coreSegment.name()) > 0)
- {
- throw armem::error::ContainerEntryAlreadyExists(coreSegment.getLevelName(), coreSegment.name(),
- this->getLevelName(), this->name());
- }
- auto it = this->_container.emplace(coreSegment.name(), std::move(coreSegment)).first;
- it->second.id().setMemoryID(this->id());
- return it->second;
+ return _addCoreSegment(coreSegment.name(), coreSegment);
}
/**
@@ -223,10 +259,10 @@ namespace armarx::armem::base
* @param commit The commit.
* @return The resulting memory IDs.
*/
- virtual std::vector<UpdateResult> update(const Commit& commit)
+ std::vector<UpdateResult> update(const Commit& commit)
{
std::vector<UpdateResult> results;
- for (const auto& update : commit.updates)
+ for (const EntityUpdate& update : commit.updates)
{
results.push_back(this->update(update));
}
@@ -238,7 +274,7 @@ namespace armarx::armem::base
* @param update The update.
* @return The resulting entity snapshot's ID.
*/
- virtual UpdateResult update(const EntityUpdate& update)
+ UpdateResult update(const EntityUpdate& update)
{
this->_checkContainerName(update.entityID.memoryName, this->name());
@@ -272,7 +308,7 @@ namespace armarx::armem::base
}
else
{
- throw error::MissingEntry::create<EntitySnapshotT>(coreSegmentName, *this);
+ throw error::MissingEntry::create<CoreSegmentT>(coreSegmentName, *this);
}
}
else
@@ -290,22 +326,19 @@ namespace armarx::armem::base
{
ARMARX_INFO << "Memory: Merge name '" << m.name() << "' into '" << name() << "'";
- for (const auto& [k, s] : m.container())
+ m.forEachCoreSegment([this](const CoreSegmentT & coreSeg)
{
- if (const auto& it = this->_container.find(k); it != this->_container.end())
- {
- // segment already exists
- it->second.append(s);
- }
- else
+ auto it = this->_container.find(coreSeg.name());
+ if (it == this->_container.end())
{
- auto wms = this->_container.emplace(k, this->id().withCoreSegmentName(k));
- wms.first->second.append(s);
+ it = this->_container.emplace(coreSeg.name(), this->id().withCoreSegmentName(coreSeg.name())).first;
}
- }
+ it->second.append(coreSeg);
+ return true;
+ });
}
- virtual bool equalsDeep(const MemoryBase& other) const
+ bool equalsDeep(const MemoryBase& other) const
{
//std::cout << "Memory::equalsDeep" << std::endl;
if (this->size() != other.size())
@@ -326,12 +359,12 @@ namespace armarx::armem::base
return true;
}
- std::string getLevelName() const override
+ static std::string getLevelName()
{
return "memory";
}
- std::string getKeyString() const override
+ std::string getKeyString() const
{
return this->name();
}
@@ -339,37 +372,55 @@ namespace armarx::armem::base
std::string dump() const
{
std::stringstream ss;
- ss << "Memory: " << this->name() << "\n";
- for (const auto& [ckey, cseg] : this->container())
+ ss << "Memory '" << this->name() << "': \n";
+ forEachCoreSegment([&ss](const CoreSegmentT & cseg)
{
- ss << " |- Found core seg: " << ckey << "\n";
- for (const auto& [pkey, pseg] : cseg.container())
+ ss << "+- Core segment '" << cseg.name() << "' (" << cseg.size() << "): \n";
+ cseg.forEachProviderSegment([&ss](const ProviderSegmentT & pseg)
{
- ss << " | |- Found prov seg: " << pkey << "\n";
- for (const auto& [ekey, eseg] : pseg.container())
+ ss << "| +- Provider segment '" << pseg.name() << "' (" << pseg.size() << "): \n";
+ pseg.forEachEntity([&ss](const EntityT & entity)
{
- ss << " | | |- Found entity: " << ekey << "\n";
- }
- }
- }
+ ss << "| | +- Entity '" << entity.name() << "' (" << entity.size() << "): \n";
+ return true;
+ });
+ return true;
+ });
+ return true;
+ });
return ss.str();
}
- protected:
- virtual void _copySelf(DerivedT& other) const override
- {
- Base::_copySelf(other);
- other._addMissingCoreSegmentDuringUpdate = _addMissingCoreSegmentDuringUpdate;
- }
- virtual void _copySelfEmpty(DerivedT& other) const override
+ private:
+
+ /**
+ * This function allows to emplace a CoreSegment directly in the
+ * container from its constructor arguments, instead of constructing
+ * it outside and moving it.
+ * This is necessary if CoreSegmentT is not movable.
+ */
+ template <class ...Args>
+ CoreSegmentT& _addCoreSegment(const std::string& name, Args... args)
{
- Base::_copySelfEmpty(other);
- other._addMissingCoreSegmentDuringUpdate = _addMissingCoreSegmentDuringUpdate;
+ auto [it, existed] = this->_container.try_emplace(name, args...);
+ if (existed)
+ {
+ throw armem::error::ContainerEntryAlreadyExists(
+ CoreSegmentT::getLevelName(), name, DerivedT::getLevelName(), this->name());
+ }
+ else
+ {
+ it->second.id().setMemoryID(this->id());
+ it->second.id().coreSegmentName = name;
+ return it->second;
+ }
}
+
public:
bool _addMissingCoreSegmentDuringUpdate = false;
+
};
}
diff --git a/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h b/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h
index 57ff3210244fa516551f4906a2ea07c2cc81f09d..e5163241738a0e8dbba5edbd35f8e5a568060746 100644
--- a/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h
@@ -6,7 +6,7 @@
#include "EntityBase.h"
#include "detail/AronTyped.h"
#include "detail/EntityContainerBase.h"
-#include "detail/MaxHistorySize.h"
+#include "detail/iteration_mixins.h"
namespace armarx::armem::base
@@ -18,8 +18,9 @@ namespace armarx::armem::base
template <class _EntityT, class _Derived>
class ProviderSegmentBase :
public detail::EntityContainerBase<_EntityT, _EntityT, _Derived>,
- public detail::MaxHistorySize,
- public detail::AronTyped
+ public detail::AronTyped,
+ public detail::ForEachEntityInstanceMixin<_Derived>,
+ public detail::ForEachEntitySnapshotMixin<_Derived>
{
using Base = detail::EntityContainerBase<_EntityT, _EntityT, _Derived>;
@@ -53,15 +54,15 @@ namespace armarx::armem::base
{
}
- ProviderSegmentBase(const std::string& name, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr) :
- ProviderSegmentBase(MemoryID().withProviderSegmentName(name), aronType)
+ explicit ProviderSegmentBase(const std::string& name, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr) :
+ ProviderSegmentBase(name, MemoryID(), aronType)
{
}
- ProviderSegmentBase(const std::string& name, const MemoryID parentID, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr) :
+ explicit ProviderSegmentBase(const std::string& name, const MemoryID parentID, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr) :
ProviderSegmentBase(parentID.withProviderSegmentName(name), aronType)
{
}
- ProviderSegmentBase(const MemoryID id, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr) :
+ explicit ProviderSegmentBase(const MemoryID id, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr) :
Base(id),
AronTyped(aronType)
{
@@ -73,6 +74,8 @@ namespace armarx::armem::base
ProviderSegmentBase& operator=(ProviderSegmentBase&& other) = default;
+ // READ ACCESS
+
inline const std::string& name() const
{
return this->id().providerSegmentName;
@@ -83,23 +86,18 @@ namespace armarx::armem::base
}
- inline const auto& entities() const
- {
- return this->_container;
- }
- inline auto& entities()
+ bool hasEntity(const std::string& name) const
{
- return this->_container;
+ return this->_container.count(name) > 0;
}
-
- bool hasEntity(const std::string& name) const
+ std::vector<std::string> getEntityNames() const
{
- return this->_container.count(name) > 0;
+ return simox::alg::get_keys(this->_container);
}
using Base::getEntity;
- const EntityT& getEntity(const MemoryID& id) const override
+ const EntityT& getEntity(const MemoryID& id) const
{
this->_checkContainerName(id.providerSegmentName, this->getKeyString());
return getEntity(id.entityName);
@@ -123,7 +121,7 @@ namespace armarx::armem::base
}
}
- const EntityT* findEntity(const MemoryID& id) const override
+ const EntityT* findEntity(const MemoryID& id) const
{
this->_checkContainerName(id.providerSegmentName, this->getKeyString());
auto it = this->_container.find(id.entityName);
@@ -137,6 +135,46 @@ namespace armarx::armem::base
}
}
+
+ // ITERATION
+
+ // All functors are taken as universal reference (F&&).
+
+ /**
+ * @param func Function like: bool process(EntityT& entity)
+ */
+ template <class EntityFunctionT>
+ bool forEachEntity(EntityFunctionT&& func)
+ {
+ return this->forEachChild(func);
+ }
+ /**
+ * @param func Function like: bool process(const EntityT& entity)
+ */
+ template <class EntityFunctionT>
+ bool forEachEntity(EntityFunctionT&& func) const
+ {
+ return this->forEachChild(func);
+ }
+
+ // forEachSnapshot() is provided by ForEachEntitySnapshotMixin.
+ // forEachInstance() is provided by ForEachEntityInstanceMixin.
+
+
+ [[deprecated("Direct container access is deprecated. Use forEach*() instead.")]]
+ inline const ContainerT& entities() const
+ {
+ return this->_container;
+ }
+ [[deprecated("Direct container access is deprecated. Use forEach*() instead.")]]
+ inline ContainerT& entities()
+ {
+ return this->_container;
+ }
+
+
+ // MODIFICATION
+
/**
* @brief Updates an entity's history.
*
@@ -154,7 +192,6 @@ namespace armarx::armem::base
{
// Add entity entry.
entity = &addEntity(update.entityID.entityName);
- entity->setMaxHistorySize(_maxHistorySize);
updateType = UpdateType::InsertedNew;
}
else
@@ -170,27 +207,24 @@ namespace armarx::armem::base
void append(const _Derived& m)
{
- ARMARX_INFO << "ProviderSegment: Merge name '" << m.name() << "' into '" << name() << "'";
+ // ARMARX_INFO << "ProviderSegment: Merge name '" << m.name() << "' into '" << name() << "'";
- for (const auto& [k, s] : m.container())
+ m.forEachEntity([this](const EntityT & entity)
{
- if (const auto& it = this->_container.find(k); it != this->_container.end())
+ auto it = this->_container.find(entity.name());
+ if (it == this->_container.end())
{
- // segment already exists
- it->second.append(s);
+ it = this->_container.emplace(entity.name(), this->id().withEntityName(entity.name())).first;
}
- else
- {
- auto wms = this->_container.emplace(k, this->id().withEntityName(k));
- wms.first->second.append(s);
- }
- }
+ it->second.append(entity);
+ return true;
+ });
}
/// Add an empty entity with the given name.
EntityT& addEntity(const std::string& name)
{
- return addEntity(EntityT(name));
+ return addEntity(EntityT(name, this->id()));
}
/// Copy and insert an entity.
EntityT& addEntity(const EntityT& entity)
@@ -206,22 +240,9 @@ namespace armarx::armem::base
}
- /**
- * @brief Sets the maximum history size of container in this segment.
- * This affects all current container as well as new ones.
- * @see Entity::setMaxHistorySize()
- */
- void setMaxHistorySize(long maxSize) override
- {
- MaxHistorySize::setMaxHistorySize(maxSize);
- for (auto& [name, entity] : this->_container)
- {
- entity.setMaxHistorySize(maxSize);
- }
- }
+ // MISC
-
- virtual bool equalsDeep(const ProviderSegmentBase& other) const
+ bool equalsDeep(const DerivedT& other) const
{
//std::cout << "ProviderSegment::equalsDeep" << std::endl;
if (this->size() != other.size())
@@ -243,30 +264,17 @@ namespace armarx::armem::base
return true;
}
- std::string getLevelName() const override
+
+ static std::string getLevelName()
{
return "provider segment";
}
- std::string getKeyString() const override
+ std::string getKeyString() const
{
return this->name();
}
-
- protected:
-
- virtual void _copySelf(DerivedT& other) const override
- {
- Base::_copySelf(other);
- other.aronType() = _aronType;
- }
- virtual void _copySelfEmpty(DerivedT& other) const override
- {
- Base::_copySelfEmpty(other);
- other.aronType() = _aronType;
- }
-
};
}
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/AronTyped.cpp b/source/RobotAPI/libraries/armem/core/base/detail/AronTyped.cpp
index ec7ca0402ad128dc6d342aa28279929c376df557..48147758528cb5ac46baa8a952272ee831ed1e01 100644
--- a/source/RobotAPI/libraries/armem/core/base/detail/AronTyped.cpp
+++ b/source/RobotAPI/libraries/armem/core/base/detail/AronTyped.cpp
@@ -1,5 +1,8 @@
#include "AronTyped.h"
+#include <RobotAPI/libraries/aron/core/navigator/type/container/Object.h>
+
+
namespace armarx::armem::base::detail
{
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/AronTyped.h b/source/RobotAPI/libraries/armem/core/base/detail/AronTyped.h
index fb0ad088fb4fb27ca39cf09f034ea7eb3b202cfe..16233556c83f8febb732824a7001c9b2e8d1e2ac 100644
--- a/source/RobotAPI/libraries/armem/core/base/detail/AronTyped.h
+++ b/source/RobotAPI/libraries/armem/core/base/detail/AronTyped.h
@@ -1,6 +1,6 @@
#pragma once
-#include <RobotAPI/libraries/aron/core/navigator/type/container/Object.h>
+#include <RobotAPI/libraries/aron/core/navigator/type/forward_declarations.h>
namespace armarx::armem::base::detail
@@ -13,7 +13,7 @@ namespace armarx::armem::base::detail
{
public:
- AronTyped(aron::typenavigator::ObjectNavigatorPtr aronType = nullptr);
+ explicit AronTyped(aron::typenavigator::ObjectNavigatorPtr aronType = nullptr);
bool hasAronType() const;
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/EntityContainerBase.h b/source/RobotAPI/libraries/armem/core/base/detail/EntityContainerBase.h
index 95993d560c6435fd147ddfc7a2a7aa9267d94855..53cddfff656cdf0fb000323afc4aefcc18c2f50f 100644
--- a/source/RobotAPI/libraries/armem/core/base/detail/EntityContainerBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/detail/EntityContainerBase.h
@@ -1,12 +1,12 @@
#pragma once
-#include "../../Commit.h"
-#include "../../error/ArMemError.h"
+#include <RobotAPI/libraries/armem/core/Commit.h>
+#include <RobotAPI/libraries/armem/core/error/ArMemError.h>
#include "MemoryContainerBase.h"
-#include "../EntityBase.h"
-#include "../EntitySnapshotBase.h"
+#include <RobotAPI/libraries/armem/core/base/EntityBase.h>
+#include <RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h>
namespace armarx::armem::base::detail
@@ -34,8 +34,9 @@ namespace armarx::armem::base::detail
public:
- using Base::MemoryContainerBase;
- using Base::operator=;
+ // `using Base::MemoryContainerBase` breaks code completion of QtCreator.
+ using MemoryContainerBase<std::map<std::string, _ValueT>, _Derived>::MemoryContainerBase;
+ using MemoryContainerBase<std::map<std::string, _ValueT>, _Derived>::operator=;
/**
* @brief Retrieve an entity.
@@ -43,11 +44,11 @@ namespace armarx::armem::base::detail
* @return The entity.
* @throw An exception deriving from `armem::error::ArMemError` if the entity is missing.
*/
+ // const EntityT& getEntity(const MemoryID& id) const;
EntityT& getEntity(const MemoryID& id)
{
- return const_cast<EntityT&>(const_cast<const EntityContainerBase*>(this)->getEntity(id));
+ return const_cast<EntityT&>(const_cast<const EntityContainerBase*>(this)->_derived().getEntity(id));
}
- virtual const EntityT& getEntity(const MemoryID& id) const = 0;
/**
* @brief Find an entity.
@@ -61,7 +62,11 @@ namespace armarx::armem::base::detail
* @param id The entities ID.
* @return A pointer to the first matching entity or `nullptr` if none was found.
*/
- virtual const EntityT* findEntity(const MemoryID& id) const = 0;
+ // const EntityT* findEntity(const MemoryID& id) const;
+ EntityT* findEntity(const MemoryID& id)
+ {
+ return const_cast<EntityT*>(const_cast<const EntityContainerBase*>(this)->_derived().findEntity(id));
+ }
/**
@@ -75,12 +80,12 @@ namespace armarx::armem::base::detail
*/
EntitySnapshotT& getEntitySnapshot(const MemoryID& id)
{
- return const_cast<EntitySnapshotT&>(const_cast<const EntityContainerBase*>(this)->getEntitySnapshot(id));
+ return const_cast<EntitySnapshotT&>(const_cast<const EntityContainerBase*>(this)->_derived().getEntitySnapshot(id));
}
const EntitySnapshotT& getEntitySnapshot(const MemoryID& id) const
{
- const EntityT& entity = getEntity(id);
+ const EntityT& entity = _derived().getEntity(id);
if (id.hasTimestamp())
{
@@ -101,6 +106,19 @@ namespace armarx::armem::base::detail
{
return getEntitySnapshot(id).getInstance(id);
}
+
+
+ private:
+
+ DerivedT& _derived()
+ {
+ return static_cast<DerivedT&>(*this);
+ }
+ const DerivedT& _derived() const
+ {
+ return static_cast<const DerivedT&>(*this);
+ }
+
};
}
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/MaxHistorySize.h b/source/RobotAPI/libraries/armem/core/base/detail/MaxHistorySize.h
deleted file mode 100644
index 1fc07ed85e54716d24d2447fa17cb95b291f2766..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/base/detail/MaxHistorySize.h
+++ /dev/null
@@ -1,35 +0,0 @@
-#pragma once
-
-
-
-namespace armarx::armem::base::detail
-{
- // TODO: Replace by ConstrainedHistorySize (not only max entries, e.g. delete oldest / delete least accessed / ...)
- class MaxHistorySize
- {
- public:
-
- virtual ~MaxHistorySize();
-
- /**
- * @brief Sets the maximum history size of entities in this segment.
- * This affects all current entities as well as new ones.
- * @see Entity::setMaxHistorySize()
- */
- virtual void setMaxHistorySize(long maxSize);
- virtual long getMaxHistorySize() const;
-
-
- protected:
-
- /**
- * @brief Maximum size of entity histories.
- *
- * If negative, the size of `history` is not limited.
- *
- * @see Entity::maxHstorySize
- */
- long _maxHistorySize = -1;
-
- };
-}
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/MemoryContainerBase.h b/source/RobotAPI/libraries/armem/core/base/detail/MemoryContainerBase.h
index 518e3f877f38ea364657c0a5448d48bc6cf36fbf..4d7cbec1877176f511e854eeefa60a9d6159aded 100644
--- a/source/RobotAPI/libraries/armem/core/base/detail/MemoryContainerBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/detail/MemoryContainerBase.h
@@ -3,6 +3,7 @@
#include <RobotAPI/libraries/armem/core/error/ArMemError.h>
#include "MemoryItem.h"
+#include "iteration_mixins.h"
namespace armarx::armem::base::detail
@@ -18,16 +19,16 @@ namespace armarx::armem::base::detail
using Base = MemoryItem;
public:
+
using DerivedT = _DerivedT;
using ContainerT = _ContainerT;
public:
-
MemoryContainerBase()
{}
- MemoryContainerBase(const MemoryID& id) :
+ explicit MemoryContainerBase(const MemoryID& id) :
MemoryItem(id)
{
}
@@ -48,32 +49,56 @@ namespace armarx::armem::base::detail
{
return _container.size();
}
- bool hasData() const
- {
- return size() > 0;
- }
void clear()
{
return _container.clear();
}
+
+ // ITERATION
+
+ /**
+ * @param func Function like: bool process(ChildT& provSeg)
+ */
+ template <class ChildFunctionT>
+ bool forEachChild(ChildFunctionT&& func)
+ {
+ return base::detail::forEachChild(this->_container, func);
+ }
+ /**
+ * @param func Function like: bool process(const ChildT& provSeg)
+ */
+ template <class ChildFunctionT>
+ bool forEachChild(ChildFunctionT&& func) const
+ {
+ return base::detail::forEachChild(this->_container, func);
+ }
+
+
+ [[deprecated("Direct container access is deprecated. Use forEach*() instead.")]]
typename ContainerT::const_iterator begin() const
{
return _container.begin();
}
+ [[deprecated("Direct container access is deprecated. Use forEach*() instead.")]]
typename ContainerT::iterator begin()
{
return _container.begin();
}
+ [[deprecated("Direct container access is deprecated. Use forEach*() instead.")]]
typename ContainerT::const_iterator end() const
{
return _container.end();
}
+ [[deprecated("Direct container access is deprecated. Use forEach*() instead.")]]
typename ContainerT::iterator end()
{
return _container.end();
}
+
+ protected:
+
const ContainerT& container() const
{
return _container;
@@ -83,24 +108,6 @@ namespace armarx::armem::base::detail
return _container;
}
- // Copying
- DerivedT copy() const
- {
- DerivedT d;
- this->_copySelf(d);
- return d;
- }
-
- /// Make a copy not containing any elements.
- DerivedT copyEmpty() const
- {
- DerivedT d;
- this->_copySelfEmpty(d);
- return std::move(d);
- }
-
-
- protected:
/**
* @throw `armem::error::ContainerNameMismatch` if `gottenName` does not match `actualName`.
@@ -110,21 +117,11 @@ namespace armarx::armem::base::detail
{
if (!((emptyOk && gottenName.empty()) || gottenName == actualName))
{
- throw armem::error::ContainerNameMismatch(gottenName, this->getLevelName(), actualName);
+ throw armem::error::ContainerNameMismatch(
+ gottenName, DerivedT::getLevelName(), actualName);
}
}
- virtual void _copySelf(DerivedT& other) const
- {
- Base::_copySelf(other);
- other.container() = _container;
- }
-
- virtual void _copySelfEmpty(DerivedT& other) const
- {
- Base::_copySelf(other);
- }
-
protected:
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/MemoryItem.cpp b/source/RobotAPI/libraries/armem/core/base/detail/MemoryItem.cpp
index a6a9f73e17443091503c09472bc3cee7259644ac..8f4a1920f0a1fcd669b9c3fc2193a617b4dba205 100644
--- a/source/RobotAPI/libraries/armem/core/base/detail/MemoryItem.cpp
+++ b/source/RobotAPI/libraries/armem/core/base/detail/MemoryItem.cpp
@@ -8,33 +8,15 @@ namespace armarx::armem::base::detail
{
}
+
MemoryItem::MemoryItem(const MemoryID& id) :
_id(id)
{
}
- /*
- MemoryItem::MemoryItem(const MemoryItem& other) :
- _id(other.id())
- {}
- */
-
MemoryItem::~MemoryItem()
{
}
- /*
- MemoryItem& MemoryItem::operator=(const MemoryItem& other)
- {
- other._copySelf(*this);
- return *this;
- }
- */
-
- void MemoryItem::_copySelf(MemoryItem& other) const
- {
- other.id() = id();
- }
-
}
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/MemoryItem.h b/source/RobotAPI/libraries/armem/core/base/detail/MemoryItem.h
index 45226e6327520b7bbddc198364c16c2b8229352c..6aea07121aa201fcbbf0f0b18f46ccc3ab4e2aac 100644
--- a/source/RobotAPI/libraries/armem/core/base/detail/MemoryItem.h
+++ b/source/RobotAPI/libraries/armem/core/base/detail/MemoryItem.h
@@ -2,7 +2,7 @@
#include <string>
-#include "../../MemoryID.h"
+#include <RobotAPI/libraries/armem/core/MemoryID.h>
namespace armarx::armem::base::detail
@@ -16,18 +16,13 @@ namespace armarx::armem::base::detail
public:
MemoryItem();
- MemoryItem(const MemoryID& id);
+ explicit MemoryItem(const MemoryID& id);
MemoryItem(const MemoryItem& other) = default;
MemoryItem(MemoryItem&& other) = default;
MemoryItem& operator=(const MemoryItem& other) = default;
MemoryItem& operator=(MemoryItem&& other) = default;
- virtual ~MemoryItem();
-
-
- //MemoryItem& operator=(const MemoryItem& other);
-
inline MemoryID& id()
{
@@ -39,19 +34,11 @@ namespace armarx::armem::base::detail
}
- // Introspection
-
- /// Get a string version of `*this`' key.
- virtual std::string getKeyString() const = 0;
-
- /// Get a readable name of this level for messages, errors etc.
- virtual std::string getLevelName() const = 0;
-
-
protected:
- /// Copy `*this` to `other`.
- virtual void _copySelf(MemoryItem& other) const;
+ // Protected so we get a compile error if someone tries to destruct a MemoryItem
+ // instead of a derived type.
+ ~MemoryItem();
protected:
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/iteration_mixins.cpp b/source/RobotAPI/libraries/armem/core/base/detail/iteration_mixins.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..459cd4d5c7bd694bcb289496352d7e2cad4966cd
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/base/detail/iteration_mixins.cpp
@@ -0,0 +1,7 @@
+#include "iteration_mixins.h"
+
+
+namespace armarx::armem::base::detail
+{
+
+}
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/iteration_mixins.h b/source/RobotAPI/libraries/armem/core/base/detail/iteration_mixins.h
new file mode 100644
index 0000000000000000000000000000000000000000..c923a857e1d016b06b313f7e860ab57ec438a9d4
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/base/detail/iteration_mixins.h
@@ -0,0 +1,214 @@
+#pragma once
+
+#include <type_traits>
+
+
+namespace armarx::armem::base::detail
+{
+
+ // Helper functions to implement the forEach*() method at the current level.
+
+ // Handle functions with different return type.
+ template <class FunctionT, class ChildT>
+ bool call(FunctionT&& func, ChildT&& child)
+ {
+ if constexpr(std::is_same_v<decltype(func(child)), bool>)
+ {
+ if (!func(child))
+ {
+ return false;
+ }
+ return true;
+ }
+ else
+ {
+ func(child);
+ return true;
+ }
+ }
+
+
+ // Single-valued containers.
+ template <class ContainerT, class FunctionT>
+ bool forEachChildSingle(ContainerT& container, FunctionT&& func)
+ {
+ for (auto& child : container)
+ {
+ if (not call(func, child))
+ {
+ return false;
+ }
+ }
+ return true;
+ }
+
+
+ // Pair-valued containers.
+ template <class ContainerT, class FunctionT>
+ bool forEachChildPair(ContainerT& container, FunctionT&& func)
+ {
+ for (auto& [_, child] : container)
+ {
+ if (not call(func, child))
+ {
+ return false;
+ }
+ }
+ return true;
+ }
+
+
+ // see: https://en.cppreference.com/w/cpp/types/void_t
+
+ // primary template handles types that have no nested ::type member:
+ template< class, class = void >
+ struct has_mapped_type : std::false_type { };
+
+ // specialization recognizes types that do have a nested ::type member:
+ template< class T >
+ struct has_mapped_type<T, std::void_t<typename T::mapped_type>> : std::true_type { };
+
+
+ template <class ContainerT, class FunctionT>
+ bool forEachChild(ContainerT& container, FunctionT&& func)
+ {
+ if constexpr(has_mapped_type<ContainerT>::value)
+ {
+ return forEachChildPair(container, func);
+ }
+ else
+ {
+ return forEachChildSingle(container, func);
+ }
+ }
+
+
+ // We use auto instead of, e.g. DerivedT::EntitySnapshotT,
+ // as we cannot use the typedef before DerivedT was completely defined.
+
+ template <class DerivedT>
+ struct ForEachEntityInstanceMixin
+ {
+ // not: using EntitySnapshotT = typename DerivedT::EntitySnapshotT;
+
+ /**
+ * @param func Function like: bool process(EntityInstanceT& instance)>
+ */
+ template <class InstanceFunctionT>
+ bool forEachInstance(InstanceFunctionT&& func)
+ {
+ return static_cast<DerivedT*>(this)->forEachSnapshot(
+ [&func](auto & snapshot) -> bool
+ {
+ return snapshot.forEachInstance(func);
+ });
+ }
+
+ /**
+ * @param func Function like: bool process(const EntityInstanceT& instance)
+ */
+ template <class InstanceFunctionT>
+ bool forEachInstance(InstanceFunctionT&& func) const
+ {
+ return static_cast<const DerivedT*>(this)->forEachSnapshot(
+ [&func](const auto & snapshot) -> bool
+ {
+ return snapshot.forEachInstance(func);
+ });
+ }
+ };
+
+
+ template <class DerivedT>
+ struct ForEachEntitySnapshotMixin
+ {
+ /**
+ * @param func Function like: bool process(EntitySnapshotT& snapshot)>
+ */
+ template <class SnapshotFunctionT>
+ bool forEachSnapshot(SnapshotFunctionT&& func)
+ {
+ return static_cast<DerivedT*>(this)->forEachEntity(
+ [&func](auto & entity) -> bool
+ {
+ return entity.forEachSnapshot(func);
+ });
+ }
+
+ /**
+ * @param func Function like: bool process(const EntitySnapshotT& snapshot)
+ */
+ template <class SnapshotFunctionT>
+ bool forEachSnapshot(SnapshotFunctionT&& func) const
+ {
+ return static_cast<const DerivedT*>(this)->forEachEntity(
+ [&func](const auto & entity) -> bool
+ {
+ return entity.forEachSnapshot(func);
+ });
+ }
+ };
+
+
+ template <class DerivedT>
+ struct ForEachEntityMixin
+ {
+ /**
+ * @param func Function like: bool process(EntityT& entity)>
+ */
+ template <class FunctionT>
+ bool forEachEntity(FunctionT&& func)
+ {
+ return static_cast<DerivedT*>(this)->forEachProviderSegment(
+ [&func](auto & providerSegment) -> bool
+ {
+ return providerSegment.forEachEntity(func);
+ });
+ }
+
+ /**
+ * @param func Function like: bool process(const EntityT& entity)
+ */
+ template <class FunctionT>
+ bool forEachEntity(FunctionT&& func) const
+ {
+ return static_cast<const DerivedT*>(this)->forEachProviderSegment(
+ [&func](const auto & providerSegment) -> bool
+ {
+ return providerSegment.forEachEntity(func);
+ });
+ }
+ };
+
+
+ template <class DerivedT>
+ struct ForEachProviderSegmentMixin
+ {
+ /**
+ * @param func Function like: bool process(ProviderSegmentT& providerSegment)>
+ */
+ template <class FunctionT>
+ bool forEachProviderSegment(FunctionT&& func)
+ {
+ return static_cast<DerivedT*>(this)->forEachCoreSegment(
+ [&func](auto & coreSegment) -> bool
+ {
+ return coreSegment.forEachProviderSegment(func);
+ });
+ }
+
+ /**
+ * @param func Function like: bool process(const ProviderSegmentT& providerSegment)
+ */
+ template <class FunctionT>
+ bool forEachProviderSegment(FunctionT&& func) const
+ {
+ return static_cast<const DerivedT*>(this)->forEachCoreSegment(
+ [&func](const auto & coreSegment) -> bool
+ {
+ return coreSegment.forEachProviderSegment(func);
+ });
+ }
+ };
+
+}
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/negative_index_semantics.cpp b/source/RobotAPI/libraries/armem/core/base/detail/negative_index_semantics.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..a1875ff53545a3d2574cf9764a14d321946e5514
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/base/detail/negative_index_semantics.cpp
@@ -0,0 +1,17 @@
+#include "negative_index_semantics.h"
+
+#include <algorithm>
+
+
+size_t armarx::armem::base::detail::negativeIndexSemantics(long index, size_t size)
+{
+ const size_t max = size > 0 ? size - 1 : 0;
+ if (index >= 0)
+ {
+ return std::clamp<size_t>(static_cast<size_t>(index), 0, max);
+ }
+ else
+ {
+ return static_cast<size_t>(std::clamp<long>(static_cast<long>(size) + index, 0, static_cast<long>(max)));
+ }
+}
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/negative_index_semantics.h b/source/RobotAPI/libraries/armem/core/base/detail/negative_index_semantics.h
new file mode 100644
index 0000000000000000000000000000000000000000..4efe169276c83ff12c13400e6de162a8b4db5d8d
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/base/detail/negative_index_semantics.h
@@ -0,0 +1,11 @@
+#pragma once
+
+#include <stddef.h>
+
+
+namespace armarx::armem::base::detail
+{
+
+ size_t negativeIndexSemantics(long index, size_t size);
+
+}
diff --git a/source/RobotAPI/libraries/armem/core/base/ice_conversions.cpp b/source/RobotAPI/libraries/armem/core/base/ice_conversions.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..48c084154c41b26b174504d2565fe57d3a49d55a
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/base/ice_conversions.cpp
@@ -0,0 +1,78 @@
+#include "ice_conversions.h"
+
+#include <RobotAPI/libraries/aron/core/navigator/data/container/Dict.h>
+#include <RobotAPI/libraries/aron/core/navigator/type/container/Object.h>
+
+#include <RobotAPI/libraries/armem/core/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/ice_conversions_templates.h>
+
+
+namespace armarx::armem::base
+{
+
+ void detail::toIceItem(data::detail::MemoryItem& ice, const armem::base::detail::MemoryItem& item)
+ {
+ toIce(ice.id, item.id());
+ }
+ void detail::fromIceItem(const data::detail::MemoryItem& ice, armem::base::detail::MemoryItem& item)
+ {
+ fromIce(ice.id, item.id());
+ }
+
+
+ void detail::toIce(aron::data::AronDictPtr& ice, const aron::datanavigator::DictNavigatorPtr& data)
+ {
+ ice = data ? data->toAronDictPtr() : nullptr;
+ }
+ void detail::fromIce(const aron::data::AronDictPtr& ice, aron::datanavigator::DictNavigatorPtr& data)
+ {
+ if (ice)
+ {
+ data = aron::datanavigator::DictNavigator::FromAronDictPtr(ice);
+ }
+ else
+ {
+ data = nullptr;
+ };
+ }
+
+ void detail::toIce(aron::type::AronTypePtr& ice, const aron::typenavigator::ObjectNavigatorPtr& bo)
+ {
+ ice = bo ? bo->toAronPtr() : nullptr;
+ }
+ void detail::fromIce(const aron::type::AronTypePtr& ice, aron::typenavigator::ObjectNavigatorPtr& bo)
+ {
+ bo = ice
+ ? aron::typenavigator::ObjectNavigator::DynamicCastAndCheck(aron::typenavigator::Navigator::FromAronType(ice))
+ : nullptr;
+ }
+
+}
+namespace armarx::armem
+{
+ void base::toIce(data::EntityInstanceMetadata& ice, const EntityInstanceMetadata& metadata)
+ {
+ ice.confidence = metadata.confidence;
+ toIce(ice.timeArrivedMicroSeconds, metadata.timeArrived);
+ toIce(ice.timeCreatedMicroSeconds, metadata.timeCreated);
+ toIce(ice.timeSentMicroSeconds, metadata.timeSent);
+ }
+ void base::fromIce(const data::EntityInstanceMetadata& ice, EntityInstanceMetadata& metadata)
+ {
+ metadata.confidence = ice.confidence;
+ fromIce(ice.timeArrivedMicroSeconds, metadata.timeArrived);
+ fromIce(ice.timeCreatedMicroSeconds, metadata.timeCreated);
+ fromIce(ice.timeSentMicroSeconds, metadata.timeSent);
+ }
+
+
+ void base::toIce(data::EntityInstanceMetadataPtr& ice, const EntityInstanceMetadata& metadata)
+ {
+ armem::toIce<data::EntityInstanceMetadata>(ice, metadata);
+ }
+ void base::fromIce(const data::EntityInstanceMetadataPtr& ice, EntityInstanceMetadata& metadata)
+ {
+ armem::fromIce<data::EntityInstanceMetadata>(ice, metadata);
+ }
+
+}
diff --git a/source/RobotAPI/libraries/armem/core/base/ice_conversions.h b/source/RobotAPI/libraries/armem/core/base/ice_conversions.h
new file mode 100644
index 0000000000000000000000000000000000000000..646754cc4cbfc3d61c0ce0b1e19c333ee2d7f92b
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/base/ice_conversions.h
@@ -0,0 +1,195 @@
+#pragma once
+
+#include "EntityInstanceBase.h"
+#include "EntitySnapshotBase.h"
+#include "EntityBase.h"
+#include "ProviderSegmentBase.h"
+#include "CoreSegmentBase.h"
+#include "MemoryBase.h"
+
+#include <RobotAPI/libraries/armem/core/ice_conversions_templates.h>
+#include <RobotAPI/libraries/armem/core/ice_conversions.h>
+
+#include <RobotAPI/libraries/aron/core/navigator/type/forward_declarations.h>
+
+#include <RobotAPI/interface/armem/memory.h>
+
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+
+namespace armarx::armem::base::detail
+{
+ void toIceItem(data::detail::MemoryItem& ice, const MemoryItem& item);
+ void fromIceItem(const data::detail::MemoryItem& ice, MemoryItem& item);
+
+ void toIce(aron::data::AronDictPtr& ice, const aron::datanavigator::DictNavigatorPtr& bo);
+ void fromIce(const aron::data::AronDictPtr& ice, aron::datanavigator::DictNavigatorPtr& bo);
+
+ void toIce(aron::type::AronTypePtr& ice, const aron::typenavigator::ObjectNavigatorPtr& bo);
+ void fromIce(const aron::type::AronTypePtr& ice, aron::typenavigator::ObjectNavigatorPtr& bo);
+}
+namespace armarx::armem::base
+{
+ void toIce(data::EntityInstanceMetadata& ice, const EntityInstanceMetadata& metadata);
+ void fromIce(const data::EntityInstanceMetadata& ice, EntityInstanceMetadata& metadata);
+
+ void toIce(data::EntityInstanceMetadataPtr& ice, const EntityInstanceMetadata& metadata);
+ void fromIce(const data::EntityInstanceMetadataPtr& ice, EntityInstanceMetadata& metadata);
+
+
+ template <class ...Args>
+ void toIce(data::EntityInstance& ice, const EntityInstanceBase<Args...>& data)
+ {
+ detail::toIceItem(ice, data);
+
+ // detail::toIce(std::ref(ice.data).get(), data.data());
+ detail::toIce(ice.data, data.data());
+ toIce(ice.metadata, data.metadata());
+ }
+ template <class ...Args>
+ void fromIce(const data::EntityInstance& ice, EntityInstanceBase<Args...>& data)
+ {
+ detail::fromIceItem(ice, data);
+
+ detail::fromIce(ice.data, data.data());
+ fromIce(ice.metadata, data.metadata());
+ }
+
+ template <class ...Args>
+ void toIce(data::EntitySnapshot& ice, const EntitySnapshotBase<Args...>& snapshot)
+ {
+ detail::toIceItem(ice, snapshot);
+
+ ice.instances.clear();
+ snapshot.forEachInstance([&ice](const auto & instance)
+ {
+ armem::toIce(ice.instances.emplace_back(), instance);
+ });
+ }
+ template <class ...Args>
+ void fromIce(const data::EntitySnapshot& ice, EntitySnapshotBase<Args...>& snapshot)
+ {
+ detail::fromIceItem(ice, snapshot);
+
+ snapshot.clear();
+ for (const data::EntityInstancePtr& iceInstance : ice.instances)
+ {
+ snapshot.addInstance(armem::fromIce<typename EntitySnapshotBase<Args...>::EntityInstanceT>(iceInstance));
+ }
+ }
+
+ template <class ...Args>
+ void toIce(data::Entity& ice, const EntityBase<Args...>& entity)
+ {
+ detail::toIceItem(ice, entity);
+
+ ice.history.clear();
+ entity.forEachSnapshot([&ice](const auto & snapshot)
+ {
+ armem::toIce(ice.history[armem::toIce<long>(snapshot.time())], snapshot);
+ });
+ }
+ template <class ...Args>
+ void fromIce(const data::Entity& ice, EntityBase<Args...>& entity)
+ {
+ detail::fromIceItem(ice, entity);
+
+ entity.clear();
+ for (const auto& [key, snapshot] : ice.history)
+ {
+ entity.addSnapshot(armem::fromIce<typename EntityBase<Args...>::EntitySnapshotT>(snapshot));
+ }
+ }
+
+
+ template <class ...Args>
+ void toIce(data::ProviderSegment& ice, const ProviderSegmentBase<Args...>& providerSegment)
+ {
+ detail::toIceItem(ice, providerSegment);
+
+ detail::toIce(ice.aronType, providerSegment.aronType());
+ ARMARX_CHECK(!providerSegment.aronType() || ice.aronType);
+
+ // toIce(ice.entities, providerSegment.entities());
+ ice.entities.clear();
+ providerSegment.forEachEntity([&ice](const auto & entity)
+ {
+ armem::toIce(ice.entities[entity.name()], entity);
+ });
+ }
+ template <class ...Args>
+ void fromIce(const data::ProviderSegment& ice, ProviderSegmentBase<Args...>& providerSegment)
+ {
+ detail::fromIceItem(ice, providerSegment);
+
+ detail::fromIce(ice.aronType, providerSegment.aronType());
+ ARMARX_CHECK(!providerSegment.aronType() || ice.aronType);
+
+ // fromIce(ice.entities, providerSegment.entities());
+ providerSegment.clear();
+ for (const auto& [key, entity] : ice.entities)
+ {
+ providerSegment.addEntity(
+ armem::fromIce<typename ProviderSegmentBase<Args...>::EntityT>(entity));
+ }
+ }
+
+ template <class ...Args>
+ void toIce(data::CoreSegment& ice, const CoreSegmentBase<Args...>& coreSegment)
+ {
+ detail::toIceItem(ice, coreSegment);
+
+ detail::toIce(ice.aronType, coreSegment.aronType());
+ ARMARX_CHECK(!coreSegment.aronType() || ice.aronType);
+
+ // toIce(ice.providerSegments, coreSegment.providerSegments());
+ ice.providerSegments.clear();
+ coreSegment.forEachProviderSegment([&ice](const auto & providerSegment)
+ {
+ armem::toIce(ice.providerSegments[providerSegment.name()], providerSegment);
+ return true;
+ });
+ }
+ template <class ...Args>
+ void fromIce(const data::CoreSegment& ice, CoreSegmentBase<Args...>& coreSegment)
+ {
+ detail::fromIceItem(ice, coreSegment);
+
+ detail::fromIce(ice.aronType, coreSegment.aronType());
+ ARMARX_CHECK(!coreSegment.aronType() || ice.aronType);
+
+ // fromIce(ice.providerSegments, coreSegment.providerSegments());
+ coreSegment.clear();
+ for (const auto& [key, providerSegment] : ice.providerSegments)
+ {
+ coreSegment.addProviderSegment(
+ armem::fromIce<typename CoreSegmentBase<Args...>::ProviderSegmentT>(providerSegment));
+ }
+ }
+
+ template <class ...Args>
+ void toIce(data::Memory& ice, const MemoryBase<Args...>& memory)
+ {
+ base::detail::toIceItem(ice, memory);
+
+ ice.coreSegments.clear();
+ memory.forEachCoreSegment([&ice](const auto & coreSegment)
+ {
+ armem::toIce(ice.coreSegments[coreSegment.name()], coreSegment);
+ return true;
+ });
+ }
+ template <class ...Args>
+ void fromIce(const data::Memory& ice, MemoryBase<Args...>& memory)
+ {
+ base::detail::fromIceItem(ice, memory);
+
+ memory.clear();
+ for (const auto& [key, coreSegment] : ice.coreSegments)
+ {
+ // We can avoid using CoreSegment's copy constructor this way:
+ armem::fromIce(coreSegment, memory.addCoreSegment(coreSegment->id.coreSegmentName));
+ }
+ }
+
+}
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.cpp
index b166468d81929da12c8204a6e2df9ab90b994528..204aa8f86e20d99df852abbdc79be3d1a07ef39f 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.cpp
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.cpp
@@ -78,9 +78,9 @@ namespace armarx::armem::d_ltm
std::filesystem::create_directories(_fullPath());
TypeIO::writeAronType(_aronType, _fullPath());
- for (const auto& [k, s] : m)
+ m.forEachProviderSegment([this](const wm::ProviderSegment & s)
{
- if (const auto& it = _container.find(k); it != _container.end())
+ if (auto it = _container.find(s.name()); it != _container.end())
{
it->second.append(s);
}
@@ -88,18 +88,19 @@ namespace armarx::armem::d_ltm
{
try
{
- std::filesystem::create_directory(_fullPath() / k);
+ std::filesystem::create_directory(_fullPath() / s.name());
}
catch (...)
{
ARMARX_WARNING << GetHandledExceptionString();
- return;
+ return false;
}
- auto wms = _container.emplace(k, id().withProviderSegmentName(k));
+ auto wms = _container.emplace(s.name(), id().withProviderSegmentName(s.name()));
wms.first->second.path = path;
wms.first->second.append(s);
}
- }
+ return true;
+ });
}
}
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.h b/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.h
index 76bb297e76d268ce8517449686ffae1cdb3ed2cd..2d8bd8f29e7027ea63b797d0a19f4b96e116898e 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.h
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.h
@@ -2,8 +2,8 @@
#include <filesystem>
-#include "../base/CoreSegmentBase.h"
-#include "../workingmemory/CoreSegment.h"
+#include <RobotAPI/libraries/armem/core/base/CoreSegmentBase.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include "ProviderSegment.h"
@@ -22,7 +22,6 @@ namespace armarx::armem::d_ltm
public:
using Base::CoreSegmentBase;
- using Base::operator=;
// Conversion
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/Entity.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/Entity.cpp
index 5d784a097de4ef68ec2df0bdc1adce94fa737809..d4d0ac233f1fac1e910869f56cc12541928798ce 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/Entity.cpp
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/Entity.cpp
@@ -1,5 +1,8 @@
#include "Entity.h"
+#include <ArmarXCore/core/logging/Logging.h>
+
+
namespace armarx::armem::d_ltm
{
std::filesystem::path Entity::_fullPath() const
@@ -63,20 +66,21 @@ namespace armarx::armem::d_ltm
void Entity::append(const wm::Entity& m)
{
std::filesystem::create_directories(_fullPath());
- for (const auto& [k, s] : m.container())
+ m.forEachSnapshot([this](const wm::EntitySnapshot & s)
{
- if (const auto& it = _container.find(k); it != _container.end())
+ if (auto it = _container.find(s.time()); it != _container.end())
{
// timestamp already exists
// We assume that a snapshot does not change, so ignore
}
else
{
- std::filesystem::create_directory(_fullPath() / std::to_string(k.toMicroSeconds()));
- auto wms = _container.emplace(std::make_pair(k, id().withTimestamp(k)));
+ std::filesystem::create_directory(_fullPath() / std::to_string(s.time().toMicroSeconds()));
+ auto wms = _container.emplace(std::make_pair(s.time(), id().withTimestamp(s.time())));
wms.first->second.path = path;
wms.first->second.setTo(s);
}
- }
+ return true;
+ });
}
}
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/Entity.h b/source/RobotAPI/libraries/armem/core/diskmemory/Entity.h
index 35022275570c93378cbe0c767aad1776da594838..63011ceff58a0ec7ff4b77bf2afeaa0252bbcec0 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/Entity.h
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/Entity.h
@@ -2,8 +2,8 @@
#include <filesystem>
-#include "../base/EntityBase.h"
-#include "../workingmemory/Entity.h"
+#include <RobotAPI/libraries/armem/core/base/EntityBase.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include "EntitySnapshot.h"
@@ -38,7 +38,6 @@ namespace armarx::armem::d_ltm
public:
using Base::EntityBase;
- using Base::operator=;
// Conversion
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.cpp
index dd0458b83bbb8ed461ddeab50af42181fda843e4..56786756655453bb97952a206ff642b9f65174cb 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.cpp
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.cpp
@@ -1,22 +1,22 @@
#include "EntityInstance.h"
-#include <iostream>
-#include <fstream>
+#include <RobotAPI/libraries/armem/core/error.h>
+#include <RobotAPI/libraries/armem/core/wm/aron_conversions.h>
+#include <RobotAPI/libraries/armem/core/wm/json_conversions.h>
-#include "../../core/error.h"
-#include "ArmarXCore/core/exceptions/LocalException.h"
+#include <RobotAPI/libraries/aron/core/navigator/data/container/Dict.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <SimoxUtility/json/json.hpp>
+
+#include <iostream>
+#include <fstream>
+
+
namespace armarx::armem::d_ltm
{
- EntityInstance::EntityInstance(const EntityInstance& other) :
- Base(other),
- path(other.path)
- {
- }
-
bool EntityInstance::equalsDeep(const EntityInstance& other) const
{
return id() == other.id();
@@ -24,25 +24,11 @@ namespace armarx::armem::d_ltm
- void EntityInstance::update(const EntityUpdate& update, int index)
- {
- ARMARX_CHECK_FITS_SIZE(index, update.instancesData.size());
-
- this->index() = index;
- }
-
- EntityInstance EntityInstance::copy() const
+ void EntityInstance::update(const EntityUpdate& update)
{
- EntityInstance d;
- this->_copySelf(d);
- return d;
+ ARMARX_CHECK_FITS_SIZE(this->index(), update.instancesData.size());
}
- void EntityInstance::_copySelf(EntityInstance& other) const
- {
- EntityInstanceBase<EntityInstance>::_copySelf(other);
- other.path = path;
- }
std::filesystem::path EntityInstance::_fullPath() const
{
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.h b/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.h
index 89b96c011fcccb6bfc5471850185b0cea49f77b0..c56a944f264c08e1f26b35df1ecb622dff92c0e6 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.h
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.h
@@ -2,11 +2,10 @@
#include <filesystem>
-#include "../base/EntityInstanceBase.h"
-#include "../workingmemory/EntityInstance.h"
+#include <RobotAPI/libraries/armem/core/base/EntityInstanceBase.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
-#include "../workingmemory/entityInstance_conversions.h"
-#include "../workingmemory/json_conversions.h"
+#include <RobotAPI/libraries/aron/core/navigator/type/forward_declarations.h>
namespace armarx::armem::d_ltm
@@ -15,30 +14,24 @@ namespace armarx::armem::d_ltm
* @brief Data of a single entity instance.
*/
class EntityInstance :
- public base::EntityInstanceBase<EntityInstance>
+ public base::EntityInstanceBase<base::NoData, base::NoData>
{
- using Base = base::EntityInstanceBase<EntityInstance>;
+ using Base = base::EntityInstanceBase<base::NoData, base::NoData>;
public:
using Base::EntityInstanceBase;
- EntityInstance(const EntityInstance& other);
- EntityInstance(EntityInstance&& other) = default;
- EntityInstance& operator=(const EntityInstance& other) = default;
- EntityInstance& operator=(EntityInstance&& other) = default;
-
/**
* @brief Fill `*this` with the update's values.
* @param update The update.
* @param index The instances index.
*/
- virtual void update(const EntityUpdate& update, int index) override;
+ void update(const EntityUpdate& update);
- virtual bool equalsDeep(const EntityInstance& other) const override;
+ bool equalsDeep(const EntityInstance& other) const;
- virtual EntityInstance copy() const override;
// Conversion
wm::EntityInstance convert(const aron::typenavigator::NavigatorPtr& expectedStructure) const;
@@ -47,8 +40,6 @@ namespace armarx::armem::d_ltm
void reload(const std::shared_ptr<std::filesystem::path>&);
void setTo(const wm::EntityInstance&);
- protected:
- virtual void _copySelf(EntityInstance& other) const override;
private:
std::filesystem::path _fullPath() const;
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.cpp
index ab5b56d2274f78c350818693c269af18f0a4a979..9354ab7d52e0dcbd058aec022892132b753b51ab 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.cpp
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.cpp
@@ -83,7 +83,7 @@ namespace armarx::armem::d_ltm
_container.clear();
int i = 0;
- for (const auto& s : m.instances())
+ m.forEachInstance([this, &i](wm::EntityInstance & s)
{
try
{
@@ -92,12 +92,14 @@ namespace armarx::armem::d_ltm
catch (...)
{
ARMARX_WARNING << GetHandledExceptionString();
- continue;;
+ return true;
}
auto& wms = _container.emplace_back(id().withInstanceIndex(i++));
wms.path = path;
wms.setTo(s);
- }
+
+ return true;
+ });
}
}
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.h b/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.h
index 545a8c0d64641c65e7faf7aa26dea77ee9865e0c..9587e3be44435814d4709979a1fb394c67b953c7 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.h
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.h
@@ -2,11 +2,13 @@
#include <filesystem>
-#include "../base/EntitySnapshotBase.h"
-#include "../workingmemory/EntitySnapshot.h"
+#include <RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include "EntityInstance.h"
+#include <RobotAPI/libraries/aron/core/navigator/type/forward_declarations.h>
+
namespace armarx::armem::d_ltm
{
@@ -22,7 +24,6 @@ namespace armarx::armem::d_ltm
public:
using Base::EntitySnapshotBase;
- using Base::operator=;
// Conversion
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/Memory.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/Memory.cpp
index 0fb6fba92b2ebc116787bffba2d7ed5bc743227b..3fc60e0496aa21c441cf5e8a60443e43ef741a46 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/Memory.cpp
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/Memory.cpp
@@ -65,9 +65,9 @@ namespace armarx::armem::d_ltm
void Memory::append(const wm::Memory& m)
{
std::filesystem::create_directories(_fullPath());
- for (const auto& [k, s] : m.container())
+ m.forEachCoreSegment([this](const wm::CoreSegment & s) -> bool
{
- if (const auto& it = _container.find(k); it != _container.end())
+ if (auto it = _container.find(s.name()); it != _container.end())
{
it->second.append(s);
}
@@ -75,18 +75,20 @@ namespace armarx::armem::d_ltm
{
try
{
- std::filesystem::create_directory(_fullPath() / k);
+ std::filesystem::create_directory(_fullPath() / s.name());
}
catch (...)
{
ARMARX_WARNING << GetHandledExceptionString();
- return;
+ return false;
}
- auto wms = _container.emplace(k, id().withCoreSegmentName(k));
+ auto wms = _container.emplace(s.name(), id().withCoreSegmentName(s.name()));
wms.first->second.path = path;
wms.first->second.append(s);
}
- }
+
+ return true;
+ });
}
}
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/Memory.h b/source/RobotAPI/libraries/armem/core/diskmemory/Memory.h
index 7f7872f7a638cc31122f09b00a95755ede4d9606..aaa1e460a5bff94195ae6da7662a7e53b33861e4 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/Memory.h
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/Memory.h
@@ -2,8 +2,8 @@
#include <filesystem>
-#include "../base/MemoryBase.h"
-#include "../workingmemory/Memory.h"
+#include <RobotAPI/libraries/armem/core/base/MemoryBase.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include "CoreSegment.h"
@@ -22,7 +22,6 @@ namespace armarx::armem::d_ltm
public:
using Base::MemoryBase;
- using Base::operator=;
// Conversion
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.cpp
index 620e819f6b1fc05d4aeadc285edb087f5ea0e119..08ed0c2b07edc156764f02dc88c5f76160f9d355 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.cpp
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.cpp
@@ -95,9 +95,9 @@ namespace armarx::armem::d_ltm
TypeIO::writeAronType(_aronType, _fullPath());
- for (const auto& [k, s] : m.container())
+ m.forEachEntity([this](const wm::Entity & s)
{
- if (const auto& it = _container.find(k); it != _container.end())
+ if (auto it = _container.find(s.name()); it != _container.end())
{
it->second.append(s);
}
@@ -106,18 +106,20 @@ namespace armarx::armem::d_ltm
try
{
- std::filesystem::create_directory(_fullPath() / k);
+ std::filesystem::create_directory(_fullPath() / s.name());
}
catch (...)
{
ARMARX_WARNING << GetHandledExceptionString();
- return;
+ return false;
}
- auto wms = _container.emplace(k, id().withEntityName(k));
+ auto wms = _container.emplace(s.name(), id().withEntityName(s.name()));
wms.first->second.path = path;
wms.first->second.append(s);
}
- }
+
+ return true;
+ });
}
}
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.h b/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.h
index 8ad96ea0630af0d5aba8b7270fe229c235c2a010..0e866b08cc5c50f623fd9b5676136834078c953a 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.h
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.h
@@ -2,8 +2,8 @@
#include <filesystem>
-#include "../base/ProviderSegmentBase.h"
-#include "../workingmemory/ProviderSegment.h"
+#include <RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include "Entity.h"
@@ -22,7 +22,6 @@ namespace armarx::armem::d_ltm
public:
using Base::ProviderSegmentBase;
- using Base::operator=;
// Conversion
diff --git a/source/RobotAPI/libraries/armem/core/error/ArMemError.h b/source/RobotAPI/libraries/armem/core/error/ArMemError.h
index e6843d13be5bc07e71d90b00cf6a911ca717e524..219d489fad038da1098d724bddd9e2bc74b0a5d7 100644
--- a/source/RobotAPI/libraries/armem/core/error/ArMemError.h
+++ b/source/RobotAPI/libraries/armem/core/error/ArMemError.h
@@ -84,8 +84,8 @@ namespace armarx::armem::error
template <class MissingT, class ContainerT>
static MissingEntry create(const std::string& missingKey, const ContainerT& container)
{
- return MissingEntry(MissingT().getLevelName(), missingKey,
- container.getLevelName(), container.getKeyString(), container.size());
+ return MissingEntry(MissingT::getLevelName(), missingKey,
+ ContainerT::getLevelName(), container.getKeyString(), container.size());
}
diff --git a/source/RobotAPI/libraries/armem/core/forward_declarations.h b/source/RobotAPI/libraries/armem/core/forward_declarations.h
new file mode 100644
index 0000000000000000000000000000000000000000..761a8513111d55de8b81ade1af62a60ee18f1f3c
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/forward_declarations.h
@@ -0,0 +1,52 @@
+#pragma once
+
+
+namespace armarx::armem
+{
+ // class Time; // Cannot be forward declared (it's a typedef)
+
+ class MemoryID;
+ class Commit;
+ class EntityUpdate;
+ class CommitResult;
+ class EntityUpdateResult;
+}
+
+namespace armarx::armem::base
+{
+ struct NoData;
+ struct EntityInstanceMetadata;
+
+ template <class _DataT, class _MetadataT>
+ class EntityInstanceBase;
+ template <class _EntityInstanceT, class _Derived>
+ class EntitySnapshotBase;
+ template <class _EntitySnapshotT, class _Derived>
+ class EntityBase;
+ template <class _EntityT, class _Derived>
+ class ProviderSegmentBase;
+ template <class _ProviderSegmentT, class _Derived>
+ class CoreSegmentBase;
+ template <class _CoreSegmentT, class _Derived>
+ class MemoryBase;
+}
+
+namespace armarx::armem::wm
+{
+ class EntityInstance;
+ class EntitySnapshot;
+ class Entity;
+ class ProviderSegment;
+ class CoreSegment;
+ class Memory;
+}
+
+namespace armarx::armem::server::wm
+{
+ using EntityInstance = armem::wm::EntityInstance;
+ using EntitySnapshot = armem::wm::EntitySnapshot;
+ class Entity;
+ class ProviderSegment;
+ class CoreSegment;
+ class Memory;
+}
diff --git a/source/RobotAPI/libraries/armem/core/ice_conversions.cpp b/source/RobotAPI/libraries/armem/core/ice_conversions.cpp
index d79acf1da2b86f94414205131173797e0354bc24..cca45a3b2cf04f26ec76d158e9cf1e711bbfecb2 100644
--- a/source/RobotAPI/libraries/armem/core/ice_conversions.cpp
+++ b/source/RobotAPI/libraries/armem/core/ice_conversions.cpp
@@ -1,20 +1,20 @@
#include "ice_conversions.h"
+#include <RobotAPI/libraries/aron/core/navigator/data/container/Dict.h>
-namespace armarx
+
+void IceUtil::toIce(long& ice, const IceUtil::Time& time)
{
+ ice = time.toMicroSeconds();
+}
- /*
- void armem::fromIce(long ice, Time& time)
- {
- time = Time::microSeconds(ice);
- }
+void IceUtil::fromIce(const long& ice, IceUtil::Time& time)
+{
+ time = Time::microSeconds(ice);
+}
- void armem::toIce(long& ice, const Time& time)
- {
- ice = time.toMicroSeconds();
- }
- */
+namespace armarx
+{
void armem::toIce(data::MemoryID& ice, const MemoryID& id)
{
@@ -144,14 +144,5 @@ namespace armarx
update.timeArrived = timeArrived;
}
-
- void armem::detail::toIceItem(data::detail::MemoryItem& ice, const armem::base::detail::MemoryItem& item)
- {
- toIce(ice.id, item.id());
- }
-
- void armem::detail::fromIceItem(const data::detail::MemoryItem& ice, armem::base::detail::MemoryItem& item)
- {
- fromIce(ice.id, item.id());
- }
}
+
diff --git a/source/RobotAPI/libraries/armem/core/ice_conversions.h b/source/RobotAPI/libraries/armem/core/ice_conversions.h
index 874684cac2a6a52b8742c36dcc2bdea8346e1586..e8f104fe04ebcb721b0ffbf4b70b18ada0af234c 100644
--- a/source/RobotAPI/libraries/armem/core/ice_conversions.h
+++ b/source/RobotAPI/libraries/armem/core/ice_conversions.h
@@ -6,29 +6,21 @@
#include "ice_conversions_templates.h"
#include "Commit.h"
-#include "base/detail/MemoryItem.h"
+#include "MemoryID.h"
+#include "Time.h"
namespace IceUtil
{
// Define in original namespace to allow ADL.
- inline void toIce(long& ice, const Time& time)
- {
- ice = time.toMicroSeconds();
- }
- inline void fromIce(const long& ice, Time& time)
- {
- time = Time::microSeconds(ice);
- }
+ void toIce(long& ice, const Time& time);
+ void fromIce(const long& ice, Time& time);
}
namespace armarx::armem
{
- // void fromIce(long ice, Time& time);
- // void toIce(long& ice, const Time& time);
-
void fromIce(const data::MemoryID& ice, MemoryID& id);
void toIce(data::MemoryID& ice, const MemoryID& id);
@@ -51,12 +43,5 @@ namespace armarx::armem
void fromIce(const data::Commit& ice, Commit& commit, Time timeArrived);
void fromIce(const data::EntityUpdate& ice, EntityUpdate& update, Time timeArrived);
-
- namespace detail
- {
- void toIceItem(data::detail::MemoryItem& ice, const armem::base::detail::MemoryItem& item);
- void fromIceItem(const data::detail::MemoryItem& ice, armem::base::detail::MemoryItem& item);
- }
-
}
diff --git a/source/RobotAPI/libraries/armem/core/ice_conversions_templates.h b/source/RobotAPI/libraries/armem/core/ice_conversions_templates.h
index e0c71faac37cd899d85d174c33196499a29df770..8060e22a0782e23c6bb989fe900fcce99c7ff7c6 100644
--- a/source/RobotAPI/libraries/armem/core/ice_conversions_templates.h
+++ b/source/RobotAPI/libraries/armem/core/ice_conversions_templates.h
@@ -1,9 +1,12 @@
#pragma once
-#include <memory>
-
#include "Commit.h"
+#include <Ice/Handle.h>
+
+#include <map>
+#include <memory>
+#include <vector>
namespace armarx::armem
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.cpp
index d47dc46cb63c5266edc8b9e8457c1fb4b75a4527..1fc021d65fe460b4b91331196446ef8661337aa6 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.cpp
@@ -1,8 +1,10 @@
#include "CoreSegment.h"
+#include "error.h"
+
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-#include "error.h"
+#include <SimoxUtility/json/json.hpp>
namespace armarx::armem::ltm
@@ -33,7 +35,7 @@ namespace armarx::armem::ltm
nlohmann::json json = nlohmann::json::parse(bsoncxx::to_json(doc));
ARMARX_INFO << "CoreSegment: Found foreign key: " << json.at("foreign_key");
- MemoryID i((std::string) json.at("foreign_key"));
+ MemoryID i = MemoryID::fromString(json.at("foreign_key").get<std::string>());
if (i.coreSegmentName != id().coreSegmentName)
{
throw error::InvalidMemoryID(i, "A MemoryID in mongodb was invalid. Found the wrong coreSegment name. Expected " + id().coreSegmentName);
@@ -41,7 +43,7 @@ namespace armarx::armem::ltm
std::string k = i.providerSegmentName;
- if (const auto& it = _container.find(k); it != _container.end())
+ if (auto it = _container.find(k); it != _container.end())
{
throw error::ArMemError("Somehow after clearing the (core) container a key k = " + k + " was found. Do you have double entries in mongodb?");
}
@@ -62,24 +64,23 @@ namespace armarx::armem::ltm
mongocxx::database db = client[dbsettings.database];
mongocxx::collection coll = db[id().str()];
- for (const auto& [k, s] : m.container())
+ m.forEachProviderSegment([this, &coll](const wm::ProviderSegment & provSeg)
{
- if (const auto& it = _container.find(k); it != _container.end())
- {
- it->second.append(s);
- }
- else
+ auto it = _container.find(provSeg.name());
+ if (it == _container.end())
{
- auto builder = bsoncxx::builder::stream::document{};
+ bsoncxx::builder::stream::document builder;
bsoncxx::document::value foreign_key = builder
- << "foreign_key" << s.id().withProviderSegmentName(k).str()
+ << "foreign_key" << provSeg.id().str()
<< bsoncxx::builder::stream::finalize;
coll.insert_one(foreign_key.view());
- auto wms = _container.emplace(k, id().withProviderSegmentName(k));
- wms.first->second.dbsettings = dbsettings;
- wms.first->second.append(s);
+ it = _container.emplace(provSeg.name(), id().withProviderSegmentName(provSeg.name())).first;
+ it->second.dbsettings = dbsettings;
}
- }
+ it->second.append(provSeg);
+
+ return true;
+ });
}
}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.h b/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.h
index 3a7225058a265949de50e98a63d1d3c6ce5bf371..32f05ef2f773388b6006c573b7017064193d80c3 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.h
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.h
@@ -1,10 +1,10 @@
#pragma once
-#include "../base/CoreSegmentBase.h"
-
#include "ProviderSegment.h"
+#include "mongodb/MongoDBConnectionManager.h"
-#include "../workingmemory/CoreSegment.h"
+#include <RobotAPI/libraries/armem/core/base/CoreSegmentBase.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
namespace armarx::armem::ltm
@@ -21,7 +21,6 @@ namespace armarx::armem::ltm
public:
using Base::CoreSegmentBase;
- using Base::operator=;
// Conversion
@@ -31,21 +30,10 @@ namespace armarx::armem::ltm
void reload();
void append(const wm::CoreSegment&);
- protected:
- virtual void _copySelf(CoreSegment& other) const override
- {
- Base::_copySelf(other);
- other.dbsettings = dbsettings;
- }
-
- virtual void _copySelfEmpty(CoreSegment& other) const override
- {
- Base::_copySelfEmpty(other);
- other.dbsettings = dbsettings;
- }
-
public:
+
MongoDBConnectionManager::MongoDBSettings dbsettings;
+
};
}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.cpp
index bccb79c9d1d162a6c67a4f80c57b58b04425863e..6604c26e935cb4619fc7439d8e9a1f318a14ff63 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.cpp
@@ -1,5 +1,9 @@
#include "Entity.h"
+#include <ArmarXCore/core/logging/Logging.h>
+
+#include <SimoxUtility/json/json.hpp>
+
namespace armarx::armem::ltm
{
@@ -26,17 +30,12 @@ namespace armarx::armem::ltm
int i = 0;
for (auto doc : cursor)
{
- if (i > MAX_HISTORY_SIZE)
- {
- // TODO: Add logic for most queried data?
- break;
- }
nlohmann::json json = nlohmann::json::parse(bsoncxx::to_json(doc));
auto k = armem::Time::microSeconds(json.at("timestamp"));
//ARMARX_INFO << "Entity: Found timestamp: " << std::to_string(k.toMicroSeconds());
- if (const auto& it = _container.find(k); it != _container.end())
+ if (auto it = _container.find(k); it != _container.end())
{
throw error::ArMemError("Somehow after clearing the (entity) container a key k = " + std::to_string(k.toMicroSeconds()) + " was found. Do you have double entries in mongodb?");
}
@@ -58,21 +57,22 @@ namespace armarx::armem::ltm
mongocxx::database db = client[dbsettings.database];
mongocxx::collection coll = db[id().str()];
- for (const auto& [k, s] : m.container())
+ m.forEachSnapshot([this](const wm::EntitySnapshot & snapshot)
{
- if (const auto& it = _container.find(k); it != _container.end())
+ if (auto it = _container.find(snapshot.time()); it != _container.end())
{
// timestamp already exists
// We assume that a snapshot does not change, so ignore
}
else
{
- auto wms = _container.emplace(std::make_pair(k, id().withTimestamp(k)));
+ auto wms = _container.emplace(std::make_pair(snapshot.time(), id().withTimestamp(snapshot.time())));
wms.first->second.dbsettings = dbsettings;
- wms.first->second.setTo(s, k);
+ wms.first->second.setTo(snapshot, snapshot.time());
//truncateHistoryToSize();
}
- }
+ return true;
+ });
}
bool Entity::hasSnapshot(const Time& time) const
@@ -87,21 +87,22 @@ namespace armarx::armem::ltm
mongocxx::database db = client[dbsettings.database];
mongocxx::collection coll = db[id().str()];
- bsoncxx::stdx::optional<bsoncxx::document::value> maybe_result = coll.find_one(document{} << "timestamp" << time.toMicroSeconds() << finalize);
+ bsoncxx::stdx::optional<bsoncxx::document::value> maybe_result =
+ coll.find_one(document{} << "timestamp" << time.toMicroSeconds() << finalize);
if (!maybe_result)
{
return false;
}
- auto json = nlohmann::json::parse(bsoncxx::to_json(*maybe_result));
- auto id = MemoryID::fromString(json["id"].get<std::string>());
- auto instances = json["instances"];
+ nlohmann::json json = nlohmann::json::parse(bsoncxx::to_json(*maybe_result));
+ MemoryID id = MemoryID::fromString(json["id"].get<std::string>());
+ nlohmann::json instances = json["instances"];
EntitySnapshot snapshot(id);
snapshot.dbsettings = dbsettings;
- for (unsigned int i = 0; i < instances.size(); ++i)
+ for (size_t i = 0; i < instances.size(); ++i)
{
- EntityInstance instance(id.withInstanceIndex(i));
+ EntityInstance instance(id.withInstanceIndex(static_cast<int>(i)));
snapshot.addInstance(instance);
}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.h b/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.h
index 20377befd61f741a642e139aafe1de3c2cc7f24b..99bc3a736f0abe803ec101a81f4b1ac75b87d92e 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.h
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.h
@@ -1,10 +1,10 @@
#pragma once
-#include "../base/EntityBase.h"
-
#include "EntitySnapshot.h"
+#include "mongodb/MongoDBConnectionManager.h"
-#include "../workingmemory/Entity.h"
+#include <RobotAPI/libraries/armem/core/base/EntityBase.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
namespace armarx::armem::ltm
@@ -36,13 +36,7 @@ namespace armarx::armem::ltm
public:
using Base::EntityBase;
- using Base::operator=;
- Entity()
- {
- // the history of snapshots is just a cache of frequently used elements
- setMaxHistorySize(MAX_HISTORY_SIZE);
- }
// Conversion
wm::Entity convert() const;
@@ -51,33 +45,19 @@ namespace armarx::armem::ltm
void reload();
void append(const wm::Entity&);
- // virtual overrides for LTM lookups
- virtual bool hasSnapshot(const Time& time) const override;
- virtual std::vector<Time> getTimestamps() const override;
- virtual const EntitySnapshot& getSnapshot(const Time& time) const override;
-
- protected:
- virtual void _copySelf(Entity& other) const override
- {
- Base::_copySelf(other);
- other.dbsettings = dbsettings;
- }
+ // overrides for LTM lookups
+ bool hasSnapshot(const Time& time) const;
+ std::vector<Time> getTimestamps() const;
+ const EntitySnapshot& getSnapshot(const Time& time) const;
- virtual void _copySelfEmpty(Entity& other) const override
- {
- Base::_copySelfEmpty(other);
- other.dbsettings = dbsettings;
- }
protected:
- // virtual overrides for LTM storage
- virtual const ContainerT::value_type& getLatestItem() const override;
+ // overrides for LTM storage
+ const ContainerT::value_type& getLatestItem() const;
public:
MongoDBConnectionManager::MongoDBSettings dbsettings;
- private:
- const static constexpr int MAX_HISTORY_SIZE = 200;
};
}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.cpp
index 5e44714904efe74f920b891b665e13497b749508..63fe18145c561e9efda0ba2a14cb07175b029d1c 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.cpp
@@ -1,30 +1,19 @@
#include "EntityInstance.h"
-#include "../../core/error.h"
-
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
namespace armarx::armem::ltm
{
- bool EntityInstanceMetadata::operator==(const EntityInstanceMetadata& other) const
- {
- return timeCreated == other.timeCreated
- && timeSent == other.timeSent
- && timeArrived == other.timeArrived
- && std::abs(confidence - other.confidence) < 1e-6f;
- }
-
bool EntityInstance::equalsDeep(const EntityInstance& other) const
{
return id() == other.id() && _metadata == other.metadata();
}
- void EntityInstance::update(const EntityUpdate& update, int index)
+ void EntityInstance::update(const EntityUpdate& update)
{
- ARMARX_CHECK_FITS_SIZE(index, update.instancesData.size());
-
- this->index() = index;
+ ARMARX_CHECK_FITS_SIZE(this->index(), update.instancesData.size());
this->_metadata.confidence = update.confidence;
this->_metadata.timeCreated = update.timeCreated;
@@ -32,16 +21,4 @@ namespace armarx::armem::ltm
this->_metadata.timeArrived = update.timeArrived;
}
- EntityInstance EntityInstance::copy() const
- {
- EntityInstance d;
- this->_copySelf(d);
- return d;
- }
-
- void EntityInstance::_copySelf(EntityInstance& other) const
- {
- Base::_copySelf(other);
- other._metadata = _metadata;
- }
}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.h b/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.h
index e95ae277e83b2a927172ad1e663c42a700fef849..6046f6ac50902d6f7f770361915dbd30d5a15ec1 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.h
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.h
@@ -1,84 +1,35 @@
#pragma once
-#include "../base/EntityInstanceBase.h"
+#include <RobotAPI/libraries/armem/core/base/EntityInstanceBase.h>
-#include "../workingmemory/EntityInstance.h"
-#include "mongodb/MongoDBConnectionManager.h"
-
-#include "../workingmemory/entityInstance_conversions.h"
-#include "../workingmemory/json_conversions.h"
namespace armarx::armem::ltm
{
- /**
- * @brief Metadata of an entity instance.
- */
- struct EntityInstanceMetadata
- {
- /// Time when this value was created.
- Time timeCreated;
- /// Time when this value was sent to the memory.
- Time timeSent;
- /// Time when this value has arrived at the memory.
- Time timeArrived;
+ using EntityInstanceMetadata = base::EntityInstanceMetadata;
- /// An optional confidence, may be used for things like decay.
- float confidence = 1.0;
-
-
- bool operator==(const EntityInstanceMetadata& other) const;
- inline bool operator!=(const EntityInstanceMetadata& other) const
- {
- return !(*this == other);
- }
- };
/**
* @brief Data of a single entity instance.
*/
class EntityInstance :
- public base::EntityInstanceBase<EntityInstance>
+ public base::EntityInstanceBase<base::NoData, EntityInstanceMetadata>
{
- using Base = base::EntityInstanceBase<EntityInstance>;
+ using Base = base::EntityInstanceBase<base::NoData, EntityInstanceMetadata>;
public:
using Base::EntityInstanceBase;
- EntityInstance(const EntityInstance& other) = default;
- EntityInstance(EntityInstance&& other) = default;
- EntityInstance& operator=(const EntityInstance& other) = default;
- EntityInstance& operator=(EntityInstance&& other) = default;
-
-
- EntityInstanceMetadata& metadata()
- {
- return _metadata;
- }
- inline const EntityInstanceMetadata& metadata() const
- {
- return _metadata;
- }
-
/**
* @brief Fill `*this` with the update's values.
* @param update The update.
* @param index The instances index.
*/
- virtual void update(const EntityUpdate& update, int index) override;
-
- virtual bool equalsDeep(const EntityInstance& other) const override;
-
- virtual EntityInstance copy() const override;
-
- protected:
- virtual void _copySelf(EntityInstance& other) const override;
+ void update(const EntityUpdate& update);
+ bool equalsDeep(const EntityInstance& other) const;
- private:
- /// The metadata.
- EntityInstanceMetadata _metadata;
};
}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.cpp
index aae8a6d3258c94a27e9f931838a44c8d1b6426aa..8cbe688125a7571a3e8f0a19031b25722bb79bbf 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.cpp
@@ -2,8 +2,11 @@
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-#include "../workingmemory/entityInstance_conversions.h"
-#include "../workingmemory/json_conversions.h"
+#include <RobotAPI/libraries/aron/core/navigator/data/container/Dict.h>
+
+#include <RobotAPI/libraries/armem/core/wm/aron_conversions.h>
+#include <RobotAPI/libraries/armem/core/wm/json_conversions.h>
+
#include "error.h"
@@ -18,7 +21,6 @@ namespace armarx::armem::ltm
mongocxx::collection coll = db[id().getEntityID().str()];
auto res = coll.find_one(document{} << "id" << id().getEntitySnapshotID().str() << finalize);
-
if (!res)
{
throw error::ArMemError("Could not load an instance from the memory '" + id().getEntityID().str() + "'. Tried to access: " + id().getEntitySnapshotID().str());
@@ -85,18 +87,20 @@ namespace armarx::armem::ltm
auto array_builder = bsoncxx::builder::basic::array{};
int i = 0;
- for (const auto& s : m.container())
+ m.forEachInstance([this, &array_builder, &i](const wm::EntityInstance & instance)
{
auto wms = _container.emplace_back(id().withInstanceIndex(i++));
auto aron = std::make_shared<aron::datanavigator::DictNavigator>();
- to_aron(aron, s);
+ to_aron(aron, instance);
nlohmann::json j;
from_aron(aron, j);
auto doc_value = bsoncxx::from_json(j.dump(2));
array_builder.append(doc_value);
- }
+
+ return true;
+ });
auto after_array = in_array << array_builder;
bsoncxx::document::value doc = after_array << bsoncxx::builder::stream::finalize;
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.h b/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.h
index 02361d2e708365303fbce81f56eaa9b49fb07a61..3029f8a7ca0278b9a505ee2fa5a744cfab327359 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.h
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.h
@@ -1,10 +1,12 @@
#pragma once
-#include "../base/EntitySnapshotBase.h"
-
#include "EntityInstance.h"
+#include "mongodb/MongoDBConnectionManager.h"
+
+#include <RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
-#include "../workingmemory/EntitySnapshot.h"
+#include <RobotAPI/libraries/aron/core/navigator/type/forward_declarations.h>
namespace armarx::armem::ltm
@@ -21,7 +23,6 @@ namespace armarx::armem::ltm
public:
using Base::EntitySnapshotBase;
- using Base::operator=;
// Conversion
@@ -31,20 +32,10 @@ namespace armarx::armem::ltm
void reload();
void setTo(const wm::EntitySnapshot&, const armem::Time& t);
- protected:
- virtual void _copySelf(EntitySnapshot& other) const override
- {
- Base::_copySelf(other);
- other.dbsettings = dbsettings;
- }
-
- virtual void _copySelfEmpty(EntitySnapshot& other) const override
- {
- Base::_copySelfEmpty(other);
- other.dbsettings = dbsettings;
- }
public:
+
MongoDBConnectionManager::MongoDBSettings dbsettings;
+
};
}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.cpp
index 2080879c55f1dd94e5aeeb2f6d78f72ada5c4aaf..ab4cb5d13ec0a30c0e8dc04125b61bd4b031df99 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.cpp
@@ -1,11 +1,13 @@
#include "Memory.h"
-#include <ArmarXCore/core/time/TimeUtil.h>
-#include <ArmarXCore/core/logging/Logging.h>
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
#include "error.h"
+#include <ArmarXCore/core/application/properties/PluginAll.h>
+#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/core/logging/Logging.h>
+#include <ArmarXCore/core/time/TimeUtil.h>
+
namespace armarx::armem::ltm
{
@@ -13,7 +15,6 @@ namespace armarx::armem::ltm
Memory::Memory(const Memory& other) :
Base(other),
dbsettings(other.dbsettings),
- alwaysTransferSettings(other.alwaysTransferSettings),
periodicTransferSettings(other.periodicTransferSettings),
onFullTransferSettings(other.onFullTransferSettings),
mongoDBMutex()
@@ -23,9 +24,8 @@ namespace armarx::armem::ltm
Memory::Memory(Memory&& other) :
- Base(other),
+ Base(std::move(other)),
dbsettings(other.dbsettings),
- alwaysTransferSettings(other.alwaysTransferSettings),
periodicTransferSettings(other.periodicTransferSettings),
onFullTransferSettings(other.onFullTransferSettings),
reloaded(other.reloaded)
@@ -37,8 +37,8 @@ namespace armarx::armem::ltm
Memory& Memory::operator=(const Memory& other)
{
Base::operator=(other);
+
dbsettings = other.dbsettings;
- alwaysTransferSettings = other.alwaysTransferSettings;
periodicTransferSettings = other.periodicTransferSettings;
onFullTransferSettings = other.onFullTransferSettings;
@@ -49,9 +49,9 @@ namespace armarx::armem::ltm
Memory& Memory::operator=(Memory&& other)
{
- Base::operator=(other);
+ Base::operator=(std::move(other));
+
dbsettings = std::move(other.dbsettings);
- alwaysTransferSettings = std::move(other.alwaysTransferSettings);
periodicTransferSettings = std::move(other.periodicTransferSettings);
onFullTransferSettings = std::move(other.onFullTransferSettings);
reloaded = other.reloaded;
@@ -69,7 +69,7 @@ namespace armarx::armem::ltm
ARMARX_WARNING << deactivateSpam("ConnectionIsNotValid")
<< "The connection to mongocxx for memory '" << name() << "' is not valid. Settings are: " << dbsettings.toString()
<< "\nTo start it, run e.g.: \n"
- << "mongod --port " << dbsettings.port << " --dbpath \"/tmp/\""
+ << "armarx memory start"
<< "\n\n";
return false;
}
@@ -83,17 +83,17 @@ namespace armarx::armem::ltm
defs->optional(dbsettings.user, prefix + "ltm.20_user");
defs->optional(dbsettings.password, prefix + "ltm.21_password");
defs->optional(dbsettings.database, prefix + "ltm.22_database");
- defs->optional(alwaysTransferSettings.enabled, prefix + "ltm.30_enableAlwaysTransfer", "Enable transfer whenever new data is committed (This disables the other transfer modes!).");
- defs->optional(periodicTransferSettings.enabled, prefix + "ltm.31_enablePeriodicTransfer", "Enable transfer based on periodic interval.");
- defs->optional(onFullTransferSettings.enabled, prefix + "ltm.32_enableOnFullTransfer", "Enable transfer whenever the wm is full (see maxHistorySize).");
+ defs->optional(periodicTransferSettings.enabled, prefix + "ltm.30_enablePeriodicTransfer", "Enable transfer based on periodic interval.");
+ defs->optional(onFullTransferSettings.enabled, prefix + "ltm.31_enableOnFullTransfer", "Enable transfer whenever the wm is full (see maxHistorySize).");
}
wm::Memory Memory::convert() const
{
+ wm::Memory m(id());
+
std::lock_guard l(mongoDBMutex);
if (!checkConnection())
{
- wm::Memory m(id());
return m;
}
@@ -101,7 +101,6 @@ namespace armarx::armem::ltm
TIMING_START(LTM_Convert);
- wm::Memory m(id());
for (const auto& [_, s] : _container)
{
m.addCoreSegment(s.convert());
@@ -160,7 +159,7 @@ namespace armarx::armem::ltm
std::string k = i.coreSegmentName;
- if (const auto& it = _container.find(k); it != _container.end())
+ if (auto it = _container.find(k); it != _container.end())
{
throw error::ArMemError("Somehow after clearing the (memory) container a key k = " + k + " was found. Do you have double entries in mongodb?");
}
@@ -198,9 +197,9 @@ namespace armarx::armem::ltm
mongocxx::database db = client[dbsettings.database];
mongocxx::collection coll = db[id().str()];
- for (const auto& [k, s] : m.container())
+ m.forEachCoreSegment([this, &coll](const wm::CoreSegment & s)
{
- if (const auto& it = _container.find(k); it != _container.end())
+ if (auto it = _container.find(s.name()); it != _container.end())
{
// TODO check if foreign key exists
it->second.append(s);
@@ -209,15 +208,17 @@ namespace armarx::armem::ltm
{
auto builder = bsoncxx::builder::stream::document{};
bsoncxx::document::value foreign_key = builder
- << "foreign_key" << s.id().withCoreSegmentName(k).str()
+ << "foreign_key" << s.id().withCoreSegmentName(s.name()).str()
<< bsoncxx::builder::stream::finalize;
coll.insert_one(foreign_key.view());
- auto wms = _container.emplace(k, id().withCoreSegmentName(k));
+ auto wms = _container.emplace(s.name(), id().withCoreSegmentName(s.name()));
wms.first->second.dbsettings = dbsettings;
wms.first->second.append(s);
}
- }
+
+ return true;
+ });
TIMING_END(LTM_Append);
}
@@ -230,7 +231,6 @@ namespace armarx::armem::ltm
toAppendQueue.push_back(m);
return;
}
-
_append(m);
}
}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.h b/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.h
index b24f4a7a662e2b5980d3dec00ecbb39b2c972673..41e82bce38b50f9e122e34056c2b5fd74cec4bac 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.h
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.h
@@ -1,17 +1,15 @@
#pragma once
-// BaseClass
-#include "../base/MemoryBase.h"
-
-// CoreSegment
#include "CoreSegment.h"
+#include "mongodb/MongoDBConnectionManager.h"
+
+#include <RobotAPI/libraries/armem/core/base/MemoryBase.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
-// WM
-#include "../workingmemory/Memory.h"
+#include <ArmarXCore/core/application/properties/forward_declarations.h>
+
+#include <mutex>
-// Properties
-#include <ArmarXCore/core/application/properties/PluginAll.h>
-#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
namespace armarx::armem::ltm
{
@@ -25,19 +23,11 @@ namespace armarx::armem::ltm
public:
- using Base::MemoryBase;
- using Base::operator=;
-
struct TransferSettings
{
bool enabled = false;
};
- struct AlwaysTransferSettings : public TransferSettings
- {
-
- };
-
struct PeriodicTransferSettings : public TransferSettings
{
bool deleteFromWMOnTransfer = false;
@@ -53,9 +43,14 @@ namespace armarx::armem::ltm
};
Mode mode;
+ int batch_size = 20;
};
+ public:
+
+ using Base::MemoryBase;
+
Memory(const Memory& other);
Memory(Memory&& other);
Memory& operator=(const Memory& other);
@@ -71,18 +66,6 @@ namespace armarx::armem::ltm
void reload();
void append(const wm::Memory&);
- protected:
- virtual void _copySelf(Memory& other) const override
- {
- Base::_copySelf(other);
- other.dbsettings = dbsettings;
- }
-
- virtual void _copySelfEmpty(Memory& other) const override
- {
- Base::_copySelfEmpty(other);
- other.dbsettings = dbsettings;
- }
private:
bool checkConnection() const;
@@ -92,7 +75,6 @@ namespace armarx::armem::ltm
public:
MongoDBConnectionManager::MongoDBSettings dbsettings;
- AlwaysTransferSettings alwaysTransferSettings;
PeriodicTransferSettings periodicTransferSettings;
OnFullTransferSettings onFullTransferSettings;
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.cpp
index 5fcf4a1351e34f257e773c2ac32e9d4eb64c5401..8126867e4db4be01c91dfb582b67c94303751927 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.cpp
@@ -1,8 +1,10 @@
#include "ProviderSegment.h"
+#include "error.h"
+
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-#include "error.h"
+#include <SimoxUtility/json/json.hpp>
namespace armarx::armem::ltm
@@ -39,7 +41,7 @@ namespace armarx::armem::ltm
std::string k = i.entityName;
- if (const auto& it = _container.find(k); it != _container.end())
+ if (auto it = _container.find(k); it != _container.end())
{
throw error::ArMemError("Somehow after clearing the (provvider) container a key k = " + k + " was found. Do you have double entries in mongodb?");
}
@@ -60,9 +62,9 @@ namespace armarx::armem::ltm
mongocxx::database db = client[dbsettings.database];
mongocxx::collection coll = db[id().str()];
- for (const auto& [k, s] : m.container())
+ m.forEachEntity([this, &coll](const wm::Entity & s)
{
- if (const auto& it = _container.find(k); it != _container.end())
+ if (auto it = _container.find(s.name()); it != _container.end())
{
it->second.append(s);
}
@@ -70,14 +72,16 @@ namespace armarx::armem::ltm
{
auto builder = bsoncxx::builder::stream::document{};
bsoncxx::document::value foreign_key = builder
- << "foreign_key" << s.id().withEntityName(k).str()
+ << "foreign_key" << s.id().withEntityName(s.name()).str()
<< bsoncxx::builder::stream::finalize;
coll.insert_one(foreign_key.view());
- auto wms = _container.emplace(k, id().withEntityName(k));
+ auto wms = _container.emplace(s.name(), id().withEntityName(s.name()));
wms.first->second.dbsettings = dbsettings;
wms.first->second.append(s);
}
- }
+
+ return true;
+ });
}
}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.h b/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.h
index bb49f232e9fe231e1cd500e3f9739ddaa0d7d83f..bf1d5e3a9f4cbd816e087957d0bb3d6351b0b6cd 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.h
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.h
@@ -1,10 +1,10 @@
#pragma once
-#include "../base/ProviderSegmentBase.h"
-
#include "Entity.h"
+#include "mongodb/MongoDBConnectionManager.h"
-#include "../workingmemory/ProviderSegment.h"
+#include <RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
namespace armarx::armem::ltm
@@ -21,7 +21,6 @@ namespace armarx::armem::ltm
public:
using Base::ProviderSegmentBase;
- using Base::operator=;
// Conversion
@@ -31,19 +30,6 @@ namespace armarx::armem::ltm
void reload();
void append(const wm::ProviderSegment&);
- protected:
- virtual void _copySelf(ProviderSegment& other) const override
- {
- Base::_copySelf(other);
- other.dbsettings = dbsettings;
- }
-
- virtual void _copySelfEmpty(ProviderSegment& other) const override
- {
- Base::_copySelfEmpty(other);
- other.dbsettings = dbsettings;
- }
-
public:
MongoDBConnectionManager::MongoDBSettings dbsettings;
};
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/mongodb/MongoDBConnectionManager.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/mongodb/MongoDBConnectionManager.cpp
index 6ad44836900e04765790a9a3c2a19881e1288656..fd2bbbb6ccb8aee93c4d343b818dc55872f7838a 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/mongodb/MongoDBConnectionManager.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/mongodb/MongoDBConnectionManager.cpp
@@ -20,7 +20,7 @@ namespace armarx::armem::ltm
initialize_if();
const auto uri_str = settings.uri();
- const auto& it = Connections.find(uri_str);
+ auto it = Connections.find(uri_str);
if (it == Connections.end())
{
mongocxx::uri uri(uri_str);
@@ -43,7 +43,7 @@ namespace armarx::armem::ltm
if (!force)
{
const auto uri_str = settings.uri();
- const auto& it = Connections.find(uri_str);
+ auto it = Connections.find(uri_str);
if (it != Connections.end())
{
auto admin = it->second["admin"];
@@ -70,7 +70,7 @@ namespace armarx::armem::ltm
initialize_if();
const auto uri_str = settings.uri();
- const auto& it = Connections.find(uri_str);
+ auto it = Connections.find(uri_str);
return it != Connections.end();
}
}
diff --git a/source/RobotAPI/libraries/armem/core/operations.cpp b/source/RobotAPI/libraries/armem/core/operations.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..b9ebedd316a41494d93bf99b1700fd83c475ba71
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/operations.cpp
@@ -0,0 +1,32 @@
+#include "operations.h"
+
+
+namespace armarx
+{
+
+ std::vector<aron::datanavigator::DictNavigatorPtr>
+ armem::getAronData(const wm::EntitySnapshot& snapshot)
+ {
+ std::vector<aron::datanavigator::DictNavigatorPtr> result;
+ snapshot.forEachChild([&result](const wm::EntityInstance & instance)
+ {
+ result.push_back(instance.data());
+ return true;
+ });
+ return result;
+ }
+
+
+ armem::EntityUpdate armem::toEntityUpdate(const wm::EntitySnapshot& snapshot)
+ {
+ EntityUpdate up;
+ up.entityID = snapshot.id().getEntityID();
+ up.timeCreated = snapshot.time();
+ up.instancesData = getAronData(snapshot);
+ return up;
+ }
+
+}
+
+
+
diff --git a/source/RobotAPI/libraries/armem/core/operations.h b/source/RobotAPI/libraries/armem/core/operations.h
new file mode 100644
index 0000000000000000000000000000000000000000..3b0182e324f32b832c97aaafa04ada90e604c9fa
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/operations.h
@@ -0,0 +1,34 @@
+#pragma once
+
+#include "wm/memory_definitions.h"
+
+
+/*
+ * Functions performing some "advanced" operations on the memory
+ * data structure, which are using their public API but should not
+ * be part of it.
+ */
+
+namespace armarx::armem
+{
+
+ std::vector<aron::datanavigator::DictNavigatorPtr>
+ getAronData(const wm::EntitySnapshot& snapshot);
+
+ EntityUpdate toEntityUpdate(const wm::EntitySnapshot& snapshot);
+
+
+ template <class ContainerT>
+ Commit toCommit(const ContainerT& container)
+ {
+ Commit commit;
+ container.forEachSnapshot([&commit](const wm::EntitySnapshot & snapshot)
+ {
+ commit.add(toEntityUpdate(snapshot));
+ return true;
+ });
+ return commit;
+ }
+
+}
+
diff --git a/source/RobotAPI/libraries/armem/core/wm.h b/source/RobotAPI/libraries/armem/core/wm.h
new file mode 100644
index 0000000000000000000000000000000000000000..83776ed701261bde89ed1fe2fd1e4ff479f06f44
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/wm.h
@@ -0,0 +1,10 @@
+#pragma once
+
+#include "wm/memory_definitions.h"
+
+
+namespace armarx::armem::wm
+{
+
+}
+
diff --git a/source/RobotAPI/libraries/armem/core/wm/aron_conversions.cpp b/source/RobotAPI/libraries/armem/core/wm/aron_conversions.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..a4a5faa1404129feed5f2573c706c22900c108df
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/wm/aron_conversions.cpp
@@ -0,0 +1,69 @@
+#include "aron_conversions.h"
+
+#include <RobotAPI/libraries/aron/core/navigator/data/AllNavigators.h>
+
+
+namespace armarx::armem
+{
+
+ constexpr const char* DATA_WRAPPER_DATA_FIELD = "__ARON_DATA";
+ 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_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";
+
+}
+
+
+void armarx::armem::from_aron(const aron::datanavigator::DictNavigatorPtr& dataWrapped, wm::EntityInstance& e)
+{
+ wm::EntityInstanceMetadata& metadata = e.metadata();
+
+ if (dataWrapped->hasElement(DATA_WRAPPER_DATA_FIELD))
+ {
+ e.data() = aron::datanavigator::DictNavigator::DynamicCastAndCheck(dataWrapped->getElement(DATA_WRAPPER_DATA_FIELD));
+ }
+
+ auto timeCreated = aron::datanavigator::LongNavigator::DynamicCastAndCheck(dataWrapped->getElement(DATA_WRAPPER_TIME_CREATED_FIELD));
+ metadata.timeCreated = Time::microSeconds(timeCreated->toAronLongPtr()->value);
+
+ auto timeSent = aron::datanavigator::LongNavigator::DynamicCastAndCheck(dataWrapped->getElement(DATA_WRAPPER_TIME_SENT_FIELD));
+ metadata.timeSent = Time::microSeconds(timeSent->toAronLongPtr()->value);
+
+ auto timeArrived = aron::datanavigator::LongNavigator::DynamicCastAndCheck(dataWrapped->getElement(DATA_WRAPPER_TIME_ARRIVED_FIELD));
+ metadata.timeArrived = Time::microSeconds(timeArrived->toAronLongPtr()->value);
+
+ auto confidence = aron::datanavigator::DoubleNavigator::DynamicCastAndCheck(dataWrapped->getElement(DATA_WRAPPER_CONFIDENCE_FIELD));
+ metadata.confidence = static_cast<float>(confidence->toAronDoublePtr()->value);
+}
+
+
+void armarx::armem::to_aron(aron::datanavigator::DictNavigatorPtr& a, const wm::EntityInstance& e)
+{
+ if (e.data())
+ {
+ a->addElement(DATA_WRAPPER_DATA_FIELD, e.data());
+ }
+
+ auto timeWrapped = std::make_shared<aron::datanavigator::LongNavigator>();
+ timeWrapped->setValue(Time::now().toMicroSeconds());
+ a->addElement(DATA_WRAPPER_TIME_STORED_FIELD, timeWrapped);
+
+ const wm::EntityInstanceMetadata& metadata = e.metadata();
+ auto timeCreated = std::make_shared<aron::datanavigator::LongNavigator>();
+ timeCreated->setValue(metadata.timeCreated.toMicroSeconds());
+ a->addElement(DATA_WRAPPER_TIME_CREATED_FIELD, timeCreated);
+
+ auto timeSent = std::make_shared<aron::datanavigator::LongNavigator>();
+ timeSent->setValue(metadata.timeSent.toMicroSeconds());
+ a->addElement(DATA_WRAPPER_TIME_SENT_FIELD, timeSent);
+
+ auto timeArrived = std::make_shared<aron::datanavigator::LongNavigator>();
+ timeArrived->setValue(metadata.timeArrived.toMicroSeconds());
+ a->addElement(DATA_WRAPPER_TIME_ARRIVED_FIELD, timeArrived);
+
+ auto confidence = std::make_shared<aron::datanavigator::DoubleNavigator>();
+ confidence->setValue(static_cast<double>(metadata.confidence));
+ a->addElement(DATA_WRAPPER_CONFIDENCE_FIELD, confidence);
+}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/entityInstance_conversions.h b/source/RobotAPI/libraries/armem/core/wm/aron_conversions.h
similarity index 59%
rename from source/RobotAPI/libraries/armem/core/workingmemory/entityInstance_conversions.h
rename to source/RobotAPI/libraries/armem/core/wm/aron_conversions.h
index f3b25566f110dca844e24dcac4c997f724c74548..f6b43dc8bd468008b9fe8ee470564f5de89e16cb 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/entityInstance_conversions.h
+++ b/source/RobotAPI/libraries/armem/core/wm/aron_conversions.h
@@ -1,6 +1,9 @@
#pragma once
-#include "Memory.h"
+#include <RobotAPI/libraries/aron/core/navigator/data/forward_declarations.h>
+
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
+
namespace armarx::armem
{
diff --git a/source/RobotAPI/libraries/armem/core/wm/ice_conversions.cpp b/source/RobotAPI/libraries/armem/core/wm/ice_conversions.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..70a905a931fd331a6ecdfbc2c278924b0da9144a
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/wm/ice_conversions.cpp
@@ -0,0 +1,64 @@
+#include "ice_conversions.h"
+
+#include <RobotAPI/libraries/armem/core/base/ice_conversions.h>
+
+
+namespace armarx::armem
+{
+
+ void wm::toIce(data::EntityInstance& ice, const EntityInstance& data)
+ {
+ base::toIce(ice, data);
+ }
+ void wm::fromIce(const data::EntityInstance& ice, EntityInstance& data)
+ {
+ base::fromIce(ice, data);
+ }
+
+
+ void wm::toIce(data::EntitySnapshot& ice, const EntitySnapshot& snapshot)
+ {
+ base::toIce(ice, snapshot);
+ }
+ void wm::fromIce(const data::EntitySnapshot& ice, EntitySnapshot& snapshot)
+ {
+ base::fromIce(ice, snapshot);
+ }
+
+ void wm::toIce(data::Entity& ice, const Entity& entity)
+ {
+ base::toIce(ice, entity);
+ }
+ void wm::fromIce(const data::Entity& ice, Entity& entity)
+ {
+ base::fromIce(ice, entity);
+ }
+
+ void wm::toIce(data::ProviderSegment& ice, const ProviderSegment& providerSegment)
+ {
+ base::toIce(ice, providerSegment);
+ }
+ void wm::fromIce(const data::ProviderSegment& ice, ProviderSegment& providerSegment)
+ {
+ base::fromIce(ice, providerSegment);
+ }
+
+ void wm::toIce(data::CoreSegment& ice, const CoreSegment& coreSegment)
+ {
+ base::toIce(ice, coreSegment);
+ }
+ void wm::fromIce(const data::CoreSegment& ice, CoreSegment& coreSegment)
+ {
+ base::fromIce(ice, coreSegment);
+ }
+
+ void wm::toIce(data::Memory& ice, const Memory& memory)
+ {
+ base::toIce(ice, memory);
+ }
+ void wm::fromIce(const data::Memory& ice, Memory& memory)
+ {
+ base::fromIce(ice, memory);
+ }
+
+}
diff --git a/source/RobotAPI/libraries/armem/core/wm/ice_conversions.h b/source/RobotAPI/libraries/armem/core/wm/ice_conversions.h
new file mode 100644
index 0000000000000000000000000000000000000000..4a58f16aaa6eef4c6f6685a86ed66298c1407454
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/wm/ice_conversions.h
@@ -0,0 +1,34 @@
+#pragma once
+
+#include <RobotAPI/interface/armem/commit.h>
+#include <RobotAPI/interface/armem/memory.h>
+
+#include "memory_definitions.h"
+
+
+namespace armarx::armem::wm
+{
+
+ void toIce(data::EntityInstance& ice, const EntityInstance& data);
+ void fromIce(const data::EntityInstance& ice, EntityInstance& data);
+
+
+ void toIce(data::EntitySnapshot& ice, const EntitySnapshot& snapshot);
+ void fromIce(const data::EntitySnapshot& ice, EntitySnapshot& snapshot);
+
+ void toIce(data::Entity& ice, const Entity& entity);
+ void fromIce(const data::Entity& ice, Entity& entity);
+
+
+ void toIce(data::ProviderSegment& ice, const ProviderSegment& providerSegment);
+ void fromIce(const data::ProviderSegment& ice, ProviderSegment& providerSegment);
+
+ void toIce(data::CoreSegment& ice, const CoreSegment& coreSegment);
+ void fromIce(const data::CoreSegment& ice, CoreSegment& coreSegment);
+
+ void toIce(data::Memory& ice, const Memory& memory);
+ void fromIce(const data::Memory& ice, Memory& memory);
+}
+
+// Must be included after the prototypes. Otherwise the compiler cannot find the correct methods in ice_coversion_templates.h
+#include <RobotAPI/libraries/armem/core/ice_conversions.h>
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/json_conversions.cpp b/source/RobotAPI/libraries/armem/core/wm/json_conversions.cpp
similarity index 64%
rename from source/RobotAPI/libraries/armem/core/workingmemory/json_conversions.cpp
rename to source/RobotAPI/libraries/armem/core/wm/json_conversions.cpp
index e7499d8b42edf895bbbdb2f0d06a1fe3ed2ee823..fd67c5f822cbfa3783bf1fc23b3de24f06a27f88 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/json_conversions.cpp
+++ b/source/RobotAPI/libraries/armem/core/wm/json_conversions.cpp
@@ -1,10 +1,14 @@
#include "json_conversions.h"
#include <RobotAPI/libraries/aron/core/Debug.h>
+#include <RobotAPI/libraries/aron/core/io/dataIO/visitor/Visitor.h>
+#include <RobotAPI/libraries/aron/core/io/dataIO/converter/Converter.h>
+#include <RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReader.h>
+#include <RobotAPI/libraries/aron/core/io/dataIO/writer/nlohmannJSON/NlohmannJSONWriter.h>
+
namespace armarx::armem
{
-
void from_aron(const aron::datanavigator::DictNavigatorPtr& aron, nlohmann::json& j)
{
aron::dataIO::writer::NlohmannJSONWriter dataWriter;
@@ -12,7 +16,8 @@ namespace armarx::armem
j = dataWriter.getResult();
}
- void to_aron(aron::datanavigator::DictNavigatorPtr& a, const nlohmann::json& e, const aron::typenavigator::NavigatorPtr& expectedStructure)
+ void to_aron(aron::datanavigator::DictNavigatorPtr& a, const nlohmann::json& e,
+ const aron::typenavigator::NavigatorPtr& expectedStructure)
{
aron::dataIO::reader::NlohmannJSONReader dataReader(e);
aron::dataIO::writer::NavigatorWriter navWriter;
diff --git a/source/RobotAPI/libraries/armem/core/wm/json_conversions.h b/source/RobotAPI/libraries/armem/core/wm/json_conversions.h
new file mode 100644
index 0000000000000000000000000000000000000000..4ce93812b606688e642eecc0b7856210adce1a90
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/wm/json_conversions.h
@@ -0,0 +1,14 @@
+#pragma once
+
+#include <RobotAPI/libraries/aron/core/navigator/data/forward_declarations.h>
+#include <RobotAPI/libraries/aron/core/navigator/type/forward_declarations.h>
+
+#include <SimoxUtility/json/json.hpp>
+
+
+namespace armarx::armem
+{
+ void from_aron(const aron::datanavigator::DictNavigatorPtr&, nlohmann::json&);
+ void to_aron(aron::datanavigator::DictNavigatorPtr&, const nlohmann::json&,
+ const aron::typenavigator::NavigatorPtr& expectedStructure = nullptr);
+}
diff --git a/source/RobotAPI/libraries/armem/core/wm/memory_definitions.cpp b/source/RobotAPI/libraries/armem/core/wm/memory_definitions.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..c9516fc3b74ce05797d7d8c39b12f83b0bdf740d
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/wm/memory_definitions.cpp
@@ -0,0 +1,92 @@
+#include "memory_definitions.h"
+
+#include "error.h"
+
+#include <RobotAPI/libraries/aron/core/navigator/data/container/Dict.h>
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+#include <map>
+#include <vector>
+
+
+namespace armarx::armem::wm
+{
+
+ bool EntityInstance::equalsDeep(const EntityInstance& other) const
+ {
+ if (_data and other.data())
+ {
+ return id() == other.id()
+ && _metadata == other.metadata()
+ && *_data == *other.data();
+ }
+ if (_data or other.data())
+ {
+ return false;
+ }
+ return id() == other.id() && _metadata == other.metadata();
+ }
+
+
+ void EntityInstance::update(const EntityUpdate& update)
+ {
+ ARMARX_CHECK_FITS_SIZE(this->index(), update.instancesData.size());
+
+ this->data() = update.instancesData.at(size_t(this->index()));
+
+ this->_metadata.confidence = update.confidence;
+
+ this->_metadata.timeCreated = update.timeCreated;
+ this->_metadata.timeSent = update.timeSent;
+ this->_metadata.timeArrived = update.timeArrived;
+ }
+
+
+
+ std::optional<wm::EntitySnapshot> CoreSegment::getLatestEntitySnapshot(const MemoryID& entityID) const
+ {
+ const wm::Entity& entity = this->getEntity(entityID);
+ if (entity.empty())
+ {
+ return std::nullopt;
+ }
+ else
+ {
+ return entity.getLatestSnapshot();
+ }
+ }
+
+
+ std::optional<wm::EntityInstance> CoreSegment::getLatestEntityInstance(
+ const MemoryID& entityID, int instanceIndex) const
+ {
+ auto snapshot = getLatestEntitySnapshot(entityID);
+ if (snapshot.has_value()
+ and instanceIndex >= 0
+ and static_cast<size_t>(instanceIndex) < snapshot->size())
+ {
+ return snapshot->getInstance(instanceIndex);
+ }
+ else
+ {
+ return std::nullopt;
+ }
+ }
+
+
+ armarx::aron::datanavigator::DictNavigatorPtr
+ CoreSegment::getLatestEntityInstanceData(const MemoryID& entityID, int instanceIndex) const
+ {
+ auto instance = getLatestEntityInstance(entityID, instanceIndex);
+ if (instance.has_value())
+ {
+ return instance->data();
+ }
+ else
+ {
+ return nullptr;
+ }
+ }
+
+
+}
diff --git a/source/RobotAPI/libraries/armem/core/wm/memory_definitions.h b/source/RobotAPI/libraries/armem/core/wm/memory_definitions.h
new file mode 100644
index 0000000000000000000000000000000000000000..679153b47809682fec38adb5baea609dd99c5c28
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/wm/memory_definitions.h
@@ -0,0 +1,135 @@
+#pragma once
+
+#include <RobotAPI/libraries/armem/core/base/EntityInstanceBase.h>
+#include <RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h>
+#include <RobotAPI/libraries/armem/core/base/EntityBase.h>
+#include <RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h>
+#include <RobotAPI/libraries/armem/core/base/CoreSegmentBase.h>
+#include <RobotAPI/libraries/armem/core/base/MemoryBase.h>
+
+#include <optional>
+
+
+namespace armarx::armem::wm
+{
+
+ using EntityInstanceMetadata = base::EntityInstanceMetadata;
+ using EntityInstanceData = armarx::aron::datanavigator::DictNavigator;
+ using EntityInstanceDataPtr = armarx::aron::datanavigator::DictNavigatorPtr;
+
+
+ /// @see base::EntityInstanceBase
+ class EntityInstance :
+ public base::EntityInstanceBase<EntityInstanceDataPtr, EntityInstanceMetadata>
+ {
+ using Base = base::EntityInstanceBase<EntityInstanceDataPtr, EntityInstanceMetadata>;
+
+ public:
+
+ using Base::EntityInstanceBase;
+
+
+ /**
+ * @brief Fill `*this` with the update's values.
+ * @param update The update.
+ * @param index The instances index.
+ */
+ void update(const EntityUpdate& update);
+
+ bool equalsDeep(const EntityInstance& other) const;
+
+ };
+
+
+
+ /// @see base::EntitySnapshotBase
+ class EntitySnapshot :
+ public base::EntitySnapshotBase<EntityInstance, EntitySnapshot>
+ {
+ public:
+
+ using base::EntitySnapshotBase<EntityInstance, EntitySnapshot>::EntitySnapshotBase;
+
+ };
+
+
+ /// @see base::EntityBase
+ class Entity :
+ public base::EntityBase<EntitySnapshot, Entity>
+ {
+ public:
+
+ using base::EntityBase<EntitySnapshot, Entity>::EntityBase;
+
+ };
+
+
+
+ /// @see base::ProviderSegmentBase
+ class ProviderSegment :
+ public base::ProviderSegmentBase<Entity, ProviderSegment>
+ {
+ public:
+
+ using base::ProviderSegmentBase<Entity, ProviderSegment>::ProviderSegmentBase;
+
+ };
+
+
+
+ /// @see base::CoreSegmentBase
+ class CoreSegment :
+ public base::CoreSegmentBase<ProviderSegment, CoreSegment>
+ {
+ using Base = base::CoreSegmentBase<ProviderSegment, CoreSegment>;
+
+ public:
+
+ using Base::CoreSegmentBase;
+
+
+ // Non-locking interface
+
+ std::optional<wm::EntitySnapshot> getLatestEntitySnapshot(
+ const MemoryID& entityID) const;
+ std::optional<wm::EntityInstance> getLatestEntityInstance(
+ const MemoryID& entityID, int instanceIndex = 0) const;
+ armarx::aron::datanavigator::DictNavigatorPtr getLatestEntityInstanceData(
+ const MemoryID& entityID, int instanceIndex = 0) const;
+
+
+ template <class AronDtoT>
+ std::optional<AronDtoT> getLatestEntityInstanceDataAs(
+ const MemoryID& entityID, int instanceIndex = 0) const
+ {
+ wm::EntityInstanceDataPtr data = getLatestEntityInstanceData(entityID, instanceIndex);
+ if (data)
+ {
+ AronDtoT aron;
+ aron.fromAron(data);
+ return aron;
+ }
+ else
+ {
+ return std::nullopt;
+ }
+ }
+
+ };
+
+
+
+ /// @see base::MemoryBase
+ class Memory :
+ public base::MemoryBase<CoreSegment, Memory>
+ {
+ using Base = base::MemoryBase<CoreSegment, Memory>;
+
+ public:
+
+ using Base::MemoryBase;
+
+ };
+
+}
+
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/visitor/FunctionalVisitor.cpp b/source/RobotAPI/libraries/armem/core/wm/visitor/FunctionalVisitor.cpp
similarity index 82%
rename from source/RobotAPI/libraries/armem/core/workingmemory/visitor/FunctionalVisitor.cpp
rename to source/RobotAPI/libraries/armem/core/wm/visitor/FunctionalVisitor.cpp
index 53016fc6c83d9ef6e24a2e75942a12bced7d0eaa..f72b37c1a7ab68320c8ff2ec8c071dd741e61f22 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/visitor/FunctionalVisitor.cpp
+++ b/source/RobotAPI/libraries/armem/core/wm/visitor/FunctionalVisitor.cpp
@@ -2,7 +2,7 @@
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/core/error.h>
@@ -18,6 +18,4 @@ namespace armarx::armem::wm
{
}
-
-
}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/visitor/FunctionalVisitor.h b/source/RobotAPI/libraries/armem/core/wm/visitor/FunctionalVisitor.h
similarity index 100%
rename from source/RobotAPI/libraries/armem/core/workingmemory/visitor/FunctionalVisitor.h
rename to source/RobotAPI/libraries/armem/core/wm/visitor/FunctionalVisitor.h
diff --git a/source/RobotAPI/libraries/armem/core/wm/visitor/Visitor.cpp b/source/RobotAPI/libraries/armem/core/wm/visitor/Visitor.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..1140bc11be0a43e41e2e5c690ae8a73132440a6b
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/wm/visitor/Visitor.cpp
@@ -0,0 +1,141 @@
+#include "Visitor.h"
+
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
+#include <RobotAPI/libraries/armem/core/error.h>
+
+
+namespace armarx::armem::wm
+{
+
+ Visitor::Visitor()
+ {
+ }
+
+ Visitor::~Visitor()
+ {
+ }
+
+ bool Visitor::applyTo(Memory& memory)
+ {
+ visitEnter(memory);
+ bool cont = memory.forEachCoreSegment([this](CoreSegment & coreSeg)
+ {
+ return applyTo(coreSeg);
+ });
+ visitExit(memory);
+ return cont;
+ }
+
+ bool Visitor::applyTo(CoreSegment& coreSegment)
+ {
+ visitEnter(coreSegment);
+ bool cont = coreSegment.forEachProviderSegment([this](ProviderSegment & provSeg)
+ {
+ return applyTo(provSeg);
+ });
+ visitExit(coreSegment);
+ return cont;
+ }
+
+ bool Visitor::applyTo(ProviderSegment& providerSegment)
+ {
+ visitEnter(providerSegment);
+ bool cont = providerSegment.forEachEntity([this](Entity & entity)
+ {
+ return applyTo(entity);
+ });
+ visitExit(providerSegment);
+ return cont;
+ }
+
+ bool Visitor::applyTo(Entity& entity)
+ {
+ visitEnter(entity);
+ bool cont = entity.forEachSnapshot([this](EntitySnapshot & snapshot)
+ {
+ return applyTo(snapshot);
+ });
+ visitExit(entity);
+ return cont;
+ }
+
+ bool Visitor::applyTo(EntitySnapshot& snapshot)
+ {
+ visitEnter(snapshot);
+ bool cont = snapshot.forEachInstance([this](EntityInstance & instance)
+ {
+ return applyTo(instance);
+ });
+ visitExit(snapshot);
+ return cont;
+ }
+
+ bool Visitor::applyTo(EntityInstance& instance)
+ {
+ return visit(instance);
+ }
+
+
+ bool Visitor::applyTo(const Memory& memory)
+ {
+ visitEnter(memory);
+ bool cont = memory.forEachCoreSegment([this](const CoreSegment & coreSeg)
+ {
+ return applyTo(coreSeg);
+ });
+ visitExit(memory);
+ return cont;
+ }
+
+ bool Visitor::applyTo(const CoreSegment& coreSegment)
+ {
+ visitEnter(coreSegment);
+ bool cont = coreSegment.forEachProviderSegment([this](const ProviderSegment & provSeg)
+ {
+ return applyTo(provSeg);
+ });
+ visitExit(coreSegment);
+ return cont;
+ }
+
+ bool Visitor::applyTo(const ProviderSegment& providerSegment)
+ {
+ visitEnter(providerSegment);
+ bool cont = providerSegment.forEachEntity([this](const Entity & entity)
+ {
+ return applyTo(entity);
+ });
+ visitExit(providerSegment);
+ return cont;
+ }
+
+ bool Visitor::applyTo(const Entity& entity)
+ {
+ visitEnter(entity);
+ bool cont = entity.forEachSnapshot([this](const EntitySnapshot & snapshot)
+ {
+ return applyTo(snapshot);
+ });
+ visitExit(entity);
+ return cont;
+ }
+
+ bool Visitor::applyTo(const EntitySnapshot& snapshot)
+ {
+ visitEnter(snapshot);
+ bool cont = snapshot.forEachInstance([this](const EntityInstance & instance)
+ {
+ return applyTo(instance);
+ });
+ visitExit(snapshot);
+ return cont;
+ }
+
+ bool Visitor::applyTo(const EntityInstance& instance)
+ {
+ return visit(instance);
+ }
+
+}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/visitor/Visitor.h b/source/RobotAPI/libraries/armem/core/wm/visitor/Visitor.h
similarity index 100%
rename from source/RobotAPI/libraries/armem/core/workingmemory/visitor/Visitor.h
rename to source/RobotAPI/libraries/armem/core/wm/visitor/Visitor.h
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.cpp
deleted file mode 100644
index 601f079350de8536aff130943d539eafee4e43b3..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.cpp
+++ /dev/null
@@ -1,136 +0,0 @@
-#include "CoreSegment.h"
-
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-#include "error.h"
-
-
-namespace armarx::armem::wm
-{
-
- CoreSegment::CoreSegment(const CoreSegment& other) :
- CoreSegment::Base(other),
- _mutex()
- {
- // Do not copy _mutex.
- }
-
-
- CoreSegment::CoreSegment(CoreSegment&& other) : CoreSegment::Base(other)
- {
- // Do not move _mutex.
- }
-
-
- CoreSegment& CoreSegment::operator=(const CoreSegment& other)
- {
- Base::operator=(other);
- // Don't copy _mutex.
- return *this;
- }
-
-
- CoreSegment& CoreSegment::operator=(CoreSegment&& other)
- {
- Base::operator=(other);
- // Don't move _mutex.
- return *this;
- }
-
-
- Commit CoreSegment::toCommit() const
- {
- Commit c;
- for (const auto& [k, s] : _container)
- {
- c.append(s.toCommit());
- }
- return c;
- }
-
-
- void CoreSegment::_copySelfWithoutData(CoreSegment& other) const
- {
- other.id() = _id;
- other.setMaxHistorySize(_maxHistorySize);
- for (const auto& [k, s] : _container)
- {
- other.addProviderSegment(s.copyWithoutData());
- }
- }
-
-
- std::mutex& CoreSegment::mutex() const
- {
- return _mutex;
- }
-
-
- std::optional<wm::EntitySnapshot> CoreSegment::getLatestEntitySnapshot(const MemoryID& entityID) const
- {
- const wm::Entity& entity = this->getEntity(entityID);
- if (entity.empty())
- {
- return std::nullopt;
- }
- else
- {
- return entity.getLatestSnapshot();
- }
- }
-
-
- std::optional<wm::EntityInstance> CoreSegment::getLatestEntityInstance(
- const MemoryID& entityID, int instanceIndex) const
- {
- auto snapshot = getLatestEntitySnapshot(entityID);
- if (snapshot.has_value()
- and instanceIndex >= 0
- and static_cast<size_t>(instanceIndex) < snapshot->size())
- {
- return snapshot->getInstance(instanceIndex);
- }
- else
- {
- return std::nullopt;
- }
- }
-
-
- armarx::aron::datanavigator::DictNavigatorPtr
- CoreSegment::getLatestEntityInstanceData(const MemoryID& entityID, int instanceIndex) const
- {
- auto instance = getLatestEntityInstance(entityID, instanceIndex);
- if (instance.has_value())
- {
- return instance->data();
- }
- else
- {
- return nullptr;
- }
- }
-
-
- std::optional<wm::EntitySnapshot>
- CoreSegment::getLatestEntitySnapshotLocking(const MemoryID& entityID) const
- {
- std::scoped_lock lock(_mutex);
- return getLatestEntitySnapshot(entityID);
- }
-
- std::optional<wm::EntityInstance>
- CoreSegment::getLatestEntityInstanceLocking(const MemoryID& entityID, int instanceIndex) const
- {
- std::scoped_lock lock(_mutex);
- return getLatestEntityInstance(entityID, instanceIndex);
- }
-
- armarx::aron::datanavigator::DictNavigatorPtr
- CoreSegment::getLatestEntityInstanceDataLocking(const MemoryID& entityID, int instanceIndex) const
- {
- std::scoped_lock lock(_mutex);
- return getLatestEntityInstanceData(entityID, instanceIndex);
- }
-
-}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.h b/source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.h
deleted file mode 100644
index 86b9b439e72d4d686b2c52fe5fd39f0a9b6aaf1c..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.h
+++ /dev/null
@@ -1,111 +0,0 @@
-#pragma once
-
-#include <mutex>
-#include <optional>
-
-#include "../base/CoreSegmentBase.h"
-
-#include "ProviderSegment.h"
-#include "detail/CopyWithoutData.h"
-
-
-namespace armarx::armem::wm
-{
-
- /**
- * @brief Data of a core segment containing multiple provider segments.
- */
- class CoreSegment :
- public base::CoreSegmentBase<ProviderSegment, CoreSegment>,
- public detail::CopyWithoutData<CoreSegment>
- {
- using Base = base::CoreSegmentBase<ProviderSegment, CoreSegment>;
-
- public:
-
- using Base::CoreSegmentBase;
-
- CoreSegment(const CoreSegment& other);
- CoreSegment(CoreSegment&& other);
- CoreSegment& operator=(const CoreSegment& other);
- CoreSegment& operator=(CoreSegment&& other);
-
- /**
- * @brief Convert the content of this segmnet into a commit
- * @return The resulting commit
- */
- Commit toCommit() const;
-
- std::mutex& mutex() const;
-
-
- // Non-locking interface
-
- std::optional<wm::EntitySnapshot> getLatestEntitySnapshot(
- const MemoryID& entityID) const;
- std::optional<wm::EntityInstance> getLatestEntityInstance(
- const MemoryID& entityID, int instanceIndex = 0) const;
- armarx::aron::datanavigator::DictNavigatorPtr getLatestEntityInstanceData(
- const MemoryID& entityID, int instanceIndex = 0) const;
-
-
- template <class AronDtoT>
- std::optional<AronDtoT> getLatestEntityInstanceDataAs(
- const MemoryID& entityID, int instanceIndex = 0) const
- {
- wm::EntityInstanceDataPtr data = getLatestEntityInstanceData(entityID, instanceIndex);
- if (data)
- {
- AronDtoT aron;
- aron.fromAron(data);
- return aron;
- }
- else
- {
- return std::nullopt;
- }
- }
-
-
- // Locking interface
-
- std::optional<wm::EntitySnapshot> getLatestEntitySnapshotLocking(
- const MemoryID& entityID) const;
- std::optional<wm::EntityInstance> getLatestEntityInstanceLocking(
- const MemoryID& entityID, int instanceIndex = 0) const;
- armarx::aron::datanavigator::DictNavigatorPtr getLatestEntityInstanceDataLocking(
- const MemoryID& entityID, int instanceIndex = 0) const;
-
-
- template <class AronDtoT>
- std::optional<AronDtoT> getLatestEntityInstanceDataLockingAs(
- const MemoryID& entityID, int instanceIndex = 0) const
- {
- // Keep lock to a minimum.
- wm::EntityInstanceDataPtr data = nullptr;
- {
- std::scoped_lock lock(_mutex);
- data = getLatestEntityInstanceData(entityID, instanceIndex);
- }
- if (data)
- {
- AronDtoT aron;
- aron.fromAron(data);
- return aron;
- }
- else
- {
- return std::nullopt;
- }
- }
-
-
- protected:
-
- virtual void _copySelfWithoutData(CoreSegment& other) const override;
-
- mutable std::mutex _mutex;
-
- };
-
-}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/Entity.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/Entity.cpp
deleted file mode 100644
index e704e96d5454d27bfb095120c1901e000611122a..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/workingmemory/Entity.cpp
+++ /dev/null
@@ -1,28 +0,0 @@
-#include "Entity.h"
-
-namespace armarx::armem::wm
-{
-
- Commit Entity::toCommit() const
- {
- Commit c;
- for (const auto& [k, s] : _container)
- {
- EntityUpdate& up = c.add();
- up.entityID = id();
- up.timeCreated = k;
- up.instancesData = s.getAronData();
- }
- return c;
- }
-
- void Entity::_copySelfWithoutData(Entity& other) const
- {
- other.id() = _id;
- other.setMaxHistorySize(_maxHistorySize);
- for (const auto& [k, s] : _container)
- {
- other.addSnapshot(s.copyWithoutData());
- }
- }
-}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/Entity.h b/source/RobotAPI/libraries/armem/core/workingmemory/Entity.h
deleted file mode 100644
index a6a7621e21272db6447e9e09b695900eefd263c1..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/workingmemory/Entity.h
+++ /dev/null
@@ -1,57 +0,0 @@
-#pragma once
-
-#include "../base/EntityBase.h"
-
-#include "EntitySnapshot.h"
-#include "detail/CopyWithoutData.h"
-
-
-namespace armarx::armem::wm
-{
- /**
- * @brief An entity over a period of time.
- *
- * An entity should be a physical thing or abstract concept existing
- * (and potentially evolving) over some time.
- *
- * Examples are:
- * - objects (the green box)
- * - agents (robot, human)
- * - locations (frige, sink)
- * - grasp affordances (general, or for a specific object)
- * - images
- * - point clouds
- * - other sensory values
- *
- * At each point in time (`EntitySnapshot`), the entity can have a
- * (potentially variable) number of instances (`EntityInstance`),
- * each containing a single `AronData` object of a specific `AronType`.
- */
- class Entity :
- public base::EntityBase<EntitySnapshot, Entity>,
- public detail::CopyWithoutData<Entity>
- {
- using Base = base::EntityBase<EntitySnapshot, Entity>;
-
- public:
-
- using Base::EntityBase;
-
- Entity(const Entity& other) = default;
- Entity(Entity&& other) = default;
- Entity& operator=(const Entity& other) = default;
- Entity& operator=(Entity&& other) = default;
-
- /**
- * @brief Convert the content of this segmnet into a commit
- * @return The resulting commit
- */
- Commit toCommit() const;
-
- protected:
-
- virtual void _copySelfWithoutData(Entity& other) const override;
-
- };
-
-}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.cpp
deleted file mode 100644
index 6149449c77533abd656a460097969f0066d8d88f..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.cpp
+++ /dev/null
@@ -1,77 +0,0 @@
-#include "EntityInstance.h"
-
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-
-std::ostream& armarx::armem::wm::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"
- ;
- return os;
-}
-
-namespace armarx::armem::wm
-{
-
- bool EntityInstanceMetadata::operator==(const EntityInstanceMetadata& other) const
- {
- return timeCreated == other.timeCreated
- && timeSent == other.timeSent
- && timeArrived == other.timeArrived
- && std::abs(confidence - other.confidence) < 1e-6f;
- }
-
-
- bool EntityInstance::equalsDeep(const EntityInstance& other) const
- {
- if (_data and other.data())
- {
- return id() == other.id()
- && _metadata == other.metadata()
- && *_data == *other.data();
- }
- if (_data or other.data())
- {
- return false;
- }
- return id() == other.id() && _metadata == other.metadata();
- }
-
- void EntityInstance::update(const EntityUpdate& update, int index)
- {
- ARMARX_CHECK_FITS_SIZE(index, update.instancesData.size());
-
- this->index() = index;
- setData(update.instancesData.at(size_t(index)));
-
- this->_metadata.confidence = update.confidence;
-
- this->_metadata.timeCreated = update.timeCreated;
- this->_metadata.timeSent = update.timeSent;
- this->_metadata.timeArrived = update.timeArrived;
- }
-
- EntityInstance EntityInstance::copy() const
- {
- EntityInstance d;
- this->_copySelf(d);
- return d;
- }
-
- void EntityInstance::_copySelf(EntityInstance& other) const
- {
- Base::_copySelf(other);
- other._metadata = _metadata;
- other._data = _data;
- }
-
- void EntityInstance::_copySelfWithoutData(EntityInstance& other) const
- {
- Base::_copySelf(other);
- other._metadata = _metadata;
- }
-}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h b/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h
deleted file mode 100644
index d3dc888d0304276bc6aaf1c677e8b33f4a1cae1a..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h
+++ /dev/null
@@ -1,107 +0,0 @@
-#pragma once
-
-#include "../base/EntityInstanceBase.h"
-
-#include "detail/CopyWithoutData.h"
-
-
-namespace armarx::armem::wm
-{
-
- using EntityInstanceData = armarx::aron::datanavigator::DictNavigator;
- using EntityInstanceDataPtr = armarx::aron::datanavigator::DictNavigatorPtr;
-
-
- /**
- * @brief Metadata of an entity instance.
- */
- struct EntityInstanceMetadata
- {
- /// Time when this value was created.
- Time timeCreated;
- /// Time when this value was sent to the memory.
- Time timeSent;
- /// Time when this value has arrived at the memory.
- Time timeArrived;
-
- /// An optional confidence, may be used for things like decay.
- float confidence = 1.0;
-
-
- bool operator==(const EntityInstanceMetadata& other) const;
- inline bool operator!=(const EntityInstanceMetadata& other) const
- {
- return !(*this == other);
- }
- };
-
- std::ostream& operator<<(std::ostream& os, const EntityInstanceMetadata& rhs);
-
-
- /**
- * @brief Data of a single entity instance.
- */
- class EntityInstance :
- public base::EntityInstanceBase<EntityInstance>,
- public detail::CopyWithoutData<EntityInstance>
- {
- using Base = base::EntityInstanceBase<EntityInstance>;
-
- public:
-
- using Base::EntityInstanceBase;
-
- EntityInstance(const EntityInstance& other) = default;
- EntityInstance(EntityInstance&& other) = default;
- EntityInstance& operator=(const EntityInstance& other) = default;
- EntityInstance& operator=(EntityInstance&& other) = default;
-
-
- EntityInstanceMetadata& metadata()
- {
- return _metadata;
- }
- inline const EntityInstanceMetadata& metadata() const
- {
- return _metadata;
- }
-
- inline EntityInstanceDataPtr data() const
- {
- return _data;
- }
-
- void setData(const aron::datanavigator::DictNavigatorPtr& data)
- {
- this->_data = data;
- }
-
-
- /**
- * @brief Fill `*this` with the update's values.
- * @param update The update.
- * @param index The instances index.
- */
- virtual void update(const EntityUpdate& update, int index) override;
-
- virtual bool equalsDeep(const EntityInstance& other) const override;
-
- virtual EntityInstance copy() const override;
-
-
- protected:
-
- virtual void _copySelf(EntityInstance& other) const override;
- virtual void _copySelfWithoutData(EntityInstance& other) const override;
-
-
- private:
-
- /// The metadata.
- EntityInstanceMetadata _metadata;
-
- /// The data. May be nullptr.
- EntityInstanceDataPtr _data;
-
- };
-}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.cpp
deleted file mode 100644
index 76d5400131a7ec6a57478f13afb0dfc38a4da174..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.cpp
+++ /dev/null
@@ -1,28 +0,0 @@
-#include "EntitySnapshot.h"
-
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-#include "error.h"
-
-
-namespace armarx::armem::wm
-{
- std::vector<aron::datanavigator::DictNavigatorPtr> EntitySnapshot::getAronData() const
- {
- std::vector<aron::datanavigator::DictNavigatorPtr> ret;
- for (const auto& aron : _container)
- {
- ret.push_back(aron.data());
- }
- return ret;
- }
-
- void EntitySnapshot::_copySelfWithoutData(EntitySnapshot& other) const
- {
- other.id() = _id;
- for (const auto& s : _container)
- {
- other.addInstance(s.copyWithoutData());
- }
- }
-}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.h b/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.h
deleted file mode 100644
index 3eedb48d0b4aaa5191541d8ca1586ffc59ab5998..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.h
+++ /dev/null
@@ -1,33 +0,0 @@
-#pragma once
-
-#include "../base/EntitySnapshotBase.h"
-
-#include "EntityInstance.h"
-#include "detail/CopyWithoutData.h"
-
-
-namespace armarx::armem::wm
-{
-
- /**
- * @brief Data of an entity at one point in time.
- */
- class EntitySnapshot :
- public base::EntitySnapshotBase<EntityInstance, EntitySnapshot>,
- public detail::CopyWithoutData<EntitySnapshot>
- {
- using Base = base::EntitySnapshotBase<EntityInstance, EntitySnapshot>;
-
- public:
-
- using Base::EntitySnapshotBase;
- using Base::operator=;
-
- std::vector<aron::datanavigator::DictNavigatorPtr> getAronData() const;
-
- protected:
-
- virtual void _copySelfWithoutData(EntitySnapshot& other) const override;
-
- };
-}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/Memory.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/Memory.cpp
deleted file mode 100644
index 70fd41e7c451175d5964a81d48f4e8270c2e611c..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/workingmemory/Memory.cpp
+++ /dev/null
@@ -1,95 +0,0 @@
-#include "Memory.h"
-
-#include <map>
-#include <vector>
-
-
-namespace armarx::armem::wm
-{
-
- // TODO: add core segment if param is set
- std::vector<Memory::Base::UpdateResult>
- Memory::updateLocking(const Commit& commit)
- {
- // Group updates by core segment, then update each core segment in a batch to only lock it once.
- std::map<std::string, std::vector<const EntityUpdate*>> updatesPerCoreSegment;
- for (const EntityUpdate& update : commit.updates)
- {
- updatesPerCoreSegment[update.entityID.coreSegmentName].push_back(&update);
- }
-
- std::vector<Memory::Base::UpdateResult> result;
- // To throw an exception after the commit if a core segment is missing and the memory should not create new ones
- std::vector<std::string> missingCoreSegmentNames;
- for (const auto& [coreSegmentName, updates] : updatesPerCoreSegment)
- {
- auto it = this->_container.find(coreSegmentName);
- if (it != this->_container.end())
- {
- CoreSegment& coreSegment = it->second;
-
- // Lock the core segment for the whole batch.
- std::scoped_lock lock(coreSegment.mutex());
-
- for (const EntityUpdate* update : updates)
- {
- auto r = coreSegment.update(*update);
- Base::UpdateResult ret { r };
- ret.memoryUpdateType = UpdateType::UpdatedExisting;
- result.push_back(ret);
- }
- }
- else
- {
- // Perform the other updates first, then throw afterwards.
- missingCoreSegmentNames.push_back(coreSegmentName);
- }
- }
- // Throw an exception if something went wrong.
- if (not missingCoreSegmentNames.empty())
- {
- // Just throw an exception for the first entry. We can extend this exception in the future.
- throw armem::error::MissingEntry::create<CoreSegment>(missingCoreSegmentNames.front(), *this);
- }
- return result;
- }
-
-
- // TODO: Add core segment if param is set
- Memory::Base::UpdateResult
- Memory::updateLocking(const EntityUpdate& update)
- {
- this->_checkContainerName(update.entityID.memoryName, this->name());
-
- CoreSegment& segment = getCoreSegment(update.entityID.coreSegmentName);
- Base::UpdateResult result;
- {
- std::scoped_lock lock(segment.mutex());
- result = segment.update(update);
- }
- result.memoryUpdateType = UpdateType::UpdatedExisting;
- return result;
- }
-
-
- Commit Memory::toCommit() const
- {
- Commit c;
- for (const auto& [k, s] : _container)
- {
- c.append(s.toCommit());
- }
- return c;
- }
-
-
- void Memory::_copySelfWithoutData(Memory& other) const
- {
- other.id() = _id;
- for (const auto& [k, s] : _container)
- {
- other.addCoreSegment(s.copyWithoutData());
- }
- }
-
-}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/Memory.h b/source/RobotAPI/libraries/armem/core/workingmemory/Memory.h
deleted file mode 100644
index d52bce5ca30d2a464881e73f4cd4994a29429751..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/workingmemory/Memory.h
+++ /dev/null
@@ -1,56 +0,0 @@
-#pragma once
-
-#include <RobotAPI/libraries/armem/core/base/MemoryBase.h>
-
-#include "CoreSegment.h"
-#include "detail/CopyWithoutData.h"
-
-
-namespace armarx::armem::wm
-{
-
- /**
- * @brief Data of a memory consisting of multiple core segments.
- */
- class Memory :
- public base::MemoryBase<CoreSegment, Memory>,
- public detail::CopyWithoutData<Memory>
- {
- using Base = base::MemoryBase<CoreSegment, Memory>;
-
- public:
-
- using Base::MemoryBase;
-
- Memory(const Memory& other) = default;
- Memory(Memory&& other) = default;
- Memory& operator=(const Memory& other) = default;
- Memory& operator=(Memory&& other) = default;
-
- /**
- * @brief Perform the commit, locking the core segments.
- *
- * Groups the commits by core segment, and updates each core segment
- * in a batch, locking the core segment.
- */
- std::vector<Base::UpdateResult> updateLocking(const Commit& commit);
-
- /**
- * @brief Update the memory, locking the updated core segment.
- */
- Base::UpdateResult updateLocking(const EntityUpdate& update);
-
-
- /**
- * @brief Convert the content of this memory into a commit
- * @return The resulting commit
- */
- Commit toCommit() const;
-
-
- protected:
-
- virtual void _copySelfWithoutData(Memory& other) const override;
-
- };
-}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.cpp
deleted file mode 100644
index bd03cf21cd8b616a3afcc4d531377288e55c5f2f..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.cpp
+++ /dev/null
@@ -1,31 +0,0 @@
-#include "ProviderSegment.h"
-
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-#include "error.h"
-
-
-namespace armarx::armem::wm
-{
-
- Commit ProviderSegment::toCommit() const
- {
- Commit c;
- for (const auto& [k, s] : _container)
- {
- c.append(s.toCommit());
- }
- return c;
- }
-
- void ProviderSegment::_copySelfWithoutData(ProviderSegment& other) const
- {
- other.id() = _id;
- other.setMaxHistorySize(_maxHistorySize);
- for (const auto& [k, s] : _container)
- {
- other.addEntity(s.copyWithoutData());
- }
- }
-
-}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.h b/source/RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.h
deleted file mode 100644
index 7d1e9db335ee39433351a8e15113059836bf825d..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.h
+++ /dev/null
@@ -1,44 +0,0 @@
-#pragma once
-
-#include "../base/ProviderSegmentBase.h"
-
-#include "Entity.h"
-#include "detail/CopyWithoutData.h"
-
-
-namespace armarx::armem::wm
-{
-
- /**
- * @brief Data of a provider segment containing multiple entities.
- */
- class ProviderSegment :
- public base::ProviderSegmentBase<Entity, ProviderSegment>,
- public detail::CopyWithoutData<ProviderSegment>
-
- {
- using Base = base::ProviderSegmentBase<Entity, ProviderSegment>;
-
- public:
-
- using Base::ProviderSegmentBase;
-
- ProviderSegment(const ProviderSegment& other) = default;
- ProviderSegment(ProviderSegment&& other) = default;
- ProviderSegment& operator=(const ProviderSegment& other) = default;
- ProviderSegment& operator=(ProviderSegment&& other) = default;
-
- /**
- * @brief Convert the content of this segmnet into a commit
- * @return The resulting commit
- */
- Commit toCommit() const;
-
-
- protected:
-
- virtual void _copySelfWithoutData(ProviderSegment& other) const override;
-
- };
-
-}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/detail/CopyWithoutData.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/detail/CopyWithoutData.cpp
deleted file mode 100644
index 70441033dd0fcb24a502bcd4e552764c7c2f5d3c..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/workingmemory/detail/CopyWithoutData.cpp
+++ /dev/null
@@ -1 +0,0 @@
-#include "CopyWithoutData.h"
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/detail/CopyWithoutData.h b/source/RobotAPI/libraries/armem/core/workingmemory/detail/CopyWithoutData.h
deleted file mode 100644
index caabd1e6002c803aa6a1015afd7ce660abd2482f..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/workingmemory/detail/CopyWithoutData.h
+++ /dev/null
@@ -1,30 +0,0 @@
-#pragma once
-
-
-namespace armarx::armem::wm::detail
-{
-
- /**
- * @class Allows copying `*this` without data in the leaf
- * data structures.
- */
- template <class DerivedT>
- class CopyWithoutData
- {
- public:
-
- /// Get a copy of `this` without data.
- virtual DerivedT copyWithoutData() const
- {
- DerivedT t;
- _copySelfWithoutData(t);
- return t;
- }
-
-
- protected:
-
- virtual void _copySelfWithoutData(DerivedT& other) const = 0;
-
- };
-}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/entityInstance_conversions.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/entityInstance_conversions.cpp
deleted file mode 100644
index 31538f8d8e2f1eeaf932ed16e50b7040520f0a99..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/workingmemory/entityInstance_conversions.cpp
+++ /dev/null
@@ -1,64 +0,0 @@
-#include "json_conversions.h"
-
-namespace armarx::armem
-{
-
- constexpr const char* DATA_WRAPPER_DATA_FIELD = "__ARON_DATA";
- 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_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";
-
- void from_aron(const aron::datanavigator::DictNavigatorPtr& dataWrapped, wm::EntityInstance& e)
- {
- wm::EntityInstanceMetadata& metadata = e.metadata();
-
- if (dataWrapped->hasElement(DATA_WRAPPER_DATA_FIELD))
- {
- aron::datanavigator::DictNavigatorPtr data = aron::datanavigator::DictNavigator::DynamicCastAndCheck(dataWrapped->getElement(DATA_WRAPPER_DATA_FIELD));
- e.setData(data);
- }
-
- auto timeCreated = aron::datanavigator::LongNavigator::DynamicCastAndCheck(dataWrapped->getElement(DATA_WRAPPER_TIME_CREATED_FIELD));
- metadata.timeCreated = Time::microSeconds(timeCreated->toAronLongPtr()->value);
-
- auto timeSent = aron::datanavigator::LongNavigator::DynamicCastAndCheck(dataWrapped->getElement(DATA_WRAPPER_TIME_SENT_FIELD));
- metadata.timeSent = Time::microSeconds(timeSent->toAronLongPtr()->value);
-
- auto timeArrived = aron::datanavigator::LongNavigator::DynamicCastAndCheck(dataWrapped->getElement(DATA_WRAPPER_TIME_ARRIVED_FIELD));
- metadata.timeArrived = Time::microSeconds(timeArrived->toAronLongPtr()->value);
-
- auto confidence = aron::datanavigator::DoubleNavigator::DynamicCastAndCheck(dataWrapped->getElement(DATA_WRAPPER_CONFIDENCE_FIELD));
- metadata.confidence = static_cast<float>(confidence->toAronDoublePtr()->value);
- }
-
- void to_aron(aron::datanavigator::DictNavigatorPtr& a, const wm::EntityInstance& e)
- {
- if (e.data())
- {
- a->addElement(DATA_WRAPPER_DATA_FIELD, e.data());
- }
-
- auto timeWrapped = std::make_shared<aron::datanavigator::LongNavigator>();
- timeWrapped->setValue(Time::now().toMicroSeconds());
- a->addElement(DATA_WRAPPER_TIME_STORED_FIELD, timeWrapped);
-
- const wm::EntityInstanceMetadata& metadata = e.metadata();
- auto timeCreated = std::make_shared<aron::datanavigator::LongNavigator>();
- timeCreated->setValue(metadata.timeCreated.toMicroSeconds());
- a->addElement(DATA_WRAPPER_TIME_CREATED_FIELD, timeCreated);
-
- auto timeSent = std::make_shared<aron::datanavigator::LongNavigator>();
- timeSent->setValue(metadata.timeSent.toMicroSeconds());
- a->addElement(DATA_WRAPPER_TIME_SENT_FIELD, timeSent);
-
- auto timeArrived = std::make_shared<aron::datanavigator::LongNavigator>();
- timeArrived->setValue(metadata.timeArrived.toMicroSeconds());
- a->addElement(DATA_WRAPPER_TIME_ARRIVED_FIELD, timeArrived);
-
- auto confidence = std::make_shared<aron::datanavigator::DoubleNavigator>();
- confidence->setValue(static_cast<double>(metadata.confidence));
- a->addElement(DATA_WRAPPER_CONFIDENCE_FIELD, confidence);
- }
-}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/ice_conversions.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/ice_conversions.cpp
deleted file mode 100644
index bfc049995a6553e53a78be00294cb9c162e80a0d..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/workingmemory/ice_conversions.cpp
+++ /dev/null
@@ -1,128 +0,0 @@
-#include "ice_conversions.h"
-
-namespace armarx::armem
-{
- void toIce(armarx::armem::data::EntityInstanceMetadata& ice, const armarx::armem::wm::EntityInstanceMetadata& metadata)
- {
- ice.confidence = metadata.confidence;
- toIce(ice.timeArrivedMicroSeconds, metadata.timeArrived);
- toIce(ice.timeCreatedMicroSeconds, metadata.timeCreated);
- toIce(ice.timeSentMicroSeconds, metadata.timeSent);
- }
- void fromIce(const armarx::armem::data::EntityInstanceMetadata& ice, armarx::armem::wm::EntityInstanceMetadata& metadata)
- {
- metadata.confidence = ice.confidence;
- fromIce(ice.timeArrivedMicroSeconds, metadata.timeArrived);
- fromIce(ice.timeCreatedMicroSeconds, metadata.timeCreated);
- fromIce(ice.timeSentMicroSeconds, metadata.timeSent);
- }
-
- void toIce(data::EntityInstance& ice, const wm::EntityInstance& data)
- {
- detail::toIceItem(ice, data);
-
- if (data.data())
- {
- ice.data = data.data()->toAronDictPtr();
- }
- toIce(ice.metadata, data.metadata());
- }
- void fromIce(const data::EntityInstance& ice, wm::EntityInstance& data)
- {
- detail::fromIceItem(ice, data);
-
- if (ice.data)
- {
- data.setData(aron::datanavigator::DictNavigator::FromAronDictPtr(ice.data));
- }
- fromIce(ice.metadata, data.metadata());
- }
-
-
- void toIce(data::EntitySnapshot& ice, const wm::EntitySnapshot& snapshot)
- {
- detail::toIceItem(ice, snapshot);
-
- toIce(ice.instances, snapshot.instances());
- }
- void fromIce(const data::EntitySnapshot& ice, wm::EntitySnapshot& snapshot)
- {
- detail::fromIceItem(ice, snapshot);
-
- fromIce(ice.instances, snapshot.instances());
- }
-
- void toIce(data::Entity& ice, const wm::Entity& entity)
- {
- detail::toIceItem(ice, entity);
-
- toIce(ice.history, entity.history());
- }
- void fromIce(const data::Entity& ice, wm::Entity& entity)
- {
- detail::fromIceItem(ice, entity);
-
- fromIce(ice.history, entity.history());
- }
-
-
- void toIce(data::ProviderSegment& ice, const wm::ProviderSegment& providerSegment)
- {
- detail::toIceItem(ice, providerSegment);
-
- if (providerSegment.hasAronType())
- {
- ice.aronType = providerSegment.aronType()->toAronPtr();
- }
- ARMARX_CHECK(!providerSegment.aronType() || ice.aronType);
- toIce(ice.entities, providerSegment.entities());
- }
- void fromIce(const data::ProviderSegment& ice, wm::ProviderSegment& providerSegment)
- {
- detail::fromIceItem(ice, providerSegment);
-
- if (ice.aronType)
- {
- providerSegment.aronType() = aron::typenavigator::ObjectNavigator::DynamicCastAndCheck(aron::typenavigator::Navigator::FromAronType(ice.aronType));
- }
- ARMARX_CHECK(!providerSegment.aronType() || ice.aronType);
- fromIce(ice.entities, providerSegment.entities());
- }
-
- void toIce(data::CoreSegment& ice, const wm::CoreSegment& coreSegment)
- {
- detail::toIceItem(ice, coreSegment);
-
- if (coreSegment.hasAronType())
- {
- ice.aronType = coreSegment.aronType()->toAronPtr();
- }
- ARMARX_CHECK(!coreSegment.aronType() || ice.aronType);
- toIce(ice.providerSegments, coreSegment.providerSegments());
- }
- void fromIce(const data::CoreSegment& ice, wm::CoreSegment& coreSegment)
- {
- detail::fromIceItem(ice, coreSegment);
-
- if (ice.aronType)
- {
- coreSegment.aronType() = aron::typenavigator::ObjectNavigator::DynamicCastAndCheck(aron::typenavigator::Navigator::FromAronType(ice.aronType));
- }
- ARMARX_CHECK(!coreSegment.aronType() || ice.aronType);
- fromIce(ice.providerSegments, coreSegment.providerSegments());
- }
-
- void toIce(data::Memory& ice, const wm::Memory& memory)
- {
- detail::toIceItem(ice, memory);
-
- toIce(ice.coreSegments, memory.coreSegments());
- }
- void fromIce(const data::Memory& ice, wm::Memory& memory)
- {
- detail::fromIceItem(ice, memory);
-
- fromIce(ice.coreSegments, memory.coreSegments());
- }
-
-}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h b/source/RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h
deleted file mode 100644
index 4d14e6b0d04e9086e701cc38a159e516e533d95c..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h
+++ /dev/null
@@ -1,36 +0,0 @@
-#pragma once
-
-#include <RobotAPI/interface/armem/commit.h>
-#include <RobotAPI/interface/armem/memory.h>
-
-#include "Memory.h"
-
-
-namespace armarx::armem
-{
- void toIce(data::EntityInstanceMetadata& ice, const wm::EntityInstanceMetadata& metadata);
- void fromIce(const data::EntityInstanceMetadata& ice, wm::EntityInstanceMetadata& metadata);
-
- void toIce(data::EntityInstance& ice, const wm::EntityInstance& data);
- void fromIce(const data::EntityInstance& ice, wm::EntityInstance& data);
-
-
- void toIce(data::EntitySnapshot& ice, const wm::EntitySnapshot& snapshot);
- void fromIce(const data::EntitySnapshot& ice, wm::EntitySnapshot& snapshot);
-
- void toIce(data::Entity& ice, const wm::Entity& entity);
- void fromIce(const data::Entity& ice, wm::Entity& entity);
-
-
- void toIce(data::ProviderSegment& ice, const wm::ProviderSegment& providerSegment);
- void fromIce(const data::ProviderSegment& ice, wm::ProviderSegment& providerSegment);
-
- void toIce(data::CoreSegment& ice, const wm::CoreSegment& coreSegment);
- void fromIce(const data::CoreSegment& ice, wm::CoreSegment& coreSegment);
-
- void toIce(data::Memory& ice, const wm::Memory& memory);
- void fromIce(const data::Memory& ice, wm::Memory& memory);
-}
-
-// Must be included after the prototypes. Otherwise the compiler cannot find the correct methods in ice_coversion_templates.h
-#include "../ice_conversions.h"
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/json_conversions.h b/source/RobotAPI/libraries/armem/core/workingmemory/json_conversions.h
deleted file mode 100644
index d132d88f7d7fb694be8b3dc086c87dcafa276e6a..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/workingmemory/json_conversions.h
+++ /dev/null
@@ -1,15 +0,0 @@
-#pragma once
-
-#include "Memory.h"
-
-#include <RobotAPI/libraries/aron/core/io/dataIO/converter/Converter.h>
-#include <RobotAPI/libraries/aron/core/io/dataIO/visitor/Visitor.h>
-#include <RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReader.h>
-#include <RobotAPI/libraries/aron/core/io/dataIO/writer/nlohmannJSON/NlohmannJSONWriter.h>
-
-
-namespace armarx::armem
-{
- void from_aron(const aron::datanavigator::DictNavigatorPtr&, nlohmann::json&);
- void to_aron(aron::datanavigator::DictNavigatorPtr&, const nlohmann::json&, const aron::typenavigator::NavigatorPtr& expectedStructure = nullptr);
-}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/visitor.h b/source/RobotAPI/libraries/armem/core/workingmemory/visitor.h
deleted file mode 100644
index 815ee1b34908dc5916e7d909e709bc735409f63c..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/workingmemory/visitor.h
+++ /dev/null
@@ -1,4 +0,0 @@
-#pragma once
-
-#include "visitor/FunctionalVisitor.h"
-#include "visitor/Visitor.h"
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/visitor/Visitor.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/visitor/Visitor.cpp
deleted file mode 100644
index ede63a494a7aff26c54ba1d7149200c91be7d987..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/workingmemory/visitor/Visitor.cpp
+++ /dev/null
@@ -1,191 +0,0 @@
-#include "Visitor.h"
-
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
-#include <RobotAPI/libraries/armem/core/error.h>
-
-
-namespace armarx::armem::wm
-{
-
- Visitor::Visitor()
- {
- }
-
- Visitor::~Visitor()
- {
- }
-
- bool Visitor::applyTo(Memory& memory)
- {
- bool cont = true;
- visitEnter(memory);
- for (auto& [_, coreSeg] : memory)
- {
- if (!applyTo(coreSeg))
- {
- cont = false;
- break;
- }
- }
- visitExit(memory);
- return cont;
- }
-
- bool Visitor::applyTo(CoreSegment& coreSegment)
- {
- bool cont = true;
- visitEnter(coreSegment);
- for (auto& [_, provSeg] : coreSegment)
- {
- if (!applyTo(provSeg))
- {
- cont = false;
- break;
- }
- }
- visitExit(coreSegment);
- return cont;
- }
-
- bool Visitor::applyTo(ProviderSegment& providerSegment)
- {
- bool cont = true;
- visitEnter(providerSegment);
- for (auto& [_, entity] : providerSegment)
- {
- if (!applyTo(entity))
- {
- cont = false;
- break;
- }
- }
- visitExit(providerSegment);
- return cont;
- }
-
- bool Visitor::applyTo(Entity& entity)
- {
- bool cont = true;
- visitEnter(entity);
- for (auto& [_, snapshot] : entity)
- {
- if (!applyTo(snapshot))
- {
- cont = false;
- break;
- }
- }
- visitExit(entity);
- return cont;
- }
-
- bool Visitor::applyTo(EntitySnapshot& snapshot)
- {
- bool cont = true;
- visitEnter(snapshot);
- for (auto& instance : snapshot)
- {
- if (!applyTo(instance))
- {
- cont = false;
- break;
- }
- }
- visitExit(snapshot);
- return cont;
- }
-
- bool Visitor::applyTo(EntityInstance& instance)
- {
- return visit(instance);
- }
-
-
- bool Visitor::applyTo(const Memory& memory)
- {
- bool cont = true;
- visitEnter(memory);
- for (const auto& [_, coreSeg] : memory)
- {
- if (!applyTo(coreSeg))
- {
- cont = false;
- break;
- }
- }
- visitExit(memory);
- return cont;
- }
-
- bool Visitor::applyTo(const CoreSegment& coreSegment)
- {
- bool cont = true;
- visitEnter(coreSegment);
- for (const auto& [_, provSeg] : coreSegment)
- {
- if (!applyTo(provSeg))
- {
- cont = false;
- break;
- }
- }
- visitExit(coreSegment);
- return cont;
- }
-
- bool Visitor::applyTo(const ProviderSegment& providerSegment)
- {
- bool cont = true;
- visitEnter(providerSegment);
- for (const auto& [_, entity] : providerSegment)
- {
- if (!applyTo(entity))
- {
- cont = false;
- break;
- }
- }
- visitExit(providerSegment);
- return cont;
- }
-
- bool Visitor::applyTo(const Entity& entity)
- {
- bool cont = true;
- visitEnter(entity);
- for (const auto& [_, snapshot] : entity)
- {
- if (!applyTo(snapshot))
- {
- cont = false;
- break;
- }
- }
- visitExit(entity);
- return cont;
- }
-
- bool Visitor::applyTo(const EntitySnapshot& snapshot)
- {
- bool cont = true;
- visitEnter(snapshot);
- for (const auto& instance : snapshot)
- {
- if (!applyTo(instance))
- {
- cont = false;
- break;
- }
- }
- visitExit(snapshot);
- return cont;
- }
-
- bool Visitor::applyTo(const EntityInstance& instance)
- {
- return visit(instance);
- }
-
-}
diff --git a/source/RobotAPI/libraries/armem/server/ComponentPlugin.cpp b/source/RobotAPI/libraries/armem/server/ComponentPlugin.cpp
index 8c814a160b49b0367cece67d407b986ac4d372e5..ae847a803dc64e68b53c432b222cb6ddbe2fcd86 100644
--- a/source/RobotAPI/libraries/armem/server/ComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/armem/server/ComponentPlugin.cpp
@@ -1,13 +1,11 @@
#include "ComponentPlugin.h"
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include "MemoryToIceAdapter.h"
#include <RobotAPI/libraries/armem/core/error.h>
-#include "MemoryToIceAdapter.h"
-
-//#include <RobotAPI/libraries/armem/core/io/diskWriter/NlohmannJSON/NlohmannJSONDiskWriter.h>
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
namespace armarx::armem::server::plugins
diff --git a/source/RobotAPI/libraries/armem/server/ComponentPlugin.h b/source/RobotAPI/libraries/armem/server/ComponentPlugin.h
index 06ba31f7a128549f51be85de300a92bdd310cf95..0b2b872c1ff4686eecefd8ae8508bcfc45600d5f 100644
--- a/source/RobotAPI/libraries/armem/server/ComponentPlugin.h
+++ b/source/RobotAPI/libraries/armem/server/ComponentPlugin.h
@@ -8,7 +8,7 @@
#include <RobotAPI/interface/armem/client/MemoryListenerInterface.h>
#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/core/longtermmemory/Memory.h>
#include <RobotAPI/libraries/armem/client/MemoryNameSystemComponentPlugin.h>
@@ -98,7 +98,7 @@ namespace armarx::armem::server
public:
/// The actual memory.
- wm::Memory workingMemory;
+ server::wm::Memory workingMemory;
// [[deprecated ("The global working memory mutex is deprecated. Use the core segment mutexes instead.")]]
// std::mutex workingMemoryMutex;
diff --git a/source/RobotAPI/libraries/armem/server/MemoryRemoteGui.cpp b/source/RobotAPI/libraries/armem/server/MemoryRemoteGui.cpp
index 9347cb7e9234723d33407693cb68ec1f5ea8448d..6664288a0fa5f86da4df906819cba3be385cbcb9 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryRemoteGui.cpp
+++ b/source/RobotAPI/libraries/armem/server/MemoryRemoteGui.cpp
@@ -1,106 +1,96 @@
#include "MemoryRemoteGui.h"
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include "RemoteGuiAronDataVisitor.h"
#include <RobotAPI/libraries/aron/core/navigator/data/AllNavigators.h>
#include <RobotAPI/libraries/aron/core/navigator/visitors/DataVisitor.h>
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
#include <SimoxUtility/meta/type_name.h>
-#include "RemoteGuiAronDataVisitor.h"
+#include <mutex>
namespace armarx::armem::server
{
- MemoryRemoteGui::GroupBox MemoryRemoteGui::makeGroupBox(const wm::Memory& memory) const
+ template <class ...Args>
+ MemoryRemoteGui::GroupBox MemoryRemoteGui::_makeGroupBox(const armem::base::MemoryBase<Args...>& memory) const
{
GroupBox group;
- group.setLabel(makeGroupLabel("Memory", memory.name(), memory.coreSegments().size()));
+ group.setLabel(makeGroupLabel("Memory", memory.name(), memory.size()));
- if (memory.coreSegments().empty())
+ if (memory.empty())
{
group.addChild(Label(makeNoItemsMessage("core segments")));
}
- for (const auto& [name, coreSegment] : memory.coreSegments())
+ memory.forEachCoreSegment([this, &group](const auto & coreSegment)
{
- group.addChild(makeGroupBox(coreSegment));
- }
-
+ group.addChild(this->makeGroupBox(coreSegment));
+ });
return group;
}
-
- MemoryRemoteGui::GroupBox MemoryRemoteGui::makeGroupBox(const wm::CoreSegment& coreSegment) const
+ template <class ...Args>
+ MemoryRemoteGui::GroupBox MemoryRemoteGui::_makeGroupBox(const armem::base::CoreSegmentBase<Args...>& coreSegment) const
{
- std::scoped_lock lock(coreSegment.mutex());
-
GroupBox group;
- group.setLabel(makeGroupLabel("Core Segment", coreSegment.name(), coreSegment.providerSegments().size()));
+ group.setLabel(makeGroupLabel("Core Segment", coreSegment.name(), coreSegment.size()));
- if (coreSegment.providerSegments().empty())
+ if (coreSegment.empty())
{
group.addChild(Label(makeNoItemsMessage("provider segments")));
}
- for (const auto& [name, providerSegment] : coreSegment.providerSegments())
+ coreSegment.forEachProviderSegment([this, &group](const auto & providerSegment)
{
- group.addChild(makeGroupBox(providerSegment));
- }
-
+ group.addChild(this->makeGroupBox(providerSegment));
+ });
return group;
}
-
- MemoryRemoteGui::GroupBox MemoryRemoteGui::makeGroupBox(const wm::ProviderSegment& providerSegment) const
+ template <class ...Args>
+ MemoryRemoteGui::GroupBox MemoryRemoteGui::_makeGroupBox(const armem::base::ProviderSegmentBase<Args...>& providerSegment) const
{
GroupBox group;
- group.setLabel(makeGroupLabel("Provider Segment", providerSegment.name(), providerSegment.entities().size()));
+ group.setLabel(makeGroupLabel("Provider Segment", providerSegment.name(), providerSegment.size()));
- if (providerSegment.entities().empty())
+ if (providerSegment.empty())
{
group.addChild(Label(makeNoItemsMessage("entities")));
}
- for (const auto& [name, entity] : providerSegment.entities())
+ providerSegment.forEachEntity([this, &group](const auto & entity)
{
- group.addChild(makeGroupBox(entity));
- }
-
+ group.addChild(this->makeGroupBox(entity));
+ });
return group;
}
-
- MemoryRemoteGui::GroupBox MemoryRemoteGui::makeGroupBox(const wm::Entity& entity) const
+ template <class ...Args>
+ MemoryRemoteGui::GroupBox MemoryRemoteGui::_makeGroupBox(const armem::base::EntityBase<Args...>& entity) const
{
GroupBox group;
- group.setLabel(makeGroupLabel("Entity", entity.name(), entity.history().size()));
+ group.setLabel(makeGroupLabel("Entity", entity.name(), entity.size()));
- if (entity.history().empty())
+ if (entity.empty())
{
group.addChild(Label(makeNoItemsMessage("snapshots")));
}
- if (int(entity.history().size()) <= maxHistorySize)
+
+ auto addChild = [this, &group](const armem::wm::EntitySnapshot & snapshot)
{
- for (const auto& [time, snapshot] : entity.history())
- {
- group.addChild(makeGroupBox(snapshot));
- }
+ group.addChild(makeGroupBox(snapshot));
+ };
+
+ if (int(entity.size()) <= maxHistorySize)
+ {
+ entity.forEachSnapshot(addChild);
}
else
{
- int margin = 2;
- auto it = entity.history().begin();
- auto rit = entity.history().end();
- --rit;
- for (int i = 0; i < margin; ++i, ++it)
- {
- group.addChild(makeGroupBox(it->second));
- --rit;
- }
- group.addChild(Label("..."));
- for (; rit != entity.history().end(); ++rit)
- {
- group.addChild(makeGroupBox(rit->second));
- }
+ const int margin = 2;
+ entity.forEachSnapshotInIndexRange(0, margin, addChild);
+ entity.forEachSnapshotInIndexRange(-margin, -1, addChild);
}
group.setCollapsed(true);
@@ -108,27 +98,76 @@ namespace armarx::armem::server
}
- MemoryRemoteGui::GroupBox MemoryRemoteGui::makeGroupBox(const wm::EntitySnapshot& snapshot) const
+ MemoryRemoteGui::GroupBox MemoryRemoteGui::makeGroupBox(const armem::server::wm::Memory& memory) const
+ {
+ return this->_makeGroupBox(memory);
+ }
+
+ MemoryRemoteGui::GroupBox MemoryRemoteGui::makeGroupBox(const armem::wm::Memory& memory) const
+ {
+ return this->_makeGroupBox(memory);
+ }
+
+
+ MemoryRemoteGui::GroupBox MemoryRemoteGui::makeGroupBox(const armem::server::wm::CoreSegment& coreSegment) const
+ {
+ std::scoped_lock lock(coreSegment.mutex());
+ return this->_makeGroupBox(coreSegment);
+ }
+
+
+ MemoryRemoteGui::GroupBox MemoryRemoteGui::makeGroupBox(const armem::wm::CoreSegment& coreSegment) const
+ {
+ return this->_makeGroupBox(coreSegment);
+ }
+
+
+ MemoryRemoteGui::GroupBox MemoryRemoteGui::makeGroupBox(const armem::server::wm::ProviderSegment& providerSegment) const
+ {
+ return this->_makeGroupBox(providerSegment);
+ }
+
+
+ MemoryRemoteGui::GroupBox MemoryRemoteGui::makeGroupBox(const armem::wm::ProviderSegment& providerSegment) const
+ {
+ return this->_makeGroupBox(providerSegment);
+ }
+
+
+ MemoryRemoteGui::GroupBox MemoryRemoteGui::makeGroupBox(const armem::wm::Entity& entity) const
+ {
+ return this->_makeGroupBox(entity);
+ }
+
+
+ MemoryRemoteGui::GroupBox MemoryRemoteGui::makeGroupBox(const armem::server::wm::Entity& entity) const
+ {
+ return this->_makeGroupBox(entity);
+ }
+
+
+ MemoryRemoteGui::GroupBox MemoryRemoteGui::makeGroupBox(const armem::wm::EntitySnapshot& snapshot) const
{
GroupBox group;
group.setLabel(makeGroupLabel("t", armem::toDateTimeMilliSeconds(snapshot.time()),
- snapshot.instances().size(), " = ", ""));
+ snapshot.size(), " = ", ""));
- if (snapshot.instances().empty())
+ if (snapshot.empty())
{
group.addChild(Label(makeNoItemsMessage("instances")));
}
- for (const wm::EntityInstance& instance : snapshot.instances())
+ snapshot.forEachInstance([this, &group](const armem::wm::EntityInstance & instance)
{
group.addChild(makeGroupBox(instance));
- }
+ return true;
+ });
group.setCollapsed(true);
return group;
}
- MemoryRemoteGui::GroupBox MemoryRemoteGui::makeGroupBox(const wm::EntityInstance& instance) const
+ MemoryRemoteGui::GroupBox MemoryRemoteGui::makeGroupBox(const armem::wm::EntityInstance& instance) const
{
GroupBox group;
diff --git a/source/RobotAPI/libraries/armem/server/MemoryRemoteGui.h b/source/RobotAPI/libraries/armem/server/MemoryRemoteGui.h
index f4a7fad95f1efa38d8ad7044d661e77fef60be31..c6aef5c51546ac203c50d38f80696b89f3b6f3b9 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryRemoteGui.h
+++ b/source/RobotAPI/libraries/armem/server/MemoryRemoteGui.h
@@ -2,7 +2,7 @@
#include <ArmarXGui/libraries/RemoteGui/Client/Widgets.h>
-#include "../core/workingmemory/Memory.h"
+#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
namespace armarx::armem::server
@@ -17,12 +17,18 @@ namespace armarx::armem::server
using GroupBox = armarx::RemoteGui::Client::GroupBox;
using Label = armarx::RemoteGui::Client::Label;
- GroupBox makeGroupBox(const wm::Memory& memory) const;
- GroupBox makeGroupBox(const wm::CoreSegment& coreSegment) const;
- GroupBox makeGroupBox(const wm::ProviderSegment& providerSegment) const;
- GroupBox makeGroupBox(const wm::Entity& entity) const;
- GroupBox makeGroupBox(const wm::EntitySnapshot& entitySnapshot) const;
- GroupBox makeGroupBox(const wm::EntityInstance& instance) const;
+
+ GroupBox makeGroupBox(const armem::wm::Memory& memory) const;
+ GroupBox makeGroupBox(const armem::wm::CoreSegment& coreSegment) const;
+ GroupBox makeGroupBox(const armem::wm::ProviderSegment& providerSegment) const;
+ GroupBox makeGroupBox(const armem::wm::Entity& entity) const;
+ GroupBox makeGroupBox(const armem::wm::EntitySnapshot& entitySnapshot) const;
+ GroupBox makeGroupBox(const armem::wm::EntityInstance& instance) const;
+
+ GroupBox makeGroupBox(const armem::server::wm::Memory& memory) const;
+ GroupBox makeGroupBox(const armem::server::wm::CoreSegment& coreSegment) const;
+ GroupBox makeGroupBox(const armem::server::wm::ProviderSegment& providerSegment) const;
+ GroupBox makeGroupBox(const armem::server::wm::Entity& entity) const;
std::string makeGroupLabel(const std::string& term, const std::string& name, size_t size,
@@ -33,6 +39,17 @@ namespace armarx::armem::server
int maxHistorySize = 10;
+ private:
+
+ template <class ...Args>
+ MemoryRemoteGui::GroupBox _makeGroupBox(const armem::base::MemoryBase<Args...>& memory) const;
+ template <class ...Args>
+ MemoryRemoteGui::GroupBox _makeGroupBox(const armem::base::CoreSegmentBase<Args...>& coreSegment) const;
+ template <class ...Args>
+ MemoryRemoteGui::GroupBox _makeGroupBox(const armem::base::ProviderSegmentBase<Args...>& providerSegment) const;
+ template <class ...Args>
+ MemoryRemoteGui::GroupBox _makeGroupBox(const armem::base::EntityBase<Args...>& entity) const;
+
};
diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
index 354eec9cea9d1d1e37f4dc4ea790b47ba1749755..52fb496592390a1f7df893d0709c73937da55ae5 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
@@ -1,12 +1,17 @@
#include "MemoryToIceAdapter.h"
-#include "ArmarXCore/core/logging/Logging.h"
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include "query_proc/wm.h"
+#include "query_proc/ltm.h"
+
+#include <RobotAPI/libraries/armem/server/wm/ice_conversions.h>
+
+#include <RobotAPI/libraries/armem/core/error.h>
+#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
-#include "../error.h"
-#include "../core/workingmemory/ice_conversions.h"
-#include "query_proc/workingmemory/MemoryQueryProcessor.h"
-#include "query_proc/longtermmemory/MemoryQueryProcessor.h"
+#include <RobotAPI/libraries/aron/core/Exception.h>
+
+#include <ArmarXCore/core/logging/Logging.h>
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
namespace armarx::armem::server
@@ -33,7 +38,7 @@ namespace armarx::armem::server
data::AddSegmentResult output;
- armem::wm::CoreSegment* coreSegment = nullptr;
+ server::wm::CoreSegment* coreSegment = nullptr;
try
{
coreSegment = &workingMemory->getCoreSegment(input.coreSegmentName);
@@ -65,7 +70,7 @@ namespace armarx::armem::server
// This is ok.
if (input.clearWhenExists)
{
- wm::ProviderSegment& provider = coreSegment->getProviderSegment(input.providerSegmentName);
+ server::wm::ProviderSegment& provider = coreSegment->getProviderSegment(input.providerSegmentName);
provider.clear();
}
}
@@ -176,17 +181,7 @@ namespace armarx::armem::server
// TODO: Move outside of loop?
if (longtermMemory)
{
- if (longtermMemory->alwaysTransferSettings.enabled)
- {
- wm::Memory tmp(longtermMemory->name());
- tmp._addMissingCoreSegmentDuringUpdate = true;
- tmp.update(update);
- longtermMemory->append(tmp);
- }
- else
- {
- // TODO: see below
- }
+
}
// TODO: Consollidate to ltm if onFilledTransfer is enabled (fabian.peller)
@@ -234,15 +229,15 @@ namespace armarx::armem::server
ARMARX_CHECK_NOT_NULL(workingMemory);
// Core segment processors will aquire the core segment locks.
- armem::wm::query_proc::MemoryQueryProcessor wmProcessor(
+ query_proc::wm_server::MemoryQueryProcessor wmServerProcessor(
input.withData ? armem::DataMode::WithData : armem::DataMode::NoData);
- wm::Memory wmResult = wmProcessor.process(input, *workingMemory);
+ armem::wm::Memory wmResult = wmServerProcessor.process(input.memoryQueries, *workingMemory);
- armem::ltm::query_proc::MemoryQueryProcessor ltmProcessor;
+ query_proc::ltm::MemoryQueryProcessor ltmProcessor;
ltm::Memory ltmResult = ltmProcessor.process(input, *longtermMemory);
armem::query::data::Result result;
- if (ltmResult.hasData())
+ if (not ltmResult.empty())
{
ARMARX_INFO << "The LTM returned data after query";
@@ -251,14 +246,14 @@ namespace armarx::armem::server
// This may also affect the data returned by the current query.
// However, this is expected behavior, since we copy the data in the processor (copyEmpty) we can safely return the copy and
// remove the original memory reference from WM here.
- wm::Memory ltmConverted = ltmResult.convert();
- if (!ltmConverted.hasData())
+ armem::wm::Memory ltmConverted = ltmResult.convert();
+ if (ltmConverted.empty())
{
ARMARX_ERROR << "A converted memory contains no data although the original memory contained data. This indicates that something is wrong.";
}
wmResult.append(ltmConverted);
- if (!wmResult.hasData())
+ if (wmResult.empty())
{
ARMARX_ERROR << "A merged Memory has no data although at least the LTM result contains data. This indicates that something is wrong.";
}
@@ -267,8 +262,10 @@ namespace armarx::armem::server
auto queryInput = armem::client::QueryInput::fromIce(input);
queryInput.replaceQueryTarget(query::data::QueryTarget::LTM, query::data::QueryTarget::WM);
- wm::Memory merged_result = wmProcessor.process(queryInput.toIce(), wmResult);
- if (!merged_result.hasData())
+ query_proc::wm::MemoryQueryProcessor wm2wmProcessor(
+ input.withData ? armem::DataMode::WithData : armem::DataMode::NoData);
+ armem::wm::Memory merged_result = wm2wmProcessor.process(queryInput.toIce(), wmResult);
+ if (merged_result.empty())
{
ARMARX_ERROR << "A merged and postprocessed Memory has no data although at least the LTM result contains data. This indicates that something is wrong.";
}
@@ -276,7 +273,7 @@ namespace armarx::armem::server
result.memory = toIce<data::MemoryPtr>(merged_result);
// also move results of ltm to wm
- //this->commit(ltm_converted.toCommit());
+ //this->commit(toCommit(ltm_converted));
// mark removed entries of wm in viewer
// TODO
@@ -333,7 +330,7 @@ namespace armarx::armem::server
if (queryResult.success)
{
- wm::Memory m;
+ armem::wm::Memory m;
fromIce(queryResult.memory, m);
longtermMemory->append(m);
}
diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h
index f4b4b4c94eac3a51cb8c90e2fcabfc09288e3ead..6aa68b5714ad369e3b2bbad08d7c1ca06ab04bb8 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h
@@ -3,15 +3,15 @@
#include <RobotAPI/interface/armem/server/MemoryInterface.h>
#include <RobotAPI/interface/armem/client/MemoryListenerInterface.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/core/longtermmemory/Memory.h>
#include <RobotAPI/libraries/armem/client/Query.h>
+#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
namespace armarx::armem::server
{
-
/**
* @brief Helps connecting a Memory server to the Ice interface.
*
@@ -23,7 +23,8 @@ namespace armarx::armem::server
public:
/// Construct an MemoryToIceAdapter from an existing Memory.
- MemoryToIceAdapter(wm::Memory* workingMemory = nullptr, ltm::Memory* longtermMemory = nullptr);
+ MemoryToIceAdapter(server::wm::Memory* workingMemory = nullptr,
+ ltm::Memory* longtermMemory = nullptr);
void setMemoryListener(client::MemoryListenerInterfacePrx memoryListenerTopic);
@@ -54,7 +55,7 @@ namespace armarx::armem::server
public:
- wm::Memory* workingMemory;
+ server::wm::Memory* workingMemory;
ltm::Memory* longtermMemory;
client::MemoryListenerInterfacePrx memoryListenerTopic;
diff --git a/source/RobotAPI/libraries/armem/server/forward_declarations.h b/source/RobotAPI/libraries/armem/server/forward_declarations.h
new file mode 100644
index 0000000000000000000000000000000000000000..6872e2584352195ca8e587043e275acfbffb3739
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/forward_declarations.h
@@ -0,0 +1,18 @@
+#pragma once
+
+#include <RobotAPI/libraries/armem/core/forward_declarations.h>
+
+
+namespace armarx::armem::server
+{
+ class MemoryToIceAdapter;
+}
+namespace armarx::armem::server::wm
+{
+ using EntityInstance = armem::wm::EntityInstance;
+ using EntitySnapshot = armem::wm::EntitySnapshot;
+ class Entity;
+ class ProviderSegment;
+ class CoreSegment;
+ class Memory;
+}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base.h b/source/RobotAPI/libraries/armem/server/query_proc/base.h
new file mode 100644
index 0000000000000000000000000000000000000000..1d826798cecac7371882ce0783ddc05414a4f237
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base.h
@@ -0,0 +1,12 @@
+#pragma once
+
+#include <RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.h>
+#include <RobotAPI/libraries/armem/server/query_proc/base/ProviderSegmentQueryProcessorBase.h>
+#include <RobotAPI/libraries/armem/server/query_proc/base/CoreSegmentQueryProcessorBase.h>
+#include <RobotAPI/libraries/armem/server/query_proc/base/MemoryQueryProcessorBase.h>
+
+
+namespace armarx::armem::server::query_proc::base
+{
+
+}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.cpp b/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.cpp
index 34e2abd99c889d65723065c8b4726b2ea0aa9bd1..a3dfb4eb4102e21ee0cc97d7a9919b55c7c83f35 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.cpp
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.cpp
@@ -1,2 +1,21 @@
#include "BaseQueryProcessorBase.h"
+#include <ArmarXCore/core/logging/Logging.h>
+
+
+namespace armarx::armem::server::query_proc::base
+{
+
+ std::set<query::data::QueryTarget>
+ detail::getTargets(const std::vector<query::data::QueryTarget>& _targets)
+ {
+ std::set<query::data::QueryTarget> targets(_targets.begin(), _targets.end());
+ if (targets.empty())
+ {
+ ARMARX_DEBUG << "Query has no targets - using WM as default.";
+ targets.insert(query::data::QueryTarget::WM);
+ }
+ return targets;
+ }
+
+}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.h
index 2af92450309d640122bffc9066c1a1df7bdfff49..73c662e04ebd734cbe79c3b19f676f684223a88c 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.h
@@ -1,88 +1,91 @@
#pragma once
-#include <ArmarXCore/core/logging/Logging.h>
#include <RobotAPI/interface/armem/query.h>
+#include <Ice/Handle.h>
-namespace armarx::armem::base::query_proc
+#include <set>
+#include <vector>
+
+
+namespace armarx::armem::server::query_proc::base::detail
{
+ // If empty, e.g. when receiving queries from python, we use WM as default.
+ // We do it here as (Sl)ice does not support default values for vectors.
+ std::set<query::data::QueryTarget> getTargets(const std::vector<query::data::QueryTarget>& _targets);
+}
+namespace armarx::armem::server::query_proc::base
+{
+
+ using QueryTarget = query::data::QueryTarget;
+
/**
* @brief Base class for memory query processors.
*/
- template <class DataT, class QueryT>
+ template <QueryTarget queryTarget, class DataT, class ResultT, class QueryT>
class BaseQueryProcessorBase
{
public:
+
using QueryPtrT = ::IceInternal::Handle<QueryT>;
using QuerySeqT = std::vector<QueryPtrT>;
+
public:
virtual ~BaseQueryProcessorBase() = default;
- DataT process(const QueryT& query, const DataT& data) const
+ ResultT process(const QueryT& query, const DataT& data) const
{
- DataT result = data.copyEmpty();
- if (getTargets(query.targets).count(getTargetType()))
+ ResultT result { data.id() };
+ if (detail::getTargets(query.targets).count(queryTarget))
{
this->process(result, query, data);
}
return result;
}
- DataT process(const QueryPtrT& query, const DataT& data) const
+ ResultT process(const QueryPtrT& query, const DataT& data) const
{
return this->process(*query, *data);
}
- DataT process(const QuerySeqT& queries, const DataT& data) const
+ ResultT process(const QuerySeqT& queries, const DataT& data) const
{
- DataT result = data.copyEmpty();
+ ResultT result { data.id() };
this->process(result, queries, data);
return result;
}
- void process(DataT& result, const QuerySeqT& queries, const DataT& data) const
+ void process(ResultT& result, const QuerySeqT& queries, const DataT& data) const
{
if (queries.empty())
{
- ARMARX_DEBUG << "There are no queries to process.";
return;
}
for (const auto& query : queries)
{
- if (getTargets(query->targets).count(getTargetType()))
+ if (detail::getTargets(query->targets).count(queryTarget))
{
this->process(result, *query, data);
}
}
}
- virtual void process(DataT& result, const QueryT& query, const DataT& data) const = 0;
-
- protected:
+ /**
+ * @brief Process the query and populate `result`.
+ *
+ * @param result The result container.
+ * @param query The query.
+ * @param data The source container.
+ */
+ virtual void process(ResultT& result, const QueryT& query, const DataT& data) const = 0;
- virtual query::data::QueryTarget getTargetType() const = 0;
-
-
- private:
+ };
- /// If empty, e.g. when receiving queries from python, we use WM as default.
- /// We do it here as (Sl)ice does not support default values for vectors.
- static std::set<query::data::QueryTarget> getTargets(const std::vector<query::data::QueryTarget>& _targets)
- {
- std::set<query::data::QueryTarget> targets(_targets.begin(), _targets.end());
- if (targets.empty())
- {
- ARMARX_DEBUG << "Query has no targets - using WM as default.";
- targets.insert(query::data::QueryTarget::WM);
- }
- return targets;
- }
- };
}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/CoreSegmentQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/base/CoreSegmentQueryProcessorBase.h
index 9d7b2518227e4ddf0c5d759963af193656e39894..3050e6e4e91a90bfbfa97feff7f3afc6cb804f41 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/CoreSegmentQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/CoreSegmentQueryProcessorBase.h
@@ -9,31 +9,46 @@
#include <RobotAPI/libraries/armem/core/error.h>
#include "BaseQueryProcessorBase.h"
-#include "ProviderSegmentQueryProcessorBase.h"
-namespace armarx::armem::base::query_proc
+namespace armarx::armem::server::query_proc::base
{
/**
* @brief Handles memory queries.
*/
- template <class _CoreSegmentT>
+ template <QueryTarget queryTarget, class _CoreSegmentT, class _ResultCoreSegmentT, class _ChildProcessorT>
class CoreSegmentQueryProcessorBase :
- virtual public BaseQueryProcessorBase<_CoreSegmentT, armem::query::data::CoreSegmentQuery>
+ public BaseQueryProcessorBase<queryTarget, _CoreSegmentT, _ResultCoreSegmentT, armem::query::data::CoreSegmentQuery>
{
- using Base = BaseQueryProcessorBase<_CoreSegmentT, armem::query::data::CoreSegmentQuery>;
+ using Base = BaseQueryProcessorBase<queryTarget, _CoreSegmentT, _ResultCoreSegmentT, armem::query::data::CoreSegmentQuery>;
public:
+
using CoreSegmentT = _CoreSegmentT;
- using ProviderSegmentT = typename _CoreSegmentT::ProviderSegmentT;
- using EntityT = typename ProviderSegmentT::EntityT;
- using EntitySnapshotT = typename EntityT::EntitySnapshotT;
+ using ProviderSegmentT = typename CoreSegmentT::ProviderSegmentT;
+
+ using ResultCoreSegmentT = _ResultCoreSegmentT;
+ using ResultProviderSegmentT = typename ResultCoreSegmentT::ProviderSegmentT;
+
+ using ChildProcessorT = _ChildProcessorT;
+
+
+ public:
+
+ CoreSegmentQueryProcessorBase()
+ {
+ }
+ CoreSegmentQueryProcessorBase(ChildProcessorT&& childProcessor) :
+ childProcessor(childProcessor)
+ {
+ }
+
using Base::process;
- virtual void process(_CoreSegmentT& result,
+ virtual void process(ResultCoreSegmentT& result,
const armem::query::data::CoreSegmentQuery& query,
- const _CoreSegmentT& coreSegment) const override
+ const CoreSegmentT& coreSegment) const override
{
if (auto q = dynamic_cast<const armem::query::data::core::All*>(&query))
{
@@ -53,24 +68,24 @@ namespace armarx::armem::base::query_proc
}
}
- void process(_CoreSegmentT& result,
+ void process(ResultCoreSegmentT& result,
const armem::query::data::core::All& query,
- const _CoreSegmentT& coreSegment) const
+ const CoreSegmentT& coreSegment) const
{
- for (const auto& [name, providerSegment] : coreSegment.providerSegments())
+ coreSegment.forEachProviderSegment([this, &query, &result](const ProviderSegmentT & providerSegment)
{
- result.addProviderSegment(providerSegmentProcessorProcess(query.providerSegmentQueries, providerSegment));
- }
+ childProcessor.process(result.addProviderSegment(providerSegment.name()), query.providerSegmentQueries, providerSegment);
+ });
}
- void process(_CoreSegmentT& result,
+ void process(ResultCoreSegmentT& result,
const armem::query::data::core::Single& query,
- const _CoreSegmentT& coreSegment) const
+ const CoreSegmentT& coreSegment) const
{
try
{
const ProviderSegmentT& providerSegment = coreSegment.getProviderSegment(query.providerSegmentName);
- result.addProviderSegment(providerSegmentProcessorProcess(query.providerSegmentQueries, providerSegment));
+ childProcessor.process(result.addProviderSegment(providerSegment.name()), query.providerSegmentQueries, providerSegment);
}
catch (const error::MissingEntry&)
{
@@ -78,21 +93,25 @@ namespace armarx::armem::base::query_proc
}
}
- void process(_CoreSegmentT& result,
+ void process(ResultCoreSegmentT& result,
const armem::query::data::core::Regex& query,
- const _CoreSegmentT& coreSegment) const
+ const CoreSegmentT& coreSegment) const
{
std::regex regex(query.providerSegmentNameRegex);
- for (const auto& [name, providerSegment] : coreSegment.providerSegments())
+ coreSegment.forEachProviderSegment(
+ [this, &result, &query, ®ex](const ProviderSegmentT & providerSegment)
{
if (std::regex_search(providerSegment.name(), regex))
{
- result.addProviderSegment(providerSegmentProcessorProcess(query.providerSegmentQueries, providerSegment));
+ childProcessor.process(result.addProviderSegment(providerSegment.name()), query.providerSegmentQueries, providerSegment);
}
- }
+ });
}
+
protected:
- virtual ProviderSegmentT providerSegmentProcessorProcess(const armem::query::data::ProviderSegmentQuerySeq& a, const ProviderSegmentT& o) const = 0;
+
+ ChildProcessorT childProcessor;
+
};
}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.h
index 40113207f194c76301fbe8768a6d42c22f8b01db..0c4a842fa2772ae18b475b9e28ad3b13077bb49d 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.h
@@ -1,41 +1,42 @@
#pragma once
-#include <cstdint>
-#include <iterator>
+#include "BaseQueryProcessorBase.h"
+
+#include <RobotAPI/libraries/armem/core/Time.h>
+#include <RobotAPI/libraries/armem/core/error.h>
+#include <RobotAPI/libraries/armem/core/ice_conversions.h>
#include <RobotAPI/interface/armem/query.h>
-#include <ArmarXCore/core/exceptions/LocalException.h>
-#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/core/logging/Logging.h>
-#include <RobotAPI/libraries/armem/core/error.h>
-#include <RobotAPI/libraries/armem/core/ice_conversions.h>
-
-#include "BaseQueryProcessorBase.h"
-#include "RobotAPI/libraries/armem/core/Time.h"
+#include <cstdint>
+#include <iterator>
-namespace armarx::armem::base::query_proc
+namespace armarx::armem::server::query_proc::base
{
- /**
- * @brief Handles memory queries.
- */
- template <class _EntityT>
+ template <QueryTarget queryTarget, class _EntityT, class _ResultEntityT>
class EntityQueryProcessorBase :
- virtual public BaseQueryProcessorBase<_EntityT, armem::query::data::EntityQuery>
+ public BaseQueryProcessorBase<queryTarget, _EntityT, _ResultEntityT, armem::query::data::EntityQuery>
{
- using Base = BaseQueryProcessorBase<_EntityT, armem::query::data::EntityQuery>;
+ using Base = BaseQueryProcessorBase<queryTarget, _EntityT, _ResultEntityT, armem::query::data::EntityQuery>;
public:
+
using EntityT = _EntityT;
using EntitySnapshotT = typename EntityT::EntitySnapshotT;
+ using ResultEntityT = _ResultEntityT;
+ using ResultSnapshotT = typename ResultEntityT::EntitySnapshotT;
+
+
using Base::process;
- void process(_EntityT& result,
- const armem::query::data::EntityQuery& query,
- const _EntityT& entity) const override
+ virtual void process(ResultEntityT& result,
+ const armem::query::data::EntityQuery& query,
+ const EntityT& entity) const override
{
if (auto q = dynamic_cast<const armem::query::data::entity::All*>(&query))
{
@@ -71,22 +72,24 @@ namespace armarx::armem::base::query_proc
}
}
- void process(_EntityT& result,
+
+ void process(ResultEntityT& result,
const armem::query::data::entity::All& query,
- const _EntityT& entity) const
+ const EntityT& entity) const
{
(void) query;
// Copy this entitiy and its contents.
- for (const auto& [time, snapshot] : entity)
+ entity.forEachSnapshot([this, &result](const EntitySnapshotT & snapshot)
{
addResultSnapshot(result, snapshot);
- }
+ });
}
- void process(_EntityT& result,
+
+ void process(ResultEntityT& result,
const armem::query::data::entity::Single& query,
- const _EntityT& entity) const
+ const EntityT& entity) const
{
if (query.timestamp < 0)
{
@@ -131,9 +134,10 @@ namespace armarx::armem::base::query_proc
}
}
- void process(_EntityT& result,
+
+ void process(ResultEntityT& result,
const armem::query::data::entity::TimeRange& query,
- const _EntityT& entity) const
+ const EntityT& entity) const
{
if (query.minTimestamp <= query.maxTimestamp || query.minTimestamp < 0 || query.maxTimestamp < 0)
{
@@ -143,54 +147,39 @@ namespace armarx::armem::base::query_proc
}
}
- void process(_EntityT& result,
+
+ void process(ResultEntityT& result,
const armem::query::data::entity::IndexRange& query,
- const _EntityT& entity) const
+ const EntityT& entity) const
{
- if (entity.empty())
- {
- return;
- }
-
- size_t first = negativeIndexSemantics(query.first, entity.history().size());
- size_t last = negativeIndexSemantics(query.last, entity.history().size());
-
- if (first <= last)
+ entity.forEachSnapshotInIndexRange(
+ query.first, query.last,
+ [this, &result](const EntitySnapshotT & snapshot)
{
- auto it = entity.begin();
- std::advance(it, first);
-
- size_t num = last - first + 1; // +1 to make last inclusive
- for (size_t i = 0; i < num; ++i, ++it)
- {
- addResultSnapshot(result, it);
- }
- }
+ addResultSnapshot(result, snapshot);
+ });
}
- void process(_EntityT& result,
+
+ void process(ResultEntityT& result,
const Time& min,
const Time& max,
- const _EntityT& entity,
+ const EntityT& entity,
const armem::query::data::EntityQuery& query) const
{
(void) query;
-
- // Returns an iterator pointing to the first element that is not less than (i.e. greater or equal to) key.
- auto begin = min.toMicroSeconds() > 0 ? entity.history().lower_bound(min) : entity.history().begin();
- // Returns an iterator pointing to the first element that is *greater than* key.
- auto end = max.toMicroSeconds() > 0 ? entity.history().upper_bound(max) : entity.history().end();
-
- for (auto it = begin; it != end && it != entity.history().end(); ++it)
+ entity.forEachSnapshotInTimeRange(
+ min, max,
+ [this, &result](const EntitySnapshotT & snapshot)
{
- addResultSnapshot(result, it);
- }
+ addResultSnapshot(result, snapshot);
+ });
}
- void process(_EntityT& result,
+ void process(ResultEntityT& result,
const armem::query::data::entity::BeforeOrAtTime& query,
- const _EntityT& entity) const
+ const EntityT& entity) const
{
const auto referenceTimestamp = fromIce<Time>(query.timestamp);
ARMARX_CHECK(referenceTimestamp.toMicroSeconds() >= 0) << "Reference timestamp is negative!";
@@ -207,39 +196,40 @@ namespace armarx::armem::base::query_proc
}
- void process(_EntityT& result,
+ void process(ResultEntityT& result,
const armem::query::data::entity::BeforeTime& query,
- const _EntityT& entity) const
+ const EntityT& entity) const
{
- const auto referenceTimestamp = fromIce<Time>(query.timestamp);
- ARMARX_CHECK(referenceTimestamp.toMicroSeconds() >= 0) << "Reference timestamp is negative!";
+ const armem::Time referenceTimestamp = fromIce<Time>(query.timestamp);
+ ARMARX_CHECK(referenceTimestamp.toMicroSeconds() >= 0) << "Reference timestamp must be non-negative.";
- const auto maxEntries = fromIce<std::int64_t>(query.maxEntries);
-
- try
+ std::vector<const EntitySnapshotT*> befores;
+ entity.forEachSnapshotBefore(referenceTimestamp, [&befores](const EntitySnapshotT & s)
{
- const auto before = entity.getSnapshotsBefore(referenceTimestamp);
+ befores.push_back(&s);
+ });
- int i = 0;
- for (const auto& snapshot : before)
- {
- if (maxEntries >= 0 && i >= maxEntries)
- {
- break;
- }
- addResultSnapshot(result, snapshot);
- ++i;
- }
+ size_t num = 0;
+ if (query.maxEntries < 0)
+ {
+ num = befores.size();
}
- catch (const error::MissingEntry&)
+ else
{
- // Leave empty.
+ num = std::min(befores.size(), static_cast<size_t>(query.maxEntries));
+ }
+
+ for (size_t r = 0; r < num; ++r)
+ {
+ size_t i = befores.size() - 1 - r;
+ addResultSnapshot(result, *befores[i]);
}
}
- void process(_EntityT& result,
+
+ void process(ResultEntityT& result,
const armem::query::data::entity::TimeApprox& query,
- const _EntityT& entity) const
+ const EntityT& entity) const
{
const auto referenceTimestamp = fromIce<Time>(query.timestamp);
ARMARX_CHECK(referenceTimestamp.toMicroSeconds() >= 0) << "Reference timestamp is negative!";
@@ -285,26 +275,16 @@ namespace armarx::armem::base::query_proc
}
catch (const armem::error::MissingEntry&)
{
-
}
}
- static size_t negativeIndexSemantics(long index, size_t size)
- {
- const size_t max = size > 0 ? size - 1 : 0;
- if (index >= 0)
- {
- return std::clamp<size_t>(static_cast<size_t>(index), 0, max);
- }
- else
- {
- return static_cast<size_t>(std::clamp<long>(static_cast<long>(size) + index, 0, static_cast<long>(max)));
- }
- }
protected:
- virtual void addResultSnapshot(_EntityT& result, typename _EntityT::ContainerT::const_iterator it) const = 0;
- virtual void addResultSnapshot(_EntityT& result, const typename _EntityT::EntitySnapshotT& snapshot) const = 0;
+
+ void addResultSnapshot(ResultEntityT& result, const EntitySnapshotT& snapshot) const
+ {
+ result.addSnapshot(snapshot);
+ }
};
}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/MemoryQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/base/MemoryQueryProcessorBase.h
index 55c5e51126b49775db7317d6401aa695c4b5581c..df71683c29f2cb17db976e8be971725934b03348 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/MemoryQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/MemoryQueryProcessorBase.h
@@ -1,47 +1,56 @@
#pragma once
-#include <regex>
-
-#include <RobotAPI/interface/armem/query.h>
-
#include "BaseQueryProcessorBase.h"
-#include "CoreSegmentQueryProcessorBase.h"
+#include <RobotAPI/libraries/armem/core/error.h>
+#include <RobotAPI/interface/armem/query.h>
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-#include <RobotAPI/libraries/armem/core/error.h>
+#include <regex>
-namespace armarx::armem::base::query_proc
+namespace armarx::armem::server::query_proc::base
{
- /**
- * @brief Handles memory queries.
- */
- template <class _MemoryT>
+
+ template <QueryTarget queryTarget, class _MemoryT, class _ResultMemoryT, class _ChildProcessorT>
class MemoryQueryProcessorBase :
- virtual public BaseQueryProcessorBase<_MemoryT, armem::query::data::MemoryQuery>
+ public BaseQueryProcessorBase<queryTarget, _MemoryT, _ResultMemoryT, armem::query::data::MemoryQuery>
{
- using Base = BaseQueryProcessorBase<_MemoryT, armem::query::data::MemoryQuery>;
+ using Base = BaseQueryProcessorBase<queryTarget, _MemoryT, _ResultMemoryT, armem::query::data::MemoryQuery>;
public:
+
using MemoryT = _MemoryT;
using CoreSegmentT = typename MemoryT::CoreSegmentT;
- using ProviderSegmentT = typename CoreSegmentT::ProviderSegmentT;
- using EntityT = typename ProviderSegmentT::EntityT;
- using EntitySnapshotT = typename EntityT::EntitySnapshotT;
+
+ using ResultMemoryT = _ResultMemoryT;
+ using ResultCoreSegmentT = typename ResultMemoryT::CoreSegmentT;
+
+ using ChildProcessorT = _ChildProcessorT;
+
+
+ public:
+
+ MemoryQueryProcessorBase()
+ {
+ }
+ MemoryQueryProcessorBase(ChildProcessorT&& childProcessor) :
+ childProcessor(childProcessor)
+ {
+ }
using Base::process;
- _MemoryT process(const armem::query::data::Input& input, const _MemoryT& memory) const
+ ResultMemoryT process(const armem::query::data::Input& input, const MemoryT& memory) const
{
return this->process(input.memoryQueries, memory);
}
- void process(_MemoryT& result,
- const armem::query::data::MemoryQuery& query,
- const _MemoryT& memory) const override
+ virtual void process(ResultMemoryT& result,
+ const armem::query::data::MemoryQuery& query,
+ const MemoryT& memory) const override
{
if (auto q = dynamic_cast<const armem::query::data::memory::All*>(&query))
{
@@ -57,49 +66,52 @@ namespace armarx::armem::base::query_proc
}
else
{
- throw armem::error::UnknownQueryType("memory segment", query);
+ throw armem::error::UnknownQueryType(MemoryT::getLevelName(), query);
}
}
- void process(_MemoryT& result,
+ void process(ResultMemoryT& result,
const armem::query::data::memory::All& query,
- const _MemoryT& memory) const
+ const MemoryT& memory) const
{
- for (const auto& [name, coreSegment] : memory.coreSegments())
+ memory.forEachCoreSegment([this, &result, &query](const CoreSegmentT & coreSegment)
{
- result.addCoreSegment(coreSegmentProcessorProcess(query.coreSegmentQueries, coreSegment));
- }
+ childProcessor.process(result.addCoreSegment(coreSegment.name()), query.coreSegmentQueries, coreSegment);
+ });
}
- void process(_MemoryT& result,
+ void process(ResultMemoryT& result,
const armem::query::data::memory::Single& query,
- const _MemoryT& memory) const
+ const MemoryT& memory) const
{
try
{
const CoreSegmentT& coreSegment = memory.getCoreSegment(query.coreSegmentName);
- result.addCoreSegment(coreSegmentProcessorProcess(query.coreSegmentQueries, coreSegment));
+ childProcessor.process(result.addCoreSegment(coreSegment.name()), query.coreSegmentQueries, coreSegment);
}
catch (const error::MissingEntry&)
{
}
}
- void process(_MemoryT& result,
+ void process(ResultMemoryT& result,
const armem::query::data::memory::Regex& query,
- const _MemoryT& memory) const
+ const MemoryT& memory) const
{
- std::regex regex(query.coreSegmentNameRegex);
- for (const auto& [name, coreSegment] : memory.coreSegments())
+ const std::regex regex(query.coreSegmentNameRegex);
+ memory.forEachCoreSegment([this, &result, &query, ®ex](const CoreSegmentT & coreSegment)
{
if (std::regex_search(coreSegment.name(), regex))
{
- result.addCoreSegment(coreSegmentProcessorProcess(query.coreSegmentQueries, coreSegment));
+ childProcessor.process(result.addCoreSegment(coreSegment.name()), query.coreSegmentQueries, coreSegment);
}
- }
+ });
}
+
protected:
- virtual CoreSegmentT coreSegmentProcessorProcess(const armem::query::data::CoreSegmentQuerySeq& a, const CoreSegmentT& o) const = 0;
+
+ ChildProcessorT childProcessor;
+
};
}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/ProviderSegmentQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/base/ProviderSegmentQueryProcessorBase.h
index b3b7da7ffa9cc1d06aeadabef58c5aebba3974de..5102a12829c106e58159e7dcc35a7df0890f93d5 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/ProviderSegmentQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/ProviderSegmentQueryProcessorBase.h
@@ -1,39 +1,50 @@
#pragma once
-#include <RobotAPI/interface/armem/query.h>
-
#include "BaseQueryProcessorBase.h"
-#include "EntityQueryProcessorBase.h"
-#include <regex>
+#include <RobotAPI/libraries/armem/core/error.h>
-#include <ArmarXCore/core/logging/Logging.h>
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <RobotAPI/interface/armem/query.h>
-#include <RobotAPI/libraries/armem/core/error.h>
+#include <regex>
-namespace armarx::armem::base::query_proc
+namespace armarx::armem::server::query_proc::base
{
- /**
- * @brief Handles memory queries.
- */
- template <class _ProviderSegmentT>
+ template <QueryTarget queryTarget, class _ProviderSegmentT, class _ResultProviderSegmentT, class _ChildProcessorT>
class ProviderSegmentQueryProcessorBase :
- virtual public BaseQueryProcessorBase<_ProviderSegmentT, armem::query::data::ProviderSegmentQuery>
+ public BaseQueryProcessorBase<queryTarget, _ProviderSegmentT, _ResultProviderSegmentT, armem::query::data::ProviderSegmentQuery>
{
- using Base = BaseQueryProcessorBase<_ProviderSegmentT, armem::query::data::ProviderSegmentQuery>;
+ using Base = BaseQueryProcessorBase<queryTarget, _ProviderSegmentT, _ResultProviderSegmentT, armem::query::data::ProviderSegmentQuery>;
+
public:
+
using ProviderSegmentT = _ProviderSegmentT;
using EntityT = typename ProviderSegmentT::EntityT;
- using EntitySnapshotT = typename EntityT::EntitySnapshotT;
+
+ using ResultProviderSegmentT = _ResultProviderSegmentT;
+ using ResultEntityT = typename ResultProviderSegmentT::EntityT;
+
+ using ChildProcessorT = _ChildProcessorT;
+
+
+ public:
+
+ ProviderSegmentQueryProcessorBase()
+ {
+ }
+ ProviderSegmentQueryProcessorBase(ChildProcessorT&& childProcessor) :
+ childProcessor(childProcessor)
+ {
+ }
+
using Base::process;
- void process(_ProviderSegmentT& result,
- const armem::query::data::ProviderSegmentQuery& query,
- const _ProviderSegmentT& providerSegment) const override
+ virtual void process(ResultProviderSegmentT& result,
+ const armem::query::data::ProviderSegmentQuery& query,
+ const ProviderSegmentT& providerSegment) const override
{
if (auto q = dynamic_cast<const armem::query::data::provider::All*>(&query))
{
@@ -49,28 +60,28 @@ namespace armarx::armem::base::query_proc
}
else
{
- throw armem::error::UnknownQueryType("provider segment", query);
+ throw armem::error::UnknownQueryType(ProviderSegmentT::getLevelName(), query);
}
}
- void process(_ProviderSegmentT& result,
+ void process(ResultProviderSegmentT& result,
const armem::query::data::provider::All& query,
- const _ProviderSegmentT& providerSegment) const
+ const ProviderSegmentT& providerSegment) const
{
- for (const auto& [name, entity] : providerSegment.entities())
+ providerSegment.forEachEntity([this, &result, &query](const EntityT & entity)
{
- result.addEntity(entityProcessorProcess(query.entityQueries, entity));
- }
+ childProcessor.process(result.addEntity(entity.name()), query.entityQueries, entity);
+ });
}
- void process(_ProviderSegmentT& result,
+ void process(ResultProviderSegmentT& result,
const armem::query::data::provider::Single& query,
- const _ProviderSegmentT& providerSegment) const
+ const ProviderSegmentT& providerSegment) const
{
try
{
const EntityT& entity = providerSegment.getEntity(query.entityName);
- result.addEntity(entityProcessorProcess(query.entityQueries, entity));
+ childProcessor.process(result.addEntity(entity.name()), query.entityQueries, entity);
}
catch (const error::MissingEntry&)
{
@@ -78,21 +89,25 @@ namespace armarx::armem::base::query_proc
}
}
- void process(_ProviderSegmentT& result,
+ void process(ResultProviderSegmentT& result,
const armem::query::data::provider::Regex& query,
- const _ProviderSegmentT& providerSegment) const
+ const ProviderSegmentT& providerSegment) const
{
- std::regex regex(query.entityNameRegex);
- for (const auto& [name, entity] : providerSegment.entities())
+ const std::regex regex(query.entityNameRegex);
+ providerSegment.forEachEntity([this, &result, &query, ®ex](const EntityT & entity)
{
if (std::regex_search(entity.name(), regex))
{
- result.addEntity(entityProcessorProcess(query.entityQueries, entity));
+ childProcessor.process(result.addEntity(entity.name()), query.entityQueries, entity);
}
- }
+ return true;
+ });
}
+
protected:
- virtual EntityT entityProcessorProcess(const armem::query::data::EntityQuerySeq& a, const EntityT& o) const = 0;
+
+ ChildProcessorT childProcessor;
+
};
}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory.cpp b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..a695cf43d51dcbbc2329fa1c48fbe8e63565c24f
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory.cpp
@@ -0,0 +1,7 @@
+#include "diskmemory.h"
+
+
+namespace armarx::armem::server::query_proc::d_ltm
+{
+}
+
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory.h b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory.h
new file mode 100644
index 0000000000000000000000000000000000000000..0f2ffe791d192b9bc2b5f2a2be311735808427a4
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory.h
@@ -0,0 +1,32 @@
+#pragma once
+
+#include <RobotAPI/libraries/armem/core/diskmemory/Memory.h>
+#include <RobotAPI/libraries/armem/server/query_proc/base.h>
+
+
+namespace armarx::armem::server::query_proc::d_ltm
+{
+ static const base::QueryTarget queryTarget = query::data::QueryTarget::LTM;
+
+
+ class EntityQueryProcessor :
+ public base::EntityQueryProcessorBase<queryTarget, armem::d_ltm::Entity, armem::d_ltm::Entity>
+ {
+ };
+
+ class ProviderSegmentQueryProcessor :
+ public base::ProviderSegmentQueryProcessorBase <queryTarget, armem::d_ltm::ProviderSegment, armem::d_ltm::ProviderSegment, EntityQueryProcessor >
+ {
+ };
+
+ class CoreSegmentQueryProcessor :
+ public base::CoreSegmentQueryProcessorBase<queryTarget, armem::d_ltm::CoreSegment, armem::d_ltm::CoreSegment, ProviderSegmentQueryProcessor>
+ {
+ };
+
+ class MemoryQueryProcessor :
+ public base::MemoryQueryProcessorBase <queryTarget, armem::d_ltm::Memory, armem::d_ltm::Memory, CoreSegmentQueryProcessor >
+ {
+ };
+
+}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/BaseQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/BaseQueryProcessor.cpp
deleted file mode 100644
index 68821bcd95cdf2aaccf7126d4055495d39d0393d..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/BaseQueryProcessor.cpp
+++ /dev/null
@@ -1 +0,0 @@
-#include "BaseQueryProcessor.h"
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/BaseQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/BaseQueryProcessor.h
deleted file mode 100644
index 469b5f907d01bbff757b1bea14ff8e80e5769315..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/BaseQueryProcessor.h
+++ /dev/null
@@ -1,32 +0,0 @@
-#pragma once
-
-#include <RobotAPI/interface/armem/query.h>
-#include <RobotAPI/libraries/armem/core/DataMode.h>
-
-#include "../base/BaseQueryProcessorBase.h"
-
-
-namespace armarx::armem::d_ltm::query_proc
-{
- /**
- * @brief Base class for memory query processors.
- */
- template <class DataT, class QueryT>
- class BaseQueryProcessor :
- virtual public base::query_proc::BaseQueryProcessorBase<DataT, QueryT>
- {
- using Base = base::query_proc::BaseQueryProcessorBase<DataT, QueryT>;
-
- public:
- BaseQueryProcessor()
- {}
-
- protected:
-
- query::data::QueryTarget getTargetType() const override
- {
- return query::data::QueryTarget::Disk;
- }
-
- };
-}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/CoreSegmentQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/CoreSegmentQueryProcessor.cpp
deleted file mode 100644
index afbe35ad15eea0342b0b0d4df0200aaf0d32aa2a..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/CoreSegmentQueryProcessor.cpp
+++ /dev/null
@@ -1 +0,0 @@
-#include "CoreSegmentQueryProcessor.h"
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/CoreSegmentQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/CoreSegmentQueryProcessor.h
deleted file mode 100644
index 5c043a2d1dbe2218078591adc3fc0ebac0bfe932..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/CoreSegmentQueryProcessor.h
+++ /dev/null
@@ -1,36 +0,0 @@
-#pragma once
-
-#include "BaseQueryProcessor.h"
-#include "../base/CoreSegmentQueryProcessorBase.h"
-
-#include "../../../core/diskmemory/CoreSegment.h"
-
-#include "ProviderSegmentQueryProcessor.h"
-
-
-namespace armarx::armem::d_ltm::query_proc
-{
- /**
- * @brief Handles memory queries.
- */
- class CoreSegmentQueryProcessor :
- virtual public BaseQueryProcessor<d_ltm::CoreSegment, armem::query::data::CoreSegmentQuery>,
- virtual public base::query_proc::CoreSegmentQueryProcessorBase<d_ltm::CoreSegment>
- {
- using Base = BaseQueryProcessor<d_ltm::CoreSegment, armem::query::data::CoreSegmentQuery>;
-
- public:
- CoreSegmentQueryProcessor() :
- Base()
- {}
-
- protected:
- virtual ProviderSegmentT providerSegmentProcessorProcess(const armem::query::data::ProviderSegmentQuerySeq& q, const ProviderSegmentT& s) const override
- {
- return providerSegmentProcessor.process(q, s);
- }
-
- private:
- ProviderSegmentQueryProcessor providerSegmentProcessor;
- };
-}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/EntityQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/EntityQueryProcessor.cpp
deleted file mode 100644
index c1c321b026b173c6552758fb9d8b9fdf722ea5a4..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/EntityQueryProcessor.cpp
+++ /dev/null
@@ -1 +0,0 @@
-#include "EntityQueryProcessor.h"
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/EntityQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/EntityQueryProcessor.h
deleted file mode 100644
index c57c2c2da39ca53ce97d27b498e69b648a16f25a..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/EntityQueryProcessor.h
+++ /dev/null
@@ -1,42 +0,0 @@
-#pragma once
-
-#include "BaseQueryProcessor.h"
-#include "../base/EntityQueryProcessorBase.h"
-
-#include "../../../core/diskmemory/Entity.h"
-
-#include "EntityQueryProcessor.h"
-
-namespace armarx::armem::d_ltm::query_proc
-{
- /**
- * @brief Handles memory queries.
- */
- class EntityQueryProcessor :
- virtual public BaseQueryProcessor<d_ltm::Entity, armem::query::data::EntityQuery>,
- virtual public base::query_proc::EntityQueryProcessorBase<d_ltm::Entity>
- {
- using Base = BaseQueryProcessor<d_ltm::Entity, armem::query::data::EntityQuery>;
-
- public:
-
- EntityQueryProcessor() :
- Base()
- {}
-
-
- private:
-
- void addResultSnapshot(d_ltm::Entity& result, d_ltm::Entity::ContainerT::const_iterator it) const override
- {
- addResultSnapshot(result, it->second);
- }
-
- void addResultSnapshot(d_ltm::Entity& result, const d_ltm::EntitySnapshot& snapshot) const override
- {
- result.addSnapshot(snapshot.copy());
- }
-
- };
-
-}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/MemoryQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/MemoryQueryProcessor.cpp
deleted file mode 100644
index 69b04de6c9e623286a5bda836dddfdc8b551b64a..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/MemoryQueryProcessor.cpp
+++ /dev/null
@@ -1 +0,0 @@
-#include "MemoryQueryProcessor.h"
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/MemoryQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/MemoryQueryProcessor.h
deleted file mode 100644
index 038523950bfe399c2ef7a65b79fde43376651617..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/MemoryQueryProcessor.h
+++ /dev/null
@@ -1,35 +0,0 @@
-#pragma once
-
-#include "BaseQueryProcessor.h"
-#include "../base/MemoryQueryProcessorBase.h"
-
-#include "../../../core/diskmemory/Memory.h"
-
-#include "CoreSegmentQueryProcessor.h"
-
-namespace armarx::armem::d_ltm::query_proc
-{
- /**
- * @brief Handles memory queries.
- */
- class MemoryQueryProcessor :
- virtual public BaseQueryProcessor<d_ltm::Memory, armem::query::data::MemoryQuery>,
- virtual public base::query_proc::MemoryQueryProcessorBase<d_ltm::Memory>
- {
- using Base = BaseQueryProcessor<d_ltm::Memory, armem::query::data::MemoryQuery>;
-
- public:
- MemoryQueryProcessor() :
- Base()
- {}
-
- protected:
- virtual CoreSegmentT coreSegmentProcessorProcess(const armem::query::data::CoreSegmentQuerySeq& q, const CoreSegmentT& s) const override
- {
- return coreSegmentProcessor.process(q, s);
- }
-
- private:
- CoreSegmentQueryProcessor coreSegmentProcessor;
- };
-}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/ProviderSegmentQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/ProviderSegmentQueryProcessor.cpp
deleted file mode 100644
index 9a2a4405001f0904b74fc6afcf96813eef0879cd..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/ProviderSegmentQueryProcessor.cpp
+++ /dev/null
@@ -1 +0,0 @@
-#include "ProviderSegmentQueryProcessor.h"
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/ProviderSegmentQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/ProviderSegmentQueryProcessor.h
deleted file mode 100644
index 2043273ec7c5f3fee2d02410a145ef436c47459c..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/ProviderSegmentQueryProcessor.h
+++ /dev/null
@@ -1,37 +0,0 @@
-#pragma once
-
-#include "BaseQueryProcessor.h"
-#include "../base/ProviderSegmentQueryProcessorBase.h"
-
-#include "../../../core/diskmemory/ProviderSegment.h"
-
-#include "EntityQueryProcessor.h"
-
-namespace armarx::armem::d_ltm::query_proc
-{
- /**
- * @brief Handles memory queries.
- */
- class ProviderSegmentQueryProcessor :
- virtual public BaseQueryProcessor<d_ltm::ProviderSegment, armem::query::data::ProviderSegmentQuery>,
- virtual public base::query_proc::ProviderSegmentQueryProcessorBase<d_ltm::ProviderSegment>
- {
- using Base = BaseQueryProcessor<d_ltm::ProviderSegment, armem::query::data::ProviderSegmentQuery>;
-
- public:
- ProviderSegmentQueryProcessor() :
- Base()
- {}
-
- protected:
- virtual EntityT entityProcessorProcess(const armem::query::data::EntityQuerySeq& q, const EntityT& s) const override
- {
- return entityProcessor.process(q, s);
- }
-
- private:
- EntityQueryProcessor entityProcessor;
-
- };
-
-}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/BaseQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/BaseQueryProcessor.cpp
deleted file mode 100644
index 68821bcd95cdf2aaccf7126d4055495d39d0393d..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/BaseQueryProcessor.cpp
+++ /dev/null
@@ -1 +0,0 @@
-#include "BaseQueryProcessor.h"
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/BaseQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/BaseQueryProcessor.h
deleted file mode 100644
index 64f560afff93e5d0cfff4b036f68f0fb4e8cdaba..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/BaseQueryProcessor.h
+++ /dev/null
@@ -1,32 +0,0 @@
-#pragma once
-
-#include <RobotAPI/interface/armem/query.h>
-#include <RobotAPI/libraries/armem/core/DataMode.h>
-
-#include "../base/BaseQueryProcessorBase.h"
-
-
-namespace armarx::armem::ltm::query_proc
-{
- /**
- * @brief Base class for memory query processors.
- */
- template <class DataT, class QueryT>
- class BaseQueryProcessor :
- virtual public base::query_proc::BaseQueryProcessorBase<DataT, QueryT>
- {
- using Base = base::query_proc::BaseQueryProcessorBase<DataT, QueryT>;
-
- public:
- BaseQueryProcessor()
- {}
-
- protected:
-
- query::data::QueryTarget getTargetType() const override
- {
- return query::data::QueryTarget::LTM;
- }
-
- };
-}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/CoreSegmentQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/CoreSegmentQueryProcessor.cpp
deleted file mode 100644
index afbe35ad15eea0342b0b0d4df0200aaf0d32aa2a..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/CoreSegmentQueryProcessor.cpp
+++ /dev/null
@@ -1 +0,0 @@
-#include "CoreSegmentQueryProcessor.h"
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/CoreSegmentQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/CoreSegmentQueryProcessor.h
deleted file mode 100644
index dc379f1d88fa82bbe886e412e0341079fa43fce9..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/CoreSegmentQueryProcessor.h
+++ /dev/null
@@ -1,36 +0,0 @@
-#pragma once
-
-#include "BaseQueryProcessor.h"
-#include "../base/CoreSegmentQueryProcessorBase.h"
-
-#include "../../../core/longtermmemory/CoreSegment.h"
-
-#include "ProviderSegmentQueryProcessor.h"
-
-
-namespace armarx::armem::ltm::query_proc
-{
- /**
- * @brief Handles memory queries.
- */
- class CoreSegmentQueryProcessor :
- virtual public BaseQueryProcessor<ltm::CoreSegment, armem::query::data::CoreSegmentQuery>,
- virtual public base::query_proc::CoreSegmentQueryProcessorBase<ltm::CoreSegment>
- {
- using Base = BaseQueryProcessor<ltm::CoreSegment, armem::query::data::CoreSegmentQuery>;
-
- public:
- CoreSegmentQueryProcessor() :
- Base()
- {}
-
- protected:
- virtual ProviderSegmentT providerSegmentProcessorProcess(const armem::query::data::ProviderSegmentQuerySeq& q, const ProviderSegmentT& s) const override
- {
- return providerSegmentProcessor.process(q, s);
- }
-
- private:
- ProviderSegmentQueryProcessor providerSegmentProcessor;
- };
-}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/EntityQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/EntityQueryProcessor.cpp
deleted file mode 100644
index c1c321b026b173c6552758fb9d8b9fdf722ea5a4..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/EntityQueryProcessor.cpp
+++ /dev/null
@@ -1 +0,0 @@
-#include "EntityQueryProcessor.h"
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/EntityQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/EntityQueryProcessor.h
deleted file mode 100644
index 5ec4c5dde481e16f0af30589d57ff2a447d81221..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/EntityQueryProcessor.h
+++ /dev/null
@@ -1,39 +0,0 @@
-#pragma once
-
-#include "BaseQueryProcessor.h"
-#include "../base/EntityQueryProcessorBase.h"
-
-#include "../../../core/longtermmemory/Entity.h"
-
-#include "EntityQueryProcessor.h"
-
-namespace armarx::armem::ltm::query_proc
-{
- /**
- * @brief Handles memory queries.
- */
- class EntityQueryProcessor :
- virtual public BaseQueryProcessor<ltm::Entity, armem::query::data::EntityQuery>,
- virtual public base::query_proc::EntityQueryProcessorBase<ltm::Entity>
- {
- using Base = BaseQueryProcessor<ltm::Entity, armem::query::data::EntityQuery>;
-
- public:
- EntityQueryProcessor() :
- Base()
- {}
-
- private:
- void addResultSnapshot(ltm::Entity& result, ltm::Entity::ContainerT::const_iterator it) const override
- {
- addResultSnapshot(result, it->second);
- }
-
- void addResultSnapshot(ltm::Entity& result, const ltm::EntitySnapshot& snapshot) const override
- {
- result.addSnapshot(snapshot.copy());
- }
-
- };
-
-}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/MemoryQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/MemoryQueryProcessor.cpp
deleted file mode 100644
index 69b04de6c9e623286a5bda836dddfdc8b551b64a..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/MemoryQueryProcessor.cpp
+++ /dev/null
@@ -1 +0,0 @@
-#include "MemoryQueryProcessor.h"
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/MemoryQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/MemoryQueryProcessor.h
deleted file mode 100644
index a5129417262515975efa247398602272865ee5ec..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/MemoryQueryProcessor.h
+++ /dev/null
@@ -1,35 +0,0 @@
-#pragma once
-
-#include "BaseQueryProcessor.h"
-#include "../base/MemoryQueryProcessorBase.h"
-
-#include "../../../core/longtermmemory/Memory.h"
-
-#include "CoreSegmentQueryProcessor.h"
-
-namespace armarx::armem::ltm::query_proc
-{
- /**
- * @brief Handles memory queries.
- */
- class MemoryQueryProcessor :
- virtual public BaseQueryProcessor<ltm::Memory, armem::query::data::MemoryQuery>,
- virtual public base::query_proc::MemoryQueryProcessorBase<ltm::Memory>
- {
- using Base = BaseQueryProcessor<ltm::Memory, armem::query::data::MemoryQuery>;
-
- public:
- MemoryQueryProcessor() :
- Base()
- {}
-
- protected:
- virtual CoreSegmentT coreSegmentProcessorProcess(const armem::query::data::CoreSegmentQuerySeq& q, const CoreSegmentT& s) const override
- {
- return coreSegmentProcessor.process(q, s);
- }
-
- private:
- CoreSegmentQueryProcessor coreSegmentProcessor;
- };
-}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/ProviderSegmentQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/ProviderSegmentQueryProcessor.cpp
deleted file mode 100644
index 9a2a4405001f0904b74fc6afcf96813eef0879cd..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/ProviderSegmentQueryProcessor.cpp
+++ /dev/null
@@ -1 +0,0 @@
-#include "ProviderSegmentQueryProcessor.h"
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/ProviderSegmentQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/ProviderSegmentQueryProcessor.h
deleted file mode 100644
index e0c6db9e3ef06e6241e9af8c572bb7fc78eec452..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/ProviderSegmentQueryProcessor.h
+++ /dev/null
@@ -1,37 +0,0 @@
-#pragma once
-
-#include "BaseQueryProcessor.h"
-#include "../base/ProviderSegmentQueryProcessorBase.h"
-
-#include "../../../core/longtermmemory/ProviderSegment.h"
-
-#include "EntityQueryProcessor.h"
-
-namespace armarx::armem::ltm::query_proc
-{
- /**
- * @brief Handles memory queries.
- */
- class ProviderSegmentQueryProcessor :
- virtual public BaseQueryProcessor<ltm::ProviderSegment, armem::query::data::ProviderSegmentQuery>,
- virtual public base::query_proc::ProviderSegmentQueryProcessorBase<ltm::ProviderSegment>
- {
- using Base = BaseQueryProcessor<ltm::ProviderSegment, armem::query::data::ProviderSegmentQuery>;
-
- public:
- ProviderSegmentQueryProcessor() :
- Base()
- {}
-
- protected:
- virtual EntityT entityProcessorProcess(const armem::query::data::EntityQuerySeq& q, const EntityT& s) const override
- {
- return entityProcessor.process(q, s);
- }
-
- private:
- EntityQueryProcessor entityProcessor;
-
- };
-
-}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/ltm.cpp b/source/RobotAPI/libraries/armem/server/query_proc/ltm.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..238cc4b8d1601bf1ffae131caabbf8ca8435899a
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/query_proc/ltm.cpp
@@ -0,0 +1,7 @@
+#include "ltm.h"
+
+
+namespace armarx::armem::server::query_proc::ltm
+{
+}
+
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/ltm.h b/source/RobotAPI/libraries/armem/server/query_proc/ltm.h
new file mode 100644
index 0000000000000000000000000000000000000000..ae0dc778c821ae138c98b8554a22237bf26e5989
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/query_proc/ltm.h
@@ -0,0 +1,32 @@
+#pragma once
+
+#include <RobotAPI/libraries/armem/core/longtermmemory/Memory.h>
+#include <RobotAPI/libraries/armem/server/query_proc/base.h>
+
+
+namespace armarx::armem::server::query_proc::ltm
+{
+ static const base::QueryTarget queryTarget = query::data::QueryTarget::LTM;
+
+
+ class EntityQueryProcessor :
+ public base::EntityQueryProcessorBase<queryTarget, armem::ltm::Entity, armem::ltm::Entity>
+ {
+ };
+
+ class ProviderSegmentQueryProcessor :
+ public base::ProviderSegmentQueryProcessorBase <queryTarget, armem::ltm::ProviderSegment, armem::ltm::ProviderSegment, EntityQueryProcessor >
+ {
+ };
+
+ class CoreSegmentQueryProcessor :
+ public base::CoreSegmentQueryProcessorBase <queryTarget, armem::ltm::CoreSegment, armem::ltm::CoreSegment, ProviderSegmentQueryProcessor>
+ {
+ };
+
+ class MemoryQueryProcessor :
+ public base::MemoryQueryProcessorBase <queryTarget, armem::ltm::Memory, armem::ltm::Memory, CoreSegmentQueryProcessor >
+ {
+ };
+
+}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/wm.cpp b/source/RobotAPI/libraries/armem/server/query_proc/wm.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..4e968623d63aa57213507879608c81823d31c7d6
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/query_proc/wm.cpp
@@ -0,0 +1,70 @@
+#include "wm.h"
+
+
+
+namespace armarx::armem::server::query_proc::wm::detail
+{
+
+ HasDataMode::HasDataMode(armem::DataMode dataMode) : dataMode(dataMode)
+ {
+ }
+
+}
+
+
+namespace armarx::armem::server::query_proc::wm
+{
+
+ ProviderSegmentQueryProcessor::ProviderSegmentQueryProcessor(DataMode dataMode) :
+ ProviderSegmentQueryProcessorBase(dataMode), HasDataMode(dataMode)
+ {
+ }
+
+
+ CoreSegmentQueryProcessor::CoreSegmentQueryProcessor(DataMode dataMode) :
+ CoreSegmentQueryProcessorBase(dataMode), HasDataMode(dataMode)
+ {
+ }
+
+
+ MemoryQueryProcessor::MemoryQueryProcessor(DataMode dataMode) :
+ MemoryQueryProcessorBase(dataMode), HasDataMode(dataMode)
+ {
+ }
+
+}
+
+
+namespace armarx::armem::server::query_proc::wm_server
+{
+ ProviderSegmentQueryProcessor::ProviderSegmentQueryProcessor(DataMode dataMode) :
+ ProviderSegmentQueryProcessorBase(dataMode), HasDataMode(dataMode)
+ {
+ }
+
+
+ CoreSegmentQueryProcessor::CoreSegmentQueryProcessor(DataMode dataMode) :
+ CoreSegmentQueryProcessorBase(dataMode),
+ HasDataMode(dataMode)
+ {
+ }
+
+
+ void CoreSegmentQueryProcessor::process(
+ armem::wm::CoreSegment& result,
+ const armem::query::data::CoreSegmentQuery& query,
+ const CoreSegment& coreSegment) const
+ {
+ std::scoped_lock lock(coreSegment.mutex());
+ CoreSegmentQueryProcessorBase::process(result, query, coreSegment);
+ }
+
+
+ MemoryQueryProcessor::MemoryQueryProcessor(DataMode dataMode) :
+ MemoryQueryProcessorBase(dataMode),
+ HasDataMode(dataMode)
+ {
+ }
+
+
+}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/wm.h b/source/RobotAPI/libraries/armem/server/query_proc/wm.h
new file mode 100644
index 0000000000000000000000000000000000000000..aa52b4ab22fe1c6ef194ef37d4e38f5c7720d6c5
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/query_proc/wm.h
@@ -0,0 +1,164 @@
+#pragma once
+
+#include <RobotAPI/libraries/armem/core/DataMode.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
+#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
+#include <RobotAPI/libraries/armem/server/query_proc/base.h>
+
+
+namespace armarx::armem::server::query_proc::wm
+{
+ static const base::QueryTarget queryTarget = query::data::QueryTarget::WM;
+}
+namespace armarx::armem::server::query_proc::wm::detail
+{
+
+ class HasDataMode
+ {
+ public:
+
+ HasDataMode(armem::DataMode dataMode);
+
+
+ protected:
+
+ armem::DataMode dataMode;
+
+ };
+
+
+
+ template <class SourceEntityT>
+ class EntityQueryProcessor :
+ public base::EntityQueryProcessorBase<queryTarget, SourceEntityT, armem::wm::Entity>,
+ public HasDataMode
+ {
+ public:
+
+ EntityQueryProcessor(DataMode dataMode = DataMode::WithData) :
+ HasDataMode(dataMode)
+ {}
+
+
+ protected:
+
+ void addResultSnapshot(armem::wm::Entity& result, const typename SourceEntityT::EntitySnapshotT& snapshot) const
+ {
+ bool withData = (dataMode == DataMode::WithData);
+ if (withData)
+ {
+ result.addSnapshot(server::wm::EntitySnapshot{ snapshot });
+ }
+ else
+ {
+ server::wm::EntitySnapshot copy = snapshot;
+ copy.forEachInstance([](server::wm::EntityInstance & i)
+ {
+ i.data() = nullptr;
+ return true;
+ });
+ result.addSnapshot(std::move(copy));
+ }
+ }
+
+ };
+}
+
+
+namespace armarx::armem::server::query_proc::wm
+{
+
+ using EntityQueryProcessor = detail::EntityQueryProcessor<armem::wm::Entity>;
+
+
+ class ProviderSegmentQueryProcessor :
+ public base::ProviderSegmentQueryProcessorBase<queryTarget, armem::wm::ProviderSegment, armem::wm::ProviderSegment, EntityQueryProcessor >,
+ public detail::HasDataMode
+ {
+ public:
+
+ ProviderSegmentQueryProcessor(DataMode dataMode = DataMode::WithData);
+
+ };
+
+
+ class CoreSegmentQueryProcessor :
+ public base::CoreSegmentQueryProcessorBase <queryTarget, armem::wm::CoreSegment, armem::wm::CoreSegment, ProviderSegmentQueryProcessor >,
+ public detail::HasDataMode
+ {
+ using Base = base::CoreSegmentQueryProcessorBase<queryTarget, armem::wm::CoreSegment, armem::wm::CoreSegment, ProviderSegmentQueryProcessor>;
+ using CoreSegment = armem::wm::CoreSegment;
+ using ProviderSegment = armem::wm::ProviderSegment;
+
+ public:
+
+ CoreSegmentQueryProcessor(DataMode dataMode = DataMode::WithData);
+
+ };
+
+
+ class MemoryQueryProcessor :
+ public base::MemoryQueryProcessorBase<queryTarget, armem::wm::Memory, armem::wm::Memory, CoreSegmentQueryProcessor>,
+ public detail::HasDataMode
+ {
+ public:
+
+ MemoryQueryProcessor(DataMode dataMode = DataMode::WithData);
+
+ };
+
+}
+
+
+namespace armarx::armem::server::query_proc::wm_server
+{
+
+ using EntityQueryProcessor = wm::detail::EntityQueryProcessor<server::wm::Entity>;
+
+
+ class ProviderSegmentQueryProcessor :
+ public base::ProviderSegmentQueryProcessorBase<wm::queryTarget, server::wm::ProviderSegment, armem::wm::ProviderSegment, EntityQueryProcessor >,
+ public wm::detail::HasDataMode
+ {
+ public:
+
+ ProviderSegmentQueryProcessor(DataMode dataMode = DataMode::WithData);
+
+ };
+
+
+ class CoreSegmentQueryProcessor :
+ public base::CoreSegmentQueryProcessorBase <wm::queryTarget, server::wm::CoreSegment, armem::wm::CoreSegment, ProviderSegmentQueryProcessor >,
+ public wm::detail::HasDataMode
+ {
+ using Base = base::CoreSegmentQueryProcessorBase<wm::queryTarget, server::wm::CoreSegment, armem::wm::CoreSegment, ProviderSegmentQueryProcessor>;
+ using CoreSegment = server::wm::CoreSegment;
+ using ProviderSegment = server::wm::ProviderSegment;
+
+ public:
+
+ CoreSegmentQueryProcessor(DataMode dataMode = DataMode::WithData);
+
+
+ using Base::process;
+
+ /// Locks the core segment, then delegates back to `CoreSegmentQueryProcessorBase`.
+ void process(
+ armem::wm::CoreSegment& result,
+ const armem::query::data::CoreSegmentQuery& query,
+ const CoreSegment& coreSegment) const override;
+
+ };
+
+
+ class MemoryQueryProcessor :
+ public base::MemoryQueryProcessorBase<wm::queryTarget, server::wm::Memory, armem::wm::Memory, CoreSegmentQueryProcessor>,
+ public wm::detail::HasDataMode
+ {
+ public:
+
+ MemoryQueryProcessor(DataMode dataMode = DataMode::WithData);
+
+ };
+
+}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/BaseQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/BaseQueryProcessor.cpp
deleted file mode 100644
index 68821bcd95cdf2aaccf7126d4055495d39d0393d..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/BaseQueryProcessor.cpp
+++ /dev/null
@@ -1 +0,0 @@
-#include "BaseQueryProcessor.h"
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/BaseQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/BaseQueryProcessor.h
deleted file mode 100644
index d4875053c93dc2278cdb9f327fc0739370811fe7..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/BaseQueryProcessor.h
+++ /dev/null
@@ -1,37 +0,0 @@
-#pragma once
-
-#include <RobotAPI/interface/armem/query.h>
-#include <RobotAPI/libraries/armem/core/DataMode.h>
-
-#include <RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.h>
-
-
-namespace armarx::armem::wm::query_proc
-{
- /**
- * @brief Base class for memory query processors.
- */
- template <class DataT, class QueryT>
- class BaseQueryProcessor :
- virtual public base::query_proc::BaseQueryProcessorBase<DataT, QueryT>
- {
- using Base = base::query_proc::BaseQueryProcessorBase<DataT, QueryT>;
-
- public:
-
- BaseQueryProcessor(DataMode dataMode = DataMode::WithData) :
- dataMode(dataMode)
- {}
-
-
- protected:
-
- query::data::QueryTarget getTargetType() const override
- {
- return query::data::QueryTarget::WM;
- }
-
- DataMode dataMode;
-
- };
-}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/CoreSegmentQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/CoreSegmentQueryProcessor.cpp
deleted file mode 100644
index 4c41f16664af134b66b00355080d8de362d7eaf9..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/CoreSegmentQueryProcessor.cpp
+++ /dev/null
@@ -1,39 +0,0 @@
-#include "CoreSegmentQueryProcessor.h"
-
-#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
-
-
-namespace armarx::armem::wm::query_proc
-{
-
- CoreSegmentQueryProcessor::CoreSegmentQueryProcessor(DataMode dataMode) :
- Base(dataMode), providerSegmentProcessor(dataMode)
- {}
-
-
- CoreSegmentQueryProcessor::~CoreSegmentQueryProcessor() = default;
-
-
- void CoreSegmentQueryProcessor::process(
- CoreSegment& result, const armem::query::data::CoreSegmentQuery& query, const CoreSegment& coreSegment) const
- {
- std::scoped_lock lock(coreSegment.mutex());
- CoreSegmentQueryProcessorBase::process(result, query, coreSegment);
- }
-
-
- data::CoreSegment CoreSegmentQueryProcessor::processToIce(const armem::query::data::CoreSegmentQuery& query, const wm::CoreSegment& coreSegment) const
- {
- data::CoreSegment data;
- toIce(data, process(query, coreSegment));
- return data;
- }
-
-
- ProviderSegment CoreSegmentQueryProcessor::providerSegmentProcessorProcess(const armem::query::data::ProviderSegmentQuerySeq& q, const ProviderSegment& s) const
- {
- return providerSegmentProcessor.process(q, s);
- }
-
-
-}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/CoreSegmentQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/CoreSegmentQueryProcessor.h
deleted file mode 100644
index f9e1d59c9f75866e3817440bb163ec5789c0f359..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/CoreSegmentQueryProcessor.h
+++ /dev/null
@@ -1,48 +0,0 @@
-#pragma once
-
-#include <mutex>
-
-#include <RobotAPI/libraries/armem/core/workingmemory/CoreSegment.h>
-#include <RobotAPI/libraries/armem/server/query_proc/base/CoreSegmentQueryProcessorBase.h>
-
-#include "BaseQueryProcessor.h"
-#include "ProviderSegmentQueryProcessor.h"
-
-
-namespace armarx::armem::wm::query_proc
-{
- /**
- * @brief Handles memory queries.
- */
- class CoreSegmentQueryProcessor :
- virtual public BaseQueryProcessor<wm::CoreSegment, armem::query::data::CoreSegmentQuery>,
- virtual public base::query_proc::CoreSegmentQueryProcessorBase<wm::CoreSegment>
- {
- using Base = BaseQueryProcessor<wm::CoreSegment, armem::query::data::CoreSegmentQuery>;
-
- public:
-
- CoreSegmentQueryProcessor(DataMode dataMode = DataMode::WithData);
- virtual ~CoreSegmentQueryProcessor() override;
-
- using Base::process;
-
- /// Locks the core segment, then delegates back to `CoreSegmentQueryProcessorBase`.
- void process(CoreSegment& result,
- const armem::query::data::CoreSegmentQuery& query,
- const CoreSegment& coreSegment) const override;
-
- data::CoreSegment processToIce(const armem::query::data::CoreSegmentQuery& query, const wm::CoreSegment& coreSegment) const;
-
-
- protected:
-
- virtual ProviderSegment providerSegmentProcessorProcess(const armem::query::data::ProviderSegmentQuerySeq& q, const ProviderSegmentT& s) const override;
-
-
- private:
-
- ProviderSegmentQueryProcessor providerSegmentProcessor;
-
- };
-}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/EntityQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/EntityQueryProcessor.cpp
deleted file mode 100644
index 005649b8f670586f16177f90a43c6e0f48b3879d..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/EntityQueryProcessor.cpp
+++ /dev/null
@@ -1,43 +0,0 @@
-#include "EntityQueryProcessor.h"
-
-#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
-
-
-namespace armarx::armem::wm::query_proc
-{
- EntityQueryProcessor::EntityQueryProcessor(DataMode dataMode) :
- BaseQueryProcessor<wm::Entity, armem::query::data::EntityQuery>(dataMode)
- {}
-
-
- EntityQueryProcessor::~EntityQueryProcessor() = default;
-
-
- void EntityQueryProcessor::addResultSnapshot(wm::Entity& result, const wm::EntitySnapshot& snapshot) const
- {
- bool withData = (dataMode == DataMode::WithData);
- if (withData)
- {
- result.addSnapshot(snapshot.copy());
- }
- else
- {
- result.addSnapshot(snapshot.copyWithoutData());
- }
- }
-
-
- data::Entity EntityQueryProcessor::processToIce(const armem::query::data::EntityQuery& query, const wm::Entity& entity) const
- {
- data::Entity data;
- toIce(data, process(query, entity));
- return data;
- }
-
-
- void EntityQueryProcessor::addResultSnapshot(wm::Entity& result, wm::Entity::ContainerT::const_iterator it) const
- {
- addResultSnapshot(result, it->second);
- }
-
-}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/EntityQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/EntityQueryProcessor.h
deleted file mode 100644
index dde53a8ff3393dde385ccc49aa937fcf196476d0..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/EntityQueryProcessor.h
+++ /dev/null
@@ -1,35 +0,0 @@
-#pragma once
-
-#include <RobotAPI/libraries/armem/core/workingmemory/Entity.h>
-#include <RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.h>
-
-#include "BaseQueryProcessor.h"
-
-
-namespace armarx::armem::wm::query_proc
-{
- /**
- * @brief Handles memory queries.
- */
- class EntityQueryProcessor :
- virtual public BaseQueryProcessor<wm::Entity, armem::query::data::EntityQuery>,
- virtual public base::query_proc::EntityQueryProcessorBase<wm::Entity>
- {
- using Base = BaseQueryProcessor<wm::Entity, armem::query::data::EntityQuery>;
-
- public:
-
- EntityQueryProcessor(DataMode dataMode = DataMode::WithData);
- virtual ~EntityQueryProcessor() override;
-
- data::Entity processToIce(const armem::query::data::EntityQuery& query, const wm::Entity& entity) const;
-
-
- private:
-
- void addResultSnapshot(wm::Entity& result, wm::Entity::ContainerT::const_iterator it) const override;
- void addResultSnapshot(wm::Entity& result, const wm::EntitySnapshot& snapshot) const override;
-
- };
-
-}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/MemoryQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/MemoryQueryProcessor.cpp
deleted file mode 100644
index 7aa868af13bc525b42d93f230a8398c27531525d..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/MemoryQueryProcessor.cpp
+++ /dev/null
@@ -1,22 +0,0 @@
-#include "MemoryQueryProcessor.h"
-
-
-namespace armarx::armem::wm::query_proc
-{
-
- MemoryQueryProcessor::MemoryQueryProcessor(DataMode dataMode) :
- Base(dataMode), coreSegmentProcessor(dataMode)
- {}
-
-
- MemoryQueryProcessor::~MemoryQueryProcessor()
- {
- }
-
-
- CoreSegment MemoryQueryProcessor::coreSegmentProcessorProcess(const armem::query::data::CoreSegmentQuerySeq& q, const CoreSegment& s) const
- {
- return coreSegmentProcessor.process(q, s);
- }
-
-}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/MemoryQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/MemoryQueryProcessor.h
deleted file mode 100644
index c57eea94a464a2e2191e614b5f1d6095d716405a..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/MemoryQueryProcessor.h
+++ /dev/null
@@ -1,39 +0,0 @@
-#pragma once
-
-#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
-#include <RobotAPI/libraries/armem/server/query_proc/base/MemoryQueryProcessorBase.h>
-
-#include "BaseQueryProcessor.h"
-
-#include "CoreSegmentQueryProcessor.h"
-
-
-namespace armarx::armem::wm::query_proc
-{
- /**
- * @brief Handles memory queries.
- */
- class MemoryQueryProcessor :
- virtual public BaseQueryProcessor<wm::Memory, armem::query::data::MemoryQuery>,
- virtual public base::query_proc::MemoryQueryProcessorBase<wm::Memory>
- {
- using Base = BaseQueryProcessor<wm::Memory, armem::query::data::MemoryQuery>;
-
- public:
-
- MemoryQueryProcessor(DataMode dataMode = DataMode::WithData);
- virtual ~MemoryQueryProcessor() override;
-
-
- protected:
-
- virtual CoreSegment coreSegmentProcessorProcess(
- const armem::query::data::CoreSegmentQuerySeq& q, const CoreSegment& s) const override;
-
-
- private:
-
- CoreSegmentQueryProcessor coreSegmentProcessor;
-
- };
-}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/ProviderSegmentQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/ProviderSegmentQueryProcessor.cpp
deleted file mode 100644
index eb2524631b4c1d2fb89eb3e7c36a3aaf86f31e29..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/ProviderSegmentQueryProcessor.cpp
+++ /dev/null
@@ -1,30 +0,0 @@
-#include "ProviderSegmentQueryProcessor.h"
-
-#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
-
-
-namespace armarx::armem::wm::query_proc
-{
-
- ProviderSegmentQueryProcessor::ProviderSegmentQueryProcessor(DataMode dataMode) :
- Base(dataMode), entityProcessor(dataMode)
- {}
-
-
- ProviderSegmentQueryProcessor::~ProviderSegmentQueryProcessor() = default;
-
-
- data::ProviderSegment ProviderSegmentQueryProcessor::processToIce(const armem::query::data::ProviderSegmentQuery& query, const wm::ProviderSegment& providerSegment) const
- {
- data::ProviderSegment data;
- toIce(data, process(query, providerSegment));
- return data;
- }
-
-
- Entity ProviderSegmentQueryProcessor::entityProcessorProcess(const armem::query::data::EntityQuerySeq& q, const Entity& s) const
- {
- return entityProcessor.process(q, s);
- }
-
-}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/ProviderSegmentQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/ProviderSegmentQueryProcessor.h
deleted file mode 100644
index 8e4f5a5e85d6c3c7f58433a0c2ddcd50074c7d7e..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/ProviderSegmentQueryProcessor.h
+++ /dev/null
@@ -1,40 +0,0 @@
-#pragma once
-
-#include <RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.h>
-#include <RobotAPI/libraries/armem/server/query_proc/base/ProviderSegmentQueryProcessorBase.h>
-
-#include "BaseQueryProcessor.h"
-#include "EntityQueryProcessor.h"
-
-
-namespace armarx::armem::wm::query_proc
-{
- /**
- * @brief Handles memory queries.
- */
- class ProviderSegmentQueryProcessor :
- virtual public BaseQueryProcessor<wm::ProviderSegment, armem::query::data::ProviderSegmentQuery>,
- virtual public base::query_proc::ProviderSegmentQueryProcessorBase<wm::ProviderSegment>
- {
- using Base = BaseQueryProcessor<wm::ProviderSegment, armem::query::data::ProviderSegmentQuery>;
-
- public:
-
- ProviderSegmentQueryProcessor(DataMode dataMode = DataMode::WithData);
- virtual ~ProviderSegmentQueryProcessor() override;
-
-
- using Base::process;
- data::ProviderSegment processToIce(const armem::query::data::ProviderSegmentQuery& query, const wm::ProviderSegment& providerSegment) const;
-
-
- protected:
-
- virtual Entity entityProcessorProcess(const armem::query::data::EntityQuerySeq& q, const Entity& s) const override;
-
- private:
-
- EntityQueryProcessor entityProcessor;
-
- };
-}
diff --git a/source/RobotAPI/libraries/armem/server/segment/Segment.cpp b/source/RobotAPI/libraries/armem/server/segment/Segment.cpp
index ec25ce7843a6cca3555dc9789f3570e0bfb51425..050e77d392da77bc5c4e4edfcf11f76ee6e1e051 100644
--- a/source/RobotAPI/libraries/armem/server/segment/Segment.cpp
+++ b/source/RobotAPI/libraries/armem/server/segment/Segment.cpp
@@ -1 +1,109 @@
#include "Segment.h"
+
+#include <ArmarXCore/core/application/properties/PluginAll.h>
+#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
+
+#include <RobotAPI/libraries/aron/core/navigator/type/container/Object.h>
+#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
+
+
+namespace armarx::armem::server::segment
+{
+
+ wm::CoreSegmentBase::CoreSegmentBase(
+ armem::server::MemoryToIceAdapter& iceMemory,
+ const std::string& defaultCoreSegmentName,
+ aron::typenavigator::ObjectNavigatorPtr coreSegmentAronType,
+ int defaultMaxHistorySize) :
+ Base(iceMemory),
+ p({defaultCoreSegmentName, defaultMaxHistorySize}),
+ coreSegmentAronType(coreSegmentAronType)
+ {
+ Logging::setTag("armarx::armem::wm::Segment");
+ }
+
+
+ wm::CoreSegmentBase::~CoreSegmentBase()
+ {
+ }
+
+
+ void wm::CoreSegmentBase::defineProperties(
+ armarx::PropertyDefinitionsPtr defs,
+ const std::string& prefix)
+ {
+ ARMARX_CHECK_NOT_NULL(defs);
+
+ defs->optional(p.coreSegmentName, prefix + "CoreSegmentName", "Name of the '" + p.coreSegmentName + "' core segment.");
+ defs->optional(p.maxHistorySize, prefix + "MaxHistorySize", "Maximal size of '" + p.coreSegmentName + "' history (-1 for infinite).");
+ }
+
+
+ void wm::CoreSegmentBase::onInit()
+ {
+ ARMARX_CHECK_NOT_NULL(iceMemory.workingMemory);
+
+ segment = &iceMemory.workingMemory->addCoreSegment(p.coreSegmentName, coreSegmentAronType);
+ segment->setMaxHistorySize(p.maxHistorySize);
+ }
+
+
+ std::mutex& wm::CoreSegmentBase::mutex() const
+ {
+ ARMARX_CHECK_NOT_NULL(segment);
+ return segment->mutex();
+ }
+
+
+
+ wm::ProviderSegmentBase::ProviderSegmentBase(
+ armem::server::MemoryToIceAdapter& iceMemory,
+ const std::string& defaultProviderSegmentName,
+ aron::typenavigator::ObjectNavigatorPtr providerSegmentAronType,
+ const std::string& defaultCoreSegmentName,
+ aron::typenavigator::ObjectNavigatorPtr coreSegmentAronType,
+ int defaultMaxHistorySize) :
+
+ Base(iceMemory),
+ p({defaultCoreSegmentName, defaultProviderSegmentName, defaultMaxHistorySize}),
+ coreSegmentAronType(coreSegmentAronType),
+ providerSegmentAronType(providerSegmentAronType)
+ {
+ Logging::setTag("armarx::armem::wm::Segment");
+ }
+
+
+ wm::ProviderSegmentBase::~ProviderSegmentBase()
+ {
+ }
+
+
+ void wm::ProviderSegmentBase::defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix)
+ {
+ ARMARX_CHECK_NOT_NULL(defs);
+
+ defs->optional(p.coreSegmentName, prefix + "CoreSegmentName", "Name of the '" + p.coreSegmentName + "' core segment.");
+ defs->optional(p.providerSegmentName, prefix + "ProviderSegmentName", "Name of the '" + p.providerSegmentName + "' provider segment.");
+ defs->optional(p.maxHistorySize, prefix + "MaxHistorySize", "Maximal size of '" + p.providerSegmentName + "' history (-1 for infinite).");
+ }
+
+
+ void wm::ProviderSegmentBase::onInit()
+ {
+ ARMARX_CHECK_NOT_NULL(iceMemory.workingMemory);
+
+ if (!iceMemory.workingMemory->hasCoreSegment(p.coreSegmentName))
+ {
+ coreSegment = &iceMemory.workingMemory->addCoreSegment(p.coreSegmentName, coreSegmentAronType);
+ coreSegment->setMaxHistorySize(p.maxHistorySize);
+ }
+ else
+ {
+ coreSegment = &iceMemory.workingMemory->getCoreSegment(p.coreSegmentName);
+ }
+
+ segment = &coreSegment->addProviderSegment(p.providerSegmentName, providerSegmentAronType);
+ segment->setMaxHistorySize(p.maxHistorySize);
+ }
+
+}
diff --git a/source/RobotAPI/libraries/armem/server/segment/Segment.h b/source/RobotAPI/libraries/armem/server/segment/Segment.h
index 6cd9761f89e50ea1e23ce75b27263242e0fe4f29..7808e99d31f4df3543bfbd5b882a408dda143ed5 100644
--- a/source/RobotAPI/libraries/armem/server/segment/Segment.h
+++ b/source/RobotAPI/libraries/armem/server/segment/Segment.h
@@ -6,12 +6,24 @@
// ArmarX
#include <ArmarXCore/core/logging/Logging.h>
-#include <ArmarXCore/core/application/properties/PluginAll.h>
-#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
+#include <ArmarXCore/core/application/properties/forward_declarations.h>
-#include "../MemoryToIceAdapter.h"
+#include <RobotAPI/libraries/aron/core/navigator/type/forward_declarations.h>
+namespace armarx::armem
+{
+ namespace server
+ {
+ class MemoryToIceAdapter;
+
+ namespace wm
+ {
+ class CoreSegment;
+ class ProviderSegment;
+ }
+ }
+}
namespace armarx::armem::server::segment
{
namespace detail
@@ -25,8 +37,9 @@ namespace armarx::armem::server::segment
class SegmentBase : public armarx::Logging
{
public:
+
SegmentBase() = delete;
- SegmentBase(armem::server::MemoryToIceAdapter& iceMemory) :
+ SegmentBase(MemoryToIceAdapter& iceMemory) :
iceMemory(iceMemory)
{
Logging::setTag("armarx::armem::Segment");
@@ -36,69 +49,50 @@ namespace armarx::armem::server::segment
virtual void defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix = "") = 0;
virtual void onInit() = 0;
- virtual void onConnect() = 0;
+ // virtual void onConnect() = 0;
+
protected:
+
// Memory connection
- armem::server::MemoryToIceAdapter& iceMemory;
+ MemoryToIceAdapter& iceMemory;
SegmentType* segment;
- private:
};
}
+
namespace wm
{
/**
* @brief A base class for core segments
*/
- class CoreSegmentBase : public detail::SegmentBase<armarx::armem::wm::CoreSegment>
+ class CoreSegmentBase : public detail::SegmentBase<server::wm::CoreSegment>
{
- using Base = detail::SegmentBase<armarx::armem::wm::CoreSegment>;
+ using Base = detail::SegmentBase<server::wm::CoreSegment>;
public:
- CoreSegmentBase(armem::server::MemoryToIceAdapter& iceMemory,
- const std::string& defaultCoreSegmentName = "",
- aron::typenavigator::ObjectNavigatorPtr coreSegmentAronType = nullptr,
- int defaultMaxHistorySize = -1):
- Base(iceMemory),
- p({defaultCoreSegmentName, defaultMaxHistorySize}),
- coreSegmentAronType(coreSegmentAronType)
- {
- Logging::setTag("armarx::armem::wm::Segment");
- }
- virtual ~CoreSegmentBase() = default;
+ CoreSegmentBase(
+ MemoryToIceAdapter& iceMemory,
+ const std::string& defaultCoreSegmentName = "",
+ aron::typenavigator::ObjectNavigatorPtr coreSegmentAronType = nullptr,
+ int defaultMaxHistorySize = -1);
- virtual void defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix = "") override
- {
- ARMARX_CHECK_NOT_NULL(defs);
+ virtual ~CoreSegmentBase() override;
- defs->optional(p.coreSegmentName, prefix + "CoreSegmentName", "Name of the '" + p.coreSegmentName + "' core segment.");
- defs->optional(p.maxHistorySize, prefix + "MaxHistorySize", "Maximal size of '" + p.coreSegmentName + "' history (-1 for infinite).");
- }
- virtual void onInit() override
- {
- ARMARX_CHECK_NOT_NULL(iceMemory.workingMemory);
+ virtual void defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix = "") override;
+ virtual void onInit() override;
+ // virtual void onConnect() override;
- segment = &iceMemory.workingMemory->addCoreSegment(p.coreSegmentName, coreSegmentAronType);
- segment->setMaxHistorySize(p.maxHistorySize);
- }
-
- virtual void onConnect() override
- {
- }
+ std::mutex& mutex() const;
- std::mutex& mutex() const
- {
- ARMARX_CHECK_NOT_NULL(segment);
- return segment->mutex();
- }
protected:
+
struct Properties
{
std::string coreSegmentName;
@@ -107,66 +101,37 @@ namespace armarx::armem::server::segment
Properties p;
aron::typenavigator::ObjectNavigatorPtr coreSegmentAronType;
+
};
/**
* @brief A base class for provider segments
*/
- class ProviderSegmentBase : public detail::SegmentBase<armarx::armem::wm::ProviderSegment>
+ class ProviderSegmentBase : public detail::SegmentBase<server::wm::ProviderSegment>
{
- using Base = detail::SegmentBase<armarx::armem::wm::ProviderSegment>;
+ using Base = detail::SegmentBase<server::wm::ProviderSegment>;
public:
- ProviderSegmentBase(armem::server::MemoryToIceAdapter& iceMemory,
- const std::string& defaultProviderSegmentName = "",
- aron::typenavigator::ObjectNavigatorPtr providerSegmentAronType = nullptr,
- const std::string& defaultCoreSegmentName = "",
- aron::typenavigator::ObjectNavigatorPtr coreSegmentAronType = nullptr,
- int defaultMaxHistorySize = -1):
- Base(iceMemory),
- p({defaultCoreSegmentName, defaultProviderSegmentName, defaultMaxHistorySize}),
- coreSegmentAronType(coreSegmentAronType),
- providerSegmentAronType(providerSegmentAronType)
- {
- Logging::setTag("armarx::armem::wm::Segment");
- }
- virtual ~ProviderSegmentBase() = default;
+ ProviderSegmentBase(
+ MemoryToIceAdapter& iceMemory,
+ const std::string& defaultProviderSegmentName = "",
+ aron::typenavigator::ObjectNavigatorPtr providerSegmentAronType = nullptr,
+ const std::string& defaultCoreSegmentName = "",
+ aron::typenavigator::ObjectNavigatorPtr coreSegmentAronType = nullptr,
+ int defaultMaxHistorySize = -1);
- virtual void defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix = "") override
- {
- ARMARX_CHECK_NOT_NULL(defs);
+ virtual ~ProviderSegmentBase() override;
- defs->optional(p.coreSegmentName, prefix + "CoreSegmentName", "Name of the '" + p.coreSegmentName + "' core segment.");
- defs->optional(p.providerSegmentName, prefix + "ProviderSegmentName", "Name of the '" + p.providerSegmentName + "' provider segment.");
- defs->optional(p.maxHistorySize, prefix + "MaxHistorySize", "Maximal size of '" + p.providerSegmentName + "' history (-1 for infinite).");
- }
- virtual void onInit() override
- {
- ARMARX_CHECK_NOT_NULL(iceMemory.workingMemory);
-
- if (!iceMemory.workingMemory->hasCoreSegment(p.coreSegmentName))
- {
- coreSegment = &iceMemory.workingMemory->addCoreSegment(p.coreSegmentName, coreSegmentAronType);
- coreSegment->setMaxHistorySize(p.maxHistorySize);
- }
- else
- {
- coreSegment = &iceMemory.workingMemory->getCoreSegment(p.coreSegmentName);
- }
-
- segment = &coreSegment->addProviderSegment(p.providerSegmentName, providerSegmentAronType);
- segment->setMaxHistorySize(p.maxHistorySize);
- }
+ virtual void defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix = "") override;
+ virtual void onInit() override;
+ // virtual void onConnect() override;
- virtual void onConnect() override
- {
-
- }
protected:
+
struct Properties
{
std::string coreSegmentName;
@@ -178,10 +143,11 @@ namespace armarx::armem::server::segment
aron::typenavigator::ObjectNavigatorPtr coreSegmentAronType;
aron::typenavigator::ObjectNavigatorPtr providerSegmentAronType;
- armarx::armem::wm::CoreSegment* coreSegment;
+ server::wm::CoreSegment* coreSegment;
};
+
/**
* @brief A base class for provider segments with an aron business object
*/
@@ -191,10 +157,13 @@ namespace armarx::armem::server::segment
using Base = CoreSegmentBase;
public:
- AronTypedCoreSegmentBase(armem::server::MemoryToIceAdapter& iceMemory,
- const std::string& defaultCoreSegmentName = "",
- int defaultMaxHistorySize = -1):
- Base(iceMemory, defaultCoreSegmentName, BusinessClassObject::toAronType(), defaultMaxHistorySize)
+
+ AronTypedCoreSegmentBase(
+ MemoryToIceAdapter& iceMemory,
+ const std::string& defaultCoreSegmentName = "",
+ int defaultMaxHistorySize = -1) :
+ Base(iceMemory, defaultCoreSegmentName, BusinessClassObject::toAronType(),
+ defaultMaxHistorySize)
{
}
@@ -202,6 +171,7 @@ namespace armarx::armem::server::segment
};
+
/**
* @brief A base class for provider segments with an aron business object
*/
@@ -211,15 +181,19 @@ namespace armarx::armem::server::segment
using Base = ProviderSegmentBase;
public:
- AronTypedProviderSegmentBase(armem::server::MemoryToIceAdapter& iceMemory,
- const std::string& defaultProviderSegmentName = "",
- const std::string& defaultCoreSegmentName = "",
- int defaultMaxHistorySize = -1):
- Base(iceMemory, defaultProviderSegmentName, BusinessClassObject::toAronType(), defaultCoreSegmentName, nullptr, defaultMaxHistorySize)
+
+ AronTypedProviderSegmentBase(
+ MemoryToIceAdapter& iceMemory,
+ const std::string& defaultProviderSegmentName = "",
+ const std::string& defaultCoreSegmentName = "",
+ int defaultMaxHistorySize = -1) :
+ Base(iceMemory, defaultProviderSegmentName, BusinessClassObject::toAronType(),
+ defaultCoreSegmentName, nullptr, defaultMaxHistorySize)
{
}
virtual ~AronTypedProviderSegmentBase() = default;
+
};
}
}
diff --git a/source/RobotAPI/libraries/armem/server/segment/SpecializedSegment.h b/source/RobotAPI/libraries/armem/server/segment/SpecializedSegment.h
index fd3a456c55d785471e86a0d3f1e12a5491d3e32c..460fbf3f0f0cd4ea6c2835d499071f2e43bf2a7d 100644
--- a/source/RobotAPI/libraries/armem/server/segment/SpecializedSegment.h
+++ b/source/RobotAPI/libraries/armem/server/segment/SpecializedSegment.h
@@ -6,21 +6,19 @@
#include <ArmarXCore/core/application/properties/forward_declarations.h>
#include <ArmarXCore/core/logging/Logging.h>
+#include <RobotAPI/libraries/aron/core/navigator/type/forward_declarations.h>
+
-namespace armarx::aron::typenavigator
-{
- using ObjectNavigatorPtr = std::shared_ptr<class ObjectNavigator>;
-}
namespace armarx::armem
{
namespace server
{
class MemoryToIceAdapter;
- }
- namespace wm
- {
- class CoreSegment;
+ namespace wm
+ {
+ class CoreSegment;
+ }
}
}
@@ -31,15 +29,15 @@ namespace armarx::armem::server::segment
* @brief Specialized management of a core segment.
*/
class SpecializedSegment :
- public armarx::Logging
+ public armarx::Logging
{
public:
SpecializedSegment(
- server::MemoryToIceAdapter& iceMemory,
- aron::typenavigator::ObjectNavigatorPtr aronType = nullptr,
- const std::string& defaultCoreSegmentName = "",
- int64_t defaultMaxHistorySize = -1);
+ server::MemoryToIceAdapter& iceMemory,
+ aron::typenavigator::ObjectNavigatorPtr aronType = nullptr,
+ const std::string& defaultCoreSegmentName = "",
+ int64_t defaultMaxHistorySize = -1);
virtual ~SpecializedSegment();
@@ -61,7 +59,7 @@ namespace armarx::armem::server::segment
protected:
server::MemoryToIceAdapter& iceMemory;
- wm::CoreSegment* coreSegment = nullptr;
+ server::wm::CoreSegment* coreSegment = nullptr;
aron::typenavigator::ObjectNavigatorPtr aronType;
struct Properties
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/MaxHistorySize.cpp b/source/RobotAPI/libraries/armem/server/wm/detail/MaxHistorySize.cpp
similarity index 72%
rename from source/RobotAPI/libraries/armem/core/base/detail/MaxHistorySize.cpp
rename to source/RobotAPI/libraries/armem/server/wm/detail/MaxHistorySize.cpp
index 2c3b0554c65523826db0a7709599ed8e5140e0a1..d90756691871b6ad444a67fa76a733d0086b5b29 100644
--- a/source/RobotAPI/libraries/armem/core/base/detail/MaxHistorySize.cpp
+++ b/source/RobotAPI/libraries/armem/server/wm/detail/MaxHistorySize.cpp
@@ -1,12 +1,8 @@
#include "MaxHistorySize.h"
-namespace armarx::armem::base::detail
+namespace armarx::armem::server::detail
{
- MaxHistorySize::~MaxHistorySize()
- {
- }
-
void MaxHistorySize::setMaxHistorySize(long maxSize)
{
this->_maxHistorySize = maxSize;
diff --git a/source/RobotAPI/libraries/armem/server/wm/detail/MaxHistorySize.h b/source/RobotAPI/libraries/armem/server/wm/detail/MaxHistorySize.h
new file mode 100644
index 0000000000000000000000000000000000000000..e2f2d498c2945f4456c281abafe0f1ad66074e72
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/wm/detail/MaxHistorySize.h
@@ -0,0 +1,58 @@
+#pragma once
+
+
+namespace armarx::armem::server::detail
+{
+ // TODO: Replace by ConstrainedHistorySize (not only max entries, e.g. delete oldest / delete least accessed / ...)
+
+ class MaxHistorySize
+ {
+ public:
+
+ /**
+ * @brief Set the maximum number of snapshots to be contained in an entity.
+ * Affected entities are to be update right away.
+ */
+ void setMaxHistorySize(long maxSize);
+
+ long getMaxHistorySize() const;
+
+
+ protected:
+
+ /**
+ * @brief Maximum size of entity histories.
+ *
+ * If negative, the size of `history` is not limited.
+ *
+ * @see Entity::maxHstorySize
+ */
+ long _maxHistorySize = -1;
+
+ };
+
+
+
+ template <class DerivedT>
+ class MaxHistorySizeParent : public MaxHistorySize
+ {
+ public:
+
+ /**
+ * @brief Sets the maximum history size of entities in this container.
+ * This affects all current entities as well as new ones.
+ *
+ * @see MaxHistorySize::setMaxHistorySize()
+ */
+ void setMaxHistorySize(long maxSize)
+ {
+ MaxHistorySize::setMaxHistorySize(maxSize);
+ static_cast<DerivedT&>(*this).forEachChild([maxSize](auto & child)
+ {
+ child.setMaxHistorySize(maxSize);
+ return true;
+ });
+ }
+
+ };
+}
diff --git a/source/RobotAPI/libraries/armem/server/wm/ice_conversions.cpp b/source/RobotAPI/libraries/armem/server/wm/ice_conversions.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..1ba3352d6e8bb443693ebfa5752a46cad9c24267
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/wm/ice_conversions.cpp
@@ -0,0 +1,64 @@
+#include "ice_conversions.h"
+
+#include <RobotAPI/libraries/armem/core/base/ice_conversions.h>
+
+
+namespace armarx::armem::server
+{
+
+ void wm::toIce(data::EntityInstance& ice, const EntityInstance& data)
+ {
+ base::toIce(ice, data);
+ }
+ void wm::fromIce(const data::EntityInstance& ice, EntityInstance& data)
+ {
+ base::fromIce(ice, data);
+ }
+
+
+ void wm::toIce(data::EntitySnapshot& ice, const EntitySnapshot& snapshot)
+ {
+ base::toIce(ice, snapshot);
+ }
+ void wm::fromIce(const data::EntitySnapshot& ice, EntitySnapshot& snapshot)
+ {
+ base::fromIce(ice, snapshot);
+ }
+
+ void wm::toIce(data::Entity& ice, const Entity& entity)
+ {
+ base::toIce(ice, entity);
+ }
+ void wm::fromIce(const data::Entity& ice, Entity& entity)
+ {
+ base::fromIce(ice, entity);
+ }
+
+ void wm::toIce(data::ProviderSegment& ice, const ProviderSegment& providerSegment)
+ {
+ base::toIce(ice, providerSegment);
+ }
+ void wm::fromIce(const data::ProviderSegment& ice, ProviderSegment& providerSegment)
+ {
+ base::fromIce(ice, providerSegment);
+ }
+
+ void wm::toIce(data::CoreSegment& ice, const CoreSegment& coreSegment)
+ {
+ base::toIce(ice, coreSegment);
+ }
+ void wm::fromIce(const data::CoreSegment& ice, CoreSegment& coreSegment)
+ {
+ base::fromIce(ice, coreSegment);
+ }
+
+ void wm::toIce(data::Memory& ice, const Memory& memory)
+ {
+ base::toIce(ice, memory);
+ }
+ void wm::fromIce(const data::Memory& ice, Memory& memory)
+ {
+ base::fromIce(ice, memory);
+ }
+
+}
diff --git a/source/RobotAPI/libraries/armem/server/wm/ice_conversions.h b/source/RobotAPI/libraries/armem/server/wm/ice_conversions.h
new file mode 100644
index 0000000000000000000000000000000000000000..c25b16775bc577c61d0c804cf4525b23ecd5e5d1
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/wm/ice_conversions.h
@@ -0,0 +1,30 @@
+#pragma once
+
+#include <RobotAPI/interface/armem/memory.h>
+
+#include "memory_definitions.h"
+
+
+namespace armarx::armem::server::wm
+{
+
+ void toIce(data::EntityInstance& ice, const EntityInstance& data);
+ void fromIce(const data::EntityInstance& ice, EntityInstance& data);
+
+
+ void toIce(data::EntitySnapshot& ice, const EntitySnapshot& snapshot);
+ void fromIce(const data::EntitySnapshot& ice, EntitySnapshot& snapshot);
+
+ void toIce(data::Entity& ice, const Entity& entity);
+ void fromIce(const data::Entity& ice, Entity& entity);
+
+
+ void toIce(data::ProviderSegment& ice, const ProviderSegment& providerSegment);
+ void fromIce(const data::ProviderSegment& ice, ProviderSegment& providerSegment);
+
+ void toIce(data::CoreSegment& ice, const CoreSegment& coreSegment);
+ void fromIce(const data::CoreSegment& ice, CoreSegment& coreSegment);
+
+ void toIce(data::Memory& ice, const Memory& memory);
+ void fromIce(const data::Memory& ice, Memory& memory);
+}
diff --git a/source/RobotAPI/libraries/armem/server/wm/memory_definitions.cpp b/source/RobotAPI/libraries/armem/server/wm/memory_definitions.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..58be8027db2561979d3510b7d481715678b61eae
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/wm/memory_definitions.cpp
@@ -0,0 +1,202 @@
+#include "memory_definitions.h"
+
+#include "error.h"
+
+#include <RobotAPI/libraries/aron/core/navigator/data/container/Dict.h>
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+#include <map>
+#include <vector>
+
+
+namespace armarx::armem::server::wm
+{
+
+ void Entity::setMaxHistorySize(long maxSize)
+ {
+ MaxHistorySize::setMaxHistorySize(maxSize);
+ truncate();
+ }
+
+
+ auto Entity::update(const EntityUpdate& update) -> UpdateResult
+ {
+ UpdateResult result = EntityBase::update(update);
+ result.removedSnapshots = this->truncate();
+ return result;
+ }
+
+
+ std::vector<EntitySnapshot> Entity::truncate()
+ {
+ std::vector<EntitySnapshot> removedElements;
+ if (_maxHistorySize >= 0)
+ {
+ while (this->_container.size() > size_t(_maxHistorySize))
+ {
+ removedElements.push_back(std::move(this->_container.begin()->second));
+ this->_container.erase(this->_container.begin());
+ }
+ ARMARX_CHECK_LESS_EQUAL(this->_container.size(), _maxHistorySize);
+ }
+ return removedElements;
+ }
+
+
+
+ Entity& ProviderSegment::addEntity(Entity&& entity)
+ {
+ Entity& added = ProviderSegmentBase::addEntity(std::move(entity));
+ added.setMaxHistorySize(this->getMaxHistorySize());
+ return added;
+ }
+
+
+
+ std::mutex& CoreSegment::mutex() const
+ {
+ return _mutex;
+ }
+
+
+ std::optional<wm::EntitySnapshot> CoreSegment::getLatestEntitySnapshot(const MemoryID& entityID) const
+ {
+ const wm::Entity& entity = this->getEntity(entityID);
+ if (entity.empty())
+ {
+ return std::nullopt;
+ }
+ else
+ {
+ return entity.getLatestSnapshot();
+ }
+ }
+
+
+ std::optional<wm::EntityInstance> CoreSegment::getLatestEntityInstance(
+ const MemoryID& entityID, int instanceIndex) const
+ {
+ auto snapshot = getLatestEntitySnapshot(entityID);
+ if (snapshot.has_value()
+ and instanceIndex >= 0
+ and static_cast<size_t>(instanceIndex) < snapshot->size())
+ {
+ return snapshot->getInstance(instanceIndex);
+ }
+ else
+ {
+ return std::nullopt;
+ }
+ }
+
+
+ armarx::aron::datanavigator::DictNavigatorPtr
+ CoreSegment::getLatestEntityInstanceData(const MemoryID& entityID, int instanceIndex) const
+ {
+ auto instance = getLatestEntityInstance(entityID, instanceIndex);
+ if (instance.has_value())
+ {
+ return instance->data();
+ }
+ else
+ {
+ return nullptr;
+ }
+ }
+
+
+ ProviderSegment& CoreSegment::addProviderSegment(ProviderSegment&& providerSegment)
+ {
+ ProviderSegmentT& added = CoreSegmentBase::addProviderSegment(std::move(providerSegment));
+ added.setMaxHistorySize(this->getMaxHistorySize());
+ return added;
+ }
+
+
+ std::optional<wm::EntitySnapshot>
+ CoreSegment::getLatestEntitySnapshotLocking(const MemoryID& entityID) const
+ {
+ std::scoped_lock lock(_mutex);
+ return getLatestEntitySnapshot(entityID);
+ }
+
+ std::optional<wm::EntityInstance>
+ CoreSegment::getLatestEntityInstanceLocking(const MemoryID& entityID, int instanceIndex) const
+ {
+ std::scoped_lock lock(_mutex);
+ return getLatestEntityInstance(entityID, instanceIndex);
+ }
+
+ armarx::aron::datanavigator::DictNavigatorPtr
+ CoreSegment::getLatestEntityInstanceDataLocking(const MemoryID& entityID, int instanceIndex) const
+ {
+ std::scoped_lock lock(_mutex);
+ return getLatestEntityInstanceData(entityID, instanceIndex);
+ }
+
+
+ // TODO: add core segment if param is set
+ std::vector<Memory::Base::UpdateResult>
+ Memory::updateLocking(const Commit& commit)
+ {
+ // Group updates by core segment, then update each core segment in a batch to only lock it once.
+ std::map<std::string, std::vector<const EntityUpdate*>> updatesPerCoreSegment;
+ for (const EntityUpdate& update : commit.updates)
+ {
+ updatesPerCoreSegment[update.entityID.coreSegmentName].push_back(&update);
+ }
+
+ std::vector<Memory::Base::UpdateResult> result;
+ // To throw an exception after the commit if a core segment is missing and the memory should not create new ones
+ std::vector<std::string> missingCoreSegmentNames;
+ for (const auto& [coreSegmentName, updates] : updatesPerCoreSegment)
+ {
+ auto it = this->_container.find(coreSegmentName);
+ if (it != this->_container.end())
+ {
+ CoreSegment& coreSegment = it->second;
+
+ // Lock the core segment for the whole batch.
+ std::scoped_lock lock(coreSegment.mutex());
+
+ for (const EntityUpdate* update : updates)
+ {
+ auto r = coreSegment.update(*update);
+ Base::UpdateResult ret { r };
+ ret.memoryUpdateType = UpdateType::UpdatedExisting;
+ result.push_back(ret);
+ }
+ }
+ else
+ {
+ // Perform the other updates first, then throw afterwards.
+ missingCoreSegmentNames.push_back(coreSegmentName);
+ }
+ }
+ // Throw an exception if something went wrong.
+ if (not missingCoreSegmentNames.empty())
+ {
+ // Just throw an exception for the first entry. We can extend this exception in the future.
+ throw armem::error::MissingEntry::create<CoreSegment>(missingCoreSegmentNames.front(), *this);
+ }
+ return result;
+ }
+
+
+ // TODO: Add core segment if param is set
+ Memory::Base::UpdateResult
+ Memory::updateLocking(const EntityUpdate& update)
+ {
+ this->_checkContainerName(update.entityID.memoryName, this->name());
+
+ CoreSegment& segment = getCoreSegment(update.entityID.coreSegmentName);
+ Base::UpdateResult result;
+ {
+ std::scoped_lock lock(segment.mutex());
+ result = segment.update(update);
+ }
+ result.memoryUpdateType = UpdateType::UpdatedExisting;
+ return result;
+ }
+
+}
diff --git a/source/RobotAPI/libraries/armem/server/wm/memory_definitions.h b/source/RobotAPI/libraries/armem/server/wm/memory_definitions.h
new file mode 100644
index 0000000000000000000000000000000000000000..4eb6fdbb3105b0ae2ce3148c8457b915040a170a
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/wm/memory_definitions.h
@@ -0,0 +1,189 @@
+#pragma once
+
+#include "detail/MaxHistorySize.h"
+
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
+#include <RobotAPI/libraries/armem/core/base/EntityInstanceBase.h>
+#include <RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h>
+#include <RobotAPI/libraries/armem/core/base/EntityBase.h>
+#include <RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h>
+#include <RobotAPI/libraries/armem/core/base/CoreSegmentBase.h>
+#include <RobotAPI/libraries/armem/core/base/MemoryBase.h>
+
+#include <mutex>
+#include <optional>
+
+
+namespace armarx::armem::server::wm
+{
+ using EntityInstanceMetadata = base::EntityInstanceMetadata;
+ using EntityInstanceData = armarx::aron::datanavigator::DictNavigator;
+ using EntityInstanceDataPtr = armarx::aron::datanavigator::DictNavigatorPtr;
+
+ using EntityInstance = armem::wm::EntityInstance;
+ using EntitySnapshot = armem::wm::EntitySnapshot;
+
+
+ /// @see base::EntityBase
+ class Entity :
+ public base::EntityBase<EntitySnapshot, Entity>,
+ public detail::MaxHistorySize
+ {
+ public:
+
+ using base::EntityBase<EntitySnapshot, Entity>::EntityBase;
+
+
+ /**
+ * @brief Sets the maximum history size.
+ *
+ * The current history is truncated if necessary.
+ */
+ void setMaxHistorySize(long maxSize);
+
+ UpdateResult update(const EntityUpdate& update);
+
+
+ protected:
+
+ /// If maximum size is set, ensure `history`'s is not higher.
+ std::vector<EntitySnapshotT> truncate();
+
+ };
+
+
+
+ /// @see base::ProviderSegmentBase
+ class ProviderSegment :
+ public base::ProviderSegmentBase<Entity, ProviderSegment>,
+ public detail::MaxHistorySizeParent<ProviderSegment>
+ {
+ public:
+
+ using base::ProviderSegmentBase<Entity, ProviderSegment>::ProviderSegmentBase;
+
+
+ using ProviderSegmentBase::addEntity;
+ EntityT& addEntity(EntityT&& entity);
+
+ };
+
+
+
+ /// @brief base::CoreSegmentBase
+ class CoreSegment :
+ public base::CoreSegmentBase<ProviderSegment, CoreSegment>,
+ public detail::MaxHistorySizeParent<CoreSegment>
+ {
+ using Base = base::CoreSegmentBase<ProviderSegment, CoreSegment>;
+
+ public:
+
+ using Base::CoreSegmentBase;
+
+ // ToDo: Replace by runLocked()
+ std::mutex& mutex() const;
+
+
+ // Non-locking interface
+
+ std::optional<wm::EntitySnapshot> getLatestEntitySnapshot(
+ const MemoryID& entityID) const;
+ std::optional<wm::EntityInstance> getLatestEntityInstance(
+ const MemoryID& entityID, int instanceIndex = 0) const;
+ armarx::aron::datanavigator::DictNavigatorPtr getLatestEntityInstanceData(
+ const MemoryID& entityID, int instanceIndex = 0) const;
+
+
+ template <class AronDtoT>
+ std::optional<AronDtoT> getLatestEntityInstanceDataAs(
+ const MemoryID& entityID, int instanceIndex = 0) const
+ {
+ wm::EntityInstanceDataPtr data = getLatestEntityInstanceData(entityID, instanceIndex);
+ if (data)
+ {
+ AronDtoT aron;
+ aron.fromAron(data);
+ return aron;
+ }
+ else
+ {
+ return std::nullopt;
+ }
+ }
+
+
+ /// @see base::CoreSegmentBase::addProviderSegment()
+ using CoreSegmentBase::addProviderSegment;
+ ProviderSegment& addProviderSegment(ProviderSegment&& providerSegment);
+
+
+ // Locking interface
+
+ std::optional<wm::EntitySnapshot> getLatestEntitySnapshotLocking(
+ const MemoryID& entityID) const;
+ std::optional<wm::EntityInstance> getLatestEntityInstanceLocking(
+ const MemoryID& entityID, int instanceIndex = 0) const;
+ armarx::aron::datanavigator::DictNavigatorPtr getLatestEntityInstanceDataLocking(
+ const MemoryID& entityID, int instanceIndex = 0) const;
+
+
+ template <class AronDtoT>
+ std::optional<AronDtoT> getLatestEntityInstanceDataLockingAs(
+ const MemoryID& entityID, int instanceIndex = 0) const
+ {
+ // Keep lock to a minimum.
+ wm::EntityInstanceDataPtr data = nullptr;
+ {
+ std::scoped_lock lock(_mutex);
+ data = getLatestEntityInstanceData(entityID, instanceIndex);
+ }
+ if (data)
+ {
+ AronDtoT aron;
+ aron.fromAron(data);
+ return aron;
+ }
+ else
+ {
+ return std::nullopt;
+ }
+ }
+
+
+ protected:
+
+ mutable std::mutex _mutex;
+
+ };
+
+
+
+ /// @see base::MemoryBase
+ class Memory :
+ public base::MemoryBase<CoreSegment, Memory>
+ {
+ using Base = base::MemoryBase<CoreSegment, Memory>;
+
+ public:
+
+ using Base::MemoryBase;
+
+
+ /**
+ * @brief Perform the commit, locking the core segments.
+ *
+ * Groups the commits by core segment, and updates each core segment
+ * in a batch, locking the core segment.
+ */
+ std::vector<Base::UpdateResult> updateLocking(const Commit& commit);
+
+ /**
+ * @brief Update the memory, locking the updated core segment.
+ */
+ Base::UpdateResult updateLocking(const EntityUpdate& update);
+
+ };
+
+}
+
diff --git a/source/RobotAPI/libraries/armem/test/ArMemForEachTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemForEachTest.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..cc34f7e2d7cb73d7a3e3715064508c3b73cab351
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/test/ArMemForEachTest.cpp
@@ -0,0 +1,187 @@
+/*
+ * 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::armem
+ * @author Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
+ * @date 2020
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#define BOOST_TEST_MODULE RobotAPI::ArmarXLibraries::armem
+
+#define ARMARX_BOOST_TEST
+
+#include <RobotAPI/Test.h>
+#include <RobotAPI/libraries/armem/core/Commit.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
+
+#include <iostream>
+#include <set>
+
+
+namespace armem = armarx::armem;
+
+
+template <class ValueT>
+static
+std::vector<ValueT> toVector(const std::set<ValueT>& set)
+{
+ return {set.begin(), set.end()};
+}
+
+
+
+BOOST_AUTO_TEST_CASE(test_forEach)
+{
+ using namespace armarx::armem;
+
+ const MemoryID mid("memory");
+ const std::set<MemoryID> emptySet; // For comparison.
+
+ wm::Memory memory(mid);
+ std::set<MemoryID> cids, pids, eids, sids, iids;
+
+ for (size_t c = 0; c <= 2; ++c)
+ {
+ const MemoryID cid = mid.withCoreSegmentName("core_" + std::to_string(c));
+ cids.insert(cid);
+ wm::CoreSegment& coreSeg = memory.addCoreSegment(cid.coreSegmentName);
+ for (size_t p = 0; p <= c; ++p)
+ {
+ const MemoryID pid = cid.withProviderSegmentName("prov_" + std::to_string(p));
+ pids.insert(pid);
+ for (size_t e = 0; e <= p; ++e)
+ {
+ const MemoryID eid = pid.withEntityName("entity_" + std::to_string(e));
+ eids.insert(eid);
+ for (size_t s = 0; s <= e; ++s)
+ {
+ const MemoryID sid = eid.withTimestamp(Time::microSeconds(int(s)));
+ sids.insert(sid);
+
+ EntityUpdate update;
+ update.entityID = eid;
+ update.timeCreated = sid.timestamp;
+ for (size_t i = 0; i <= s; ++i)
+ {
+ const MemoryID iid = sid.withInstanceIndex(int(i));
+ iids.insert(iid);
+ update.instancesData.emplace_back();
+ }
+ auto r = memory.update(update);
+
+ BOOST_CHECK(coreSeg.hasProviderSegment(pid.providerSegmentName));
+ }
+ }
+
+ BOOST_CHECK_EQUAL(coreSeg.size(), p + 1);
+ }
+ BOOST_CHECK_EQUAL(memory.size(), c + 1);
+ }
+
+ BOOST_CHECK_GT(iids.size(), 0);
+ BOOST_CHECK_GT(sids.size(), 0);
+ BOOST_CHECK_GT(eids.size(), 0);
+ BOOST_CHECK_GT(pids.size(), 0);
+ BOOST_CHECK_GT(cids.size(), 0);
+
+ BOOST_TEST_MESSAGE("Memory: \n" << memory.dump());
+
+ memory.forEachInstance([&](const wm::EntityInstance & i) -> bool
+ {
+ BOOST_TEST_CONTEXT(wm::EntityInstance::getLevelName() << " " << i.id())
+ {
+ BOOST_TEST_INFO(toVector(iids));
+ BOOST_CHECK_EQUAL(iids.count(i.id()), 1);
+ iids.erase(i.id());
+ }
+ return true;
+ });
+ BOOST_TEST_CONTEXT(toVector(iids))
+ {
+ BOOST_CHECK_EQUAL(iids.size(), 0);
+ }
+
+ memory.forEachSnapshot([&](const wm::EntitySnapshot & s) -> bool
+ {
+ BOOST_TEST_CONTEXT(wm::EntitySnapshot::getLevelName() << " " << s.id())
+ {
+ BOOST_TEST_INFO(toVector(sids));
+ BOOST_CHECK_EQUAL(sids.count(s.id()), 1);
+ sids.erase(s.id());
+ }
+ return true;
+ });
+ BOOST_TEST_INFO(toVector(sids));
+ BOOST_CHECK_EQUAL(sids.size(), 0);
+
+ memory.forEachEntity([&](const wm::Entity & e) -> bool
+ {
+ BOOST_TEST_CONTEXT(wm::Entity::getLevelName() << " " << e.id())
+ {
+ BOOST_TEST_INFO(toVector(eids));
+ BOOST_CHECK_EQUAL(eids.count(e.id()), 1);
+ eids.erase(e.id());
+ }
+ return true;
+ });
+ BOOST_TEST_INFO(toVector(eids));
+ BOOST_CHECK_EQUAL(eids.size(), 0);
+
+ memory.forEachProviderSegment([&](const wm::ProviderSegment & p) // -> bool
+ {
+ BOOST_TEST_CONTEXT(wm::ProviderSegment::getLevelName() << " " << p.id())
+ {
+ BOOST_TEST_INFO(toVector(pids));
+ BOOST_CHECK_EQUAL(pids.count(p.id()), 1);
+ pids.erase(p.id());
+ }
+ return true;
+ });
+ BOOST_TEST_INFO(toVector(pids));
+ BOOST_CHECK_EQUAL(pids.size(), 0);
+
+ memory.forEachCoreSegment([&](const wm::CoreSegment & c) // -> bool
+ {
+ BOOST_TEST_CONTEXT(wm::CoreSegment::getLevelName() << " " << c.id())
+ {
+ BOOST_TEST_INFO(toVector(cids));
+ BOOST_CHECK_EQUAL(cids.count(c.id()), 1);
+ cids.erase(c.id());
+ }
+ return true;
+ });
+ BOOST_TEST_INFO(toVector(cids));
+ BOOST_CHECK_EQUAL(cids.size(), 0);
+
+}
+
+
+BOOST_AUTO_TEST_CASE(test_forEach_non_bool_func)
+{
+ // Check whether this compiles + runs without break.
+
+ armem::wm::Entity entity;
+ entity.addSnapshot(armem::Time::microSeconds(500));
+ entity.addSnapshot(armem::Time::microSeconds(1500));
+
+ int i = 0;
+ entity.forEachSnapshot([&i](const armem::wm::EntitySnapshot&) -> void
+ {
+ ++i;
+ });
+ BOOST_CHECK_EQUAL(i, 2);
+}
diff --git a/source/RobotAPI/libraries/armem/test/ArMemIceConversionsTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemIceConversionsTest.cpp
index a835f39bef74f745b22c4ee167e4755a031fec50..9fd00a4cf944f50cbd1c0d7bd06b9b56d812c161 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemIceConversionsTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemIceConversionsTest.cpp
@@ -25,7 +25,7 @@
#define ARMARX_BOOST_TEST
#include <RobotAPI/Test.h>
-#include "../core/workingmemory/ice_conversions.h"
+#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
#include <iostream>
@@ -59,12 +59,12 @@ BOOST_AUTO_TEST_CASE(test_entity)
BOOST_CHECK_EQUAL(ice->id.providerSegmentName, entity.id().providerSegmentName);
BOOST_CHECK_EQUAL(ice->id.entityName, entity.id().entityName);
- BOOST_CHECK_EQUAL(ice->history.size(), entity.history().size());
+ BOOST_CHECK_EQUAL(ice->history.size(), entity.size());
armem::wm::Entity entityOut;
armem::fromIce(ice, entityOut);
- BOOST_CHECK_EQUAL(entityOut.history().size(), entity.history().size());
+ BOOST_CHECK_EQUAL(entityOut.size(), entity.size());
std::vector<armem::Time> timestamps = entityOut.getTimestamps();
BOOST_CHECK_EQUAL_COLLECTIONS(timestamps.begin(), timestamps.end(), expectedTimestamps.begin(), expectedTimestamps.end());
diff --git a/source/RobotAPI/libraries/armem/test/ArMemLTMTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemLTMTest.cpp
index 24c0a22203aae81bfc52802a9f48fbb9755c9c5f..3ac3d50411854022aa31b781ba011e9ac8d91c75 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemLTMTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemLTMTest.cpp
@@ -25,8 +25,8 @@
#define ARMARX_BOOST_TEST
#include <RobotAPI/Test.h>
-#include "../core/workingmemory/Memory.h"
-#include "../core/error.h"
+#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/error.h>
#include <RobotAPI/libraries/aron/core/navigator/data/AllNavigators.h>
#include <RobotAPI/libraries/aron/core/navigator/type/AllNavigators.h>
@@ -122,7 +122,7 @@ namespace ArMemLTMTest
update.instancesData = q;
update.timeCreated = armem::Time::now();
BOOST_CHECK_NO_THROW(providerSegment.update(update));
- BOOST_CHECK_EQUAL(providerSegment.entities().size(), 1);
+ BOOST_CHECK_EQUAL(providerSegment.size(), 1);
}
BOOST_CHECK(providerSegment.hasEntity("TestEntity"));
diff --git a/source/RobotAPI/libraries/armem/test/ArMemMemoryIDTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemMemoryIDTest.cpp
index aad3359b0d57cfed79d463cc27dcced44550ef00..72f09fb225aa22b50ed55a9482e7f973acbf0fd2 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemMemoryIDTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemMemoryIDTest.cpp
@@ -25,8 +25,8 @@
#define ARMARX_BOOST_TEST
#include <RobotAPI/Test.h>
-#include "../core/MemoryID.h"
-#include "../core/error.h"
+#include <RobotAPI/libraries/armem/core/MemoryID.h>
+#include <RobotAPI/libraries/armem/core/error.h>
#include <iostream>
diff --git a/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp
index 984c1f8e508ec631527f53d5fdff8ea32081ad6e..376f2ec680f92e64a5c72b496543749a303e8cc1 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp
@@ -26,7 +26,8 @@
#include <RobotAPI/Test.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
+#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/core/longtermmemory/Memory.h>
#include <RobotAPI/libraries/armem/core/diskmemory/Memory.h>
#include <RobotAPI/libraries/armem/core/error.h>
@@ -34,6 +35,7 @@
#include <iostream>
#include <SimoxUtility/meta/type_name.h>
#include <RobotAPI/libraries/aron/core/navigator/data/container/Dict.h>
+#include <RobotAPI/libraries/aron/core/navigator/type/container/Object.h>
namespace armem = armarx::armem;
@@ -87,11 +89,11 @@ namespace ArMemMemoryTest
using MemoryItem::MemoryItem;
using MemoryItem::operator=;
- std::string getKeyString() const override
+ std::string getKeyString() const
{
return "";
}
- std::string getLevelName() const override
+ std::string getLevelName() const
{
return "";
}
@@ -154,24 +156,29 @@ namespace ArMemMemoryTest
using MemoryContainerBase::MemoryContainerBase;
using MemoryContainerBase::operator=;
- std::string getKeyString() const override
+ std::string getKeyString() const
{
return "";
}
- std::string getLevelName() const override
+ std::string getLevelName() const
{
return "";
}
+
+ void fill()
+ {
+ _container = std::vector<int> { -1, 2, -3 };
+ }
};
struct MemoryContainerCtorOpTestFixture
{
- const armem::MemoryID id {"A/B/C/123/1"};
- const armem::MemoryID moved {"////1"}; // int is not moved
+ const armem::MemoryID id {"M/C/P/E/123/1"};
+ const armem::MemoryID moved {"////123/1"}; // Time and int are just copied, not moved
TestMemoryContainer cont {id};
MemoryContainerCtorOpTestFixture()
{
- cont.container() = std::vector<int> { -1, 2, -3 };
+ cont.fill();
BOOST_CHECK_EQUAL(cont.id(), id);
BOOST_CHECK_EQUAL(cont.size(), 3);
}
@@ -244,17 +251,6 @@ BOOST_AUTO_TEST_CASE(test_key_ctors)
}
-template <class ...Args>
-auto add_element(std::vector<Args...>& vector)
-{
- return vector.emplace_back();
-}
-template <class ...Args>
-auto add_element(std::map<Args...>& map)
-{
- return map.emplace();
-}
-
template <class T>
struct CustomChecks
@@ -370,14 +366,17 @@ struct CustomChecks<armem::d_ltm::Memory>
struct CopyMoveCtorsOpsTestBase
{
- const armem::MemoryID id {"A/B/C/123000"}; // int index would not be moved
- const armem::MemoryID idMoved;
+ const armem::MemoryID id {"M", "C", "P", "E", armem::Time::microSeconds(123000), 1};
+ //const armem::MemoryID idMoved {"", "", "", "", armem::Time::microSeconds(123000), 1};
+ armem::MemoryID idMoved = id;
std::string typeName;
CopyMoveCtorsOpsTestBase(const std::string& typeName) :
typeName(typeName)
{
+ armem::MemoryID copy = std::move(idMoved);
+ (void) copy;
}
virtual ~CopyMoveCtorsOpsTestBase()
{
@@ -459,21 +458,25 @@ struct InstanceCopyMoveCtorsOpsTest : public CopyMoveCtorsOpsTestBase
}
void testMoveCtor() override
{
+ T copy { in };
T out { std::move(in) };
BOOST_CHECK_EQUAL(in.id(), idMoved);
BOOST_CHECK_EQUAL(out.id(), id);
+ CustomChecks<T>::checkEqual(out, copy);
CustomChecks<T>::checkMoved(in);
}
void testMoveOp() override
{
+ T copy { in };
T out;
out = std::move(in);
BOOST_CHECK_EQUAL(in.id(), idMoved);
BOOST_CHECK_EQUAL(out.id(), id);
+ CustomChecks<T>::checkEqual(out, copy);
CustomChecks<T>::checkMoved(in);
}
};
@@ -492,7 +495,19 @@ struct CopyMoveCtorsOpsTest : public CopyMoveCtorsOpsTestBase
void reset() override
{
in = T {id};
- add_element(in.container());
+ if constexpr(std::is_same_v<T, armem::wm::Memory>
+ || std::is_same_v<T, armem::ltm::Memory>
+ || std::is_same_v<T, armem::d_ltm::Memory>)
+ {
+ in._addMissingCoreSegmentDuringUpdate = true;
+ }
+ {
+ armem::EntityUpdate update;
+ update.entityID = armem::MemoryID("M", "C", "P", "E", armem::Time::microSeconds(123000), 0);
+ update.timeCreated = update.entityID.timestamp;
+ update.instancesData.emplace_back();
+ in.update(update);
+ }
BOOST_CHECK_EQUAL(in.id(), id);
BOOST_CHECK_EQUAL(in.size(), 1);
@@ -652,17 +667,17 @@ BOOST_AUTO_TEST_CASE(test_segment_setup)
update.timeCreated = armem::Time::milliSeconds(1000);
BOOST_CHECK_NO_THROW(providerSegment.update(update));
- BOOST_CHECK_EQUAL(providerSegment.entities().size(), 1);
+ BOOST_CHECK_EQUAL(providerSegment.size(), 1);
BOOST_CHECK(providerSegment.hasEntity("image"));
BOOST_CHECK(!providerSegment.hasEntity("other_image"));
armem::wm::Entity& entity = providerSegment.getEntity("image");
BOOST_CHECK_EQUAL(entity.name(), "image");
- BOOST_CHECK_EQUAL(entity.history().size(), 1);
- BOOST_CHECK_EQUAL(entity.history().count(update.timeCreated), 1);
+ BOOST_CHECK_EQUAL(entity.size(), 1);
+ BOOST_CHECK(entity.hasSnapshot(update.timeCreated));
- armem::wm::EntitySnapshot& entitySnapshot = entity.history().at(update.timeCreated);
- BOOST_CHECK_EQUAL(entitySnapshot.instances().size(), update.instancesData.size());
+ armem::wm::EntitySnapshot& entitySnapshot = entity.getSnapshot(update.timeCreated);
+ BOOST_CHECK_EQUAL(entitySnapshot.size(), update.instancesData.size());
// Another update (on memory).
@@ -670,16 +685,16 @@ BOOST_AUTO_TEST_CASE(test_segment_setup)
update.instancesData = { std::make_shared<aron::datanavigator::DictNavigator>() };
update.timeCreated = armem::Time::milliSeconds(2000);
memory.update(update);
- BOOST_CHECK_EQUAL(entity.history().size(), 2);
- BOOST_CHECK_EQUAL(entity.history().count(update.timeCreated), 1);
- BOOST_CHECK_EQUAL(entity.history().at(update.timeCreated).instances().size(), update.instancesData.size());
+ BOOST_CHECK_EQUAL(entity.size(), 2);
+ BOOST_CHECK(entity.hasSnapshot(update.timeCreated));
+ BOOST_CHECK_EQUAL(entity.getSnapshot(update.timeCreated).size(), update.instancesData.size());
// A third update (on entity).
update.instancesData = { std::make_shared<aron::datanavigator::DictNavigator>() };
update.timeCreated = armem::Time::milliSeconds(3000);
entity.update(update);
- BOOST_CHECK_EQUAL(entity.history().size(), 3);
+ BOOST_CHECK_EQUAL(entity.size(), 3);
}
@@ -687,7 +702,7 @@ BOOST_AUTO_TEST_CASE(test_segment_setup)
BOOST_AUTO_TEST_CASE(test_history_size_in_entity)
{
- armem::wm::Entity entity("entity");
+ armem::server::wm::Entity entity("entity");
armem::EntityUpdate update;
update.entityID.entityName = entity.name();
@@ -699,38 +714,38 @@ BOOST_AUTO_TEST_CASE(test_history_size_in_entity)
entity.update(update);
update.timeCreated = armem::Time::milliSeconds(3000);
entity.update(update);
- BOOST_CHECK_EQUAL(entity.history().size(), 3);
+ BOOST_CHECK_EQUAL(entity.size(), 3);
// Now with maximum history size.
entity.setMaxHistorySize(2);
- BOOST_CHECK_EQUAL(entity.history().size(), 2);
- BOOST_CHECK_EQUAL(entity.history().count(armem::Time::milliSeconds(1000)), 0);
- BOOST_CHECK_EQUAL(entity.history().count(armem::Time::milliSeconds(2000)), 1);
- BOOST_CHECK_EQUAL(entity.history().count(armem::Time::milliSeconds(3000)), 1);
+ BOOST_CHECK_EQUAL(entity.size(), 2);
+ BOOST_CHECK(not entity.hasSnapshot(armem::Time::milliSeconds(1000)));
+ BOOST_CHECK(entity.hasSnapshot(armem::Time::milliSeconds(2000)));
+ BOOST_CHECK(entity.hasSnapshot(armem::Time::milliSeconds(3000)));
update.timeCreated = armem::Time::milliSeconds(4000);
entity.update(update);
- BOOST_CHECK_EQUAL(entity.history().size(), 2);
- BOOST_CHECK_EQUAL(entity.history().count(armem::Time::milliSeconds(2000)), 0);
- BOOST_CHECK_EQUAL(entity.history().count(armem::Time::milliSeconds(3000)), 1);
- BOOST_CHECK_EQUAL(entity.history().count(armem::Time::milliSeconds(4000)), 1);
+ BOOST_CHECK_EQUAL(entity.size(), 2);
+ BOOST_CHECK(not entity.hasSnapshot(armem::Time::milliSeconds(2000)));
+ BOOST_CHECK(entity.hasSnapshot(armem::Time::milliSeconds(3000)));
+ BOOST_CHECK(entity.hasSnapshot(armem::Time::milliSeconds(4000)));
// Disable maximum history size.
entity.setMaxHistorySize(-1);
update.timeCreated = armem::Time::milliSeconds(5000);
entity.update(update);
- BOOST_CHECK_EQUAL(entity.history().size(), 3);
- BOOST_CHECK_EQUAL(entity.history().count(armem::Time::milliSeconds(3000)), 1);
- BOOST_CHECK_EQUAL(entity.history().count(armem::Time::milliSeconds(4000)), 1);
- BOOST_CHECK_EQUAL(entity.history().count(armem::Time::milliSeconds(5000)), 1);
+ BOOST_CHECK_EQUAL(entity.size(), 3);
+ BOOST_CHECK(entity.hasSnapshot(armem::Time::milliSeconds(3000)));
+ BOOST_CHECK(entity.hasSnapshot(armem::Time::milliSeconds(4000)));
+ BOOST_CHECK(entity.hasSnapshot(armem::Time::milliSeconds(5000)));
}
BOOST_AUTO_TEST_CASE(test_history_size_in_provider_segment)
{
- armem::wm::ProviderSegment providerSegment("SomeRGBImageProvider");
+ armem::server::wm::ProviderSegment providerSegment("SomeRGBImageProvider");
armem::EntityUpdate update;
update.entityID.providerSegmentName = providerSegment.name();
@@ -753,22 +768,22 @@ BOOST_AUTO_TEST_CASE(test_history_size_in_provider_segment)
update.timeCreated = armem::Time::milliSeconds(4000);
providerSegment.update(update);
- BOOST_CHECK_EQUAL(providerSegment.getEntity("A").history().size(), 3);
- BOOST_CHECK_EQUAL(providerSegment.getEntity("B").history().size(), 4);
+ BOOST_CHECK_EQUAL(providerSegment.getEntity("A").size(), 3);
+ BOOST_CHECK_EQUAL(providerSegment.getEntity("B").size(), 4);
// Employ maximum history size.
providerSegment.setMaxHistorySize(3);
- BOOST_CHECK_EQUAL(providerSegment.getEntity("A").history().size(), 3);
- BOOST_CHECK_EQUAL(providerSegment.getEntity("B").history().size(), 3);
+ BOOST_CHECK_EQUAL(providerSegment.getEntity("A").size(), 3);
+ BOOST_CHECK_EQUAL(providerSegment.getEntity("B").size(), 3);
providerSegment.setMaxHistorySize(2);
- BOOST_CHECK_EQUAL(providerSegment.getEntity("A").history().size(), 2);
- BOOST_CHECK_EQUAL(providerSegment.getEntity("B").history().size(), 2);
+ BOOST_CHECK_EQUAL(providerSegment.getEntity("A").size(), 2);
+ BOOST_CHECK_EQUAL(providerSegment.getEntity("B").size(), 2);
providerSegment.setMaxHistorySize(3);
- BOOST_CHECK_EQUAL(providerSegment.getEntity("A").history().size(), 2);
- BOOST_CHECK_EQUAL(providerSegment.getEntity("B").history().size(), 2);
+ BOOST_CHECK_EQUAL(providerSegment.getEntity("A").size(), 2);
+ BOOST_CHECK_EQUAL(providerSegment.getEntity("B").size(), 2);
// Add new entity.
providerSegment.setMaxHistorySize(2);
@@ -784,7 +799,7 @@ BOOST_AUTO_TEST_CASE(test_history_size_in_provider_segment)
// Check correctly inherited history size.
BOOST_CHECK_EQUAL(providerSegment.getEntity("C").getMaxHistorySize(), 2);
// Check actual history size.
- BOOST_CHECK_EQUAL(providerSegment.getEntity("C").history().size(), 2);
+ BOOST_CHECK_EQUAL(providerSegment.getEntity("C").size(), 2);
// Remove maximum.
providerSegment.setMaxHistorySize(-1);
@@ -795,58 +810,6 @@ BOOST_AUTO_TEST_CASE(test_history_size_in_provider_segment)
update.entityID.entityName = name;
update.timeCreated = armem::Time::milliSeconds(5000);
providerSegment.update(update);
- BOOST_CHECK_EQUAL(providerSegment.getEntity(name).history().size(), 3);
+ BOOST_CHECK_EQUAL(providerSegment.getEntity(name).size(), 3);
}
}
-
-
-
-template <class T>
-struct CopyTest
-{
- CopyTest()
- {
- }
-
- void test()
- {
- // At least check whether they can be called.
- T t;
- T t2 = t.copy();
-
- if constexpr(!std::is_base_of_v<armem::base::EntityInstanceBase<T>, T>)
- {
- t2 = t.copyEmpty();
- }
- }
-};
-
-
-BOOST_AUTO_TEST_CASE(test_copy)
-{
- {
- CopyTest<armem::wm::EntityInstance>().test();
- CopyTest<armem::wm::EntitySnapshot>().test();
- CopyTest<armem::wm::Entity>().test();
- CopyTest<armem::wm::ProviderSegment>().test();
- CopyTest<armem::wm::CoreSegment>().test();
- CopyTest<armem::wm::Memory>().test();
- }
- {
- CopyTest<armem::ltm::EntityInstance>().test();
- CopyTest<armem::ltm::EntitySnapshot>().test();
- CopyTest<armem::ltm::Entity>().test();
- CopyTest<armem::ltm::ProviderSegment>().test();
- CopyTest<armem::ltm::CoreSegment>().test();
- CopyTest<armem::ltm::Memory>().test();
- }
- {
- CopyTest<armem::d_ltm::EntityInstance>().test();
- CopyTest<armem::d_ltm::EntitySnapshot>().test();
- CopyTest<armem::d_ltm::Entity>().test();
- CopyTest<armem::d_ltm::ProviderSegment>().test();
- CopyTest<armem::d_ltm::CoreSegment>().test();
- CopyTest<armem::d_ltm::Memory>().test();
- }
-}
-
diff --git a/source/RobotAPI/libraries/armem/test/ArMemQueryBuilderTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemQueryBuilderTest.cpp
index 535735b09eeb61d41cdf0dbaf658cebcdb08f4db..78d3077c082e41f32bf6dfd398e9e7d474e19dc3 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemQueryBuilderTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemQueryBuilderTest.cpp
@@ -25,9 +25,10 @@
#define ARMARX_BOOST_TEST
#include <RobotAPI/Test.h>
-#include "../client/query/Builder.h"
-#include "../client/query/query_fns.h"
-#include "../core/workingmemory/ice_conversions.h"
+#include <RobotAPI/libraries/armem/client/query/Builder.h>
+#include <RobotAPI/libraries/armem/client/query/query_fns.h>
+#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
+
#include <iostream>
diff --git a/source/RobotAPI/libraries/armem/test/ArMemQueryTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemQueryTest.cpp
index 4b83fd43261e1d97da45495f5da94279931e606f..656842b3dcd23d49a84a51a04fc02143c14cada2 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemQueryTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemQueryTest.cpp
@@ -20,28 +20,26 @@
* GNU General Public License
*/
-#include "ArmarXCore/core/exceptions/LocalException.h"
-#include <RobotAPI/interface/armem/query.h>
-#include <boost/test/tools/old/interface.hpp>
#define BOOST_TEST_MODULE RobotAPI::ArmarXLibraries::armem
#define ARMARX_BOOST_TEST
#include <RobotAPI/Test.h>
-#include "../server/query_proc/workingmemory/EntityQueryProcessor.h"
-#include "../error.h"
-
-
-#include <iostream>
+#include <RobotAPI/interface/armem/query.h>
+#include <RobotAPI/libraries/armem/core/error.h>
+#include <RobotAPI/libraries/armem/core/base/detail/negative_index_semantics.h>
+#include <RobotAPI/libraries/armem/server/query_proc/wm.h>
#include <SimoxUtility/algorithm/get_map_keys_values.h>
#include <SimoxUtility/algorithm/string.h>
+#include <iostream>
+
namespace armem = armarx::armem;
namespace aron = armarx::aron;
namespace query = armarx::armem::query::data;
-using EntityQueryProcessor = armarx::armem::wm::query_proc::EntityQueryProcessor;
+using EntityQueryProcessor = armarx::armem::server::query_proc::wm::EntityQueryProcessor;
namespace ArMemQueryTest
@@ -55,8 +53,7 @@ namespace ArMemQueryTest
{
armem::wm::Entity entity;
- armem::wm::query_proc::EntityQueryProcessor processor;
- query::EntityQueryPtr entityQuery;
+ armem::server::query_proc::wm::EntityQueryProcessor processor;
std::vector<armem::wm::Entity> results;
@@ -85,10 +82,10 @@ namespace ArMemQueryTest
template <class QueryT>
void addResults(QueryT query = {})
{
- entityQuery = new QueryT(query);
-
+ // Test whether we get the same result when we pass the concrete type
+ // (static resolution) and when we pass the base type (dynamic resolution).
results.emplace_back(processor.process(query, entity));
- results.emplace_back(processor.process(*entityQuery, entity));
+ results.emplace_back(processor.process(static_cast<query::EntityQuery const&>(query), entity));
}
};
@@ -126,8 +123,8 @@ BOOST_AUTO_TEST_CASE(test_entity_Single_latest)
{
BOOST_CHECK_EQUAL(result.name(), entity.name());
BOOST_CHECK_EQUAL(result.size(), 1);
- BOOST_CHECK_EQUAL(result.history().begin()->second.time(), entity.getLatestSnapshot().time());
- BOOST_CHECK_NE(&result.history().begin()->second, &entity.history().rbegin()->second);
+ const armem::wm::EntitySnapshot& first = result.getFirstSnapshotAfterOrAt(armem::Time::microSeconds(0));
+ BOOST_CHECK_EQUAL(first.time(), armem::Time::microSeconds(5000));
}
}
@@ -140,8 +137,8 @@ BOOST_AUTO_TEST_CASE(test_entity_Single_existing)
for (const armem::wm::Entity& result : results)
{
BOOST_CHECK_EQUAL(result.name(), entity.name());
- BOOST_CHECK_EQUAL(result.size(), 1);
- BOOST_CHECK_EQUAL(result.history().begin()->second.time(), armem::Time::microSeconds(3000));
+ BOOST_REQUIRE_EQUAL(result.size(), 1);
+ BOOST_CHECK_EQUAL(result.getFirstSnapshot().time(), armem::Time::microSeconds(3000));
}
}
@@ -168,12 +165,13 @@ BOOST_AUTO_TEST_CASE(test_entity_All)
{
BOOST_CHECK_EQUAL(result.name(), entity.name());
BOOST_CHECK_EQUAL(result.size(), entity.size());
- auto jt = entity.history().begin();
- for (auto it = result.history().begin(); it != result.history().end(); ++it, ++jt)
+ for (armem::Time time : entity.getTimestamps())
{
- BOOST_CHECK_EQUAL(it->first, jt->first);
- BOOST_CHECK_EQUAL(it->second.time(), jt->second.time());
- BOOST_CHECK_NE(&it->second, &jt->second);
+ BOOST_REQUIRE(result.hasSnapshot(time));
+ const armem::wm::EntitySnapshot& rs = result.getSnapshot(time);
+ const armem::wm::EntitySnapshot& es = entity.getSnapshot(time);
+ BOOST_CHECK_EQUAL(rs.time(), es.time());
+ BOOST_CHECK_NE(&rs, &es);
}
}
}
@@ -191,7 +189,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_slice)
BOOST_CHECK_EQUAL(result.size(), 2);
- std::vector<armem::Time> times = simox::alg::get_keys(result.history());
+ std::vector<armem::Time> times = result.getTimestamps();
std::vector<armem::Time> expected
{
armem::Time::microSeconds(2000), armem::Time::microSeconds(3000)
@@ -212,7 +210,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_exact)
BOOST_CHECK_EQUAL(result.size(), 3);
- std::vector<armem::Time> times = simox::alg::get_keys(result.history());
+ std::vector<armem::Time> times = result.getTimestamps();
std::vector<armem::Time> expected
{
armem::Time::microSeconds(2000), armem::Time::microSeconds(3000), armem::Time::microSeconds(4000)
@@ -233,8 +231,8 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_all)
BOOST_CHECK_EQUAL(result.size(), entity.size());
- std::vector<armem::Time> times = simox::alg::get_keys(result.history());
- std::vector<armem::Time> expected = simox::alg::get_keys(entity.history());
+ const std::vector<armem::Time> times = result.getTimestamps();
+ const std::vector<armem::Time> expected = entity.getTimestamps();
BOOST_CHECK_EQUAL_COLLECTIONS(times.begin(), times.end(), expected.begin(), expected.end());
}
}
@@ -266,7 +264,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_from_start)
BOOST_CHECK_EQUAL(result.size(), 2);
- std::vector<armem::Time> times = simox::alg::get_keys(result.history());
+ const std::vector<armem::Time> times = result.getTimestamps();
std::vector<armem::Time> expected
{
armem::Time::microSeconds(1000), armem::Time::microSeconds(2000)
@@ -284,10 +282,9 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_to_end)
for (const armem::wm::Entity& result : results)
{
BOOST_CHECK_EQUAL(result.name(), entity.name());
-
BOOST_CHECK_EQUAL(result.size(), 3);
- std::vector<armem::Time> times = simox::alg::get_keys(result.history());
+ const std::vector<armem::Time> times = result.getTimestamps();
std::vector<armem::Time> expected
{
armem::Time::microSeconds(3000), armem::Time::microSeconds(4000), armem::Time::microSeconds(5000)
@@ -307,12 +304,11 @@ BOOST_AUTO_TEST_CASE(test_entity_BeforeTime_1)
for (const auto& result : results)
{
- std::vector<armem::Time> times = simox::alg::get_keys(result.history());
+ const std::vector<armem::Time> times = result.getTimestamps();
BOOST_REQUIRE_EQUAL(times.size(), 1);
- BOOST_REQUIRE_EQUAL(times.front(), armem::Time::microSeconds(3000));
+ BOOST_CHECK_EQUAL(times.front(), armem::Time::microSeconds(3000));
}
-
}
BOOST_AUTO_TEST_CASE(test_entity_BeforeTime_2)
@@ -323,7 +319,7 @@ BOOST_AUTO_TEST_CASE(test_entity_BeforeTime_2)
for (const auto& result : results)
{
- std::vector<armem::Time> times = simox::alg::get_keys(result.history());
+ const std::vector<armem::Time> times = result.getTimestamps();
BOOST_REQUIRE_EQUAL(times.size(), 2);
std::vector<armem::Time> expected
@@ -348,7 +344,7 @@ BOOST_AUTO_TEST_CASE(test_entity_BeforeOrAtTime_before)
for (const auto& result : results)
{
- std::vector<armem::Time> times = simox::alg::get_keys(result.history());
+ std::vector<armem::Time> times = result.getTimestamps();
BOOST_REQUIRE_EQUAL(times.size(), 1);
BOOST_REQUIRE_EQUAL(times.front(), armem::Time::microSeconds(3000));
@@ -363,7 +359,7 @@ BOOST_AUTO_TEST_CASE(test_entity_BeforeOrAtTime_at)
for (const auto& result : results)
{
- std::vector<armem::Time> times = simox::alg::get_keys(result.history());
+ std::vector<armem::Time> times = result.getTimestamps();
BOOST_REQUIRE_EQUAL(times.size(), 1);
BOOST_REQUIRE_EQUAL(times.front(), armem::Time::microSeconds(3000));
@@ -378,7 +374,7 @@ BOOST_AUTO_TEST_CASE(test_entity_BeforeOrAtTime_lookup_past)
for (const auto& result : results)
{
- std::vector<armem::Time> times = simox::alg::get_keys(result.history());
+ std::vector<armem::Time> times = result.getTimestamps();
BOOST_REQUIRE(times.empty());
}
}
@@ -398,7 +394,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_no_limit)
for (const auto& result : results)
{
- std::vector<armem::Time> times = simox::alg::get_keys(result.history());
+ std::vector<armem::Time> times = result.getTimestamps();
BOOST_REQUIRE_EQUAL(times.size(), 2);
std::vector<armem::Time> expected
@@ -424,7 +420,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_600)
for (const auto& result : results)
{
- std::vector<armem::Time> times = simox::alg::get_keys(result.history());
+ std::vector<armem::Time> times = result.getTimestamps();
BOOST_REQUIRE_EQUAL(times.size(), 2);
std::vector<armem::Time> expected
@@ -450,7 +446,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_too_small)
for (const auto& result : results)
{
- std::vector<armem::Time> times = simox::alg::get_keys(result.history());
+ std::vector<armem::Time> times = result.getTimestamps();
BOOST_REQUIRE_EQUAL(times.size(), 0);
}
@@ -469,7 +465,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_only_next)
for (const auto& result : results)
{
- std::vector<armem::Time> times = simox::alg::get_keys(result.history());
+ std::vector<armem::Time> times = result.getTimestamps();
BOOST_REQUIRE_EQUAL(times.size(), 1);
std::vector<armem::Time> expected
@@ -494,7 +490,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_only_previous)
for (const auto& result : results)
{
- std::vector<armem::Time> times = simox::alg::get_keys(result.history());
+ std::vector<armem::Time> times = result.getTimestamps();
BOOST_REQUIRE_EQUAL(times.size(), 1);
std::vector<armem::Time> expected
@@ -519,7 +515,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_perfect_match)
for (const auto& result : results)
{
- std::vector<armem::Time> times = simox::alg::get_keys(result.history());
+ std::vector<armem::Time> times = result.getTimestamps();
BOOST_REQUIRE_EQUAL(times.size(), 1);
std::vector<armem::Time> expected
@@ -544,7 +540,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_lookup_past)
for (const auto& result : results)
{
- std::vector<armem::Time> times = simox::alg::get_keys(result.history());
+ std::vector<armem::Time> times = result.getTimestamps();
BOOST_REQUIRE(times.empty());
}
}
@@ -562,7 +558,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_lookup_future)
for (const auto& result : results)
{
- std::vector<armem::Time> times = simox::alg::get_keys(result.history());
+ std::vector<armem::Time> times = result.getTimestamps();
BOOST_REQUIRE(times.empty());
}
}
@@ -580,7 +576,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_lookup_future_valid)
for (const auto& result : results)
{
- std::vector<armem::Time> times = simox::alg::get_keys(result.history());
+ std::vector<armem::Time> times = result.getTimestamps();
BOOST_REQUIRE_EQUAL(times.size(), 1);
std::vector<armem::Time> expected
@@ -601,33 +597,33 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_lookup_invalid_timestamp)
BOOST_AUTO_TEST_CASE(test_negative_index_semantics)
{
- BOOST_CHECK_EQUAL(EntityQueryProcessor::negativeIndexSemantics(0, 0), 0);
- BOOST_CHECK_EQUAL(EntityQueryProcessor::negativeIndexSemantics(0, 1), 0);
- BOOST_CHECK_EQUAL(EntityQueryProcessor::negativeIndexSemantics(0, 10), 0);
+ BOOST_CHECK_EQUAL(armem::base::detail::negativeIndexSemantics(0, 0), 0);
+ BOOST_CHECK_EQUAL(armem::base::detail::negativeIndexSemantics(0, 1), 0);
+ BOOST_CHECK_EQUAL(armem::base::detail::negativeIndexSemantics(0, 10), 0);
- BOOST_CHECK_EQUAL(EntityQueryProcessor::negativeIndexSemantics(1, 1), 0);
- BOOST_CHECK_EQUAL(EntityQueryProcessor::negativeIndexSemantics(5, 1), 0);
+ BOOST_CHECK_EQUAL(armem::base::detail::negativeIndexSemantics(1, 1), 0);
+ BOOST_CHECK_EQUAL(armem::base::detail::negativeIndexSemantics(5, 1), 0);
- BOOST_CHECK_EQUAL(EntityQueryProcessor::negativeIndexSemantics(1, 5), 1);
- BOOST_CHECK_EQUAL(EntityQueryProcessor::negativeIndexSemantics(5, 5), 4);
- BOOST_CHECK_EQUAL(EntityQueryProcessor::negativeIndexSemantics(5, 6), 5);
- BOOST_CHECK_EQUAL(EntityQueryProcessor::negativeIndexSemantics(5, 10), 5);
+ BOOST_CHECK_EQUAL(armem::base::detail::negativeIndexSemantics(1, 5), 1);
+ BOOST_CHECK_EQUAL(armem::base::detail::negativeIndexSemantics(5, 5), 4);
+ BOOST_CHECK_EQUAL(armem::base::detail::negativeIndexSemantics(5, 6), 5);
+ BOOST_CHECK_EQUAL(armem::base::detail::negativeIndexSemantics(5, 10), 5);
- BOOST_CHECK_EQUAL(EntityQueryProcessor::negativeIndexSemantics(-1, 0), 0);
- BOOST_CHECK_EQUAL(EntityQueryProcessor::negativeIndexSemantics(-5, 0), 0);
+ BOOST_CHECK_EQUAL(armem::base::detail::negativeIndexSemantics(-1, 0), 0);
+ BOOST_CHECK_EQUAL(armem::base::detail::negativeIndexSemantics(-5, 0), 0);
- BOOST_CHECK_EQUAL(EntityQueryProcessor::negativeIndexSemantics(-1, 1), 0);
- BOOST_CHECK_EQUAL(EntityQueryProcessor::negativeIndexSemantics(-5, 1), 0);
+ BOOST_CHECK_EQUAL(armem::base::detail::negativeIndexSemantics(-1, 1), 0);
+ BOOST_CHECK_EQUAL(armem::base::detail::negativeIndexSemantics(-5, 1), 0);
- BOOST_CHECK_EQUAL(EntityQueryProcessor::negativeIndexSemantics(-1, 2), 1);
- BOOST_CHECK_EQUAL(EntityQueryProcessor::negativeIndexSemantics(-5, 2), 0);
+ BOOST_CHECK_EQUAL(armem::base::detail::negativeIndexSemantics(-1, 2), 1);
+ BOOST_CHECK_EQUAL(armem::base::detail::negativeIndexSemantics(-5, 2), 0);
- BOOST_CHECK_EQUAL(EntityQueryProcessor::negativeIndexSemantics(-1, 5), 4);
- BOOST_CHECK_EQUAL(EntityQueryProcessor::negativeIndexSemantics(-5, 5), 0);
- BOOST_CHECK_EQUAL(EntityQueryProcessor::negativeIndexSemantics(-5, 6), 1);
- BOOST_CHECK_EQUAL(EntityQueryProcessor::negativeIndexSemantics(-5, 10), 5);
- BOOST_CHECK_EQUAL(EntityQueryProcessor::negativeIndexSemantics(-10, 10), 0);
- BOOST_CHECK_EQUAL(EntityQueryProcessor::negativeIndexSemantics(-20, 10), 0);
+ BOOST_CHECK_EQUAL(armem::base::detail::negativeIndexSemantics(-1, 5), 4);
+ BOOST_CHECK_EQUAL(armem::base::detail::negativeIndexSemantics(-5, 5), 0);
+ BOOST_CHECK_EQUAL(armem::base::detail::negativeIndexSemantics(-5, 6), 1);
+ BOOST_CHECK_EQUAL(armem::base::detail::negativeIndexSemantics(-5, 10), 5);
+ BOOST_CHECK_EQUAL(armem::base::detail::negativeIndexSemantics(-10, 10), 0);
+ BOOST_CHECK_EQUAL(armem::base::detail::negativeIndexSemantics(-20, 10), 0);
}
@@ -643,8 +639,8 @@ BOOST_AUTO_TEST_CASE(test_entity_IndexRange_all_default)
BOOST_CHECK_EQUAL(result.size(), entity.size());
- std::vector<armem::Time> times = simox::alg::get_keys(result.history());
- std::vector<armem::Time> expected = simox::alg::get_keys(entity.history());
+ const std::vector<armem::Time> times = result.getTimestamps();
+ const std::vector<armem::Time> expected = entity.getTimestamps();
BOOST_CHECK_EQUAL_COLLECTIONS(times.begin(), times.end(), expected.begin(), expected.end());
}
@@ -666,7 +662,7 @@ BOOST_AUTO_TEST_CASE(test_entity_IndexRange_slice)
BOOST_CHECK_EQUAL(result.size(), 3);
- std::vector<armem::Time> times = simox::alg::get_keys(result.history());
+ std::vector<armem::Time> times = result.getTimestamps();
std::vector<armem::Time> expected
{
armem::Time::microSeconds(2000), armem::Time::microSeconds(3000), armem::Time::microSeconds(4000)
diff --git a/source/RobotAPI/libraries/armem/test/CMakeLists.txt b/source/RobotAPI/libraries/armem/test/CMakeLists.txt
index e7fa876c119596f5c49352cfd0dca757ab01019c..b10935f95fedd6a1309248007422c53783d2c9e4 100644
--- a/source/RobotAPI/libraries/armem/test/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem/test/CMakeLists.txt
@@ -8,3 +8,4 @@ armarx_add_test(ArMemMemoryIDTest ArMemMemoryIDTest.cpp "${LIBS}")
armarx_add_test(ArMemQueryTest ArMemQueryTest.cpp "${LIBS}")
armarx_add_test(ArMemLTMTest ArMemLTMTest.cpp "${LIBS}")
armarx_add_test(ArMemQueryBuilderTest ArMemQueryBuilderTest.cpp "${LIBS}")
+armarx_add_test(ArMemForEachTest ArMemForEachTest.cpp "${LIBS}")
diff --git a/source/RobotAPI/libraries/armem/util/util.h b/source/RobotAPI/libraries/armem/util/util.h
index 35fc1538b78df0b817e7ae0676be68e9675d1f0f..3045d583a6a4144ed996a286257eb5ba2910b9c5 100644
--- a/source/RobotAPI/libraries/armem/util/util.h
+++ b/source/RobotAPI/libraries/armem/util/util.h
@@ -24,12 +24,12 @@
#include <vector>
#include <optional>
-#include "ArmarXCore/core/logging/Logging.h"
+#include <ArmarXCore/core/logging/Logging.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/Entity.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/AronCppClass.h>
+
namespace armarx::armem
{
@@ -52,10 +52,13 @@ namespace armarx::armem
return std::nullopt;
}
+#if 0
+ // item.data() is by definition a DictNavigator
if (item.data()->getDescriptor() != aron::data::Descriptor::eDict)
{
return std::nullopt;
}
+#endif
try
{
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryControlWidget.cpp b/source/RobotAPI/libraries/armem_gui/MemoryControlWidget.cpp
index 5016db50bf5da8dc10d0fac5b5c004b9178ddc40..38e4d8c88719541e7c4fca92964cfb069c22ba5e 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryControlWidget.cpp
+++ b/source/RobotAPI/libraries/armem_gui/MemoryControlWidget.cpp
@@ -4,6 +4,7 @@
#include <QLineEdit>
#include <QTimer>
#include <QHBoxLayout>
+#include <QFileDialog>
#include <cmath>
@@ -16,32 +17,53 @@ namespace armarx::armem::gui
setSizePolicy(QSizePolicy::Policy::Minimum, QSizePolicy::Policy::Fixed);
auto vlayout = new QVBoxLayout();
- auto hlayout = new QHBoxLayout();
+ auto hlayout1 = new QHBoxLayout();
+ auto hlayout2 = new QHBoxLayout();
+
+ hlayout1->setContentsMargins(10, 2, 10, 2);
+ hlayout2->setContentsMargins(10, 2, 10, 2);
const int margin = 0;
vlayout->setContentsMargins(margin, margin, margin, margin);
_lineEdit = new QLineEdit("/tmp/MemoryExport", this);
_lineEdit->setSizePolicy(QSizePolicy::Ignored, QSizePolicy::Preferred);
- _lineEdit->setMinimumWidth(400);
+ _lineEdit->setMinimumWidth(150);
+
+ _openFileBrowserButton = new QPushButton("Search files", this);
+
+ _storeOnDiskButton = new QPushButton("Store query (Disk)", this);
+ _storeInLTMButton = new QPushButton("Store query (LTM)", this);
- _storeOnDiskButton = new QPushButton("Store current result on local Disk", this);
+ hlayout1->addWidget(_lineEdit);
+ hlayout1->addWidget(_openFileBrowserButton);
- _storeInLTMButton = new QPushButton("Store current result in LTM", this);
+ hlayout2->addWidget(_storeOnDiskButton);
+ hlayout2->addWidget(_storeInLTMButton);
- vlayout->addWidget(_lineEdit);
- hlayout->addWidget(_storeOnDiskButton);
- hlayout->addWidget(_storeInLTMButton);
- vlayout->addItem(hlayout);
+ vlayout->addItem(hlayout1);
+ vlayout->addItem(hlayout2);
this->setLayout(vlayout);
// Private connections.
// Public connections.
+ connect(_openFileBrowserButton, &QPushButton::pressed, this, &This::openFileBrowser);
connect(_storeInLTMButton, &QPushButton::pressed, this, &This::storeInLTM);
connect(_storeOnDiskButton, &QPushButton::pressed, this, &This::storeOnDisk);
}
+ void MemoryControlWidget::openFileBrowser()
+ {
+ QFileDialog dialog;
+ dialog.setFileMode(QFileDialog::DirectoryOnly);
+ //dialog.setOption(QFileDialog::DontUseNativeDialog, true);
+ dialog.setOption(QFileDialog::ShowDirsOnly, false);
+ dialog.exec();
+ QString open = dialog.directory().path();
+ _lineEdit->setText(open);
+ }
+
QLineEdit* MemoryControlWidget::pathInputBox()
{
return _lineEdit;
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryControlWidget.h b/source/RobotAPI/libraries/armem_gui/MemoryControlWidget.h
index 19831694acc7b9251c7d372b8381f755df1bc292..c6b156db313b01180a7f5884959ffc21b0a73f9d 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryControlWidget.h
+++ b/source/RobotAPI/libraries/armem_gui/MemoryControlWidget.h
@@ -4,6 +4,7 @@
class QPushButton;
class QLineEdit;
+class QFileDialog;
namespace armarx::armem::gui
{
@@ -20,11 +21,15 @@ namespace armarx::armem::gui
QLineEdit* pathInputBox();
QString getEnteredPath();
+ QPushButton* openFileBrowserButton();
+
QPushButton* storeInLTMButton();
QPushButton* storeOnDiskButton();
public slots:
+ void openFileBrowser();
+
signals:
void storeInLTM();
@@ -40,6 +45,8 @@ namespace armarx::armem::gui
QLineEdit* _lineEdit;
+ QPushButton* _openFileBrowserButton;
+
QPushButton* _storeInLTMButton;
QPushButton* _storeOnDiskButton;
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
index f88a2e1731c87de6fa163c307c90f4c6d3e01ae2..5e5431e41aa6a94ba8616247ec19a5529ca9927e 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
+++ b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
@@ -1,12 +1,12 @@
#include "MemoryViewer.h"
-#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
#include <RobotAPI/libraries/armem_gui/gui_utils.h>
#include <RobotAPI/libraries/armem/core/diskmemory/Memory.h>
-#include <RobotAPI/libraries/armem/server/query_proc/diskmemory/MemoryQueryProcessor.h>
-#include <RobotAPI/libraries/armem/server/query_proc/workingmemory/MemoryQueryProcessor.h>
+#include <RobotAPI/libraries/armem/server/query_proc/diskmemory.h>
+#include <RobotAPI/libraries/armem/server/query_proc/wm.h>
#include <ArmarXGui/libraries/SimpleConfigDialog/SimpleConfigDialog.h>
@@ -216,108 +216,111 @@ namespace armarx::armem::gui
void MemoryViewer::updateMemories()
{
+ int errorCount = 0;
+
memoryReaders.clear();
memoryData.clear();
memoryReaders = mns.getAllReaders(true);
bool dataChanged = false;
+ std::filesystem::path path(memoryControlWidget->getEnteredPath().toStdString());
- QString qs = memoryControlWidget->getEnteredPath();
- std::string utf8_text = qs.toUtf8().constData();
-
- std::filesystem::path p(utf8_text);
+ armem::client::QueryInput input = memoryGroup->queryWidget()->queryInput();
// first check if the local file system should be queried
if (memoryGroup->queryWidget()->alsoQueryLocalDisk())
{
- if (std::filesystem::is_directory(p))
+ if (std::filesystem::is_directory(path))
{
- for (const auto& d : std::filesystem::directory_iterator(p))
+ for (const auto& directory : std::filesystem::directory_iterator(path))
{
- if (d.is_directory())
+ if (directory.is_directory())
{
- std::string k = d.path().filename();
+ std::string k = directory.path().filename();
armem::d_ltm::Memory dMem(k);
- dMem.reload(p / k);
+ dMem.reload(path / k);
- armem::client::QueryInput input = memoryGroup->queryWidget()->queryInput();
- input.addQueryTargetToAll(armem::query::data::QueryTarget::Disk);
+ input.addQueryTargetToAll(armem::query::data::QueryTarget::LTM); // We use LTM as query target for the disk
- armem::d_ltm::query_proc::MemoryQueryProcessor d_ltm_processor;
+ armem::server::query_proc::d_ltm::MemoryQueryProcessor d_ltm_processor;
dMem = d_ltm_processor.process(input.toIce(), dMem);
wm::Memory converted = dMem.convert();
memoryData[k] = std::move(converted);
- dataChanged = true;
}
}
}
else
{
- ARMARX_WARNING << "Could not import a memory from '" << utf8_text << "'. Skipping import.";
+ ARMARX_WARNING << "Could not import a memory from '" << path << "'. Skipping import.";
}
- }
- armem::client::QueryInput input = memoryGroup->queryWidget()->queryInput();
- for (auto& [name, reader] : memoryReaders)
+ dataChanged = true; // in any case we update the view (even if there was no result)
+ }
+ else
{
- TIMING_START(MemoryQuery);
+ for (auto& [name, reader] : memoryReaders)
{
- armem::client::QueryResult result = reader.query(input);
- if (result)
+ TIMING_START(MemoryQuery);
{
- if (result.memory.hasData())
+ armem::client::QueryResult result = reader.query(input);
+ if (result)
{
- if (const auto& it = memoryData.find(name); it != memoryData.end())
+ if (auto it = memoryData.find(name); it != memoryData.end())
{
result.memory.append(it->second);
-
- // requery (e.g. to get only the last n values instead of the last n from disk and the last n from wm)
- armem::wm::query_proc::MemoryQueryProcessor wm_processor;
- result.memory = wm_processor.process(input.toIce(), result.memory);
-
- if (!result.memory.hasData())
+ if (result.memory.empty())
{
ARMARX_ERROR << "A memory which had data before lost data. This indicates that there is something wrong.";
}
- }
- dataChanged = true;
- memoryData[name] = std::move(result.memory);
+ memoryData[name] = std::move(result.memory);
+ }
+ else
+ {
+ ARMARX_INFO << "The memory " << name << " has no data after querying.";
+ }
+ dataChanged = true; // in any case we update the view (even if there was no result)
}
else
{
- ARMARX_INFO << "The memory " << name << " has no data after querying.";
+ ARMARX_WARNING << "A query for memory '" << name << "' produced an error: " << result.errorMessage;
+ errorCount++;
}
}
- else
+ TIMING_END_STREAM(MemoryQuery, ARMARX_VERBOSE);
+
+ if (debugObserver)
{
- ARMARX_WARNING << "A query for memory '" << name << "' produced an error: " << result.errorMessage;
- if (statusLabel)
- {
- statusLabel->setText(QString::fromStdString(result.errorMessage));
- }
+ debugObserver->setDebugDatafield(Logging::tag.tagName, "Memory Query [ms]", new Variant(MemoryQuery.toMilliSecondsDouble()));
}
}
- TIMING_END_STREAM(MemoryQuery, ARMARX_VERBOSE);
-
- if (debugObserver)
- {
- debugObserver->setDebugDatafield(Logging::tag.tagName, "Memory Query [ms]", new Variant(MemoryQuery.toMilliSecondsDouble()));
- }
}
+ // Code to output status label information
+ std::stringstream ss;
+ auto now = std::chrono::system_clock::now();
+ auto in_time_t = std::chrono::system_clock::to_time_t(now);
+ ss << "Last update: " ;// << std::put_time(std::localtime(&in_time_t), "%Y-%m-%d %X");
+
if (dataChanged)
{
emit memoryDataChanged();
}
else
{
- if (statusLabel)
- {
- statusLabel->setText("No query result.");
- }
+ ss << "- No query result. ";
+ }
+
+ if (errorCount > 0)
+ {
+ ss << "The query produced " << errorCount << " errors! Please check log.";
+ }
+
+ if (statusLabel)
+ {
+ statusLabel->setText(ss.str().c_str());
}
}
diff --git a/source/RobotAPI/libraries/armem_gui/PeriodicUpdateWidget.cpp b/source/RobotAPI/libraries/armem_gui/PeriodicUpdateWidget.cpp
index a62659cd78d4448bb72913ae432fc22f8f2b6eae..dd51a5e7f055f387e7580196874128c1f4bf2b12 100644
--- a/source/RobotAPI/libraries/armem_gui/PeriodicUpdateWidget.cpp
+++ b/source/RobotAPI/libraries/armem_gui/PeriodicUpdateWidget.cpp
@@ -28,7 +28,7 @@ namespace armarx::armem::gui
_frequencySpinBox->setValue(frequency);
_frequencySpinBox->setMinimum(0);
_frequencySpinBox->setMaximum(maxFrequency);
- _frequencySpinBox->setSingleStep(1.0);
+ _frequencySpinBox->setSingleStep(0.5);
_frequencySpinBox->setSuffix(" Hz");
diff --git a/source/RobotAPI/libraries/armem_gui/TreeWidgetBuilder.h b/source/RobotAPI/libraries/armem_gui/TreeWidgetBuilder.h
index 37de7699ce2c8d9245ced9e26fa8625d9b62159e..f3ca45cf17b05c72936a5afb8958e4eb5686aaab 100644
--- a/source/RobotAPI/libraries/armem_gui/TreeWidgetBuilder.h
+++ b/source/RobotAPI/libraries/armem_gui/TreeWidgetBuilder.h
@@ -16,10 +16,10 @@ namespace armarx
* A class to efficiently build and maintain sorted items of `QTreeWidget`
* or `QTreeWidgetItem` based on a sorted container matching the intended structure.
*/
- template <class ContainerT>
+ template <class _ElementT>
struct TreeWidgetBuilder
{
- using ElementT = typename ContainerT::value_type;
+ using ElementT = _ElementT;
/// Return < 0 if `element < item`, 0 if `element == item`, and > 0 if `element > item`.
using CompareFn = std::function<int(const ElementT& element, QTreeWidgetItem* item)>;
@@ -30,14 +30,15 @@ namespace armarx
TreeWidgetBuilder() = default;
/// Constructor to automatically derive the template argument.
- TreeWidgetBuilder(const ContainerT&)
+ TreeWidgetBuilder(const ElementT&)
{}
TreeWidgetBuilder(CompareFn compareFn, MakeItemFn makeItemFn, UpdateItemFn updateItemFn = NoUpdate) :
compareFn(compareFn), makeItemFn(makeItemFn), updateItemFn(updateItemFn)
{}
- TreeWidgetBuilder(NameFn nameFn, MakeItemFn makeItemFn, UpdateItemFn updateItemFn = NoUpdate) :
- compareFn(MakeCompareNameFn(nameFn)), makeItemFn(makeItemFn), updateItemFn(updateItemFn)
+ TreeWidgetBuilder(NameFn nameFn, MakeItemFn makeItemFn, UpdateItemFn updateItemFn = NoUpdate,
+ int nameColumn = 0) :
+ compareFn(MakeCompareNameFn(nameFn, nameColumn)), makeItemFn(makeItemFn), updateItemFn(updateItemFn)
{}
@@ -45,9 +46,9 @@ namespace armarx
{
this->compareFn = compareFn;
}
- void setNameFn(NameFn nameFn)
+ void setNameFn(NameFn nameFn, int nameColumn = 0)
{
- compareFn = MakeCompareNameFn(nameFn);
+ compareFn = MakeCompareNameFn(nameFn, nameColumn);
}
void setMakeItemFn(MakeItemFn makeItemFn)
{
@@ -64,8 +65,31 @@ namespace armarx
}
- template <class ParentT>
- void updateTree(ParentT* parent, const ContainerT& elements);
+ /**
+ * @brief Update the tree according to the elements iterated over by `iteratorFn`.
+ *
+ * @param parent
+ * The parent, i.e. the tree widget or a tree widget item.
+ * @param iteratorFn
+ * Function taking a function `bool fn(const ElementT& element)`
+ * and calling it for each element in the underlying container, i.e. like:
+ * void iteratorFn(bool (*elementFn)(const ElementT& element));
+ */
+ template <class ParentT, class IteratorFn>
+ void updateTreeWithIterator(ParentT* parent, IteratorFn&& iteratorFn);
+
+ /**
+ * @brief Update the tree with the iterable container.
+ *
+ * @param parent
+ * The parent, i.e. the tree widget or a tree widget item.
+ * @param iteratorFn
+ * Function taking a function `bool fn(const ElementT& element)`
+ * and calling it for each element in the underlying container, i.e. like:
+ * void iteratorFn(bool (*elementFn)(const ElementT& element));
+ */
+ template <class ParentT, class ContainerT>
+ void updateTreeWithContainer(ParentT* parent, const ContainerT& elements);
/// No update function (default).
@@ -76,7 +100,7 @@ namespace armarx
}
/// Uses the name for comparison.
- static CompareFn MakeCompareNameFn(NameFn nameFn);
+ static CompareFn MakeCompareNameFn(NameFn nameFn, int nameColumn);
private:
@@ -100,7 +124,7 @@ namespace armarx
struct MapTreeWidgetBuilder
{
using MapT = std::map<KeyT, ValueT>;
- using Base = TreeWidgetBuilder<MapT>;
+ using Base = TreeWidgetBuilder<typename MapT::value_type>;
using ElementT = typename Base::ElementT;
using CompareFn = std::function<int(const ElementT& element, QTreeWidgetItem* item)>;
@@ -170,7 +194,7 @@ namespace armarx
template <class ParentT>
void updateTree(ParentT* tree, const MapT& elements)
{
- builder.updateTree(tree, elements);
+ builder.updateTreeWithContainer(tree, elements);
}
@@ -200,7 +224,7 @@ namespace armarx
private:
- TreeWidgetBuilder<MapT> builder;
+ TreeWidgetBuilder<typename MapT::value_type> builder;
};
@@ -273,30 +297,52 @@ namespace armarx
}
- template <class ContainerT>
- auto TreeWidgetBuilder<ContainerT>::MakeCompareNameFn(NameFn nameFn) -> CompareFn
+ template <class ElementT>
+ auto TreeWidgetBuilder<ElementT>::MakeCompareNameFn(NameFn nameFn, int nameColumn) -> CompareFn
{
- return [nameFn](const ElementT & element, QTreeWidgetItem * item)
+ return [nameFn, nameColumn](const ElementT & element, QTreeWidgetItem * item)
{
- return detail::compare(nameFn(element), item->text(0).toStdString());
+ return detail::compare(nameFn(element), item->text(nameColumn).toStdString());
};
}
- template <class ContainerT>
- template <typename ParentT>
- void TreeWidgetBuilder<ContainerT>::updateTree(ParentT* parent, const ContainerT& elements)
+ template <class ElementT>
+ template <class ParentT, class ContainerT>
+ void TreeWidgetBuilder<ElementT>::updateTreeWithContainer(ParentT* parent, const ContainerT& elements)
+ {
+ this->updateTreeWithIterator(parent, [&elements](auto&& elementFn)
+ {
+ for (const auto& element : elements)
+ {
+ if (not elementFn(element))
+ {
+ break;
+ }
+ }
+ });
+ }
+
+
+ template <class ElementT>
+ template <class ParentT, class IteratorFn>
+ void TreeWidgetBuilder<ElementT>::updateTreeWithIterator(ParentT* parent, IteratorFn&& iteratorFn)
{
using api = detail::ParentAPI<ParentT>;
+ ARMARX_CHECK_NOT_NULL(makeItemFn) << "makeItemFn must be set";
+ ARMARX_CHECK_NOT_NULL(updateItemFn) << "updateItemFn must be set";
+ ARMARX_CHECK_NOT_NULL(compareFn) << "compareFn must be set";
+
int currentIndex = 0;
- for (const auto& element : elements)
+ iteratorFn([this, &parent, ¤tIndex](const auto & element)
{
bool inserted = false;
QTreeWidgetItem* item = nullptr;
if (currentIndex >= api::getItemCount(parent))
{
// Add elements to the end of the list.
+ ARMARX_CHECK_NOT_NULL(makeItemFn);
item = makeItemFn(element);
api::insertItem(parent, api::getItemCount(parent), item);
++currentIndex;
@@ -331,11 +377,8 @@ namespace armarx
{
item->setExpanded(true);
}
- if (!cont)
- {
- break;
- }
- }
+ return cont;
+ });
// Remove superfluous items. (currentIndex must point behind the last item)
while (api::getItemCount(parent) > currentIndex)
{
diff --git a/source/RobotAPI/libraries/armem_gui/instance/InstanceView.h b/source/RobotAPI/libraries/armem_gui/instance/InstanceView.h
index 26f9d3be5fccfdce4fdb17a9ddbe430c2f334433..c331f2b450990614733819a7df47e61e8e20fb60 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/InstanceView.h
+++ b/source/RobotAPI/libraries/armem_gui/instance/InstanceView.h
@@ -7,7 +7,7 @@
#include <RobotAPI/libraries/aron/core/navigator/type/container/Object.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
class QGroupBox;
diff --git a/source/RobotAPI/libraries/armem_gui/instance/InstanceViewList.h b/source/RobotAPI/libraries/armem_gui/instance/InstanceViewList.h
index 5f937f419cd3111daf1146a6640e0ea9348f6d42..8dc24e0dcd9759f3ab89e21e33ff600ad253f082 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/InstanceViewList.h
+++ b/source/RobotAPI/libraries/armem_gui/instance/InstanceViewList.h
@@ -6,7 +6,7 @@
#include <RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronObjectTypeNavigator.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
class QGroupBox;
diff --git a/source/RobotAPI/libraries/armem_gui/instance/MemoryIDTreeWidgetItem.cpp b/source/RobotAPI/libraries/armem_gui/instance/MemoryIDTreeWidgetItem.cpp
index b8f568c79cdd1d84fa803df9ffaee737e24c9ea2..ebb4473bb1941a713526d646b37744f5a3314c1c 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/MemoryIDTreeWidgetItem.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/MemoryIDTreeWidgetItem.cpp
@@ -33,7 +33,11 @@ namespace armarx::armem::gui::instance
// Timestamp in human-readable format
if (id.hasTimestamp())
{
- child(4)->setText(valueColumn, QString::fromStdString(toDateTimeMilliSeconds(id.timestamp)));
+ static const char* mu = "\u03BC";
+ std::stringstream ss;
+ ss << toDateTimeMilliSeconds(id.timestamp)
+ << " (" << id.timestamp.toMicroSeconds() << " " << mu << "s)";
+ child(4)->setText(valueColumn, QString::fromStdString(ss.str()));
}
}
diff --git a/source/RobotAPI/libraries/armem_gui/instance/tree_builders/DataTreeBuilder.cpp b/source/RobotAPI/libraries/armem_gui/instance/tree_builders/DataTreeBuilder.cpp
index a2811c0bc5a01ef29fbb9cc41d7b5f47118f5a9a..6793fd79513dd7b2ac7a287f4d9934a97e2d7c91 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/tree_builders/DataTreeBuilder.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/tree_builders/DataTreeBuilder.cpp
@@ -22,7 +22,7 @@ namespace armarx::armem::gui::instance
return true;
});
- builder.updateTree(parent, data->getAllKeys());
+ builder.updateTreeWithContainer(parent, data->getAllKeys());
}
void DataTreeBuilder::updateTree(QTreeWidgetItem* parent, const aron::datanavigator::ListNavigatorPtr& data)
@@ -36,7 +36,7 @@ namespace armarx::armem::gui::instance
return true;
});
- builder.updateTree(parent, getIndex(children.size()));
+ builder.updateTreeWithContainer(parent, getIndex(children.size()));
}
diff --git a/source/RobotAPI/libraries/armem_gui/instance/tree_builders/DataTreeBuilderBase.h b/source/RobotAPI/libraries/armem_gui/instance/tree_builders/DataTreeBuilderBase.h
index b26a422ea71c90c2b769217a274eac7887eb8f9d..b225a093d4664d60313b882c1b3de750b48f96e8 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/tree_builders/DataTreeBuilderBase.h
+++ b/source/RobotAPI/libraries/armem_gui/instance/tree_builders/DataTreeBuilderBase.h
@@ -28,8 +28,8 @@ namespace armarx::armem::gui::instance
protected:
- using DictBuilder = armarx::TreeWidgetBuilder<std::vector<std::string>>;
- using ListBuilder = armarx::TreeWidgetBuilder<std::vector<size_t>>;
+ using DictBuilder = armarx::TreeWidgetBuilder<std::string>;
+ using ListBuilder = armarx::TreeWidgetBuilder<size_t>;
DictBuilder getDictBuilder() const;
ListBuilder getListBuilder() const;
diff --git a/source/RobotAPI/libraries/armem_gui/instance/tree_builders/TypedDataTreeBuilder.cpp b/source/RobotAPI/libraries/armem_gui/instance/tree_builders/TypedDataTreeBuilder.cpp
index 56d204abf42573540c363c0973f4bf10db357317..4673f22f68c40dc54a8048291db623c79a82442a 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/tree_builders/TypedDataTreeBuilder.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/tree_builders/TypedDataTreeBuilder.cpp
@@ -40,7 +40,7 @@ namespace armarx::armem::gui::instance
return true;
});
- builder.updateTree(parent, data.getAllKeys());
+ builder.updateTreeWithContainer(parent, data.getAllKeys());
}
}
@@ -76,7 +76,7 @@ namespace armarx::armem::gui::instance
return true;
});
- builder.updateTree(parent, type.getAllKeys());
+ builder.updateTreeWithContainer(parent, type.getAllKeys());
}
@@ -100,7 +100,7 @@ namespace armarx::armem::gui::instance
return true;
});
- builder.updateTree(parent, getIndex(children.size()));
+ builder.updateTreeWithContainer(parent, getIndex(children.size()));
}
}
@@ -126,7 +126,7 @@ namespace armarx::armem::gui::instance
return true;
});
- builder.updateTree(parent, getIndex(data.childrenSize()));
+ builder.updateTreeWithContainer(parent, getIndex(data.childrenSize()));
}
@@ -150,7 +150,7 @@ namespace armarx::armem::gui::instance
return true;
});
- builder.updateTree(parent, getIndex(type.getAcceptedTypes().size()));
+ builder.updateTreeWithContainer(parent, getIndex(type.getAcceptedTypes().size()));
}
diff --git a/source/RobotAPI/libraries/armem_gui/memory/TreeWidget.cpp b/source/RobotAPI/libraries/armem_gui/memory/TreeWidget.cpp
index 1d4a2b908eba38fbb4be2d028030598c220aae44..29c137093ac9c75f0c904c6745c72473c205f1ec 100644
--- a/source/RobotAPI/libraries/armem_gui/memory/TreeWidget.cpp
+++ b/source/RobotAPI/libraries/armem_gui/memory/TreeWidget.cpp
@@ -66,13 +66,18 @@ namespace armarx::armem::gui::memory
return true;
});
+ auto nameFn = [](const auto & element)
+ {
+ return element.name();
+ };
workingmemoryCoreSegmentBuilder.setExpand(true);
- workingmemoryCoreSegmentBuilder.setMakeItemFn([this](const std::string & name, const wm::CoreSegment & coreSeg)
+ workingmemoryCoreSegmentBuilder.setNameFn(nameFn, int(Columns::KEY));
+ workingmemoryCoreSegmentBuilder.setMakeItemFn([this](const wm::CoreSegment & coreSeg)
{
- return makeItem(name, coreSeg);
+ return makeItem(coreSeg.name(), coreSeg);
});
- workingmemoryCoreSegmentBuilder.setUpdateItemFn([this](const std::string&, const wm::CoreSegment & coreSeg, QTreeWidgetItem * coreSegItem)
+ workingmemoryCoreSegmentBuilder.setUpdateItemFn([this](const wm::CoreSegment & coreSeg, QTreeWidgetItem * coreSegItem)
{
updateContainerItem(coreSeg, coreSegItem);
updateChildren(coreSeg, coreSegItem);
@@ -80,11 +85,12 @@ namespace armarx::armem::gui::memory
});
workingmemoryProvSegmentBuilder.setExpand(true);
- workingmemoryProvSegmentBuilder.setMakeItemFn([this](const std::string & name, const wm::ProviderSegment & provSeg)
+ workingmemoryProvSegmentBuilder.setNameFn(nameFn, int(Columns::KEY));
+ workingmemoryProvSegmentBuilder.setMakeItemFn([this](const wm::ProviderSegment & provSeg)
{
- return makeItem(name, provSeg);
+ return makeItem(provSeg.name(), provSeg);
});
- workingmemoryProvSegmentBuilder.setUpdateItemFn([this](const std::string&, const wm::ProviderSegment & provSeg, QTreeWidgetItem * provSegItem)
+ workingmemoryProvSegmentBuilder.setUpdateItemFn([this](const wm::ProviderSegment & provSeg, QTreeWidgetItem * provSegItem)
{
updateContainerItem(provSeg, provSegItem);
updateChildren(provSeg, provSegItem);
@@ -92,30 +98,30 @@ namespace armarx::armem::gui::memory
});
// entityBuilder.setExpand(true);
- workingmemoryEntityBuilder.setMakeItemFn([this](const std::string & name, const wm::Entity & entity)
+ workingmemoryEntityBuilder.setNameFn(nameFn, int(Columns::KEY));
+ workingmemoryEntityBuilder.setMakeItemFn([this](const wm::Entity & entity)
{
- return makeItem(name, entity);
+ return makeItem(entity.name(), entity);
});
- workingmemoryEntityBuilder.setUpdateItemFn([this](const std::string&, const wm::Entity & entity, QTreeWidgetItem * entityItem)
+ workingmemoryEntityBuilder.setUpdateItemFn([this](const wm::Entity & entity, QTreeWidgetItem * entityItem)
{
updateContainerItem(entity, entityItem);
updateChildren(entity, entityItem);
return true;
});
- workingmemorySnapshotBuilder.setMakeItemFn([this](const armem::Time & time, const wm::EntitySnapshot & snapshot)
+ workingmemorySnapshotBuilder.setMakeItemFn([this](const wm::EntitySnapshot & snapshot)
{
- QTreeWidgetItem* item = makeItem(toDateTimeMilliSeconds(time), snapshot);
+ QTreeWidgetItem* item = makeItem(toDateTimeMilliSeconds(snapshot.time()), snapshot);
item->setData(int(Columns::KEY), Qt::ItemDataRole::UserRole, QVariant(static_cast<qlonglong>(snapshot.time().toMicroSeconds())));
return item;
});
- workingmemorySnapshotBuilder.setCompareFn([](const auto & pair, QTreeWidgetItem * item)
+ workingmemorySnapshotBuilder.setCompareFn([](const wm::EntitySnapshot & snapshot, QTreeWidgetItem * item)
{
- const wm::EntitySnapshot& snapshot = pair.second;
return armarx::detail::compare(static_cast<qlonglong>(snapshot.time().toMicroSeconds()),
item->data(int(Columns::KEY), Qt::ItemDataRole::UserRole).toLongLong());
});
- workingmemorySnapshotBuilder.setUpdateItemFn([this](const armem::Time&, const wm::EntitySnapshot & snapshot, QTreeWidgetItem * snapshotItem)
+ workingmemorySnapshotBuilder.setUpdateItemFn([this](const wm::EntitySnapshot & snapshot, QTreeWidgetItem * snapshotItem)
{
updateContainerItem(snapshot, snapshotItem);
updateChildren(snapshot, snapshotItem);
@@ -183,27 +189,27 @@ namespace armarx::armem::gui::memory
_selectedID = id;
const std::string levelName = item->data(int(Columns::LEVEL), Qt::UserRole).toString().toStdString();
- if (levelName == wm::Memory().getLevelName())
+ if (levelName == wm::Memory::getLevelName())
{
emit memorySelected(*_selectedID);
}
- else if (levelName == wm::CoreSegment().getLevelName())
+ else if (levelName == wm::CoreSegment::getLevelName())
{
emit coreSegmentSelected(*_selectedID);
}
- else if (levelName == wm::ProviderSegment().getLevelName())
+ else if (levelName == wm::ProviderSegment::getLevelName())
{
emit providerSegmentSelected(*_selectedID);
}
- else if (levelName == wm::Entity().getLevelName())
+ else if (levelName == wm::Entity::getLevelName())
{
emit entitySelected(*_selectedID);
}
- else if (levelName == wm::EntitySnapshot().getLevelName())
+ else if (levelName == wm::EntitySnapshot::getLevelName())
{
emit snapshotSelected(*_selectedID);
}
- else if (levelName == wm::EntityInstance().getLevelName())
+ else if (levelName == wm::EntityInstance::getLevelName())
{
emit instanceSelected(*_selectedID);
}
@@ -213,6 +219,16 @@ namespace armarx::armem::gui::memory
emit selectedItemChanged(*_selectedID);
}
+ template <class ContainerT>
+ static
+ auto makeIteratorFn(const ContainerT& container)
+ {
+ return [&container](auto&& elementFn)
+ {
+ container.forEachChild(elementFn);
+ };
+ }
+
void TreeWidget::updateChildren(const armem::wm::Memory& memory, QTreeWidget* tree)
{
@@ -227,27 +243,27 @@ namespace armarx::armem::gui::memory
void TreeWidget::updateChildren(const armem::wm::Memory& memory, QTreeWidgetItem* memoryItem)
{
- workingmemoryCoreSegmentBuilder.updateTree(memoryItem, memory.coreSegments());
+ workingmemoryCoreSegmentBuilder.updateTreeWithIterator(memoryItem, makeIteratorFn(memory));
}
void TreeWidget::updateChildren(const armem::wm::CoreSegment& coreSeg, QTreeWidgetItem* coreSegItem)
{
- workingmemoryProvSegmentBuilder.updateTree(coreSegItem, coreSeg.providerSegments());
+ workingmemoryProvSegmentBuilder.updateTreeWithIterator(coreSegItem, makeIteratorFn(coreSeg));
}
void TreeWidget::updateChildren(const armem::wm::ProviderSegment& provSeg, QTreeWidgetItem* provSegItem)
{
- workingmemoryEntityBuilder.updateTree(provSegItem, provSeg.entities());
+ workingmemoryEntityBuilder.updateTreeWithIterator(provSegItem, makeIteratorFn(provSeg));
}
void TreeWidget::updateChildren(const armem::wm::Entity& entity, QTreeWidgetItem* entityItem)
{
- workingmemorySnapshotBuilder.updateTree(entityItem, entity.history());
+ workingmemorySnapshotBuilder.updateTreeWithIterator(entityItem, makeIteratorFn(entity));
}
void TreeWidget::updateChildren(const armem::wm::EntitySnapshot& snapshot, QTreeWidgetItem* snapshotItem)
{
- workingmemoryInstanceBuilder.updateTree(snapshotItem, snapshot.instances());
+ workingmemoryInstanceBuilder.updateTreeWithIterator(snapshotItem, makeIteratorFn(snapshot));
}
void TreeWidget::updateChildren(const armem::wm::EntityInstance& data, QTreeWidgetItem* dataItem)
@@ -255,19 +271,25 @@ namespace armarx::armem::gui::memory
(void) data, (void) dataItem;
}
- QTreeWidgetItem* TreeWidget::makeItem(const std::string& key, const armem::base::detail::MemoryItem& memoryItem)
+ template <class MemoryItemT>
+ QTreeWidgetItem* TreeWidget::makeItem(const std::string& key, const MemoryItemT& memoryItem)
{
(void) key;
+ return makeItem(memoryItem.getKeyString(), MemoryItemT::getLevelName(), memoryItem.id());
+ }
+
+ QTreeWidgetItem* TreeWidget::makeItem(const std::string& key, const std::string& levelName, const MemoryID& id)
+ {
QStringList columns;
- columns.insert(int(Columns::KEY), QString::fromStdString(memoryItem.getKeyString()));
+ columns.insert(int(Columns::KEY), QString::fromStdString(key));
columns.insert(int(Columns::SIZE), "");
columns.insert(int(Columns::TYPE), "");
- columns.insert(int(Columns::LEVEL), QString::fromStdString(simox::alg::capitalize_words(memoryItem.getLevelName())));
- columns.insert(int(Columns::ID), QString::fromStdString(memoryItem.id().str()));
+ columns.insert(int(Columns::LEVEL), QString::fromStdString(simox::alg::capitalize_words(levelName)));
+ columns.insert(int(Columns::ID), QString::fromStdString(id.str()));
QTreeWidgetItem* item = new QTreeWidgetItem(columns);
- item->setData(int(Columns::LEVEL), Qt::UserRole, QString::fromStdString(memoryItem.getLevelName()));
- item->setData(int(Columns::ID), Qt::UserRole, QString::fromStdString(memoryItem.id().str()));
+ item->setData(int(Columns::LEVEL), Qt::UserRole, QString::fromStdString(levelName));
+ item->setData(int(Columns::ID), Qt::UserRole, QString::fromStdString(id.str()));
item->setTextAlignment(int(Columns::SIZE), Qt::AlignRight);
return item;
}
diff --git a/source/RobotAPI/libraries/armem_gui/memory/TreeWidget.h b/source/RobotAPI/libraries/armem_gui/memory/TreeWidget.h
index 2bcf0fa1b6135534407044a3ce341b86afeab442..72987cda1ef736a9f8943161cb8756a6e56b2cdc 100644
--- a/source/RobotAPI/libraries/armem_gui/memory/TreeWidget.h
+++ b/source/RobotAPI/libraries/armem_gui/memory/TreeWidget.h
@@ -4,7 +4,7 @@
#include <QTreeWidget>
-#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/core/longtermmemory/Memory.h>
#include <RobotAPI/libraries/armem_gui/TreeWidgetBuilder.h>
@@ -67,7 +67,9 @@ namespace armarx::armem::gui::memory
void updateChildren(const armem::wm::EntityInstance& data, QTreeWidgetItem* parent);
- QTreeWidgetItem* makeItem(const std::string& key, const armem::base::detail::MemoryItem& container);
+ template <class MemoryItemT>
+ QTreeWidgetItem* makeItem(const std::string& key, const MemoryItemT& memoryItem);
+ QTreeWidgetItem* makeItem(const std::string& key, const std::string& levelName, const MemoryID& id);
void updateItemItem(const armem::base::detail::MemoryItem& level, QTreeWidgetItem* item);
template <class... T>
@@ -77,11 +79,11 @@ namespace armarx::armem::gui::memory
private:
MapTreeWidgetBuilder<std::string, const wm::Memory*> workingmemoryBuilder;
- MapTreeWidgetBuilder<std::string, wm::CoreSegment> workingmemoryCoreSegmentBuilder;
- MapTreeWidgetBuilder<std::string, wm::ProviderSegment> workingmemoryProvSegmentBuilder;
- MapTreeWidgetBuilder<std::string, wm::Entity> workingmemoryEntityBuilder;
- MapTreeWidgetBuilder<armem::Time, wm::EntitySnapshot> workingmemorySnapshotBuilder;
- TreeWidgetBuilder<std::vector<wm::EntityInstance>> workingmemoryInstanceBuilder;
+ TreeWidgetBuilder<wm::CoreSegment> workingmemoryCoreSegmentBuilder;
+ TreeWidgetBuilder<wm::ProviderSegment> workingmemoryProvSegmentBuilder;
+ TreeWidgetBuilder<wm::Entity> workingmemoryEntityBuilder;
+ TreeWidgetBuilder<wm::EntitySnapshot> workingmemorySnapshotBuilder;
+ TreeWidgetBuilder<wm::EntityInstance> workingmemoryInstanceBuilder;
std::optional<MemoryID> _selectedID;
/// While this is false, do not handle selection updates.
diff --git a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.cpp b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.cpp
index e41bed15cecbc599c7c97b4266a04e0e9a70e47e..9d5cc9ea6064bb6977892623649518791dcaffec 100644
--- a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.cpp
+++ b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.cpp
@@ -26,11 +26,23 @@ namespace armarx::armem::gui
{
targets.push_back(query::data::QueryTarget::LTM);
}
- if (_DiskMemoryQueryTargetCheckBox->isChecked())
+ return targets;
+ }
+
+ void SnapshotSelectorWidget::localDiskStateChanged()
+ {
+ if (_LocalDiskMemoryQueryTargetCheckBox->isChecked())
{
- targets.push_back(query::data::QueryTarget::Disk);
+ _WMQueryTargetCheckBox->setChecked(false);
+ _LTMQueryTargetCheckBox->setChecked(false);
+ _WMQueryTargetCheckBox->setEnabled(false);
+ _LTMQueryTargetCheckBox->setEnabled(false);
+ }
+ else
+ {
+ _WMQueryTargetCheckBox->setEnabled(true);
+ _LTMQueryTargetCheckBox->setEnabled(true);
}
- return targets;
}
bool SnapshotSelectorWidget::queryTargetContainsLocalDisk() const
@@ -59,13 +71,13 @@ namespace armarx::armem::gui
// query type select box
auto queryTargetLayout = new QHBoxLayout();
_WMQueryTargetCheckBox = new QCheckBox("WM");
- _LTMQueryTargetCheckBox = new QCheckBox("LTM (MongoDB)");
- _DiskMemoryQueryTargetCheckBox = new QCheckBox("LTM (Disk)");
+ _LTMQueryTargetCheckBox = new QCheckBox("LTM");
_LocalDiskMemoryQueryTargetCheckBox = new QCheckBox("Local Disk");
+ connect(_LocalDiskMemoryQueryTargetCheckBox, &QCheckBox::stateChanged, this, &This::localDiskStateChanged);
+
queryTargetLayout->addWidget(_WMQueryTargetCheckBox);
queryTargetLayout->addWidget(_LTMQueryTargetCheckBox);
- queryTargetLayout->addWidget(_DiskMemoryQueryTargetCheckBox);
queryTargetLayout->addWidget(_LocalDiskMemoryQueryTargetCheckBox);
_WMQueryTargetCheckBox->setChecked(true);
diff --git a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.h b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.h
index 6f6422c3cdbc7fd0e1899bce47efbaaa32589062..a0b69eb1b6f362e64880ab400c0bea29bcdc73fc 100644
--- a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.h
+++ b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.h
@@ -45,14 +45,13 @@ namespace armarx::armem::gui
signals:
void queryChanged();
-
private slots:
//void updateSelector();
void hideAllForms();
void showSelectedFormForQuery(QString selected);
-
+ void localDiskStateChanged();
signals:
void queryOutdated();
@@ -68,7 +67,6 @@ namespace armarx::armem::gui
QComboBox* _queryComboBox;
QCheckBox* _WMQueryTargetCheckBox;
QCheckBox* _LTMQueryTargetCheckBox;
- QCheckBox* _DiskMemoryQueryTargetCheckBox;
QCheckBox* _LocalDiskMemoryQueryTargetCheckBox;
/// The forms for the different query types. Hidden when not selected.
std::map<QString, SnapshotForm*> _queryForms;
diff --git a/source/RobotAPI/libraries/armem_gui/test/ArMemGuiTest.cpp b/source/RobotAPI/libraries/armem_gui/test/ArMemGuiTest.cpp
index 4f259c7af5a50ff198b139084eb604bfd06fead5..303a319bcd30566b8000e1d10cc6ab3ef812093d 100644
--- a/source/RobotAPI/libraries/armem_gui/test/ArMemGuiTest.cpp
+++ b/source/RobotAPI/libraries/armem_gui/test/ArMemGuiTest.cpp
@@ -44,13 +44,13 @@ BOOST_AUTO_TEST_CASE(test_sanitizeTypeName)
BOOST_CHECK_EQUAL(sanitizeTypeName(dict.getName()), "Dict<Float>");
}
{
- ListNavigator dict;
- dict.setAcceptedType(std::make_shared<LongNavigator>());
- BOOST_CHECK_EQUAL(sanitizeTypeName(dict.getName()), "Dict<Long>");
+ ListNavigator list;
+ list.setAcceptedType(std::make_shared<LongNavigator>());
+ BOOST_CHECK_EQUAL(sanitizeTypeName(list.getName()), "List<Long>");
}
{
- ObjectNavigator dict;
- dict.setObjectName("namespace::MyObjectName");
- BOOST_CHECK_EQUAL(sanitizeTypeName(dict.getName()), "namespace::MyObjectName");
+ ObjectNavigator obj;
+ obj.setObjectName("namespace::MyObjectName");
+ BOOST_CHECK_EQUAL(sanitizeTypeName(obj.getName()), "MyObjectName (namespace)");
}
}
diff --git a/source/RobotAPI/libraries/armem_motions/server/MotionDatabase/MDBMotions/Segment.cpp b/source/RobotAPI/libraries/armem_motions/server/MotionDatabase/MDBMotions/Segment.cpp
index 8fab7c2c6e113e5ba5eb9b6ba8d250d8fb6fec4f..5860b2f48f9659c7ac631e1270425f112a0efcab 100644
--- a/source/RobotAPI/libraries/armem_motions/server/MotionDatabase/MDBMotions/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_motions/server/MotionDatabase/MDBMotions/Segment.cpp
@@ -1,14 +1,21 @@
-// STD / STL
-#include <iostream>
-#include <fstream>
-#include <sstream>
-
// BaseClass
#include "Segment.h"
// ArmarX
#include "MotionConverter.h"
+
#include <RobotAPI/libraries/PriorKnowledge/motions/MotionFinder.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
+#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
+
+#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
+#include <ArmarXCore/core/application/properties/ProxyPropertyDefinition.h>
+
+// STD / STL
+#include <iostream>
+#include <fstream>
+#include <sstream>
+
namespace armarx::armem::server::motions::mdb
{
@@ -72,7 +79,7 @@ namespace armarx::armem::server::motions::mdb
instance.metadata().timeSent = IceUtil::Time::now();
instance.metadata().timeArrived = IceUtil::Time::now();
instance.metadata().confidence = 1.0;
- instance.setData(op->toAron());
+ instance.data() = op->toAron();
}
else
{
diff --git a/source/RobotAPI/libraries/armem_motions/server/MotionDatabase/MDBMotions/Segment.h b/source/RobotAPI/libraries/armem_motions/server/MotionDatabase/MDBMotions/Segment.h
index 66e55f4107153532dd2df75a37fb369ba89817b1..f0dc4d726f83895876e23ab3bc52af36895df5b3 100644
--- a/source/RobotAPI/libraries/armem_motions/server/MotionDatabase/MDBMotions/Segment.h
+++ b/source/RobotAPI/libraries/armem_motions/server/MotionDatabase/MDBMotions/Segment.h
@@ -22,7 +22,7 @@ namespace armarx::armem::server::motions::mdb
virtual void defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix = "") override;
virtual void onInit() override;
- virtual void onConnect() override;
+ virtual void onConnect();
private:
int loadByMotionFinder(const std::string&);
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectReader.cpp b/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectReader.cpp
index c973cf24801967244589677f9b044be099f5c306..976d5bf9abb8a7d7586a0501568e6c8240c1e45c 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectReader.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectReader.cpp
@@ -16,7 +16,7 @@
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/core/Time.h>
#include <RobotAPI/libraries/armem/core/error.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/CoreSegment.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem_robot/aron/Robot.aron.generated.h>
#include <RobotAPI/libraries/armem_robot/aron_conversions.h>
#include <RobotAPI/libraries/armem_robot/robot_conversions.h>
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp
index d0bfb35708104712d2bebc33b4d7676b999ddac5..be9a624f46babcb192d606ef1bb4529c12aade2d 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp
@@ -13,7 +13,7 @@
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/core/Time.h>
#include <RobotAPI/libraries/armem/core/error.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/CoreSegment.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem_robot/aron/Robot.aron.generated.h>
#include <RobotAPI/libraries/armem_robot/aron_conversions.h>
#include <RobotAPI/libraries/armem_robot/robot_conversions.h>
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/utils.h b/source/RobotAPI/libraries/armem_objects/client/articulated_object/utils.h
index 2e51a9e4b336bd4550027227d30a0236efa0f217..9c5b48f39864b16637739b022c0d1908de69c9a5 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/utils.h
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/utils.h
@@ -2,7 +2,7 @@
#include <optional>
-#include "RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h"
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include "RobotAPI/libraries/armem_robot/types.h"
#include <RobotAPI/libraries/armem_objects/aron/ObjectClass.aron.generated.h>
diff --git a/source/RobotAPI/libraries/armem_objects/client/attachment/Reader.cpp b/source/RobotAPI/libraries/armem_objects/client/attachment/Reader.cpp
index f723f30b2eb2d704dcfae73f47e9351cf659b7ad..938ba098681aca145efbeb131af9c7a6a1b6c054 100644
--- a/source/RobotAPI/libraries/armem_objects/client/attachment/Reader.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/attachment/Reader.cpp
@@ -9,7 +9,7 @@
#include <RobotAPI/libraries/armem/core/Time.h>
#include <RobotAPI/libraries/armem/core/error.h>
#include <RobotAPI/libraries/armem/client/query/Builder.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/CoreSegment.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/util/util.h>
#include <RobotAPI/libraries/armem_robot/robot_conversions.h>
#include <RobotAPI/libraries/armem_robot/aron_conversions.h>
@@ -25,50 +25,42 @@ namespace armarx::armem::attachment
namespace
{
- template<typename AronClass, typename ArmemClass>
+ template <typename AronClass, typename ArmemClass>
auto getAttachments(const armarx::armem::wm::Memory& memory)
{
// using ArmemClass = decltype(fromAron(AronClass()));
using ArmemClassVector = std::vector<ArmemClass>;
ArmemClassVector attachments;
-
- for (const auto&[_, coreSegment] : memory.coreSegments())
+ memory.forEachEntity([&attachments](const wm::Entity & entity)
{
- for (const auto& [providerName, providerSegment] : coreSegment.providerSegments())
+ if (entity.empty())
{
- for (const auto& [name, entity] : providerSegment.entities())
+ ARMARX_WARNING << "No entity snapshot found";
+ return true;
+ }
+
+ const armem::wm::EntityInstance& instance = entity.getFirstSnapshot().getInstance(0);
+ try
+ {
+ AronClass aronAttachment;
+ aronAttachment.fromAron(instance.data());
+
+ ArmemClass attachment;
+ fromAron(aronAttachment, attachment);
+
+ if (attachment.active)
{
- if (entity.empty())
- {
- ARMARX_WARNING << "No entity found";
- continue;
- }
-
- const auto entitySnapshots = simox::alg::get_values(entity.history());
- const armem::wm::EntityInstance& instance = entitySnapshots.front().getInstance(0);
-
- try
- {
- AronClass aronAttachment;
- aronAttachment.fromAron(instance.data());
-
- ArmemClass attachment;
- fromAron(aronAttachment, attachment);
-
- if (attachment.active)
- {
- attachments.push_back(attachment);
- }
-
- }
- catch (const armarx::aron::error::AronException&)
- {
- continue;
- }
+ attachments.push_back(attachment);
}
+
}
- }
+ catch (const armarx::aron::error::AronException&)
+ {
+ return true;
+ }
+ return true;
+ });
return attachments;
}
@@ -131,7 +123,9 @@ namespace armarx::armem::attachment
return {};
}
- return getAttachments<::armarx::armem::arondto::attachment::ObjectAttachment, ::armarx::armem::attachment::ObjectAttachment>(qResult.memory);
+ return getAttachments <
+ ::armarx::armem::arondto::attachment::ObjectAttachment,
+ ::armarx::armem::attachment::ObjectAttachment > (qResult.memory);
}
std::vector<ObjectAttachment> Reader::queryObjectAttachments(const armem::Time& timestamp, const std::string& providerName) const
diff --git a/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.cpp
index bb5d930da65b6ddb0e7966aa53e5e8fa766d383d..2ddcc827d80c0700f59cb5f9ee8638322f4e5633 100644
--- a/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.cpp
@@ -3,15 +3,15 @@
#include <sstream>
#include <ArmarXCore/core/time/TimeUtil.h>
-#include "ArmarXCore/core/logging/Logging.h"
-#include <ArmarXCore/core/application/properties/forward_declarations.h>
+#include <ArmarXCore/core/logging/Logging.h>
+#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
+#include <ArmarXCore/core/application/properties/PluginAll.h>
-#include "RobotAPI/libraries/armem/util/util.h"
-#include "RobotAPI/libraries/aron/common/aron_conversions.h"
+#include <RobotAPI/libraries/armem/util/util.h>
+#include <RobotAPI/libraries/aron/common/aron_conversions.h>
#include <RobotAPI/libraries/armem/core/aron_conversions.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/visitor.h>
-#include "RobotAPI/libraries/armem/core/MemoryID.h"
+#include <RobotAPI/libraries/armem/core/MemoryID.h>
#include <RobotAPI/libraries/armem/client/Writer.h>
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/client/query/query_fns.h>
@@ -50,34 +50,32 @@ namespace armarx::armem::server::obj::attachments
{
}
- std::vector<armarx::armem::attachment::ObjectAttachment> Segment::getAttachments(const armem::Time& timestamp) const
+ std::vector<armarx::armem::attachment::ObjectAttachment>
+ Segment::getAttachments(const armem::Time& timestamp) const
{
ARMARX_CHECK_NOT_NULL(coreSegment);
std::scoped_lock(coreSegment->mutex());
std::vector<armarx::armem::attachment::ObjectAttachment> attachments;
-
- for (const auto& [_, provSeg] : *coreSegment)
+ coreSegment->forEachEntity([this, &attachments](const wm::Entity & entity)
{
- for (const auto& [name, entity] : provSeg.entities())
- {
- const auto& entityInstance = entity.getLatestSnapshot().getInstance(0);
- const auto aronAttachment = tryCast<armarx::armem::arondto::attachment::ObjectAttachment>(entityInstance);
+ const wm::EntityInstance& entityInstance = entity.getLatestSnapshot().getInstance(0);
- if (not aronAttachment)
- {
- ARMARX_WARNING << "Could not convert entity instance to 'ObjectAttachment'";
- continue;
- }
+ const auto aronAttachment = tryCast<armarx::armem::arondto::attachment::ObjectAttachment>(entityInstance);
+ if (not aronAttachment)
+ {
+ ARMARX_WARNING << "Could not convert entity instance to 'ObjectAttachment'";
+ return true;
+ }
- ARMARX_DEBUG << "Key is " << armem::MemoryID(entity.id());
+ ARMARX_DEBUG << "Key is " << armem::MemoryID(entity.id());
- armarx::armem::attachment::ObjectAttachment attachment;
- fromAron(*aronAttachment, attachment);
+ armarx::armem::attachment::ObjectAttachment attachment;
+ fromAron(*aronAttachment, attachment);
- attachments.push_back(attachment);
- }
- }
+ attachments.push_back(attachment);
+ return true;
+ });
return attachments;
}
diff --git a/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.h b/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.h
index 0b9302d93390c473b87c67066bfe173237f3774b..4f8cd20ccd9a0ce456bb664f5f5eb8a25f1981e0 100644
--- a/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.h
+++ b/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.h
@@ -21,41 +21,19 @@
#pragma once
-#include <string>
-#include <optional>
-#include <mutex>
-#include <unordered_map>
+#include <RobotAPI/libraries/armem/core/Time.h>
+#include <RobotAPI/libraries/armem/core/forward_declarations.h>
+#include <RobotAPI/libraries/armem/server/forward_declarations.h>
+#include <RobotAPI/libraries/armem_objects/types.h>
-#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/application/properties/forward_declarations.h>
+#include <ArmarXCore/core/logging/Logging.h>
-// #include "ArmarXGui/libraries/RemoteGui/Client/Widgets.h"
-
-#include "RobotAPI/components/ArViz/Client/Client.h"
-
-#include "RobotAPI/libraries/armem/core/MemoryID.h"
-#include "RobotAPI/libraries/armem/core/Time.h"
-#include "RobotAPI/libraries/armem_objects/types.h"
-
-
-namespace armarx::armem
-{
- namespace server
- {
- class MemoryToIceAdapter;
- }
-
- namespace wm
- {
- class CoreSegment;
- }
-} // namespace armarx::armem
+#include <string>
namespace armarx::armem::server::obj::attachments
{
- class Visu;
-
class Segment : public armarx::Logging
{
diff --git a/source/RobotAPI/libraries/armem_objects/server/class/FloorVis.cpp b/source/RobotAPI/libraries/armem_objects/server/class/FloorVis.cpp
index 08927d1e77d1963234f42ea9ab861ec9a33f86c4..1e9957aff7b0d093d3bd1d6e16f289d6a2a04afd 100644
--- a/source/RobotAPI/libraries/armem_objects/server/class/FloorVis.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/class/FloorVis.cpp
@@ -1,6 +1,7 @@
#include "FloorVis.h"
-#include <RobotAPI/libraries/armem/core/workingmemory/CoreSegment.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
+#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem_objects/aron/ObjectClass.aron.generated.h>
#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
@@ -13,16 +14,19 @@ namespace armarx::armem::server::obj::clazz
{
}
+
void FloorVis::defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix)
{
properties.define(defs, prefix);
}
+
void FloorVis::setArViz(armarx::viz::Client arviz)
{
this->arviz = arviz;
}
+
void FloorVis::updateFloorObject(const wm::CoreSegment& classCoreSegment)
{
viz::Layer layer = arviz.layer(properties.layerName);
@@ -42,6 +46,7 @@ namespace armarx::armem::server::obj::clazz
arviz.commit(layer);
}
+
armarx::viz::Object FloorVis::makeFloorObject(const wm::Entity& classEntity)
{
const wm::EntityInstance& instance = classEntity.getLatestSnapshot().getInstance(0);
@@ -50,6 +55,7 @@ namespace armarx::armem::server::obj::clazz
return makeFloorObject(classEntity.name(), data);
}
+
armarx::viz::Object FloorVis::makeFloorObject(
const std::string& name,
const arondto::ObjectClass& objectClass)
@@ -61,7 +67,6 @@ namespace armarx::armem::server::obj::clazz
}
-
void FloorVis::Properties::define(armarx::PropertyDefinitionsPtr defs, const std::string& prefix)
{
defs->optional(show, prefix + "Show", "Whether to show the floor.");
diff --git a/source/RobotAPI/libraries/armem_objects/server/class/FloorVis.h b/source/RobotAPI/libraries/armem_objects/server/class/FloorVis.h
index dcce63977438bdd0d646b50aa8e5dd9679354df8..49f8a6ddd71f5c24172ddfbbfd8e312dcea2fd3f 100644
--- a/source/RobotAPI/libraries/armem_objects/server/class/FloorVis.h
+++ b/source/RobotAPI/libraries/armem_objects/server/class/FloorVis.h
@@ -10,7 +10,7 @@ namespace armarx
{
using PropertyDefinitionsPtr = IceUtil::Handle<class PropertyDefinitionContainer>;
}
-namespace armarx::armem::wm
+namespace armarx::armem::server::wm
{
class CoreSegment;
class Entity;
diff --git a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
index 22608257c1abcf39340643870b704c2dadfcd54d..cd10a49c91957e5fa86094597c7903f76fb04c13 100644
--- a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
@@ -285,16 +285,13 @@ namespace armarx::armem::server::obj::clazz
showComboBox = {};
showOptionsIndex.clear();
- for (const auto& [_, prov] : *segment.coreSegment)
+ segment.coreSegment->forEachEntity([this](const wm::Entity & entity)
{
- for (const auto& [_, entity] : prov)
- {
- std::stringstream option;
- option << entity.id().entityName << " (" << entity.id().providerSegmentName << ")";
- showComboBox.addOption(option.str());
- showOptionsIndex.push_back(entity.id());
- }
- }
+ std::stringstream option;
+ option << entity.id().entityName << " (" << entity.id().providerSegmentName << ")";
+ showComboBox.addOption(option.str());
+ showOptionsIndex.push_back(entity.id());
+ });
if (showOptionsIndex.empty())
{
showComboBox.addOption("<none>");
diff --git a/source/RobotAPI/libraries/armem_objects/server/class/Segment.h b/source/RobotAPI/libraries/armem_objects/server/class/Segment.h
index 15c7c4f373f20c43c0febfb142675c5058c45909..3e9717b3e51dc07491e55761664e5cc76add574b 100644
--- a/source/RobotAPI/libraries/armem_objects/server/class/Segment.h
+++ b/source/RobotAPI/libraries/armem_objects/server/class/Segment.h
@@ -9,7 +9,7 @@
#include <RobotAPI/libraries/ArmarXObjects/ObjectID.h>
#include <RobotAPI/libraries/ArmarXObjects/ObjectFinder.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/server/segment/SpecializedSegment.h>
#include <RobotAPI/libraries/armem_objects/server/class/FloorVis.h>
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
index 09a412f4bfa40a1a6288e86dfe65fa8b50953061..d6d224fe0580e4aa73656515a671ba5753e33326 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
@@ -7,7 +7,6 @@
#include <RobotAPI/libraries/armem/core/aron_conversions.h>
#include <RobotAPI/libraries/armem/core/error.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/visitor.h>
#include <RobotAPI/libraries/armem/client/Writer.h>
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/client/query/query_fns.h>
@@ -26,8 +25,9 @@
#include <RobotAPI/libraries/core/FramedPose.h>
#include <RobotAPI/libraries/core/remoterobot/RemoteRobot.h>
-#include <ArmarXCore/core/time/TimeUtil.h>
+#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
+#include <ArmarXCore/core/time/TimeUtil.h>
#include <SimoxUtility/algorithm/get_map_keys_values.h>
#include <SimoxUtility/json.h>
@@ -143,7 +143,7 @@ namespace armarx::armem::server::obj::instance
// Check whether we have an old snapshot for this object.
std::optional<objpose::ObjectPose> previousPose;
- const armem::wm::Entity* entity = findObjectEntity(armarx::fromIce(provided.objectID), providerName);
+ const wm::Entity* entity = findObjectEntity(armarx::fromIce(provided.objectID), providerName);
if (entity)
{
const arondto::ObjectInstance data = getLatestInstanceData(*entity);
@@ -250,21 +250,24 @@ namespace armarx::armem::server::obj::instance
}
- wm::CoreSegment& Segment::getCoreSegment()
+ wm::CoreSegment&
+ Segment::getCoreSegment()
{
ARMARX_CHECK_NOT_NULL(coreSegment);
return *coreSegment;
}
- const wm::CoreSegment& Segment::getCoreSegment() const
+ const wm::CoreSegment&
+ Segment::getCoreSegment() const
{
ARMARX_CHECK_NOT_NULL(coreSegment);
return *coreSegment;
}
- objpose::ObjectPoseMap Segment::getObjectPoses(IceUtil::Time now)
+ objpose::ObjectPoseMap
+ Segment::getObjectPoses(IceUtil::Time now)
{
ObjectPoseMap objectPoses = getLatestObjectPoses();
updateObjectPoses(objectPoses, now);
@@ -273,7 +276,8 @@ namespace armarx::armem::server::obj::instance
- objpose::ObjectPoseMap Segment::getObjectPosesByProvider(
+ objpose::ObjectPoseMap
+ Segment::getObjectPosesByProvider(
const std::string& providerName,
IceUtil::Time now)
{
@@ -284,27 +288,31 @@ namespace armarx::armem::server::obj::instance
}
- armem::wm::Entity* Segment::findObjectEntity(const ObjectID& objectID, const std::string& providerName)
+ wm::Entity*
+ Segment::findObjectEntity(const ObjectID& objectID, const std::string& providerName)
{
ARMARX_CHECK_NOT_NULL(coreSegment);
armem::MemoryID entityID = armem::MemoryID().withEntityName(objectID.str());
if (providerName.empty())
{
- for (auto& [_, prov] : *coreSegment)
+ wm::Entity* result = nullptr;
+ coreSegment->forEachProviderSegment([&result, &entityID](wm::ProviderSegment & prov)
{
if (prov.hasEntity(entityID.entityName))
{
- return &prov.getEntity(entityID);
+ result = &prov.getEntity(entityID);
+ return false;
}
- }
- return nullptr;
+ return true;
+ });
+ return result;
}
else
{
entityID.providerSegmentName = providerName;
if (coreSegment->hasProviderSegment(providerName))
{
- armem::wm::ProviderSegment& prov = coreSegment->getProviderSegment(providerName);
+ wm::ProviderSegment& prov = coreSegment->getProviderSegment(providerName);
return prov.hasEntity(entityID.entityName) ? &prov.getEntity(entityID) : nullptr;
}
else
@@ -387,14 +395,16 @@ namespace armarx::armem::server::obj::instance
}
- objpose::ObjectPoseMap Segment::getLatestObjectPoses() const
+ objpose::ObjectPoseMap
+ Segment::getLatestObjectPoses() const
{
ARMARX_CHECK_NOT_NULL(coreSegment);
return getLatestObjectPoses(*coreSegment);
}
- objpose::ObjectPoseMap Segment::getLatestObjectPoses(const armem::wm::CoreSegment& coreSeg)
+ objpose::ObjectPoseMap
+ Segment::getLatestObjectPoses(const wm::CoreSegment& coreSeg)
{
ObjectPoseMap result;
getLatestObjectPoses(coreSeg, result);
@@ -402,7 +412,8 @@ namespace armarx::armem::server::obj::instance
}
- objpose::ObjectPoseMap Segment::getLatestObjectPoses(const armem::wm::ProviderSegment& provSeg)
+ objpose::ObjectPoseMap
+ Segment::getLatestObjectPoses(const wm::ProviderSegment& provSeg)
{
ObjectPoseMap result;
getLatestObjectPoses(provSeg, result);
@@ -410,7 +421,8 @@ namespace armarx::armem::server::obj::instance
}
- objpose::ObjectPose Segment::getLatestObjectPose(const armem::wm::Entity& entity)
+ objpose::ObjectPose
+ Segment::getLatestObjectPose(const wm::Entity& entity)
{
ObjectPose result;
getLatestObjectPose(entity, result);
@@ -418,18 +430,18 @@ namespace armarx::armem::server::obj::instance
}
- void Segment::getLatestObjectPoses(const armem::wm::CoreSegment& coreSeg, ObjectPoseMap& out)
+ void Segment::getLatestObjectPoses(const wm::CoreSegment& coreSeg, ObjectPoseMap& out)
{
- for (const auto& [_, provSegment] : coreSeg)
+ coreSeg.forEachProviderSegment([&out](const wm::ProviderSegment & provSegment)
{
getLatestObjectPoses(provSegment, out);
- }
+ });
}
- void Segment::getLatestObjectPoses(const armem::wm::ProviderSegment& provSegment, ObjectPoseMap& out)
+ void Segment::getLatestObjectPoses(const wm::ProviderSegment& provSegment, ObjectPoseMap& out)
{
- for (const auto& [_, entity] : provSegment)
+ provSegment.forEachEntity([&out](const wm::Entity & entity)
{
if (!entity.empty())
{
@@ -445,29 +457,29 @@ namespace armarx::armem::server::obj::instance
}
}
}
- }
+ });
}
- void Segment::getLatestObjectPose(const armem::wm::Entity& entity, ObjectPose& out)
+ void Segment::getLatestObjectPose(const wm::Entity& entity, ObjectPose& out)
{
- for (const armem::wm::EntityInstance& instance : entity.getLatestSnapshot())
+ entity.getLatestSnapshot().forEachInstance([&out](const wm::EntityInstance & instance)
{
arondto::ObjectInstance dto;
dto.fromAron(instance.data());
fromAron(dto, out);
- }
+ });
}
- arondto::ObjectInstance Segment::getLatestInstanceData(const armem::wm::Entity& entity)
+ arondto::ObjectInstance Segment::getLatestInstanceData(const wm::Entity& entity)
{
ARMARX_CHECK_GREATER_EQUAL(entity.size(), 1);
- const armem::wm::EntitySnapshot& snapshot = entity.getLatestSnapshot();
+ const wm::EntitySnapshot& snapshot = entity.getLatestSnapshot();
ARMARX_CHECK_EQUAL(snapshot.size(), 1);
- const armem::wm::EntityInstance& instance = snapshot.getInstance(0);
+ const wm::EntityInstance& instance = snapshot.getInstance(0);
arondto::ObjectInstance data;
data.fromAron(instance.data());
@@ -476,7 +488,8 @@ namespace armarx::armem::server::obj::instance
}
- ::armarx::armem::articulated_object::ArticulatedObjects Segment::getArticulatedObjects()
+ ::armarx::armem::articulated_object::ArticulatedObjects
+ Segment::getArticulatedObjects()
{
objpose::ObjectPoseMap objectPoses = getObjectPoses(IceUtil::Time::now());
@@ -589,7 +602,7 @@ namespace armarx::armem::server::obj::instance
// Find object pose (provider name can be empty).
- armem::wm::Entity* objectEntity = this->findObjectEntity(objectID, input.providerName);
+ wm::Entity* objectEntity = this->findObjectEntity(objectID, input.providerName);
if (!objectEntity || objectEntity->empty())
{
ARMARX_WARNING << "Tried to attach object " << objectID << " to node '" << frameName
@@ -650,7 +663,8 @@ namespace armarx::armem::server::obj::instance
}
- objpose::DetachObjectFromRobotNodeOutput Segment::detachObjectFromRobotNode(
+ objpose::DetachObjectFromRobotNodeOutput
+ Segment::detachObjectFromRobotNode(
const objpose::DetachObjectFromRobotNodeInput& input)
{
const armem::Time now = armem::Time::now();
@@ -662,7 +676,7 @@ namespace armarx::armem::server::obj::instance
{
// Remove from latest pose (if it was cached).
// Find object pose (provider name can be empty).
- armem::wm::Entity* entity = this->findObjectEntity(objectID, input.providerName);
+ wm::Entity* entity = this->findObjectEntity(objectID, input.providerName);
if (entity)
{
const arondto::ObjectInstance data = getLatestInstanceData(*entity);
@@ -697,48 +711,26 @@ namespace armarx::armem::server::obj::instance
}
- struct DetachVisitor : public armem::wm::Visitor
- {
- Segment& owner;
- armem::Time now;
- bool commitAttachedPose;
-
- int numDetached = 0;
-
- DetachVisitor(Segment& owner, armem::Time now, bool commitAttachedPose) :
- owner(owner), now(now), commitAttachedPose(commitAttachedPose)
- {
- }
-
- virtual bool visitEnter(armem::wm::Entity& entity) override;
- };
-
-
- bool DetachVisitor::visitEnter(armem::wm::Entity& entity)
- {
- const arondto::ObjectInstance data = owner.getLatestInstanceData(entity);
- if (data.pose.attachmentValid)
- {
- numDetached++;
- // Store non-attached pose in new snapshot.
- owner.storeDetachedSnapshot(entity, data, now, commitAttachedPose);
- }
- return false; // Stop descending.
- }
-
-
- objpose::DetachAllObjectsFromRobotNodesOutput Segment::detachAllObjectsFromRobotNodes(
+ objpose::DetachAllObjectsFromRobotNodesOutput
+ Segment::detachAllObjectsFromRobotNodes(
const objpose::DetachAllObjectsFromRobotNodesInput& input)
{
ARMARX_CHECK_NOT_NULL(coreSegment);
const armem::Time now = armem::Time::now();
- DetachVisitor visitor(*this, now, input.commitAttachedPose);
- visitor.applyTo(*coreSegment);
-
objpose::DetachAllObjectsFromRobotNodesOutput output;
- output.numDetached = visitor.numDetached;
+ output.numDetached = 0;
+ coreSegment->forEachEntity([this, now, &input, &output](wm::Entity & entity)
+ {
+ const arondto::ObjectInstance data = this->getLatestInstanceData(entity);
+ if (data.pose.attachmentValid)
+ {
+ ++output.numDetached;
+ // Store non-attached pose in new snapshot.
+ this->storeDetachedSnapshot(entity, data, now, input.commitAttachedPose);
+ }
+ });
ARMARX_INFO << "Detached all objects (" << output.numDetached << ") from robot nodes.";
@@ -747,9 +739,9 @@ namespace armarx::armem::server::obj::instance
void Segment::storeDetachedSnapshot(
- armem::wm::Entity& entity,
+ wm::Entity& entity,
const arondto::ObjectInstance& data,
- armem::Time now,
+ Time now,
bool commitAttachedPose)
{
armem::EntityUpdate update;
@@ -781,21 +773,29 @@ namespace armarx::armem::server::obj::instance
}
- std::optional<wm::EntityInstance> Segment::findClassInstance(const ObjectID& objectID) const
+ std::optional<wm::EntityInstance>
+ Segment::findClassInstance(const ObjectID& objectID) const
{
const ObjectID classID = { objectID.dataset(), objectID.className() };
try
{
- for (const auto& [_, provSeg] : iceMemory.workingMemory->getCoreSegment("Class"))
+ std::optional<wm::EntityInstance> result;
+ iceMemory.workingMemory->getCoreSegment("Class").forEachProviderSegment(
+ [&classID, &result](const wm::ProviderSegment & provSeg)
{
if (provSeg.hasEntity(classID.str()))
{
- return provSeg.getEntity(classID.str()).getLatestSnapshot().getInstance(0);
+ result = provSeg.getEntity(classID.str()).getLatestSnapshot().getInstance(0);
+ return false;
}
- }
+ return true;
+ });
- ARMARX_WARNING << "No provider segment for classID " << classID.str() << " found";
- return std::nullopt;
+ if (not result.has_value())
+ {
+ ARMARX_WARNING << "No provider segment for classID " << classID.str() << " found";
+ }
+ return result;
}
catch (const armem::error::ArMemError& e)
{
@@ -824,7 +824,8 @@ namespace armarx::armem::server::obj::instance
}
- std::optional<armem::obj::SceneSnapshot> Segment::loadScene(const std::string& filename)
+ std::optional<armem::obj::SceneSnapshot>
+ Segment::loadScene(const std::string& filename)
{
if (const std::optional<std::filesystem::path> path = resolveSceneFilename(filename))
{
@@ -837,7 +838,8 @@ namespace armarx::armem::server::obj::instance
}
- std::optional<armem::obj::SceneSnapshot> Segment::loadScene(const std::filesystem::path& path)
+ std::optional<armem::obj::SceneSnapshot>
+ Segment::loadScene(const std::filesystem::path& path)
{
ARMARX_INFO << "Loading scene snapshot from: \n" << path;
nlohmann::json j;
@@ -859,7 +861,8 @@ namespace armarx::armem::server::obj::instance
const std::string Segment::timestampPlaceholder = "%TIMESTAMP";
- std::optional<std::filesystem::path> Segment::resolveSceneFilename(const std::string& _filename)
+ std::optional<std::filesystem::path>
+ Segment::resolveSceneFilename(const std::string& _filename)
{
std::string filename = _filename;
@@ -894,9 +897,7 @@ namespace armarx::armem::server::obj::instance
armem::obj::SceneSnapshot Segment::getSceneSnapshot() const
{
armem::obj::SceneSnapshot scene;
-
- wm::FunctionalVisitor visitor;
- visitor.entityFn = [&scene](wm::Entity & entity)
+ coreSegment->forEachEntity([&scene](wm::Entity & entity)
{
try
{
@@ -916,10 +917,8 @@ namespace armarx::armem::server::obj::instance
{
ARMARX_WARNING_S << e.what();
}
- return false;
- };
+ });
- visitor.applyTo(*coreSegment);
return scene;
}
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
index 918a4efade3c596763d90fec427b18fa78a774bf..27ffbc746af05451b5fdd54f15a3afc4c7822e08 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
@@ -8,8 +8,6 @@
#include <SimoxUtility/caching/CacheMap.h>
#include <SimoxUtility/shapes/OrientedBox.h>
-#include <ArmarXCore/core/logging/Logging.h>
-
#include <RobotAPI/interface/core/RobotState.h>
#include <RobotAPI/interface/objectpose/ObjectPoseStorageInterface.h>
@@ -19,7 +17,7 @@
#include <RobotAPI/libraries/ArmarXObjects/ObjectPose.h>
#include <RobotAPI/libraries/ArmarXObjects/ObjectFinder.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
+#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/server/segment/SpecializedSegment.h>
#include "ArticulatedObjectVisu.h"
diff --git a/source/RobotAPI/libraries/armem_objects/types.h b/source/RobotAPI/libraries/armem_objects/types.h
index 976f438e7c39009fd5d37fb6afdf19378da488c4..5ca91ff285e5fc92d1d3523a504379d582dda8b5 100644
--- a/source/RobotAPI/libraries/armem_objects/types.h
+++ b/source/RobotAPI/libraries/armem_objects/types.h
@@ -21,13 +21,11 @@
#pragma once
-#include "RobotAPI/libraries/armem/core/Time.h"
-#include <vector>
-
#include <Eigen/Geometry>
-#include <RobotAPI/libraries/armem_robot/types.h>
#include <RobotAPI/libraries/armem/core/MemoryID.h>
+#include <RobotAPI/libraries/armem/core/Time.h>
+#include <RobotAPI/libraries/armem_robot/types.h>
namespace armarx::armem::attachment
@@ -97,4 +95,4 @@ namespace armarx::armem::articulated_object
using ArticulatedObject = armarx::armem::robot::Robot;
using ArticulatedObjects = armarx::armem::robot::Robots;
-} // namespace armarx::armem::articulated_object
\ No newline at end of file
+} // namespace armarx::armem::articulated_object
diff --git a/source/RobotAPI/libraries/armem_robot/robot_conversions.cpp b/source/RobotAPI/libraries/armem_robot/robot_conversions.cpp
index 3bf4171486e35c33a1cca23a666baac2233a8356..6ba61bba4b70f7a4cbbdf8cb2d18b11e4b50bbd6 100644
--- a/source/RobotAPI/libraries/armem_robot/robot_conversions.cpp
+++ b/source/RobotAPI/libraries/armem_robot/robot_conversions.cpp
@@ -4,7 +4,7 @@
#include <RobotAPI/libraries/aron/common/aron_conversions.h>
-#include "RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h"
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/core/aron_conversions.h>
#include <RobotAPI/libraries/armem_robot/aron/RobotDescription.aron.generated.h>
diff --git a/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp b/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp
index 7a500d1391c0f0942795b49af65740f350eecbed..85370141f880a72b26039c0af0c765f929e6a902 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp
@@ -10,7 +10,7 @@
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/core/error.h>
#include <RobotAPI/libraries/armem/core/Time.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/CoreSegment.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem_robot/aron_conversions.h>
#include <RobotAPI/libraries/armem_robot/robot_conversions.h>
#include <RobotAPI/libraries/armem_robot/aron/Robot.aron.generated.h>
@@ -214,30 +214,31 @@ namespace armarx::armem::robot_state
const armem::wm::ProviderSegment& providerSegment = memory
.getCoreSegment(properties.proprioceptionCoreSegment)
.getProviderSegment(name);
- // clang-format on
- const auto entities = simox::alg::get_values(providerSegment.entities());
// TODO entitiesToRobotState()
- if (entities.empty())
+ if (providerSegment.empty())
{
ARMARX_WARNING << "No entity found";
return std::nullopt;
}
- const auto entitySnapshots = simox::alg::get_values(entities.front().history());
+ // clang-format on
- if (entitySnapshots.empty())
+ const armem::wm::EntityInstance* instance = nullptr;
+ providerSegment.forEachInstance([&instance](const wm::EntityInstance & i)
+ {
+ instance = &i;
+ return false; // break
+ });
+ if (!instance)
{
ARMARX_WARNING << "No entity snapshots found";
return std::nullopt;
}
- // TODO(fabian.reister): check if 0 available
- const armem::wm::EntityInstance& instance = entitySnapshots.front().getInstance(0);
-
// Here, we access the RobotUnit streaming data stored in the proprioception segment.
- return robot::convertRobotState(instance);
+ return robot::convertRobotState(*instance);
}
// FIXME remove this, use armem/util/util.h
@@ -271,24 +272,19 @@ namespace armarx::armem::robot_state
.getCoreSegment(properties.proprioceptionCoreSegment);
// clang-format on
- for (const auto &[_, providerSegment] : coreSegment.providerSegments())
+ coreSegment.forEachEntity([&jointMap](const wm::Entity & entity)
{
+ const auto& entityInstance = entity.getLatestSnapshot().getInstance(0);
- for (const auto &[name, entity] : providerSegment.entities())
+ const auto jointState = tryCast<::armarx::armem::arondto::JointState>(entityInstance);
+ if (not jointState)
{
- const auto& entityInstance = entity.getLatestSnapshot().getInstance(0);
-
- const auto jointState = tryCast<::armarx::armem::arondto::JointState>(entityInstance);
-
- if (not jointState)
- {
- // ARMARX_WARNING << "Could not convert entity instance to 'JointState'";
- continue;
- }
-
- jointMap.emplace(jointState->name, jointState->position);
+ // ARMARX_WARNING << "Could not convert entity instance to 'JointState'";
+ return;
}
- }
+
+ jointMap.emplace(jointState->name, jointState->position);
+ });
if (jointMap.empty())
{
@@ -307,26 +303,19 @@ namespace armarx::armem::robot_state
.getCoreSegment(properties.descriptionCoreSegment)
.getProviderSegment(name); // TODO(fabian.reister): all
// clang-format on
- const auto entities = simox::alg::get_values(providerSegment.entities());
- if (entities.empty())
+ const armem::wm::EntityInstance* instance = nullptr;
+ providerSegment.forEachInstance([&instance](const wm::EntityInstance & i)
{
- ARMARX_WARNING << "No entity found";
- return std::nullopt;
- }
-
- const auto entitySnapshots = simox::alg::get_values(entities.front().history());
-
- if (entitySnapshots.empty())
+ instance = &i;
+ });
+ if (!instance)
{
ARMARX_WARNING << "No entity snapshots found";
return std::nullopt;
}
- // TODO(fabian.reister): check if 0 available
- const armem::wm::EntityInstance& instance = entitySnapshots.front().getInstance(0);
-
- return robot::convertRobotDescription(instance);
+ return robot::convertRobotDescription(*instance);
}
} // namespace armarx::armem::robot_state
diff --git a/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformReader.cpp b/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformReader.cpp
index 6aa026431e7d9efd0128a9007d23918b291b54bc..32da2d6450e67eb228e7d8099123842a4b8f84d9 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformReader.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformReader.cpp
@@ -48,9 +48,9 @@
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/client/query/query_fns.h>
#include <RobotAPI/libraries/armem/core/error.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
+#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
#include <RobotAPI/libraries/armem/server/MemoryRemoteGui.h>
#include <RobotAPI/libraries/aron/core/navigator/type/NavigatorFactory.h>
#include <RobotAPI/libraries/core/FramedPose.h>
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 4230394aa823c96e2382fd73af68d9663513b989..608dfa3947153985dc4f528bb0746ab95df706fc 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformWriter.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformWriter.cpp
@@ -37,9 +37,9 @@
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/client/query/query_fns.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.h>
+#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/server/MemoryRemoteGui.h>
#include <RobotAPI/libraries/aron/core/navigator/type/NavigatorFactory.h>
#include <RobotAPI/libraries/core/FramedPose.h>
diff --git a/source/RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.cpp b/source/RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.cpp
index c4d0e05b4a1120b0ba6d256ad646508d7556ab7d..18b84d7c665c593369b4bd15dd5505d5c5fa88d1 100644
--- a/source/RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.cpp
@@ -2,104 +2,119 @@
#include <SimoxUtility/algorithm/get_map_keys_values.h>
#include <SimoxUtility/algorithm/string/string_tools.h>
-#include <SimoxUtility/color/cmaps.h>
#include <SimoxUtility/math/pose/interpolate.h>
-#include "ArmarXCore/core/exceptions/LocalException.h"
-#include "RobotAPI/libraries/core/FramedPose.h"
+#include <ArmarXCore/core/exceptions/LocalException.h>
+#include <RobotAPI/libraries/core/FramedPose.h>
-#include "RobotAPI/libraries/aron/common/aron_conversions.h"
+#include <RobotAPI/libraries/aron/common/aron_conversions.h>
-#include "RobotAPI/libraries/armem/core/error/ArMemError.h"
-#include "RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h"
-#include "RobotAPI/libraries/armem/core/workingmemory/Memory.h"
+#include <RobotAPI/libraries/armem/core/Time.h>
+#include <RobotAPI/libraries/armem/core/error/ArMemError.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
+#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem_robot_state/aron/Transform.aron.generated.h>
#include <RobotAPI/libraries/armem_robot_state/aron_conversions.h>
+
namespace armarx::armem::common::robot_state::localization
{
- TransformChainResult TransformHelper::lookupTransformChain(const armem::wm::CoreSegment& localizationCoreSegment,
- const TransformQuery& query)
+ template <class ...Args>
+ TransformResult
+ TransformHelper::_lookupTransform(
+ const armem::base::CoreSegmentBase<Args...>& localizationCoreSegment,
+ const TransformQuery& query)
{
- const std::vector<std::string> tfChain =
- buildTransformChain(localizationCoreSegment, query);
-
+ const std::vector<std::string> tfChain = _buildTransformChain(localizationCoreSegment, query);
if (tfChain.empty())
{
- return {.header = query.header,
- .transforms = std::vector<Eigen::Affine3f>{},
- .status = TransformChainResult::Status::ErrorFrameNotAvailable,
+ return {.transform = {.header = query.header},
+ .status = TransformResult::Status::ErrorFrameNotAvailable,
.errorMessage = "Cannot create tf lookup chain '" +
query.header.parentFrame + " -> " + query.header.frame +
"'"};
}
- const std::vector<Eigen::Affine3f> transforms = obtainTransforms(
+ const std::vector<Eigen::Affine3f> transforms = _obtainTransforms(
localizationCoreSegment, tfChain, query.header.agent, query.header.timestamp);
-
if (transforms.empty())
{
ARMARX_WARNING << deactivateSpam(1) << "No transform available.";
- return {.header = query.header,
- .transforms = {},
- .status = TransformChainResult::Status::ErrorFrameNotAvailable,
+ return {.transform = {.header = query.header},
+ .status = TransformResult::Status::ErrorFrameNotAvailable,
.errorMessage = "Error in TF loookup: '" + query.header.parentFrame +
" -> " + query.header.frame +
"'. No memory data in time range."};
}
+ const Eigen::Affine3f transform = std::accumulate(transforms.begin(),
+ transforms.end(),
+ Eigen::Affine3f::Identity(),
+ std::multiplies<>());
ARMARX_DEBUG << "Found valid transform";
- return {.header = query.header,
- .transforms = transforms,
- .status = TransformChainResult::Status::Success};
+ return {.transform = {.header = query.header, .transform = transform},
+ .status = TransformResult::Status::Success};
}
- TransformResult TransformHelper::lookupTransform(const armem::wm::CoreSegment& localizationCoreSegment,
- const TransformQuery& query)
- {
- const std::vector<std::string> tfChain =
- buildTransformChain(localizationCoreSegment, query);
+ template <class ...Args>
+ TransformChainResult
+ TransformHelper::_lookupTransformChain(
+ const armem::base::CoreSegmentBase<Args...>& localizationCoreSegment,
+ const TransformQuery& query)
+ {
+ const std::vector<std::string> tfChain = _buildTransformChain(localizationCoreSegment, query);
if (tfChain.empty())
{
- return {.transform = {.header = query.header},
- .status = TransformResult::Status::ErrorFrameNotAvailable,
- .errorMessage = "Cannot create tf lookup chain '" +
- query.header.parentFrame + " -> " + query.header.frame +
- "'"};
+ return
+ {
+ .header = query.header,
+ .transforms = std::vector<Eigen::Affine3f>{},
+ .status = TransformChainResult::Status::ErrorFrameNotAvailable,
+ .errorMessage = "Cannot create tf lookup chain '" +
+ query.header.parentFrame + " -> " + query.header.frame +
+ "'"
+ };
}
- const std::vector<Eigen::Affine3f> transforms = obtainTransforms(
+ const std::vector<Eigen::Affine3f> transforms = _obtainTransforms(
localizationCoreSegment, tfChain, query.header.agent, query.header.timestamp);
-
if (transforms.empty())
{
ARMARX_WARNING << deactivateSpam(1) << "No transform available.";
- return {.transform = {.header = query.header},
- .status = TransformResult::Status::ErrorFrameNotAvailable,
- .errorMessage = "Error in TF loookup: '" + query.header.parentFrame +
- " -> " + query.header.frame +
- "'. No memory data in time range."};
+ return
+ {
+ .header = query.header,
+ .transforms = {},
+ .status = TransformChainResult::Status::ErrorFrameNotAvailable,
+ .errorMessage = "Error in TF loookup: '" + query.header.parentFrame +
+ " -> " + query.header.frame +
+ "'. No memory data in time range."
+ };
}
- const Eigen::Affine3f transform = std::accumulate(transforms.begin(),
- transforms.end(),
- Eigen::Affine3f::Identity(),
- std::multiplies<>());
ARMARX_DEBUG << "Found valid transform";
- return {.transform = {.header = query.header, .transform = transform},
- .status = TransformResult::Status::Success};
+ return
+ {
+ .header = query.header,
+ .transforms = transforms,
+ .status = TransformChainResult::Status::Success
+ };
}
+
+
+ template <class ...Args>
std::vector<std::string>
- TransformHelper::buildTransformChain(const armem::wm::CoreSegment& localizationCoreSegment,
- const TransformQuery& query)
+ TransformHelper::_buildTransformChain(
+ const armem::base::CoreSegmentBase<Args...>& localizationCoreSegment,
+ const TransformQuery& query)
{
ARMARX_DEBUG << "Building transform chain";
@@ -172,8 +187,100 @@ namespace armarx::armem::common::robot_state::localization
return chain;
}
- inline ::armarx::armem::robot_state::Transform
- convertEntityToTransform(const armem::wm::EntityInstance& item)
+
+ template <class ...Args>
+ std::vector<Eigen::Affine3f>
+ TransformHelper::_obtainTransforms(
+ const armem::base::CoreSegmentBase<Args...>& localizationCoreSegment,
+ const std::vector<std::string>& tfChain,
+ const std::string& agent,
+ const armem::Time& timestamp)
+ {
+ const auto& agentProviderSegment = localizationCoreSegment.getProviderSegment(agent);
+
+ ARMARX_DEBUG << "Provider segments" << localizationCoreSegment.getProviderSegmentNames();
+ ARMARX_DEBUG << "Entities: " << agentProviderSegment.getEntityNames();
+
+ try
+ {
+ std::vector<Eigen::Affine3f> transforms;
+ transforms.reserve(tfChain.size());
+ std::transform(tfChain.begin(),
+ tfChain.end(),
+ std::back_inserter(transforms),
+ [&](const std::string & entityName)
+ {
+ return _obtainTransform(entityName, agentProviderSegment, timestamp);
+ });
+ return transforms;
+ }
+ catch (const armem::error::MissingEntry& missingEntryError)
+ {
+ ARMARX_WARNING << missingEntryError.what();
+ }
+ catch (const ::armarx::exceptions::local::ExpressionException& ex)
+ {
+ ARMARX_WARNING << "local exception: " << ex.what();
+ }
+ catch (...)
+ {
+ ARMARX_WARNING << "Error: " << GetHandledExceptionString();
+ }
+
+ return {};
+ }
+
+
+ template <class ...Args>
+ Eigen::Affine3f
+ TransformHelper::_obtainTransform(
+ const std::string& entityName,
+ const armem::base::ProviderSegmentBase<Args...>& agentProviderSegment,
+ const armem::Time& timestamp)
+ {
+ ARMARX_DEBUG << "getEntity:" + entityName;
+ const auto& entity = agentProviderSegment.getEntity(entityName);
+
+ ARMARX_DEBUG << "History (size: " << entity.size() << "): " << entity.getTimestamps();
+
+ // if (entity.history.empty())
+ // {
+ // // TODO(fabian.reister): fixme boom
+ // ARMARX_ERROR << "No snapshots received.";
+ // return Eigen::Affine3f::Identity();
+ // }
+
+ std::vector<::armarx::armem::robot_state::Transform> transforms;
+ transforms.push_back(_convertEntityToTransform(entity.getLatestSnapshot().getInstance(0)));
+
+ ARMARX_DEBUG << "obtaining transform";
+ if (transforms.size() > 1)
+ {
+ // TODO(fabian.reister): remove
+ return transforms.front().transform;
+
+ ARMARX_DEBUG << "More than one snapshots received: " << transforms.size();
+ const auto p = _interpolateTransform(transforms, timestamp);
+ ARMARX_DEBUG << "Done interpolating transform";
+ return p;
+ }
+
+ // accept this to fail (will raise armem::error::MissingEntry)
+ if (transforms.empty())
+ {
+ ARMARX_DEBUG << "empty transform";
+
+ throw armem::error::MissingEntry("foo", "bar", "foo2", "bar2", 0);
+ }
+
+ ARMARX_DEBUG << "single transform";
+
+ return transforms.front().transform;
+ }
+
+
+ ::armarx::armem::robot_state::Transform
+ TransformHelper::_convertEntityToTransform(const armem::wm::EntityInstance& item)
{
arondto::Transform aronTransform;
aronTransform.fromAron(item.data());
@@ -211,8 +318,9 @@ namespace armarx::armem::common::robot_state::localization
}
Eigen::Affine3f
- interpolateTransform(const std::vector<::armarx::armem::robot_state::Transform>& queue,
- armem::Time timestamp)
+ TransformHelper::_interpolateTransform(
+ const std::vector<::armarx::armem::robot_state::Transform>& queue,
+ armem::Time timestamp)
{
ARMARX_TRACE;
@@ -255,109 +363,33 @@ namespace armarx::armem::common::robot_state::localization
return simox::math::interpolatePose(posePreIt->transform, poseNextIt->transform, static_cast<float>(t));
}
- std::vector<Eigen::Affine3f>
- TransformHelper::obtainTransforms(const armem::wm::CoreSegment& localizationCoreSegment,
- const std::vector<std::string>& tfChain,
- const std::string& agent,
- const armem::Time& timestamp)
- {
- const auto& agentProviderSegment = localizationCoreSegment.getProviderSegment(agent);
-
- ARMARX_DEBUG << "Provider segments"
- << simox::alg::get_keys(localizationCoreSegment.providerSegments());
-
- ARMARX_DEBUG << "Entities: " << simox::alg::get_keys(agentProviderSegment.entities());
-
- try
- {
- std::vector<Eigen::Affine3f> transforms;
- transforms.reserve(tfChain.size());
- std::transform(tfChain.begin(),
- tfChain.end(),
- std::back_inserter(transforms),
- [&](const std::string & entityName)
- {
- return obtainTransform(
- entityName, agentProviderSegment, timestamp);
- });
- return transforms;
- }
- catch (const armem::error::MissingEntry& missingEntryError)
- {
- ARMARX_WARNING << missingEntryError.what();
- }
- catch (const ::armarx::exceptions::local::ExpressionException& ex)
- {
- ARMARX_WARNING << "local exception: " << ex.what();
- }
- catch (...)
- {
- ARMARX_WARNING << "Error: " << GetHandledExceptionString();
- }
-
-
- return {};
+ TransformResult TransformHelper::lookupTransform(
+ const armem::wm::CoreSegment& localizationCoreSegment,
+ const TransformQuery& query)
+ {
+ return _lookupTransform(localizationCoreSegment, query);
}
-
- Eigen::Affine3f
- TransformHelper::obtainTransform(const std::string& entityName,
- const armem::wm::ProviderSegment& agentProviderSegment,
- const armem::Time& timestamp)
+ TransformResult TransformHelper::lookupTransform(
+ const armem::server::wm::CoreSegment& localizationCoreSegment,
+ const TransformQuery& query)
{
+ return _lookupTransform(localizationCoreSegment, query);
+ }
- ARMARX_DEBUG << "getEntity:" + entityName;
- const auto& entity = agentProviderSegment.getEntity(entityName);
-
- ARMARX_DEBUG << "History (size: " << entity.history().size() << ")"
- << simox::alg::get_keys(entity.history());
-
- // if (entity.history.empty())
- // {
- // // TODO(fabian.reister): fixme boom
- // ARMARX_ERROR << "No snapshots received.";
- // return Eigen::Affine3f::Identity();
- // }
-
- std::vector<::armarx::armem::robot_state::Transform> transforms;
- transforms.reserve(entity.history().size());
-
- // const auto entitySnapshots = simox::alg::get_values(entity.history());
-
- const std::vector<wm::EntitySnapshot> entitySnapshots = {entity.getLatestSnapshot()};
-
- std::transform(
- entitySnapshots.begin(),
- entitySnapshots.end(),
- std::back_inserter(transforms),
- [](const auto & entitySnapshot)
- {
- return convertEntityToTransform(entitySnapshot.getInstance(0));
- });
-
- ARMARX_DEBUG << "obtaining transform";
-
- if (transforms.size() > 1)
- {
- // TODO(fabian.reister): remove
- return transforms.front().transform;
-
- ARMARX_DEBUG << "More than one snapshots received: " << transforms.size();
- const auto p = interpolateTransform(transforms, timestamp);
- ARMARX_DEBUG << "Done interpolating transform";
- return p;
- }
-
- // accept this to fail (will raise armem::error::MissingEntry)
- if (transforms.empty())
- {
- ARMARX_DEBUG << "empty transform";
- throw armem::error::MissingEntry("foo", "bar", "foo2", "bar2", 0);
- }
+ TransformChainResult TransformHelper::lookupTransformChain(
+ const armem::wm::CoreSegment& localizationCoreSegment,
+ const TransformQuery& query)
+ {
+ return _lookupTransformChain(localizationCoreSegment, query);
+ }
+ TransformChainResult TransformHelper::lookupTransformChain(
+ const armem::server::wm::CoreSegment& localizationCoreSegment,
+ const TransformQuery& query)
+ {
+ return _lookupTransformChain(localizationCoreSegment, query);
+ }
- ARMARX_DEBUG << "single transform";
- return transforms.front().transform;
- }
} // namespace armarx::armem::common::robot_state::localization
diff --git a/source/RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.h b/source/RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.h
index cafbedcbca60f859f6fe158190a5985350ddad65..9de1fbd994f5a17c00987ce70d31525db7d9d1dd 100644
--- a/source/RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.h
+++ b/source/RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.h
@@ -26,44 +26,102 @@
#include <Eigen/Core>
#include <Eigen/Geometry>
+#include <RobotAPI/libraries/armem/core/forward_declarations.h>
#include <RobotAPI/libraries/armem_robot_state/common/localization/types.h>
-namespace armarx::armem::wm
-{
- class CoreSegment;
- class ProviderSegment;
-} // namespace armarx::armem::wm
namespace armarx::armem::common::robot_state::localization
{
using armarx::armem::common::robot_state::localization::TransformQuery;
using armarx::armem::common::robot_state::localization::TransformResult;
+
+
class TransformHelper
{
public:
- static TransformResult
- lookupTransform(const armem::wm::CoreSegment& localizationCoreSegment,
- const TransformQuery& query);
- static TransformChainResult
- lookupTransformChain(const armem::wm::CoreSegment& localizationCoreSegment,
- const TransformQuery& query);
+ static
+ TransformResult
+ lookupTransform(
+ const armem::wm::CoreSegment& localizationCoreSegment,
+ const TransformQuery& query);
+
+ static
+ TransformResult
+ lookupTransform(
+ const armem::server::wm::CoreSegment& localizationCoreSegment,
+ const TransformQuery& query);
+
+
+ static
+ TransformChainResult
+ lookupTransformChain(
+ const armem::wm::CoreSegment& localizationCoreSegment,
+ const TransformQuery& query);
+
+ static
+ TransformChainResult
+ lookupTransformChain(
+ const armem::server::wm::CoreSegment& localizationCoreSegment,
+ const TransformQuery& query);
+
private:
- static std::vector<std::string>
- buildTransformChain(const armem::wm::CoreSegment& localizationCoreSegment,
- const TransformQuery& query);
-
- static std::vector<Eigen::Affine3f>
- obtainTransforms(const armem::wm::CoreSegment& localizationCoreSegment,
- const std::vector<std::string>& tfChain,
- const std::string& agent,
- const armem::Time& timestamp);
-
- static Eigen::Affine3f
- obtainTransform(const std::string& entityName,
- const armem::wm::ProviderSegment& agentProviderSegment,
- const armem::Time& timestamp);
+
+ template <class ...Args>
+ static
+ TransformResult
+ _lookupTransform(
+ const armem::base::CoreSegmentBase<Args...>& localizationCoreSegment,
+ const TransformQuery& query);
+
+
+ template <class ...Args>
+ static
+ TransformChainResult
+ _lookupTransformChain(
+ const armem::base::CoreSegmentBase<Args...>& localizationCoreSegment,
+ const TransformQuery& query);
+
+
+ template <class ...Args>
+ static
+ std::vector<std::string>
+ _buildTransformChain(
+ const armem::base::CoreSegmentBase<Args...>& localizationCoreSegment,
+ const TransformQuery& query);
+
+
+ template <class ...Args>
+ static
+ std::vector<Eigen::Affine3f>
+ _obtainTransforms(
+ const armem::base::CoreSegmentBase<Args...>& localizationCoreSegment,
+ const std::vector<std::string>& tfChain,
+ const std::string& agent,
+ const armem::Time& timestamp);
+
+
+ template <class ...Args>
+ static
+ Eigen::Affine3f
+ _obtainTransform(
+ const std::string& entityName,
+ const armem::base::ProviderSegmentBase<Args...>& agentProviderSegment,
+ const armem::Time& timestamp);
+
+
+ static
+ Eigen::Affine3f
+ _interpolateTransform(
+ const std::vector<::armarx::armem::robot_state::Transform>& queue,
+ armem::Time timestamp);
+
+ static
+ ::armarx::armem::robot_state::Transform
+ _convertEntityToTransform(
+ const armem::wm::EntityInstance& item);
+
};
-} // namespace armarx::armem::common::robot_state::localization
\ No newline at end of file
+} // namespace armarx::armem::common::robot_state::localization
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 bd1e9c4fc9f8d95f2abbfd86f3eee5081e8f8ab4..e4e9dc4f7b45910a4f0c50b729e8881ad5a69a4e 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
@@ -19,7 +19,6 @@
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/client/query/query_fns.h>
#include <RobotAPI/libraries/armem/core/aron_conversions.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/visitor.h>
#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
#include <RobotAPI/libraries/armem_robot/aron/Robot.aron.generated.h>
@@ -41,8 +40,6 @@ namespace armarx::armem::server::robot_state::description
void Segment::onConnect(const RobotUnitInterfacePrx& robotUnitPrx)
{
- Base::onConnect();
-
robotUnit = robotUnitPrx;
// store the robot description linked to the robot unit in this segment
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 ce82f0afad8872d6e660078ce9e2425ce824ad3b..118123c6b2aadea5b2e246dcde6db6a641a76b6a 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp
@@ -26,7 +26,6 @@
#include <RobotAPI/libraries/armem/core/MemoryID.h>
#include <RobotAPI/libraries/armem/core/Time.h>
#include <RobotAPI/libraries/armem/core/aron_conversions.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/visitor.h>
#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
#include <RobotAPI/libraries/armem_robot/aron/Robot.aron.generated.h>
@@ -48,6 +47,10 @@ namespace armarx::armem::server::robot_state::localization
Segment::~Segment() = default;
+ void Segment::onConnect()
+ {
+ }
+
Segment::RobotFramePoseMap
Segment::getRobotFramePosesLocking(const armem::Time& timestamp) const
@@ -64,14 +67,17 @@ namespace armarx::armem::server::robot_state::localization
using common::robot_state::localization::TransformQuery;
RobotFramePoseMap frames;
-
- const auto knownRobots = simox::alg::get_keys(*segment);
- for (const auto& robotName : knownRobots)
+ for (const auto& [robotName, _] : *segment)
{
- TransformQuery query{.header{.parentFrame = GlobalFrame,
- .frame = "root", // TODO, FIXME
- .agent = robotName,
- .timestamp = timestamp}};
+ TransformQuery query
+ {
+ .header{
+ .parentFrame = GlobalFrame,
+ .frame = "root", // TODO, FIXME
+ .agent = robotName,
+ .timestamp = timestamp
+ }
+ };
const auto result = TransformHelper::lookupTransformChain(*segment, query);
if (not result)
@@ -105,16 +111,17 @@ namespace armarx::armem::server::robot_state::localization
using common::robot_state::localization::TransformQuery;
RobotPoseMap robotGlobalPoses;
-
- const std::vector<std::string> knownRobots = simox::alg::get_keys(*segment);
-
- for (const std::string& robotName : knownRobots)
+ for (const auto& [robotName, _] : *segment)
{
-
- TransformQuery query{.header{.parentFrame = GlobalFrame,
- .frame = "root", // TODO, FIXME
- .agent = robotName,
- .timestamp = timestamp}};
+ TransformQuery query
+ {
+ .header{
+ .parentFrame = GlobalFrame,
+ .frame = "root", // TODO, FIXME
+ .agent = robotName,
+ .timestamp = timestamp
+ }
+ };
const auto result = TransformHelper::lookupTransform(*segment, query);
if (not result)
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.h b/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.h
index 53d11236231f9e6e7017f4de984c5ad4da97e6c2..31fffb4207e7bfe40a0d3f6ed23b554069076a6a 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.h
+++ b/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.h
@@ -41,7 +41,7 @@
namespace armarx::armem
{
- class EntityUpdate;
+ struct EntityUpdate;
} // namespace armarx::armem
namespace armarx::armem::server::robot_state::localization
@@ -61,6 +61,8 @@ namespace armarx::armem::server::robot_state::localization
Segment(server::MemoryToIceAdapter& iceMemory);
virtual ~Segment() override;
+ void onConnect();
+
RobotPoseMap getRobotGlobalPoses(const armem::Time& timestamp) const;
RobotPoseMap getRobotGlobalPosesLocking(const armem::Time& timestamp) const;
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp
index 9f2fadcf5b12906a63de4a08d05ce4b40ea33419..d08ae0866342e033946e93acb3a77d94f7345676 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp
@@ -11,7 +11,6 @@
#include <RobotAPI/libraries/armem_robot_state/types.h>
#include <RobotAPI/libraries/armem/core/aron_conversions.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/visitor.h>
#include <RobotAPI/libraries/armem/core/MemoryID.h>
#include <RobotAPI/libraries/armem/client/Writer.h>
#include <RobotAPI/libraries/armem/client/query/Builder.h>
@@ -40,8 +39,6 @@ namespace armarx::armem::server::robot_state::proprioception
void Segment::onConnect(RobotUnitInterfacePrx robotUnitPrx)
{
- Base::onConnect();
-
this->robotUnit = robotUnitPrx;
std::string providerSegmentName = "Robot";
diff --git a/source/RobotAPI/libraries/armem_vision/client/laser_scans/Reader.cpp b/source/RobotAPI/libraries/armem_vision/client/laser_scans/Reader.cpp
index 9c46b0c4729dfe6ca038c1f31ef81255f56d4968..4bc22306d7d26603d1edba2c8fc8f8aed40b1a8d 100644
--- a/source/RobotAPI/libraries/armem_vision/client/laser_scans/Reader.cpp
+++ b/source/RobotAPI/libraries/armem_vision/client/laser_scans/Reader.cpp
@@ -33,22 +33,20 @@
#include <RobotAPI/libraries/aron/core/navigator/data/complex/NDArray.h>
// RobotAPI Armem
+#include <RobotAPI/libraries/armem/core/error.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
+#include <RobotAPI/libraries/armem/util/util.h>
+
#include <RobotAPI/libraries/armem/client/Query.h>
#include <RobotAPI/libraries/armem/client/Reader.h>
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/client/query/selectors.h>
-#include <RobotAPI/libraries/armem/core/error.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/CoreSegment.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/Entity.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h>
-#include <RobotAPI/libraries/armem/util/util.h>
#include <RobotAPI/libraries/armem_vision/aron/LaserScan.aron.generated.h>
#include <RobotAPI/libraries/armem_vision/aron_conversions.h>
#include <RobotAPI/libraries/armem_vision/types.h>
+
namespace armarx::armem::vision::laser_scans::client
{
@@ -124,11 +122,10 @@ namespace armarx::armem::vision::laser_scans::client
}
std::vector<LaserScanStamped>
- asLaserScans(const std::map<std::string, wm::Entity>& entities)
+ asLaserScans(const wm::ProviderSegment& providerSegment)
{
std::vector<LaserScanStamped> outV;
-
- if (entities.empty())
+ if (providerSegment.empty())
{
ARMARX_WARNING << "No entities!";
}
@@ -153,29 +150,25 @@ namespace armarx::armem::vision::laser_scans::client
};
// loop over all entities and their snapshots
- for (const auto& [s, entity] : entities)
+ providerSegment.forEachEntity([&outV, &convert](const wm::Entity & entity)
{
+ // If we don't need this warning, we could directly iterate over the snapshots.
if (entity.empty())
{
- ARMARX_WARNING << "Empty history for " << s;
+ ARMARX_WARNING << "Empty history for " << entity.id();
}
-
ARMARX_DEBUG << "History size: " << entity.size();
- for (const auto& [ss, entitySnapshot] : entity)
+ entity.forEachInstance([&outV, &convert](const wm::EntityInstance & entityInstance)
{
- for (const auto& entityInstance : entitySnapshot.instances())
+ if (const auto o = tryCast<arondto::LaserScanStamped>(entityInstance))
{
- const auto o =
- tryCast<arondto::LaserScanStamped>(entityInstance);
-
- if (o)
- {
- outV.push_back(convert(*o, entityInstance));
- }
+ outV.push_back(convert(*o, entityInstance));
}
- }
- }
+ return true;
+ });
+ return true;
+ });
return outV;
}
@@ -202,13 +195,16 @@ namespace armarx::armem::vision::laser_scans::client
}
// now create result from memory
- const auto& entities =
- qResult.memory.getCoreSegment(properties.memoryName)
- .getProviderSegment(query.agent)
- .entities();
+ const wm::ProviderSegment& providerSegment =
+ qResult.memory.getCoreSegment(properties.memoryName).getProviderSegment(query.agent);
- const auto laserScans = asLaserScans(entities);
- const auto sensors = simox::alg::get_keys(entities);
+ const auto laserScans = asLaserScans(providerSegment);
+ std::vector<std::string> sensors;
+ providerSegment.forEachEntity([&sensors](const wm::Entity & entity)
+ {
+ sensors.push_back(entity.name());
+ return true;
+ });
return {.laserScans = laserScans,
.sensors = sensors,
diff --git a/source/RobotAPI/libraries/armem_vision/client/laser_scans/Writer.cpp b/source/RobotAPI/libraries/armem_vision/client/laser_scans/Writer.cpp
index 7358e504ffecf3a2a710bd77b1631437e3818a42..861e02c4c9fcabbc40caebba3451b69e81e5016c 100644
--- a/source/RobotAPI/libraries/armem_vision/client/laser_scans/Writer.cpp
+++ b/source/RobotAPI/libraries/armem_vision/client/laser_scans/Writer.cpp
@@ -1,7 +1,7 @@
#include "Writer.h"
#include <RobotAPI/libraries/armem/core/error.h>
-#include "RobotAPI/libraries/armem_vision/aron_conversions.h"
+#include <RobotAPI/libraries/armem_vision/aron_conversions.h>
#include <RobotAPI/libraries/armem_vision/aron/LaserScan.aron.generated.h>
diff --git a/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Reader.cpp b/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Reader.cpp
index ba7edf547d1d45873609d723b92934b18d7f5c88..717a2ec98e5283515a5454bfa31eb7c00636b01c 100644
--- a/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Reader.cpp
+++ b/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Reader.cpp
@@ -19,13 +19,13 @@
#include <SimoxUtility/algorithm/get_map_keys_values.h>
// ArmarXCore
-#include "ArmarXCore/core/exceptions/LocalException.h"
+#include <ArmarXCore/core/exceptions/LocalException.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <ArmarXCore/core/logging/LogSender.h>
#include <ArmarXCore/core/logging/Logging.h>
// RobotAPI Interfaces
-#include "RobotAPI/libraries/aron/converter/eigen/EigenConverter.h"
+#include <RobotAPI/libraries/aron/converter/eigen/EigenConverter.h>
#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
#include <RobotAPI/interface/armem/server/ReadingMemoryInterface.h>
#include <RobotAPI/interface/units/LaserScannerUnit.h>
@@ -40,11 +40,7 @@
#include <RobotAPI/libraries/armem/client/Reader.h>
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/client/query/selectors.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/CoreSegment.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/Entity.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/util/util.h>
#include <RobotAPI/libraries/armem_vision/aron/LaserScan.aron.generated.h>
#include <RobotAPI/libraries/armem_vision/aron_conversions.h>
@@ -68,20 +64,23 @@ namespace armarx::armem::vision::occupancy_grid::client
return qb;
}
- OccupancyGrid asOccupancyGrid(const std::map<std::string, wm::Entity>& entities)
+ OccupancyGrid asOccupancyGrid(const wm::ProviderSegment& providerSegment)
{
- ARMARX_CHECK(not entities.empty()) << "No entities";
- ARMARX_CHECK(entities.size() == 1) << "There should be only one entity!";
+ ARMARX_CHECK(not providerSegment.empty()) << "No entities";
+ ARMARX_CHECK(providerSegment.size() == 1) << "There should be only one entity!";
- const wm::Entity& entity = entities.begin()->second;
- ARMARX_CHECK(not entity.empty()) << "No snapshots";
-
- const auto& entitySnapshot = entity.getLatestSnapshot();
- ARMARX_CHECK(not entitySnapshot.empty()) << "No entity snapshot instances";
+ const wm::EntityInstance* entityInstance = nullptr;
+ providerSegment.forEachEntity([&entityInstance](const wm::Entity & entity)
+ {
+ const auto& entitySnapshot = entity.getLatestSnapshot();
+ ARMARX_CHECK(not entitySnapshot.empty()) << "No entity snapshot instances";
- const auto& entityInstance = entitySnapshot.instances().front();
+ entityInstance = &entitySnapshot.getInstance(0);
+ return false;
+ });
+ ARMARX_CHECK_NOT_NULL(entityInstance);
- const auto aronDto = tryCast<arondto::OccupancyGrid>(entityInstance);
+ const auto aronDto = tryCast<arondto::OccupancyGrid>(*entityInstance);
ARMARX_CHECK(aronDto) << "Failed casting to OccupancyGrid";
OccupancyGrid occupancyGrid;
@@ -89,7 +88,7 @@ namespace armarx::armem::vision::occupancy_grid::client
// direct access to grid data
const auto ndArrayNavigator = aron::datanavigator::NDArrayNavigator::DynamicCast(
- entityInstance.data()->getElement("grid"));
+ entityInstance->data()->getElement("grid"));
ARMARX_CHECK_NOT_NULL(ndArrayNavigator);
occupancyGrid.grid = aron::converter::AronEigenConverter::ConvertToArray<float>(*ndArrayNavigator);
@@ -118,11 +117,10 @@ namespace armarx::armem::vision::occupancy_grid::client
}
// now create result from memory
- const auto& entities = qResult.memory.getCoreSegment(properties().memoryName)
- .getProviderSegment(query.providerName)
- .entities();
+ const wm::ProviderSegment& providerSegment = qResult.memory.getCoreSegment(properties().memoryName)
+ .getProviderSegment(query.providerName);
- if (entities.empty())
+ if (providerSegment.empty())
{
ARMARX_WARNING << "No entities.";
return {.occupancyGrid = std::nullopt,
@@ -132,7 +130,7 @@ namespace armarx::armem::vision::occupancy_grid::client
try
{
- const auto occupancyGrid = asOccupancyGrid(entities);
+ const auto occupancyGrid = asOccupancyGrid(providerSegment);
return Result{.occupancyGrid = occupancyGrid,
.status = Result::Status::Success};
}
diff --git a/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Reader.h b/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Reader.h
index a43c2c7c1151223358d5b1ab608f824fd3cdf66f..eaf9b2fdfa2021db7f8e1215baedc6aba907dec3 100644
--- a/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Reader.h
+++ b/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Reader.h
@@ -23,9 +23,9 @@
#include <mutex>
-#include "RobotAPI/libraries/armem/client/util/SimpleReaderBase.h"
-#include "RobotAPI/libraries/armem/core/Time.h"
-#include "RobotAPI/libraries/armem_vision/types.h"
+#include <RobotAPI/libraries/armem/client/util/SimpleReaderBase.h>
+#include <RobotAPI/libraries/armem/core/Time.h>
+#include <RobotAPI/libraries/armem_vision/types.h>
#include <RobotAPI/libraries/armem/client/query/Builder.h>
namespace armarx::armem::vision::occupancy_grid::client
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 f2930f14f479d9ae68ee222f2643edf327392a43..ce5883afb6eeb72c7ebb9337d0b4980eee7e462e 100644
--- a/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.cpp
+++ b/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.cpp
@@ -1,8 +1,9 @@
#include "Writer.h"
-#include "RobotAPI/libraries/armem_vision/aron_conversions.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
{
Writer::~Writer() = default;
@@ -67,4 +68,4 @@ namespace armarx::armem::vision::occupancy_grid::client
return SimpleWriterBase::Properties{.memoryName = "Vision",
.coreSegmentName = "OccupancyGrid"};
}
-} // namespace armarx::armem::vision::occupancy_grid::client
\ No newline at end of file
+} // namespace armarx::armem::vision::occupancy_grid::client
diff --git a/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.h b/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.h
index bf1268444c333d10bb3c2f9efb68da11fe697cc8..b2a900321224d2c4617cab541c7b1cf77f41d1f1 100644
--- a/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.h
+++ b/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.h
@@ -24,8 +24,8 @@
#include <mutex>
-#include "RobotAPI/libraries/armem/client/util/SimpleWriterBase.h"
-#include "RobotAPI/libraries/armem_vision/types.h"
+#include <RobotAPI/libraries/armem/client/util/SimpleWriterBase.h>
+#include <RobotAPI/libraries/armem_vision/types.h>
namespace armarx::armem::vision::occupancy_grid::client
{
diff --git a/source/RobotAPI/libraries/aron/core/CMakeLists.txt b/source/RobotAPI/libraries/aron/core/CMakeLists.txt
index 62548c29719f3942afee49a45e9a3f24a4232634..c5282fb54aba97b583f15f2df1876c0dde3e4ead 100644
--- a/source/RobotAPI/libraries/aron/core/CMakeLists.txt
+++ b/source/RobotAPI/libraries/aron/core/CMakeLists.txt
@@ -151,6 +151,7 @@ set(LIB_HEADERS
navigator/data/primitive/Bool.h
navigator/data/AllNavigators.h
navigator/data/NavigatorFactory.h
+ navigator/data/forward_declarations.h
navigator/type/Navigator.h
navigator/type/detail/NavigatorBase.h
@@ -181,6 +182,7 @@ set(LIB_HEADERS
navigator/type/primitive/Time.h
navigator/type/AllNavigators.h
navigator/type/NavigatorFactory.h
+ navigator/type/forward_declarations.h
navigator/visitors/DataVisitor.h
navigator/visitors/TypedDataVisitor.h
diff --git a/source/RobotAPI/libraries/aron/core/navigator/data/forward_declarations.h b/source/RobotAPI/libraries/aron/core/navigator/data/forward_declarations.h
new file mode 100644
index 0000000000000000000000000000000000000000..d76939c317aafd2acc4eb797d38d1ba1ff96da26
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/navigator/data/forward_declarations.h
@@ -0,0 +1,22 @@
+#pragma once
+
+#include <memory>
+
+
+namespace armarx::aron::datanavigator
+{
+ class Navigator;
+ using NavigatorPtr = std::shared_ptr<Navigator>;
+
+ using DictNavigatorPtr = std::shared_ptr<class DictNavigator>;
+ using ListNavigatorPtr = std::shared_ptr<class ListNavigator>;
+ using NDArrayNavigatorPtr = std::shared_ptr<class NDArrayNavigator>;
+
+ using IntNavigatorPtr = std::shared_ptr<class IntNavigator>;
+ using LongNavigatorPtr = std::shared_ptr<class LongNavigator>;
+ using FloatNavigatorPtr = std::shared_ptr<class FloatNavigator>;
+ using DoubleNavigatorPtr = std::shared_ptr<class DoubleNavigator>;
+ using StringNavigatorPtr = std::shared_ptr<class StringNavigator>;
+ using BoolNavigatorPtr = std::shared_ptr<class BoolNavigator>;
+
+}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/AllNavigators.h b/source/RobotAPI/libraries/aron/core/navigator/type/AllNavigators.h
index 51ea5a762037da7b7e4a3808c42d36a468d9c6b1..82702de998bb7e6b0972afd9e96ae027b433eae3 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/AllNavigators.h
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/AllNavigators.h
@@ -12,7 +12,6 @@
#include "ndarray/OpenCVMat.h"
#include "ndarray/Orientation.h"
#include "ndarray/PCLPointCloud.h"
-#include "ndarray/PCLPointCloud.h"
#include "ndarray/Pose.h"
#include "ndarray/Position.h"
#include "enum/IntEnum.h"
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/forward_declarations.h b/source/RobotAPI/libraries/aron/core/navigator/type/forward_declarations.h
new file mode 100644
index 0000000000000000000000000000000000000000..af5d62e7c0decbc296cea942fa1983b0e0cb5924
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/forward_declarations.h
@@ -0,0 +1,34 @@
+#pragma once
+
+#include <memory>
+
+
+namespace armarx::aron::typenavigator
+{
+ using NavigatorPtr = std::shared_ptr<class Navigator>;
+
+ using DictNavigatorPtr = std::shared_ptr<class DictNavigator>;
+ using ListNavigatorPtr = std::shared_ptr<class ListNavigator>;
+ using ObjectNavigatorPtr = std::shared_ptr<class ObjectNavigator>;
+ using PoseNavigatorPtr = std::shared_ptr<class PoseNavigator>;
+ using TupleNavigatorPtr = std::shared_ptr<class TupleNavigator>;
+ using NDArrayNavigatorPtr = std::shared_ptr<class NDArrayNavigator>;
+ using EigenMatrixNavigatorPtr = std::shared_ptr<class EigenMatrixNavigator>;
+ using EigenQuaternionNavigatorPtr = std::shared_ptr<class EigenQuaternionNavigator>;
+ using IVTCByteImageNavigatorPtr = std::shared_ptr<class IVTCByteImageNavigator>;
+ using OpenCVMatNavigatorPtr = std::shared_ptr<class OpenCVMatNavigator>;
+ using OrientationNavigatorPtr = std::shared_ptr<class OrientationNavigator>;
+ using PCLPointCloudNavigatorPtr = std::shared_ptr<class PCLPointCloudNavigator>;
+ using PositionNavigatorPtr = std::shared_ptr<class PositionNavigator>;
+ using IntEnumNavigatorPtr = std::shared_ptr<class IntEnumNavigator>;
+
+ using IntNavigatorPtr = std::shared_ptr<class IntNavigator>;
+ using LongNavigatorPtr = std::shared_ptr<class LongNavigator>;
+ using FloatNavigatorPtr = std::shared_ptr<class FloatNavigator>;
+ using DoubleNavigatorPtr = std::shared_ptr<class DoubleNavigator>;
+ using StringNavigatorPtr = std::shared_ptr<class StringNavigator>;
+ using BoolNavigatorPtr = std::shared_ptr<class BoolNavigator>;
+ using TimeNavigatorPtr = std::shared_ptr<class TimeNavigator>;
+
+}
+