Update usage of forEach in reader

source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp

@@ -242,32 +242,19 @@ namespace armarx::armem::articulated_object
                 .getCoreSegment(properties.coreInstanceSegmentName);
         // clang-format on
 
-        for (const auto& [_, providerSegment] : coreSegment.providerSegments())
+        std::optional<wm::EntityInstance> instance;
+        coreSegment.forEachInstance([&instance](const wm::EntityInstance & i)
         {
-
-            const auto entities = simox::alg::get_values(providerSegment.entities());
-
-            if (entities.empty())
-            {
-                ARMARX_WARNING << "No entity found";
-                continue;
-            }
-
-            const auto entitySnapshots = simox::alg::get_values(entities.front().history());
-
-            if (entitySnapshots.empty())
-            {
-                ARMARX_WARNING << "No entity snapshots found";
-                continue;
-            }
-
-            // TODO(fabian.reister): check if 0 available
-            const armem::wm::EntityInstance& instance = entitySnapshots.front().getInstance(0);
-
-            return robot::convertRobotState(instance);
+            instance = i;
+        });
+        if (instance.has_value())
+        {
+            return robot::convertRobotState(instance.value());
+        }
+        else
+        {
+            return std::nullopt;
         }
-
-        return std::nullopt;
     }
 
 
@@ -275,67 +262,43 @@ namespace armarx::armem::articulated_object
     Reader::getRobotDescription(const armarx::armem::wm::Memory& memory) const
     {
         // clang-format off
-        const armem::wm::CoreSegment& coreSegment = memory
-                .getCoreSegment(properties.coreClassSegmentName);
+        const armem::wm::CoreSegment& coreSegment = memory.getCoreSegment(properties.coreClassSegmentName);
         // clang-format on
 
-        for (const auto& [_, providerSegment] : coreSegment.providerSegments())
+        std::optional<wm::EntityInstance> instance;
+        coreSegment.forEachInstance([&instance](const wm::EntityInstance & i)
         {
-            const auto entities = simox::alg::get_values(providerSegment.entities());
-
-            if (entities.empty())
-            {
-                ARMARX_WARNING << "No entity found";
-                continue;
-            }
-
-            const auto entitySnapshots = simox::alg::get_values(entities.front().history());
-
-            if (entitySnapshots.empty())
-            {
-                ARMARX_WARNING << "No entity snapshots found";
-                continue;
-            }
-
-            if (entitySnapshots.front().hasInstance(0))
-            {
-                const armem::wm::EntityInstance& instance = entitySnapshots.front().getInstance(0);
-                return convertRobotDescription(instance);
-            }
+            instance = i;
+        });
+        if (instance.has_value())
+        {
+            return convertRobotDescription(instance.value());
+        }
+        else
+        {
+            return std::nullopt;
         }
-
-        return std::nullopt;
     }
 
+
     std::vector<robot::RobotDescription>
     Reader::getRobotDescriptions(const armarx::armem::wm::Memory& memory) const
     {
-        std::vector<robot::RobotDescription> descriptions;
-
         const armem::wm::CoreSegment& coreSegment =
             memory.getCoreSegment(properties.coreClassSegmentName);
 
-        for (const auto& [providerName, providerSegment] : coreSegment.providerSegments())
+        std::vector<robot::RobotDescription> descriptions;
+        coreSegment.forEachEntity([&descriptions](const wm::Entity & entity)
         {
-            for (const auto& [name, entity] : providerSegment.entities())
+            if (not entity.empty())
             {
-                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);
-
-                const auto robotDescription = convertRobotDescription(instance);
-
+                const auto robotDescription = convertRobotDescription(entity.getFirstSnapshot().getInstance(0));
                 if (robotDescription)
                 {
                     descriptions.push_back(*robotDescription);
                 }
             }
-        }
+        });
 
         return descriptions;
     }