diff --git a/source/RobotAPI/libraries/armem_objects/client/attachment/Reader.cpp b/source/RobotAPI/libraries/armem_objects/client/attachment/Reader.cpp
index f723f30b2eb2d704dcfae73f47e9351cf659b7ad..e5e91c3093e84237c832a85c84b79e8ebe183cab 100644
--- a/source/RobotAPI/libraries/armem_objects/client/attachment/Reader.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/attachment/Reader.cpp
@@ -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/instance/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
index 09a412f4bfa40a1a6288e86dfe65fa8b50953061..15a5776196fb9589d26ee27a1950152bf7c8e422 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
@@ -786,16 +786,23 @@ namespace armarx::armem::server::obj::instance
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)
{
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..61eeb6fffed87ea4ed83c6dccfc00812df81b7ef 100644
--- a/source/RobotAPI/libraries/armem_vision/client/laser_scans/Reader.cpp
+++ b/source/RobotAPI/libraries/armem_vision/client/laser_scans/Reader.cpp
@@ -124,11 +124,10 @@ 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 +152,25 @@ 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 +197,16 @@ 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,