diff --git a/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h b/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h
index b6c47abb553cfa2c884fde1f2c13f3245432c387..ab535e4cc14d07f98898565e62d26b8d93396a1a 100644
--- a/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h
@@ -235,19 +235,20 @@ namespace armarx::armem::base
{
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())
+ if (auto it = this->_container.find(provSeg.name()); it != this->_container.end())
{
// segment already exists
- it->second.append(s);
+ it->second.append(provSeg);
}
else
{
- auto wms = this->_container.emplace(k, this->id().withProviderSegmentName(k));
- wms.first->second.append(s);
+ auto wms = this->_container.emplace(provSeg.name(), this->id().withProviderSegmentName(provSeg.name()));
+ wms.first->second.append(provSeg);
}
- }
+ return true;
+ });
}
/**
diff --git a/source/RobotAPI/libraries/armem/core/base/EntityBase.h b/source/RobotAPI/libraries/armem/core/base/EntityBase.h
index 6db264e1f6e9be64209307714b2b48ecfd3ac2f7..45499a57a46799ff7f17524d8b16241bc8623533 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntityBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/EntityBase.h
@@ -397,20 +397,20 @@ namespace armarx::armem::base
{
ARMARX_INFO << "Entity: Merge name '" << m.name() << "' into '" << name() << "'";
- for (const auto& [k, s] : m.container())
+ m.forEachEntitySnapshot([this](const EntitySnapshotT & snapshot)
{
- if (const auto& it = this->_container.find(k); it != this->_container.end())
+ if (auto it = this->_container.find(snapshot.time()); it != this->_container.end())
{
// segment already exists
// We assume that a snapshot does not change, so ignore
}
else
{
- EntitySnapshotT snapshot { s };
- 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 snapshot { snapshot };
+ snapshot.id() = this->id().withTimestamp(snapshot.time()); // update id (e.g. memory name) if necessary
+ this->_container.insert(std::make_pair(snapshot.time(), std::move(snapshot)));
}
- }
+ });
}
/**
diff --git a/source/RobotAPI/libraries/armem/core/base/MemoryBase.h b/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
index 72e5cf605c4b75c1b849b1463e3420573da11c3f..b4469c17880b91bf4251c07355e7e432429dbf6e 100644
--- a/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
@@ -327,9 +327,9 @@ namespace armarx::armem::base
{
ARMARX_INFO << "Memory: Merge name '" << m.name() << "' into '" << name() << "'";
- for (const auto& [k, s] : m.container())
+ for (const auto& [k, s] : m)
{
- if (const auto& it = this->_container.find(k); it != this->_container.end())
+ if (auto it = this->_container.find(k); it != this->_container.end())
{
// segment already exists
it->second.append(s);
@@ -380,10 +380,10 @@ namespace armarx::armem::base
for (const auto& [ckey, cseg] : this->container())
{
ss << " |- Found core seg: " << ckey << "\n";
- for (const auto& [pkey, pseg] : cseg.container())
+ for (const auto& [pkey, pseg] : cseg)
{
ss << " | |- Found prov seg: " << pkey << "\n";
- for (const auto& [ekey, eseg] : pseg.container())
+ for (const auto& [ekey, eseg] : pseg)
{
ss << " | | |- Found entity: " << ekey << "\n";
}
diff --git a/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h b/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h
index cd7aaa359b789e93b6c2fbd7bf9f714f5d6ae427..cd9e389cb5d13be5c29f57378e2a24701983fd6b 100644
--- a/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h
@@ -207,9 +207,9 @@ namespace armarx::armem::base
{
ARMARX_INFO << "ProviderSegment: Merge name '" << m.name() << "' into '" << name() << "'";
- for (const auto& [k, s] : m.container())
+ for (const auto& [k, s] : m)
{
- if (const auto& it = this->_container.find(k); it != this->_container.end())
+ if (auto it = this->_container.find(k); it != this->_container.end())
{
// segment already exists
it->second.append(s);
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.cpp
index b166468d81929da12c8204a6e2df9ab90b994528..b3fb28a54ba7bc034019e65303cab3534ea199a0 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.cpp
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.cpp
@@ -80,7 +80,7 @@ namespace armarx::armem::d_ltm
for (const auto& [k, s] : m)
{
- if (const auto& it = _container.find(k); it != _container.end())
+ if (auto it = _container.find(k); it != _container.end())
{
it->second.append(s);
}
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/Entity.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/Entity.cpp
index 5d784a097de4ef68ec2df0bdc1adce94fa737809..daa61bc4a43376b93be40cd7d203c63b80e7f1ef 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/Entity.cpp
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/Entity.cpp
@@ -63,9 +63,9 @@ namespace armarx::armem::d_ltm
void Entity::append(const wm::Entity& m)
{
std::filesystem::create_directories(_fullPath());
- for (const auto& [k, s] : m.container())
+ for (const auto& [k, s] : m)
{
- if (const auto& it = _container.find(k); it != _container.end())
+ if (auto it = _container.find(k); it != _container.end())
{
// timestamp already exists
// We assume that a snapshot does not change, so ignore
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.cpp
index ab5b56d2274f78c350818693c269af18f0a4a979..b6f0ff1e0329b5d70ff5a17ac64b155b7de9c113 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.forEachEntityInstance([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/Memory.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/Memory.cpp
index 0fb6fba92b2ebc116787bffba2d7ed5bc743227b..97871505a80cf4d91bbe88f0eea0c3da27c5c8d5 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())
+ for (const auto& [k, s] : m)
{
- if (const auto& it = _container.find(k); it != _container.end())
+ if (auto it = _container.find(k); it != _container.end())
{
it->second.append(s);
}
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.cpp
index 620e819f6b1fc05d4aeadc285edb087f5ea0e119..577417542795ec2edfdbccdf9f5e52d98e0cf976 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())
+ for (const auto& [k, s] : m)
{
- if (const auto& it = _container.find(k); it != _container.end())
+ if (auto it = _container.find(k); it != _container.end())
{
it->second.append(s);
}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.cpp
index d47dc46cb63c5266edc8b9e8457c1fb4b75a4527..6adea4d681cb681d91017f6ac923f2ad215f1e47 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.cpp
@@ -41,7 +41,7 @@ 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 +62,23 @@ 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())
+ auto it = _container.find(provSeg.name());
+ if (it == _container.end())
{
- it->second.append(s);
- }
- else
- {
- 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/Entity.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.cpp
index bccb79c9d1d162a6c67a4f80c57b58b04425863e..99a8808c92787b5f976696a219fcc18c50341b34 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.cpp
@@ -36,7 +36,7 @@ namespace armarx::armem::ltm
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?");
}
@@ -58,9 +58,9 @@ namespace armarx::armem::ltm
mongocxx::database db = client[dbsettings.database];
mongocxx::collection coll = db[id().str()];
- for (const auto& [k, s] : m.container())
+ for (const auto& [k, s] : m)
{
- if (const auto& it = _container.find(k); it != _container.end())
+ if (auto it = _container.find(k); it != _container.end())
{
// timestamp already exists
// We assume that a snapshot does not change, so ignore
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.cpp
index aae8a6d3258c94a27e9f931838a44c8d1b6426aa..f3dd8a59507d361eb22309c665e07c089255fa3c 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.cpp
@@ -85,7 +85,7 @@ namespace armarx::armem::ltm
auto array_builder = bsoncxx::builder::basic::array{};
int i = 0;
- for (const auto& s : m.container())
+ for (const auto& s : m)
{
auto wms = _container.emplace_back(id().withInstanceIndex(i++));
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.cpp
index 2f424f9fbb5c54390f01684eb0632357246c1633..9b81f00a8679735d3ded28a1f2799027331a544e 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
{
@@ -37,6 +39,7 @@ namespace armarx::armem::ltm
Memory& Memory::operator=(const Memory& other)
{
Base::operator=(other);
+
dbsettings = other.dbsettings;
alwaysTransferSettings = other.alwaysTransferSettings;
periodicTransferSettings = other.periodicTransferSettings;
@@ -161,7 +164,7 @@ 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?");
}
@@ -199,9 +202,9 @@ namespace armarx::armem::ltm
mongocxx::database db = client[dbsettings.database];
mongocxx::collection coll = db[id().str()];
- for (const auto& [k, s] : m.container())
+ for (const auto& [k, s] : m)
{
- if (const auto& it = _container.find(k); it != _container.end())
+ if (auto it = _container.find(k); it != _container.end())
{
// TODO check if foreign key exists
it->second.append(s);
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.h b/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.h
index fa68ebe47f5b219f0d7b5f2588bf0b6039766224..73a9f0fc3598d1e208c44a46c75028781beb9723 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.h
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.h
@@ -10,8 +10,8 @@
#include "../workingmemory/Memory.h"
// Properties
-#include <ArmarXCore/core/application/properties/PluginAll.h>
-#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
+#include <ArmarXCore/core/application/properties/forward_declarations.h>
+
namespace armarx::armem::ltm
{
@@ -25,9 +25,6 @@ namespace armarx::armem::ltm
public:
- using Base::MemoryBase;
- using Base::operator=;
-
struct TransferSettings
{
bool enabled = false;
@@ -56,6 +53,10 @@ namespace armarx::armem::ltm
};
+ public:
+
+ using Base::MemoryBase;
+
Memory(const Memory& other);
Memory(Memory&& other);
Memory& operator=(const Memory& other);
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.cpp
index 5fcf4a1351e34f257e773c2ac32e9d4eb64c5401..878adc8d76c0685753a4409b6ac0229e22b303a0 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.cpp
@@ -39,7 +39,7 @@ 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 +60,9 @@ namespace armarx::armem::ltm
mongocxx::database db = client[dbsettings.database];
mongocxx::collection coll = db[id().str()];
- for (const auto& [k, s] : m.container())
+ for (const auto& [k, s] : m)
{
- if (const auto& it = _container.find(k); it != _container.end())
+ if (auto it = _container.find(k); it != _container.end())
{
it->second.append(s);
}
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/workingmemory/ice_conversions.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/ice_conversions.cpp
index bfc049995a6553e53a78be00294cb9c162e80a0d..71cdd52ea8bfdae9f08f02e595a9940bdf8bb514 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/ice_conversions.cpp
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/ice_conversions.cpp
@@ -1,5 +1,6 @@
#include "ice_conversions.h"
+
namespace armarx::armem
{
void toIce(armarx::armem::data::EntityInstanceMetadata& ice, const armarx::armem::wm::EntityInstanceMetadata& metadata)
@@ -43,29 +44,46 @@ namespace armarx::armem
{
detail::toIceItem(ice, snapshot);
- toIce(ice.instances, snapshot.instances());
+ ice.instances.clear();
+ snapshot.forEachEntityInstance([&ice](const wm::EntityInstance & instance)
+ {
+ toIce(ice.instances.emplace_back(), instance);
+ return true;
+ });
}
void fromIce(const data::EntitySnapshot& ice, wm::EntitySnapshot& snapshot)
{
detail::fromIceItem(ice, snapshot);
- fromIce(ice.instances, snapshot.instances());
+ snapshot.clear();
+ for (const data::EntityInstancePtr& instance : ice.instances)
+ {
+ snapshot.addInstance(fromIce<wm::EntityInstance>(instance));
+ }
}
void toIce(data::Entity& ice, const wm::Entity& entity)
{
detail::toIceItem(ice, entity);
- toIce(ice.history, entity.history());
+ ice.history.clear();
+ entity.forEachEntitySnapshot([&ice](const wm::EntitySnapshot & snapshot)
+ {
+ toIce(ice.history[toIce<long>(snapshot.time())], snapshot);
+ return true;
+ });
}
void fromIce(const data::Entity& ice, wm::Entity& entity)
{
detail::fromIceItem(ice, entity);
- fromIce(ice.history, entity.history());
+ entity.clear();
+ for (const auto& [key, snapshot] : ice.history)
+ {
+ entity.addSnapshot(fromIce<wm::EntitySnapshot>(snapshot));
+ }
}
-
void toIce(data::ProviderSegment& ice, const wm::ProviderSegment& providerSegment)
{
detail::toIceItem(ice, providerSegment);
@@ -75,7 +93,14 @@ namespace armarx::armem
ice.aronType = providerSegment.aronType()->toAronPtr();
}
ARMARX_CHECK(!providerSegment.aronType() || ice.aronType);
- toIce(ice.entities, providerSegment.entities());
+
+ // toIce(ice.entities, providerSegment.entities());
+ ice.entities.clear();
+ providerSegment.forEachEntity([&ice](const wm::Entity & entity)
+ {
+ toIce(ice.entities[entity.name()], entity);
+ return true;
+ });
}
void fromIce(const data::ProviderSegment& ice, wm::ProviderSegment& providerSegment)
{
@@ -86,7 +111,13 @@ namespace armarx::armem
providerSegment.aronType() = aron::typenavigator::ObjectNavigator::DynamicCastAndCheck(aron::typenavigator::Navigator::FromAronType(ice.aronType));
}
ARMARX_CHECK(!providerSegment.aronType() || ice.aronType);
- fromIce(ice.entities, providerSegment.entities());
+
+ // fromIce(ice.entities, providerSegment.entities());
+ providerSegment.clear();
+ for (const auto& [key, entity] : ice.entities)
+ {
+ providerSegment.addEntity(fromIce<wm::Entity>(entity));
+ }
}
void toIce(data::CoreSegment& ice, const wm::CoreSegment& coreSegment)
@@ -98,7 +129,14 @@ namespace armarx::armem
ice.aronType = coreSegment.aronType()->toAronPtr();
}
ARMARX_CHECK(!coreSegment.aronType() || ice.aronType);
- toIce(ice.providerSegments, coreSegment.providerSegments());
+
+ // toIce(ice.providerSegments, coreSegment.providerSegments());
+ ice.providerSegments.clear();
+ coreSegment.forEachProviderSegment([&ice](const wm::ProviderSegment & providerSegment)
+ {
+ toIce(ice.providerSegments[providerSegment.name()], providerSegment);
+ return true;
+ });
}
void fromIce(const data::CoreSegment& ice, wm::CoreSegment& coreSegment)
{
@@ -109,20 +147,37 @@ namespace armarx::armem
coreSegment.aronType() = aron::typenavigator::ObjectNavigator::DynamicCastAndCheck(aron::typenavigator::Navigator::FromAronType(ice.aronType));
}
ARMARX_CHECK(!coreSegment.aronType() || ice.aronType);
- fromIce(ice.providerSegments, coreSegment.providerSegments());
+
+ // fromIce(ice.providerSegments, coreSegment.providerSegments());
+ coreSegment.clear();
+ for (const auto& [key, providerSegment] : ice.providerSegments)
+ {
+ coreSegment.addProviderSegment(fromIce<wm::ProviderSegment>(providerSegment));
+ }
}
void toIce(data::Memory& ice, const wm::Memory& memory)
{
detail::toIceItem(ice, memory);
- toIce(ice.coreSegments, memory.coreSegments());
+ // toIce(ice.coreSegments, memory.coreSegments());
+ ice.coreSegments.clear();
+ memory.forEachCoreSegment([&ice](const wm::CoreSegment & coreSegment)
+ {
+ toIce(ice.coreSegments[coreSegment.name()], coreSegment);
+ return true;
+ });
}
void fromIce(const data::Memory& ice, wm::Memory& memory)
{
detail::fromIceItem(ice, memory);
- fromIce(ice.coreSegments, memory.coreSegments());
+ // fromIce(ice.coreSegments, memory.coreSegments());
+ memory.clear();
+ for (const auto& [key, coreSegment] : ice.coreSegments)
+ {
+ memory.addCoreSegment(fromIce<wm::CoreSegment>(coreSegment));
+ }
}
}
diff --git a/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp
index c0ff3cf64be957add85e5f4902da46a34e94e4fb..d30c49232cf84ec9d192d23c4fcaa041df8f2e57 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp
@@ -162,6 +162,11 @@ namespace ArMemMemoryTest
{
return "";
}
+
+ void fill()
+ {
+ _container = std::vector<int> { -1, 2, -3 };
+ }
};
struct MemoryContainerCtorOpTestFixture
{
@@ -171,7 +176,7 @@ namespace ArMemMemoryTest
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 +249,6 @@ 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
@@ -459,21 +453,25 @@ 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 +490,12 @@ struct CopyMoveCtorsOpsTest : public CopyMoveCtorsOpsTestBase
void reset() override
{
in = T {id};
- add_element(in.container());
+ {
+ armem::EntityUpdate update;
+ update.entityID = armem::MemoryID("A", "B", "C", "D", armem::Time::seconds(1), 0);
+ update.timeCreated = update.entityID.timestamp;
+ in.update(update);
+ }
BOOST_CHECK_EQUAL(in.id(), id);
BOOST_CHECK_EQUAL(in.size(), 1);
@@ -652,17 +655,17 @@ 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.size(), 1);
BOOST_CHECK_EQUAL(entity.history().count(update.timeCreated), 1);
armem::wm::EntitySnapshot& entitySnapshot = entity.history().at(update.timeCreated);
- BOOST_CHECK_EQUAL(entitySnapshot.instances().size(), update.instancesData.size());
+ BOOST_CHECK_EQUAL(entitySnapshot.size(), update.instancesData.size());
// Another update (on memory).
@@ -670,16 +673,16 @@ 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.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.history().at(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);
}
@@ -699,11 +702,11 @@ 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.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);
@@ -711,7 +714,7 @@ BOOST_AUTO_TEST_CASE(test_history_size_in_entity)
update.timeCreated = armem::Time::milliSeconds(4000);
entity.update(update);
- BOOST_CHECK_EQUAL(entity.history().size(), 2);
+ BOOST_CHECK_EQUAL(entity.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);
@@ -721,7 +724,7 @@ BOOST_AUTO_TEST_CASE(test_history_size_in_entity)
update.timeCreated = armem::Time::milliSeconds(5000);
entity.update(update);
- BOOST_CHECK_EQUAL(entity.history().size(), 3);
+ BOOST_CHECK_EQUAL(entity.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);
@@ -753,22 +756,22 @@ 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 +787,7 @@ 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);
@@ -795,6 +798,6 @@ 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);
}
}
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..93bec90cad9283c055f8ebeaa0da98565b5cb3fd 100644
--- a/source/RobotAPI/libraries/armem_motions/server/MotionDatabase/MDBMotions/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_motions/server/MotionDatabase/MDBMotions/Segment.cpp
@@ -8,7 +8,14 @@
// ArmarX
#include "MotionConverter.h"
+
#include <RobotAPI/libraries/PriorKnowledge/motions/MotionFinder.h>
+#include <RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h>
+#include <RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.h>
+
+#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
+#include <ArmarXCore/core/application/properties/ProxyPropertyDefinition.h>
+
namespace armarx::armem::server::motions::mdb
{