diff --git a/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.cpp b/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.cpp
index 4ebf12662861e3b0a2b400630d37dd9ecf6ebf5d..3ba12d84756bf70cdd98449910ea5dd42b0b3473 100644
--- a/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.cpp
+++ b/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.cpp
@@ -106,11 +106,8 @@ namespace armarx
sleep(2);
ARMARX_IMPORTANT << "Running now.";
- armem::client::Reader reader(memory);
- armem::client::Writer writer(memory);
-
- armem::MemoryID snapshotID = commitSingleSnapshot(writer, entityID);
- commitMultipleSnapshots(writer, entityID, 3);
+ armem::MemoryID snapshotID = commitSingleSnapshot(entityID);
+ commitMultipleSnapshots(entityID, 3);
if (true)
{
@@ -118,18 +115,18 @@ namespace armarx
}
if (true)
{
- querySnapshot(reader, snapshotID);
+ querySnapshot(snapshotID);
}
if (true)
{
- commitPrimitives(writer);
- queryPrimitives(reader);
+ commitPrimitives();
+ queryPrimitives();
}
CycleUtil c(500);
while (!task->isStopped())
{
- commitSingleSnapshot(writer, entityID);
+ commitSingleSnapshot(entityID);
c.waitForCycleDuration();
}
}
@@ -203,7 +200,7 @@ namespace armarx
}
}
- void ArMemExampleClient::querySnapshot(armem::client::Reader& reader, const armem::MemoryID& snapshotID)
+ void ArMemExampleClient::querySnapshot(const armem::MemoryID& snapshotID)
{
ARMARX_IMPORTANT
<< "Querying exact snapshot of entity: (via query builder)"
@@ -217,7 +214,7 @@ namespace armarx
.entities().withID(snapshotID)
.snapshots().withID(snapshotID);
- armem::client::QueryResult qResult = reader.query(qb.buildQueryInput());
+ armem::client::QueryResult qResult = memoryReader.query(qb.buildQueryInput());
ARMARX_INFO << "Result: "
<< "\n- success: \t" << qResult.success
<< "\n- error message: \t" << qResult.errorMessage
@@ -287,7 +284,7 @@ namespace armarx
return armem::MemoryID::fromString(result.segmentID);
}
- armem::MemoryID ArMemExampleClient::commitSingleSnapshot(armem::client::Writer& writer, const armem::MemoryID& entityID)
+ armem::MemoryID ArMemExampleClient::commitSingleSnapshot(const armem::MemoryID& entityID)
{
armem::Commit commit;
armem::EntityUpdate& update = commit.updates.emplace_back();
@@ -304,7 +301,7 @@ namespace armarx
<< "Committing:"
<< "\n- entityID: \t'" << update.entityID.str() << "'"
;
- armem::CommitResult commitResult = writer.commit(commit);
+ armem::CommitResult commitResult = memoryWriter.commit(commit);
ARMARX_CHECK_EQUAL(commitResult.results.size(), 1);
armem::EntityUpdateResult& result = commitResult.results.at(0);
@@ -313,7 +310,7 @@ namespace armarx
return result.snapshotID;
}
- void ArMemExampleClient::commitMultipleSnapshots(armem::client::Writer& writer, const armem::MemoryID& entityID, int num)
+ void ArMemExampleClient::commitMultipleSnapshots(const armem::MemoryID& entityID, int num)
{
armem::Commit commit;
for (int i = 0; i < num; ++i)
@@ -328,16 +325,16 @@ namespace armarx
}
ARMARX_INFO << "Commiting " << commit.updates.size() << " more updates.";
- armem::CommitResult commitResult = writer.commit(commit);
+ armem::CommitResult commitResult = memoryWriter.commit(commit);
ARMARX_CHECK_EQUAL(commitResult.results.size(), commit.updates.size());
}
- void ArMemExampleClient::commitPrimitives(armem::client::Writer& writer)
+ void ArMemExampleClient::commitPrimitives()
{
ARMARX_IMPORTANT << "Adding segment " << "Primitive" << "/" << getName();
- auto addSegmentResult = writer.addSegment("Primitive", getName());
+ auto addSegmentResult = memoryWriter.addSegment("Primitive", getName());
if (!addSegmentResult.success)
{
ARMARX_ERROR << addSegmentResult.errorMessage;
@@ -373,14 +370,14 @@ namespace armarx
update.instancesData = { primitive.toAron() };
}
- armem::CommitResult commitResult = writer.commit(commit);
+ armem::CommitResult commitResult = memoryWriter.commit(commit);
if (!commitResult.allSuccess())
{
ARMARX_WARNING << commitResult.allErrorMessages();
}
}
- void ArMemExampleClient::queryPrimitives(armem::client::Reader& reader)
+ void ArMemExampleClient::queryPrimitives()
{
// Query all entities from provider.
armem::client::QueryBuilder qb;
@@ -390,7 +387,7 @@ namespace armarx
.entities().all()
.snapshots().all();
- armem::client::QueryResult result = reader.query(qb.buildQueryInput());
+ armem::client::QueryResult result = memoryReader.query(qb.buildQueryInput());
if (result)
{
tab.queryResult = std::move(result.memory);
diff --git a/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.h b/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.h
index 789dcaf50d73eb0def6f53b01bc5590d4b816876..1ff6d97d36d552dfeb77bb17a0870b4e2d135929 100644
--- a/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.h
+++ b/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.h
@@ -112,14 +112,14 @@ namespace armarx
void waitForMemory();
armem::MemoryID addProviderSegment();
- armem::MemoryID commitSingleSnapshot(armem::client::Writer& writer, const armem::MemoryID& entityID);
- void commitMultipleSnapshots(armem::client::Writer& writer, const armem::MemoryID& entityID, int num = 3);
+ armem::MemoryID commitSingleSnapshot(const armem::MemoryID& entityID);
+ void commitMultipleSnapshots(const armem::MemoryID& entityID, int num = 3);
void queryLatestRawIce(const armem::MemoryID& entityID);
- void querySnapshot(armem::client::Reader& reader, const armem::MemoryID& snapshotID);
+ void querySnapshot(const armem::MemoryID& snapshotID);
- void commitPrimitives(armem::client::Writer& writer);
- void queryPrimitives(armem::client::Reader& reader);
+ void commitPrimitives();
+ void queryPrimitives();
private:
diff --git a/source/RobotAPI/interface/CMakeLists.txt b/source/RobotAPI/interface/CMakeLists.txt
index 09a7502102c009e07733934a998385dc5703a9db..47dce8075cc3bcf7e80db2273f2a663268e91b3e 100644
--- a/source/RobotAPI/interface/CMakeLists.txt
+++ b/source/RobotAPI/interface/CMakeLists.txt
@@ -103,8 +103,8 @@ set(SLICE_FILES
aron/Aron.ice
armem.ice
- armem/ReadingInterface.ice
- armem/WritingInterface.ice
+ armem/ReadingMemoryInterface.ice
+ armem/WritingMemoryInterface.ice
armem/MemoryInterface.ice
armem/MemoryListenerInterface.ice
armem/MemoryNameSystemInterface.ice
diff --git a/source/RobotAPI/interface/armem.ice b/source/RobotAPI/interface/armem.ice
index a01037e52a60b33cf9422b5c69b61eeb858a4e44..c86d4d5fb6588a716a5b1f4cfe0cdbab29066bb8 100644
--- a/source/RobotAPI/interface/armem.ice
+++ b/source/RobotAPI/interface/armem.ice
@@ -1,7 +1,7 @@
#pragma once
-#include <RobotAPI/interface/armem/ReadingInterface.ice>
-#include <RobotAPI/interface/armem/WritingInterface.ice>
+#include <RobotAPI/interface/armem/ReadingMemoryInterface.ice>
+#include <RobotAPI/interface/armem/WritingMemoryInterface.ice>
#include <RobotAPI/interface/armem/MemoryInterface.ice>
#include <RobotAPI/interface/armem/MemoryListenerInterface.ice>
diff --git a/source/RobotAPI/interface/armem/MemoryInterface.ice b/source/RobotAPI/interface/armem/MemoryInterface.ice
index 90be8cb274e8fa2f136c1fb63b316e2ca6700c1d..b44718d2285757e67c4edf59d8b21f41b7b97d7b 100644
--- a/source/RobotAPI/interface/armem/MemoryInterface.ice
+++ b/source/RobotAPI/interface/armem/MemoryInterface.ice
@@ -1,7 +1,7 @@
#pragma once
-#include <RobotAPI/interface/armem/ReadingInterface.ice>
-#include <RobotAPI/interface/armem/WritingInterface.ice>
+#include <RobotAPI/interface/armem/ReadingMemoryInterface.ice>
+#include <RobotAPI/interface/armem/WritingMemoryInterface.ice>
module armarx
@@ -9,7 +9,7 @@ module armarx
module armem
{
- interface MemoryInterface extends ReadingInterface, WritingInterface
+ interface MemoryInterface extends ReadingMemoryInterface, WritingMemoryInterface
{
};
diff --git a/source/RobotAPI/interface/armem/ReadingInterface.ice b/source/RobotAPI/interface/armem/ReadingMemoryInterface.ice
similarity index 82%
rename from source/RobotAPI/interface/armem/ReadingInterface.ice
rename to source/RobotAPI/interface/armem/ReadingMemoryInterface.ice
index a50056efb2fa78671f62e6173296d352affb5e07..e38e3dc44fd96b76b218c634229a4dcbca8ef4e7 100644
--- a/source/RobotAPI/interface/armem/ReadingInterface.ice
+++ b/source/RobotAPI/interface/armem/ReadingMemoryInterface.ice
@@ -8,7 +8,7 @@ module armarx
module armem
{
- interface ReadingInterface
+ interface ReadingMemoryInterface
{
data::QueryResult query(data::QueryInput input);
};
diff --git a/source/RobotAPI/interface/armem/WritingInterface.ice b/source/RobotAPI/interface/armem/WritingMemoryInterface.ice
similarity index 91%
rename from source/RobotAPI/interface/armem/WritingInterface.ice
rename to source/RobotAPI/interface/armem/WritingMemoryInterface.ice
index 902e80dded2f9717bd3570ca3dd1051b308b3fd0..068fe2429cf2ae09bc5e6cacf5c8343fa5e713df 100644
--- a/source/RobotAPI/interface/armem/WritingInterface.ice
+++ b/source/RobotAPI/interface/armem/WritingMemoryInterface.ice
@@ -1,5 +1,7 @@
#pragma once
+
+#include <RobotAPI/interface/armem/memory.ice>
#include <RobotAPI/interface/aron.ice>
@@ -30,7 +32,7 @@ module armarx
struct EntityUpdate
{
- string entityID;
+ MemoryID entityID;
aron::data::AronDataList instancesData;
long timeCreatedMicroSeconds;
@@ -43,7 +45,7 @@ module armarx
{
bool success = false;
- string snapshotID;
+ MemoryID snapshotID;
long timeArrivedMicroSeconds;
string errorMessage;
@@ -61,7 +63,7 @@ module armarx
}
- interface WritingInterface
+ interface WritingMemoryInterface
{
/// Register multiple core or provider segments.
data::AddSegmentsResult addSegments(data::AddSegmentsInput input);
diff --git a/source/RobotAPI/libraries/armem/CMakeLists.txt b/source/RobotAPI/libraries/armem/CMakeLists.txt
index e93b5017214036c1e781e82741de96c57e01a971..ef0d4e6cbfaddcb6f7a11de1c92d2366d326b273 100644
--- a/source/RobotAPI/libraries/armem/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem/CMakeLists.txt
@@ -51,7 +51,7 @@ set(LIB_FILES
client/QueryBuilder.cpp
client/query/selectors.cpp
- component/IceMemory.cpp
+ component/MemoryToIceAdapter.cpp
component/MemoryComponentPlugin.cpp
component/MemoryRemoteGui.cpp
component/RemoteGuiAronDataVisitor.cpp
@@ -109,7 +109,7 @@ set(LIB_HEADERS
client/query/query_fns.h
client/query/selectors.h
- component/IceMemory.h
+ component/MemoryToIceAdapter.h
component/MemoryComponentPlugin.h
component/MemoryRemoteGui.h
component/RemoteGuiAronDataVisitor.h
diff --git a/source/RobotAPI/libraries/armem/client/QueryBuilder.h b/source/RobotAPI/libraries/armem/client/QueryBuilder.h
index dcfd855cc064a6addccf7b3b57c64c0b9789b4ca..2e38d09865a192123f30f061fdadeeef42d8eee5 100644
--- a/source/RobotAPI/libraries/armem/client/QueryBuilder.h
+++ b/source/RobotAPI/libraries/armem/client/QueryBuilder.h
@@ -1,7 +1,6 @@
#pragma once
#include <RobotAPI/interface/armem/query.h>
-#include <RobotAPI/interface/armem/ReadingInterface.h>
#include "../core/DataMode.h"
#include "Query.h"
diff --git a/source/RobotAPI/libraries/armem/client/Reader.cpp b/source/RobotAPI/libraries/armem/client/Reader.cpp
index e0869b987cfb6d4280706716666ced809c8aec4f..558703dcc1cc1110dc244b6f596cb220d7996f31 100644
--- a/source/RobotAPI/libraries/armem/client/Reader.cpp
+++ b/source/RobotAPI/libraries/armem/client/Reader.cpp
@@ -9,7 +9,7 @@
namespace armarx::armem::client
{
- Reader::Reader(ReadingInterfacePrx memory) : memory(memory)
+ Reader::Reader(ReadingMemoryInterfacePrx memory) : memory(memory)
{
}
@@ -112,7 +112,7 @@ namespace armarx::armem::client
void
- Reader::setReadingMemory(ReadingInterfacePrx memory)
+ Reader::setReadingMemory(ReadingMemoryInterfacePrx memory)
{
this->memory = memory;
}
diff --git a/source/RobotAPI/libraries/armem/client/Reader.h b/source/RobotAPI/libraries/armem/client/Reader.h
index fe293ddbabdf4aaca6856db5bd6fb99dfbe21e04..2a7e4f4c1101b5924f11f9e52faebbc8cad79dcf 100644
--- a/source/RobotAPI/libraries/armem/client/Reader.h
+++ b/source/RobotAPI/libraries/armem/client/Reader.h
@@ -7,7 +7,7 @@
#include <vector>
// RobotAPI
-#include <RobotAPI/interface/armem/ReadingInterface.h>
+#include <RobotAPI/interface/armem/ReadingMemoryInterface.h>
#include <RobotAPI/interface/armem/MemoryListenerInterface.h>
#include <RobotAPI/libraries/armem/core/ice_conversions.h>
#include <RobotAPI/libraries/armem/memory/Memory.h>
@@ -32,7 +32,7 @@ namespace armarx::armem::client
* @brief Construct a memory reader.
* @param memory The memory proxy.
*/
- Reader(ReadingInterfacePrx memory = nullptr);
+ Reader(ReadingMemoryInterfacePrx memory = nullptr);
QueryResult query(const QueryInput& input);
@@ -50,7 +50,7 @@ namespace armarx::armem::client
void subscribe(const MemoryID& entityID, callback callback);
- void setReadingMemory(ReadingInterfacePrx memory);
+ void setReadingMemory(ReadingMemoryInterfacePrx memory);
operator bool() const
{
@@ -59,7 +59,7 @@ namespace armarx::armem::client
public:
- ReadingInterfacePrx memory;
+ ReadingMemoryInterfacePrx memory;
private:
diff --git a/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.cpp b/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.cpp
index d7eeff0feb7bda07299ce6791643feef38980284..fca6d9442ba419d26a3d6ca9cda23ad90ebb436c 100644
--- a/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.cpp
@@ -45,7 +45,7 @@ armarx::armem::client::ReaderComponentPluginUser::memoryUpdated(
void
-armarx::armem::client::ReaderComponentPluginUser::setReadingMemory(ReadingInterfacePrx memory)
+armarx::armem::client::ReaderComponentPluginUser::setReadingMemory(ReadingMemoryInterfacePrx memory)
{
memoryReader.setReadingMemory(memory);
}
diff --git a/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.h b/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.h
index 66c3cd3631560ba21e441edf10adf191c0a758d1..4ed9bea8fa74e455c2ccf976eb00d97b0828295c 100644
--- a/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.h
+++ b/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.h
@@ -49,7 +49,7 @@ namespace armarx::armem::client
protected:
- void setReadingMemory(ReadingInterfacePrx memory);
+ void setReadingMemory(ReadingMemoryInterfacePrx memory);
protected:
diff --git a/source/RobotAPI/libraries/armem/client/Writer.cpp b/source/RobotAPI/libraries/armem/client/Writer.cpp
index c7a14a15d4816e1991337c41f321188ed18ede5e..f506221179100c532d71d341b1462fa8273d5951 100644
--- a/source/RobotAPI/libraries/armem/client/Writer.cpp
+++ b/source/RobotAPI/libraries/armem/client/Writer.cpp
@@ -8,7 +8,7 @@
namespace armarx::armem::client
{
- Writer::Writer(WritingInterfacePrx memory) : memory(memory)
+ Writer::Writer(WritingMemoryInterfacePrx memory) : memory(memory)
{
}
@@ -108,7 +108,7 @@ namespace armarx::armem::client
void
- Writer::setWritingMemory(WritingInterfacePrx memory)
+ Writer::setWritingMemory(WritingMemoryInterfacePrx memory)
{
this->memory = memory;
}
diff --git a/source/RobotAPI/libraries/armem/client/Writer.h b/source/RobotAPI/libraries/armem/client/Writer.h
index 7ed6e44a3964e4003c69e36cba1b4855d699f3fc..67e7f57d0ff3733ebf6d2e7a007309875ba5c03e 100644
--- a/source/RobotAPI/libraries/armem/client/Writer.h
+++ b/source/RobotAPI/libraries/armem/client/Writer.h
@@ -1,6 +1,6 @@
#pragma once
-#include <RobotAPI/interface/armem/WritingInterface.h>
+#include <RobotAPI/interface/armem/WritingMemoryInterface.h>
#include <RobotAPI/libraries/armem/core/ice_conversions.h>
@@ -19,7 +19,7 @@ namespace armarx::armem::client
* @brief Construct a memory writer.
* @param memory The memory proxy.
*/
- Writer(WritingInterfacePrx memory = nullptr);
+ Writer(WritingMemoryInterfacePrx memory = nullptr);
data::AddSegmentResult addSegment(const std::string& coreSegmentName, const std::string& providerSegmentName);
@@ -33,7 +33,7 @@ namespace armarx::armem::client
EntityUpdateResult commit(const EntityUpdate& update);
- void setWritingMemory(WritingInterfacePrx memory);
+ void setWritingMemory(WritingMemoryInterfacePrx memory);
operator bool() const
{
@@ -46,7 +46,7 @@ namespace armarx::armem::client
public:
- WritingInterfacePrx memory;
+ WritingMemoryInterfacePrx memory;
};
diff --git a/source/RobotAPI/libraries/armem/client/WriterComponentPlugin.cpp b/source/RobotAPI/libraries/armem/client/WriterComponentPlugin.cpp
index f5c648090570b5eb0a1bf4cf6947efdce2aed9d7..5ed4dc1f79cd130f5090411c413bd5a8122c4df3 100644
--- a/source/RobotAPI/libraries/armem/client/WriterComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/armem/client/WriterComponentPlugin.cpp
@@ -27,7 +27,7 @@ armarx::armem::client::WriterComponentPluginUser::~WriterComponentPluginUser()
void
-armarx::armem::client::WriterComponentPluginUser::setWritingMemory(WritingInterfacePrx memory)
+armarx::armem::client::WriterComponentPluginUser::setWritingMemory(WritingMemoryInterfacePrx memory)
{
memoryWriter.setWritingMemory(memory);
}
diff --git a/source/RobotAPI/libraries/armem/client/WriterComponentPlugin.h b/source/RobotAPI/libraries/armem/client/WriterComponentPlugin.h
index f93c9a230e26c00bd7d89d51cd37e2afd83ca27f..4f3eeb3bdcbd474bab5c1d068d31d50dc6d66f56 100644
--- a/source/RobotAPI/libraries/armem/client/WriterComponentPlugin.h
+++ b/source/RobotAPI/libraries/armem/client/WriterComponentPlugin.h
@@ -38,7 +38,7 @@ namespace armarx::armem::client
protected:
- void setWritingMemory(WritingInterfacePrx memory);
+ void setWritingMemory(WritingMemoryInterfacePrx memory);
protected:
diff --git a/source/RobotAPI/libraries/armem/component/MemoryComponentPlugin.cpp b/source/RobotAPI/libraries/armem/component/MemoryComponentPlugin.cpp
index 47f1d8eee1187917c59b00b5c27de575c839f2d1..fdb50c345ef4f0c33538c04b80483c6bd1427287 100644
--- a/source/RobotAPI/libraries/armem/component/MemoryComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/armem/component/MemoryComponentPlugin.cpp
@@ -4,7 +4,7 @@
#include "../error.h"
-#include "IceMemory.h"
+#include "MemoryToIceAdapter.h"
namespace armarx::armem::plugins
diff --git a/source/RobotAPI/libraries/armem/component/MemoryComponentPlugin.h b/source/RobotAPI/libraries/armem/component/MemoryComponentPlugin.h
index 89a56ae141c51c733144de66c277a594fe2dbe3b..82aaf5bc8b485463005000492d665feb92134307 100644
--- a/source/RobotAPI/libraries/armem/component/MemoryComponentPlugin.h
+++ b/source/RobotAPI/libraries/armem/component/MemoryComponentPlugin.h
@@ -10,7 +10,7 @@
#include "../memory/Memory.h"
#include "../mns/MemoryNameSystemClientPlugin.h"
-#include "IceMemory.h"
+#include "MemoryToIceAdapter.h"
namespace armarx::armem
@@ -88,7 +88,7 @@ namespace armarx::armem
Memory memory;
/// Helps connecting `memory` to ice. Used to handle Ice callbacks.
- IceMemory iceMemory { &memory };
+ MemoryToIceAdapter iceMemory { &memory };
private:
diff --git a/source/RobotAPI/libraries/armem/component/MemoryRemoteGui.cpp b/source/RobotAPI/libraries/armem/component/MemoryRemoteGui.cpp
index 6d818d55d9c921affb822c4df0836ce37263a126..46b53f7684bfeaf3e19a1c947bd631028c0f31e3 100644
--- a/source/RobotAPI/libraries/armem/component/MemoryRemoteGui.cpp
+++ b/source/RobotAPI/libraries/armem/component/MemoryRemoteGui.cpp
@@ -1,7 +1,5 @@
#include "MemoryRemoteGui.h"
-#include <stack>
-
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronAllDataNavigators.h>
diff --git a/source/RobotAPI/libraries/armem/component/IceMemory.cpp b/source/RobotAPI/libraries/armem/component/MemoryToIceAdapter.cpp
similarity index 82%
rename from source/RobotAPI/libraries/armem/component/IceMemory.cpp
rename to source/RobotAPI/libraries/armem/component/MemoryToIceAdapter.cpp
index 076e754a4886b3f952d291bf866a516f303ea001..7bee07e7b0f9d1a5f6c686542c70f82df31493fc 100644
--- a/source/RobotAPI/libraries/armem/component/IceMemory.cpp
+++ b/source/RobotAPI/libraries/armem/component/MemoryToIceAdapter.cpp
@@ -1,4 +1,4 @@
-#include "IceMemory.h"
+#include "MemoryToIceAdapter.h"
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
@@ -10,12 +10,12 @@
namespace armarx::armem
{
- IceMemory::IceMemory(Memory* memory) : memory(memory)
+ MemoryToIceAdapter::MemoryToIceAdapter(Memory* memory) : memory(memory)
{
}
- void IceMemory::setMemoryListener(MemoryListenerInterfacePrx memoryListener)
+ void MemoryToIceAdapter::setMemoryListener(MemoryListenerInterfacePrx memoryListener)
{
this->memoryListener = memoryListener;
}
@@ -23,7 +23,7 @@ namespace armarx::armem
// WRITING
- armem::data::AddSegmentResult IceMemory::addSegment(const armem::data::AddSegmentInput& input, bool addCoreSegments)
+ armem::data::AddSegmentResult MemoryToIceAdapter::addSegment(const armem::data::AddSegmentInput& input, bool addCoreSegments)
{
ARMARX_DEBUG << "Adding segment '" << input.coreSegmentName << "/" << input.providerSegmentName << "'.";
ARMARX_CHECK_NOT_NULL(memory);
@@ -78,7 +78,7 @@ namespace armarx::armem
}
- armem::data::AddSegmentsResult IceMemory::addSegments(const armem::data::AddSegmentsInput& input, bool addCoreSegments)
+ armem::data::AddSegmentsResult MemoryToIceAdapter::addSegments(const armem::data::AddSegmentsInput& input, bool addCoreSegments)
{
ARMARX_CHECK_NOT_NULL(memory);
@@ -90,7 +90,7 @@ namespace armarx::armem
return output;
}
- armem::data::CommitResult IceMemory::commit(const armem::data::Commit& commitIce, Time timeArrived)
+ armem::data::CommitResult MemoryToIceAdapter::commit(const armem::data::Commit& commitIce, Time timeArrived)
{
ARMARX_CHECK_NOT_NULL(memory);
@@ -105,13 +105,13 @@ namespace armarx::armem
}
- armem::data::CommitResult IceMemory::commit(const armem::data::Commit& commitIce)
+ armem::data::CommitResult MemoryToIceAdapter::commit(const armem::data::Commit& commitIce)
{
return commit(commitIce, armem::Time::now());
}
- armem::CommitResult IceMemory::commit(const armem::InternalCommit& commit)
+ armem::CommitResult MemoryToIceAdapter::commit(const armem::InternalCommit& commit)
{
std::vector<data::MemoryID> updatedIDs;
const bool publishUpdates = memoryListener;
@@ -152,7 +152,7 @@ namespace armarx::armem
// READING
- armem::data::QueryResult IceMemory::query(const armem::data::QueryInput& input)
+ armem::data::QueryResult MemoryToIceAdapter::query(const armem::data::QueryInput& input)
{
ARMARX_CHECK_NOT_NULL(memory);
diff --git a/source/RobotAPI/libraries/armem/component/IceMemory.h b/source/RobotAPI/libraries/armem/component/MemoryToIceAdapter.h
similarity index 88%
rename from source/RobotAPI/libraries/armem/component/IceMemory.h
rename to source/RobotAPI/libraries/armem/component/MemoryToIceAdapter.h
index 9c257d2c0915e41811391ae69ecf454eb8d7f8ea..fbd41bd4a39b46cbc5ee5ea5df22814e29412f88 100644
--- a/source/RobotAPI/libraries/armem/component/IceMemory.h
+++ b/source/RobotAPI/libraries/armem/component/MemoryToIceAdapter.h
@@ -16,13 +16,12 @@ namespace armarx::armem
* This involves conversion of ice types to C++ types as well as
* catchin exceptions and converting them to error messages
*/
- // ToDo: Rename to MemoryToIceAdapter
- class IceMemory
+ class MemoryToIceAdapter
{
public:
- /// Construct an IceMemory from an existing Memory.
- IceMemory(Memory* memory = nullptr);
+ /// Construct an MemoryToIceAdapter from an existing Memory.
+ MemoryToIceAdapter(Memory* memory = nullptr);
void setMemoryListener(MemoryListenerInterfacePrx memoryListener);
diff --git a/source/RobotAPI/libraries/armem/component/RemoteGuiAronDataVisitor.h b/source/RobotAPI/libraries/armem/component/RemoteGuiAronDataVisitor.h
index c009416a7068706d88ea93cad079d439650091cc..ebc924ba06395a640d31d950d0cd5b66b7806a4c 100644
--- a/source/RobotAPI/libraries/armem/component/RemoteGuiAronDataVisitor.h
+++ b/source/RobotAPI/libraries/armem/component/RemoteGuiAronDataVisitor.h
@@ -96,7 +96,10 @@ namespace armarx::armem
template <class Navigator>
void addValueLabel(Navigator& n, const std::string& typeName)
{
- groups.top().addChild(Label(this->makeValueLabelText(n, typeName)));
+ if (not groups.empty())
+ {
+ groups.top().addChild(Label(this->makeValueLabelText(n, typeName)));
+ }
}
template <class Navigator>
std::string makeValueLabelText(Navigator& n, const std::string& typeName)
diff --git a/source/RobotAPI/libraries/armem/core/ice_conversions.cpp b/source/RobotAPI/libraries/armem/core/ice_conversions.cpp
index a5bed94aadc790b46e887056b74537a99b59daa2..24defd3c195d6841621be01fe5eb60818e6a24ec 100644
--- a/source/RobotAPI/libraries/armem/core/ice_conversions.cpp
+++ b/source/RobotAPI/libraries/armem/core/ice_conversions.cpp
@@ -81,7 +81,7 @@ namespace armarx
void armem::fromIce(const data::EntityUpdate& ice, EntityUpdate& update)
{
- update.entityID = MemoryID::fromString(ice.entityID);
+ fromIce(ice.entityID, update.entityID);
update.instancesData = aron::datanavigator::AronDataNavigator::FromAronData(ice.instancesData);
update.timeCreated = Time::microSeconds(ice.timeCreatedMicroSeconds);
@@ -92,7 +92,8 @@ namespace armarx
void armem::toIce(data::EntityUpdate& ice, const EntityUpdate& update)
{
- ice.entityID = update.entityID.str();
+ toIce(ice.entityID, update.entityID);
+
ice.instancesData = aron::datanavigator::AronDataNavigator::ToAronData(update.instancesData);
ice.timeCreatedMicroSeconds = update.timeCreated.toMicroSeconds();
@@ -104,7 +105,7 @@ namespace armarx
void armem::fromIce(const data::EntityUpdateResult& ice, EntityUpdateResult& result)
{
result.success = ice.success;
- result.snapshotID = MemoryID::fromString(ice.snapshotID);
+ fromIce(ice.snapshotID, result.snapshotID);
result.timeArrived = Time::microSeconds(ice.timeArrivedMicroSeconds);
result.errorMessage = ice.errorMessage;
}
@@ -112,7 +113,7 @@ namespace armarx
void armem::toIce(data::EntityUpdateResult& ice, const EntityUpdateResult& result)
{
ice.success = result.success;
- ice.snapshotID = result.snapshotID.str();
+ toIce(ice.snapshotID, result.snapshotID);
ice.timeArrivedMicroSeconds = result.timeArrived.toMicroSeconds();
ice.errorMessage = result.errorMessage;
}