From 263a2c20d43dee94c7d4babac4728b23c624b43b Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Thu, 20 May 2021 14:08:10 +0200
Subject: [PATCH] simplified implementation
---
.../client/attachment/Writer.cpp | 28 +++----------------
.../armem_objects/client/attachment/Writer.h | 11 ++------
2 files changed, 6 insertions(+), 33 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_objects/client/attachment/Writer.cpp b/source/RobotAPI/libraries/armem_objects/client/attachment/Writer.cpp
index 774b282fb..f4d16070b 100644
--- a/source/RobotAPI/libraries/armem_objects/client/attachment/Writer.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/attachment/Writer.cpp
@@ -51,28 +51,9 @@ namespace armarx::armem::attachment
memoryReader.setReadingMemory(result.proxy);
}
- std::optional<armem::MemoryID> Writer::add(const ObjectAttachment& attachment)
- {
- return commit(attachment, true);
- }
- std::optional<armem::MemoryID> Writer::remove(const ObjectAttachment& attachment)
+ std::optional<armem::MemoryID> Writer::commit(const ObjectAttachment& attachment)
{
- return commit(attachment, false);
- }
-
- std::optional<armem::MemoryID> Writer::add(const ArticulatedObjectAttachment& attachment)
- {
- return commit(attachment, true);
- }
-
- std::optional<armem::MemoryID> Writer::remove(const ArticulatedObjectAttachment& attachment)
- {
- return commit(attachment, false);
- }
-
-
- std::optional<armem::MemoryID> Writer::commit(const ObjectAttachment& attachment, const bool active){
std::lock_guard g{memoryWriterMutex};
const auto result = memoryWriter.addSegment(properties.coreAttachmentsSegmentName, properties.providerName);
@@ -96,7 +77,6 @@ namespace armarx::armem::attachment
arondto::attachment::ObjectAttachment aronAttachment;
toAron(aronAttachment, attachment);
- aronAttachment.active = active;
update.instancesData = {aronAttachment.toAron()};
update.timeCreated = timestamp;
@@ -116,7 +96,8 @@ namespace armarx::armem::attachment
}
- std::optional<armem::MemoryID> Writer::commit(const ArticulatedObjectAttachment& attachment, const bool active){
+ std::optional<armem::MemoryID> Writer::commit(const ArticulatedObjectAttachment& attachment)
+ {
std::lock_guard g{memoryWriterMutex};
const auto result = memoryWriter.addSegment(properties.coreAttachmentsSegmentName, properties.providerName);
@@ -140,7 +121,6 @@ namespace armarx::armem::attachment
arondto::attachment::ArticulatedObjectAttachment aronAttachment;
toAron(aronAttachment, attachment);
- aronAttachment.active = active;
update.instancesData = {aronAttachment.toAron()};
update.timeCreated = timestamp;
@@ -159,6 +139,6 @@ namespace armarx::armem::attachment
return updateResult.snapshotID;
}
-
+
} // namespace armarx::armem::attachment
\ No newline at end of file
diff --git a/source/RobotAPI/libraries/armem_objects/client/attachment/Writer.h b/source/RobotAPI/libraries/armem_objects/client/attachment/Writer.h
index b464811ea..f20421d4b 100644
--- a/source/RobotAPI/libraries/armem_objects/client/attachment/Writer.h
+++ b/source/RobotAPI/libraries/armem_objects/client/attachment/Writer.h
@@ -44,17 +44,10 @@ namespace armarx::armem::attachment
void registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def);
void connect();
- std::optional<armem::MemoryID> add(const ObjectAttachment& attachment);
- std::optional<armem::MemoryID> remove(const ObjectAttachment& attachment);
-
- std::optional<armem::MemoryID> add(const ArticulatedObjectAttachment& attachment);
- std::optional<armem::MemoryID> remove(const ArticulatedObjectAttachment& attachment);
-
- // const std::string& getPropertyPrefix() const override;
+ std::optional<armem::MemoryID> commit(const ObjectAttachment& attachment);
+ std::optional<armem::MemoryID> commit(const ArticulatedObjectAttachment&);
private:
- std::optional<armem::MemoryID> commit(const ObjectAttachment& attachment, bool active);
- std::optional<armem::MemoryID> commit(const ArticulatedObjectAttachment& attachment, bool active);
struct Properties
{
--
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