From 293afef54060ca0c082f750d7b561e2a74a3108a Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Wed, 4 Aug 2021 18:24:09 +0200
Subject: [PATCH] Fix bugs, depr. warnings, tests, etc
---
.../armem/core/base/CoreSegmentBase.h | 8 +-
.../libraries/armem/core/base/EntityBase.h | 130 +++++---------
.../armem/core/base/EntityInstanceBase.h | 2 +-
.../armem/core/base/EntitySnapshotBase.h | 48 +++--
.../libraries/armem/core/base/MemoryBase.h | 30 ++--
.../armem/core/base/ProviderSegmentBase.h | 5 +-
.../armem/core/diskmemory/CoreSegment.cpp | 13 +-
.../armem/core/diskmemory/Entity.cpp | 11 +-
.../armem/core/diskmemory/EntityInstance.cpp | 6 +-
.../armem/core/diskmemory/EntityInstance.h | 2 +-
.../armem/core/diskmemory/Memory.cpp | 14 +-
.../armem/core/diskmemory/ProviderSegment.cpp | 14 +-
.../armem/core/longtermmemory/Entity.cpp | 24 +--
.../core/longtermmemory/EntityInstance.cpp | 6 +-
.../core/longtermmemory/EntityInstance.h | 2 +-
.../core/longtermmemory/EntitySnapshot.cpp | 8 +-
.../armem/core/longtermmemory/Memory.cpp | 12 +-
.../core/longtermmemory/ProviderSegment.cpp | 16 +-
.../core/workingmemory/EntityInstance.cpp | 8 +-
.../armem/core/workingmemory/EntityInstance.h | 2 +-
.../armem/core/workingmemory/EntitySnapshot.h | 9 +-
.../core/workingmemory/visitor/Visitor.cpp | 110 ++++--------
.../base/CoreSegmentQueryProcessorBase.h | 11 +-
.../base/EntityQueryProcessorBase.h | 32 ++--
.../libraries/armem/test/ArMemForEachTest.cpp | 170 ++++++++++++++++++
.../armem/test/ArMemIceConversionsTest.cpp | 4 +-
.../libraries/armem/test/ArMemMemoryTest.cpp | 46 +++--
.../libraries/armem/test/ArMemQueryTest.cpp | 59 +++---
.../libraries/armem/test/CMakeLists.txt | 1 +
.../libraries/armem_gui/test/ArMemGuiTest.cpp | 12 +-
30 files changed, 476 insertions(+), 339 deletions(-)
create mode 100644 source/RobotAPI/libraries/armem/test/ArMemForEachTest.cpp
diff --git a/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h b/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h
index bdde3f1c8..4ec1df3d1 100644
--- a/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h
@@ -61,11 +61,11 @@ namespace armarx::armem::base
{
}
explicit CoreSegmentBase(const std::string& name, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr) :
- CoreSegmentBase(MemoryID().withCoreSegmentName(name), aronType)
+ CoreSegmentBase(name, MemoryID(), aronType)
{
}
explicit CoreSegmentBase(const std::string& name, const MemoryID& parentID, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr) :
- CoreSegmentBase(parentID.withProviderSegmentName(name), aronType)
+ CoreSegmentBase(parentID.withCoreSegmentName(name), aronType)
{
}
explicit CoreSegmentBase(const MemoryID& id, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr) :
@@ -221,7 +221,7 @@ namespace armarx::armem::base
}
else
{
- throw error::MissingEntry::create<EntitySnapshotT>(providerSegmentName, *this);
+ throw error::MissingEntry::create<ProviderSegmentT>(providerSegmentName, *this);
}
}
else
@@ -256,7 +256,7 @@ namespace armarx::armem::base
ProviderSegmentT& addProviderSegment(const std::string& name, aron::typenavigator::ObjectNavigatorPtr providerSegmentType = nullptr)
{
aron::typenavigator::ObjectNavigatorPtr type = providerSegmentType ? providerSegmentType : this->aronType();
- return addProviderSegment(ProviderSegmentT(name, type));
+ return addProviderSegment(ProviderSegmentT(name, this->id(), type));
}
/// Copy and insert a provider segment.
diff --git a/source/RobotAPI/libraries/armem/core/base/EntityBase.h b/source/RobotAPI/libraries/armem/core/base/EntityBase.h
index 715696465..64b13c7e4 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntityBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/EntityBase.h
@@ -98,7 +98,7 @@ namespace armarx::armem::base
/**
* @brief Indicates whether a history entry for the given time exists.
*/
- virtual bool hasSnapshot(const Time& time)
+ bool hasSnapshot(const Time& time)
{
return const_cast<const EntityBase*>(this)->hasSnapshot(time);
}
@@ -125,11 +125,6 @@ namespace armarx::armem::base
/**
* @brief Get all timestamps in the history.
*/
- virtual std::vector<Time> getTimestamps()
- {
- return const_cast<const EntityBase*>(this)->getTimestamps();
- }
-
virtual std::vector<Time> getTimestamps() const
{
return simox::alg::get_keys(this->_container);
@@ -143,7 +138,7 @@ namespace armarx::armem::base
*
* @throws `armem::error::MissingEntry` If there is no such entry.
*/
- virtual EntitySnapshotT& getSnapshot(const Time& time)
+ EntitySnapshotT& getSnapshot(const Time& time)
{
return const_cast<EntitySnapshotT&>(const_cast<const EntityBase*>(this)->getSnapshot(time));
}
@@ -194,30 +189,9 @@ namespace armarx::armem::base
* @throw `armem::error::EntityHistoryEmpty` If the history is empty.
* @throw `armem::error::MissingEntry` If no such snapshot
*/
- virtual const EntitySnapshotT& getLatestSnapshotBeforeOrAt(const Time& time) const
+ const EntitySnapshotT& getLatestSnapshotBeforeOrAt(const Time& time) const
{
- // first element equal or greater
- typename ContainerT::const_iterator refIt = this->_container.upper_bound(time);
-
- if (refIt == this->_container.begin())
- {
- if (refIt->first == time)
- {
- return refIt->second;
- }
- throw error::MissingEntry::create<EntitySnapshotT>(toDateTimeMilliSeconds(time), *this);
- }
-
- // last element less than
- typename ContainerT::const_iterator refItPrev = std::prev(refIt);
-
- // ... or we return the element before if possible
- if (refItPrev != this->_container.begin())
- {
- return refItPrev->second;
- }
-
- throw error::MissingEntry::create<EntitySnapshotT>(toDateTimeMilliSeconds(time), *this);
+ return getLatestSnapshotBefore(time + Time::microSeconds(1));
}
/**
@@ -227,51 +201,65 @@ namespace armarx::armem::base
* @throw `armem::error::EntityHistoryEmpty` If the history is empty.
* @throw `armem::error::MissingEntry` If no such snapshot
*/
- virtual const EntitySnapshotT& getLatestSnapshotBefore(const Time& time) const
+ const EntitySnapshotT& getLatestSnapshotBefore(const Time& time) const
{
- // first element equal or greater
- typename ContainerT::const_iterator refIt = this->_container.upper_bound(time);
+ if (this->empty())
+ {
+ throw error::EntityHistoryEmpty(this->name());
+ }
- if (refIt == this->_container.begin())
+ // We want the rightmost element < time
+ // lower_bound() gives us the the leftmost >= time, which is probably the right neighbour
+ typename ContainerT::const_iterator greaterEq = this->_container.lower_bound(time);
+ // Special cases:
+ // refIt = begin() => no element < time
+ if (greaterEq == this->_container.begin())
{
throw error::MissingEntry::create<EntitySnapshotT>(toDateTimeMilliSeconds(time), *this);
}
- // last element less than
- typename ContainerT::const_iterator refItPrev = std::prev(refIt);
+ // end(): No element >= time, we can still have one < time (rbegin()) => std::prev(end())
+ // empty has been checked above
- // we return the element before if possible
- if (refItPrev != this->_container.begin())
- {
- return refItPrev->second;
- }
+ // std::prev of end() is ok
+ typename ContainerT::const_iterator less = std::prev(greaterEq);
- throw error::MissingEntry::create<EntitySnapshotT>(toDateTimeMilliSeconds(time), *this);
+ // we return the element before if possible
+ return less->second;
}
/**
- * @brief Return all snapshots before or at time.
+ * @brief Return all snapshots before (excluding) time.
* @param time The time.
* @return The latest snapshots.
- * @throw `armem::error::EntityHistoryEmpty` If the history is empty.
- * @throw `armem::error::MissingEntry` If no such snapshots
*/
- virtual const std::vector<std::reference_wrapper<const EntitySnapshotT>> getSnapshotsBefore(const Time& time) const
+ std::vector<std::reference_wrapper<const EntitySnapshotT>>
+ getSnapshotsBefore(const Time& time) const
{
std::vector<std::reference_wrapper<const EntitySnapshotT>> ret;
- const EntitySnapshotT& latest = getLatestSnapshotBefore(time);
-
for (const auto& [timestamp, snapshot] : this->_container)
{
- ret.emplace_back(snapshot);
- if (timestamp == latest.id().timestamp)
+ if (timestamp >= time)
{
break;
}
+ ret.emplace_back(snapshot);
}
return ret;
}
+ /**
+ * @brief Return all snapshots before or at time.
+ * @param time The time.
+ * @return The latest snapshots.
+ */
+ std::vector<std::reference_wrapper<const EntitySnapshotT>>
+ getSnapshotsBeforeOrAt(const Time& time) const
+ {
+ return getSnapshotsBefore(time + Time::microSeconds(1));
+ }
+
+
/**
* @brief Return first snapshot after or at time.
* @param time The time.
@@ -279,16 +267,17 @@ namespace armarx::armem::base
* @throw `armem::error::EntityHistoryEmpty` If the history is empty.
* @throw `armem::error::MissingEntry` If no such snapshot
*/
- virtual const EntitySnapshotT& getFirstSnapshotAfterOrAt(const Time& time) const
+ const EntitySnapshotT& getFirstSnapshotAfterOrAt(const Time& time) const
{
- // first element equal or greater
- typename ContainerT::const_iterator refIt = this->_container.upper_bound(time);
+ // We want the leftmost element >= time.
+ // That's lower bound.
+ typename ContainerT::const_iterator greaterEq = this->_container.lower_bound(time);
- if (refIt == this->_container.end())
+ if (greaterEq == this->_container.end())
{
throw error::MissingEntry::create<EntitySnapshotT>(toDateTimeMilliSeconds(time), *this);
}
- return refIt->second;
+ return greaterEq->second;
}
/**
@@ -298,30 +287,9 @@ namespace armarx::armem::base
* @throw `armem::error::EntityHistoryEmpty` If the history is empty.
* @throw `armem::error::MissingEntry` If no such snapshot
*/
- virtual const EntitySnapshotT& getFirstSnapshotAfter(const Time& time) const
+ const EntitySnapshotT& getFirstSnapshotAfter(const Time& time) const
{
- // first element equal or greater
- typename ContainerT::const_iterator refIt = this->_container.upper_bound(time);
-
- if (refIt == this->_container.end())
- {
- throw error::MissingEntry::create<EntitySnapshotT>(toDateTimeMilliSeconds(time), *this);
- }
-
- if (refIt->first > time)
- {
- return refIt->second;
- }
-
- // first element greater than
- typename ContainerT::const_iterator refItNext = std::next(refIt);
-
- if (refItNext != this->_container.end())
- {
- return refItNext->second;
- }
-
- throw error::MissingEntry::create<EntitySnapshotT>(toDateTimeMilliSeconds(time), *this);
+ return getFirstSnapshotAfter(time - Time::microSeconds(1));
}
@@ -386,7 +354,7 @@ namespace armarx::armem::base
ret.entityUpdateType = UpdateType::UpdatedExisting;
}
// Update entry.
- snapshot->update(update, this->id());
+ snapshot->update(update);
ret.id = snapshot->id();
return ret;
@@ -431,7 +399,7 @@ namespace armarx::armem::base
EntitySnapshotT& addSnapshot(const Time& timestamp)
{
- return addSnapshot(EntitySnapshotT(timestamp));
+ return addSnapshot(EntitySnapshotT(timestamp, this->id()));
}
@@ -449,7 +417,7 @@ namespace armarx::armem::base
// MISC
- virtual bool equalsDeep(const EntityBase& other) const
+ bool equalsDeep(const EntityBase& other) const
{
//std::cout << "Entity::equalsDeep" << std::endl;
if (this->size() != other.size())
diff --git a/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h b/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h
index 4d92dffc0..c9689c182 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h
@@ -50,7 +50,7 @@ namespace armarx::armem::base
* @param update The update.
* @param index The instances index.
*/
- virtual void update(const EntityUpdate& update, int index) = 0;
+ virtual void update(const EntityUpdate& update) = 0;
virtual bool equalsDeep(const DerivedT& other) const = 0;
diff --git a/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h b/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h
index 00f996ca4..17c3eb576 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h
@@ -94,6 +94,23 @@ namespace armarx::armem::base
}
}
+ EntityInstanceT* findInstance(int index)
+ {
+ return const_cast<EntityInstanceT*>(const_cast<const EntitySnapshotBase*>(this)->findInstance(index));
+ }
+ const EntityInstanceT* findInstance(int index) const
+ {
+ if (hasInstance(index))
+ {
+ return &this->_container[static_cast<size_t>(index)];
+ }
+ else
+ {
+ return nullptr;
+ }
+ }
+
+
/**
* @brief Get the given instance.
* @param index The instance's index.
@@ -149,19 +166,15 @@ namespace armarx::armem::base
// MODIFICATION
- void update(const EntityUpdate& update, std::optional<MemoryID> parentID = std::nullopt)
+ void update(const EntityUpdate& update)
{
- if (parentID)
- {
- this->id() = *parentID;
- }
- time() = update.timeCreated;
+ detail::throwIfNotEqual(time(), update.timeCreated);
this->_container.clear();
- for (int i = 0; i < int(update.instancesData.size()); ++i)
+ for (int index = 0; index < int(update.instancesData.size()); ++index)
{
- EntityInstanceT& data = this->_container.emplace_back(i, this->id());
- data.update(update, i);
+ EntityInstanceT& data = this->_container.emplace_back(index, this->id());
+ data.update(update);
}
}
@@ -189,19 +202,18 @@ namespace armarx::armem::base
"Cannot add an EntityInstance because its index is too big.");
}
- int new_index = this->_container.size();
- auto& it = this->_container.emplace_back(std::move(instance));
- it.index() = new_index;
- return it;
+ int index = static_cast<int>(this->_container.size());
+ EntityInstanceT& added = this->_container.emplace_back(std::move(instance));
+ added.id() = this->id().withInstanceIndex(index);
+ return added;
}
EntityInstanceT& addInstance()
{
- int new_index = this->_container.size();
- auto& it = this->_container.emplace_back(EntityInstanceT());;
- it.index() = new_index;
- it.id() = this->id().withInstanceIndex(new_index);
- return it;
+ int index = static_cast<int>(this->size());
+ EntityInstanceT& added = this->_container.emplace_back(EntityInstanceT());
+ added.id() = this->id().withInstanceIndex(index);
+ return added;
}
diff --git a/source/RobotAPI/libraries/armem/core/base/MemoryBase.h b/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
index 339022c01..c5cf1fb2f 100644
--- a/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
@@ -212,7 +212,7 @@ namespace armarx::armem::base
*/
CoreSegmentT& addCoreSegment(const std::string& name, aron::typenavigator::ObjectNavigatorPtr coreSegmentType = nullptr)
{
- return addCoreSegment(CoreSegmentT(name, coreSegmentType));
+ return addCoreSegment(CoreSegmentT(name, this->id(), coreSegmentType));
}
/// Copy and insert a core segment.
CoreSegmentT& addCoreSegment(const CoreSegmentT& coreSegment)
@@ -263,7 +263,7 @@ namespace armarx::armem::base
virtual std::vector<UpdateResult> update(const Commit& commit)
{
std::vector<UpdateResult> results;
- for (const auto& update : commit.updates)
+ for (const EntityUpdate& update : commit.updates)
{
results.push_back(this->update(update));
}
@@ -309,7 +309,7 @@ namespace armarx::armem::base
}
else
{
- throw error::MissingEntry::create<EntitySnapshotT>(coreSegmentName, *this);
+ throw error::MissingEntry::create<CoreSegmentT>(coreSegmentName, *this);
}
}
else
@@ -335,7 +335,6 @@ namespace armarx::armem::base
it = this->_container.emplace(coreSeg.name(), this->id().withCoreSegmentName(coreSeg.name())).first;
}
it->second.append(coreSeg);
-
return true;
});
}
@@ -374,19 +373,22 @@ namespace armarx::armem::base
std::string dump() const
{
std::stringstream ss;
- ss << "Memory: " << this->name() << "\n";
- for (const auto& [ckey, cseg] : this->container())
+ ss << "Memory '" << this->name() << "': \n";
+ forEachCoreSegment([&ss](const CoreSegmentT & cseg)
{
- ss << " |- Found core seg: " << ckey << "\n";
- for (const auto& [pkey, pseg] : cseg)
+ ss << "+- Core segment '" << cseg.name() << "' (" << cseg.size() << "): \n";
+ cseg.forEachProviderSegment([&ss](const ProviderSegmentT & pseg)
{
- ss << " | |- Found prov seg: " << pkey << "\n";
- for (const auto& [ekey, eseg] : pseg)
+ ss << "| +- Provider segment '" << pseg.name() << "' (" << pseg.size() << "): \n";
+ pseg.forEachEntity([&ss](const EntityT & entity)
{
- ss << " | | |- Found entity: " << ekey << "\n";
- }
- }
- }
+ ss << "| | +- Entity '" << entity.name() << "' (" << entity.size() << "): \n";
+ return true;
+ });
+ return true;
+ });
+ return true;
+ });
return ss.str();
}
diff --git a/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h b/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h
index d5d2d4bf2..41d25fb28 100644
--- a/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h
@@ -57,7 +57,7 @@ namespace armarx::armem::base
}
explicit ProviderSegmentBase(const std::string& name, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr) :
- ProviderSegmentBase(MemoryID().withProviderSegmentName(name), aronType)
+ ProviderSegmentBase(name, MemoryID(), aronType)
{
}
explicit ProviderSegmentBase(const std::string& name, const MemoryID parentID, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr) :
@@ -215,13 +215,14 @@ namespace armarx::armem::base
it = this->_container.emplace(entity.name(), this->id().withEntityName(entity.name())).first;
}
it->second.append(entity);
+ return true;
});
}
/// Add an empty entity with the given name.
EntityT& addEntity(const std::string& name)
{
- return addEntity(EntityT(name));
+ return addEntity(EntityT(name, this->id()));
}
/// Copy and insert an entity.
EntityT& addEntity(const EntityT& entity)
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.cpp
index b3fb28a54..204aa8f86 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.cpp
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.cpp
@@ -78,9 +78,9 @@ namespace armarx::armem::d_ltm
std::filesystem::create_directories(_fullPath());
TypeIO::writeAronType(_aronType, _fullPath());
- for (const auto& [k, s] : m)
+ m.forEachProviderSegment([this](const wm::ProviderSegment & s)
{
- if (auto it = _container.find(k); it != _container.end())
+ if (auto it = _container.find(s.name()); it != _container.end())
{
it->second.append(s);
}
@@ -88,18 +88,19 @@ namespace armarx::armem::d_ltm
{
try
{
- std::filesystem::create_directory(_fullPath() / k);
+ std::filesystem::create_directory(_fullPath() / s.name());
}
catch (...)
{
ARMARX_WARNING << GetHandledExceptionString();
- return;
+ return false;
}
- auto wms = _container.emplace(k, id().withProviderSegmentName(k));
+ auto wms = _container.emplace(s.name(), id().withProviderSegmentName(s.name()));
wms.first->second.path = path;
wms.first->second.append(s);
}
- }
+ return true;
+ });
}
}
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/Entity.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/Entity.cpp
index daa61bc4a..c2e91a823 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/Entity.cpp
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/Entity.cpp
@@ -63,20 +63,21 @@ namespace armarx::armem::d_ltm
void Entity::append(const wm::Entity& m)
{
std::filesystem::create_directories(_fullPath());
- for (const auto& [k, s] : m)
+ m.forEachEntitySnapshot([this](const wm::EntitySnapshot & s)
{
- if (auto it = _container.find(k); it != _container.end())
+ if (auto it = _container.find(s.time()); it != _container.end())
{
// timestamp already exists
// We assume that a snapshot does not change, so ignore
}
else
{
- std::filesystem::create_directory(_fullPath() / std::to_string(k.toMicroSeconds()));
- auto wms = _container.emplace(std::make_pair(k, id().withTimestamp(k)));
+ std::filesystem::create_directory(_fullPath() / std::to_string(s.time().toMicroSeconds()));
+ auto wms = _container.emplace(std::make_pair(s.time(), id().withTimestamp(s.time())));
wms.first->second.path = path;
wms.first->second.setTo(s);
}
- }
+ return true;
+ });
}
}
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.cpp
index 5fbfa91d5..d22310fb2 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.cpp
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.cpp
@@ -28,11 +28,9 @@ namespace armarx::armem::d_ltm
- void EntityInstance::update(const EntityUpdate& update, int index)
+ void EntityInstance::update(const EntityUpdate& update)
{
- ARMARX_CHECK_FITS_SIZE(index, update.instancesData.size());
-
- this->index() = index;
+ ARMARX_CHECK_FITS_SIZE(this->index(), update.instancesData.size());
}
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.h b/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.h
index 54d3c4cb8..f8c14159e 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.h
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.h
@@ -33,7 +33,7 @@ namespace armarx::armem::d_ltm
* @param update The update.
* @param index The instances index.
*/
- virtual void update(const EntityUpdate& update, int index) override;
+ virtual void update(const EntityUpdate& update) override;
virtual bool equalsDeep(const EntityInstance& other) const override;
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/Memory.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/Memory.cpp
index 97871505a..3fc60e049 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)
+ m.forEachCoreSegment([this](const wm::CoreSegment & s) -> bool
{
- if (auto it = _container.find(k); it != _container.end())
+ if (auto it = _container.find(s.name()); it != _container.end())
{
it->second.append(s);
}
@@ -75,18 +75,20 @@ namespace armarx::armem::d_ltm
{
try
{
- std::filesystem::create_directory(_fullPath() / k);
+ std::filesystem::create_directory(_fullPath() / s.name());
}
catch (...)
{
ARMARX_WARNING << GetHandledExceptionString();
- return;
+ return false;
}
- auto wms = _container.emplace(k, id().withCoreSegmentName(k));
+ auto wms = _container.emplace(s.name(), id().withCoreSegmentName(s.name()));
wms.first->second.path = path;
wms.first->second.append(s);
}
- }
+
+ return true;
+ });
}
}
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.cpp
index 577417542..08ed0c2b0 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)
+ m.forEachEntity([this](const wm::Entity & s)
{
- if (auto it = _container.find(k); it != _container.end())
+ if (auto it = _container.find(s.name()); it != _container.end())
{
it->second.append(s);
}
@@ -106,18 +106,20 @@ namespace armarx::armem::d_ltm
try
{
- std::filesystem::create_directory(_fullPath() / k);
+ std::filesystem::create_directory(_fullPath() / s.name());
}
catch (...)
{
ARMARX_WARNING << GetHandledExceptionString();
- return;
+ return false;
}
- auto wms = _container.emplace(k, id().withEntityName(k));
+ auto wms = _container.emplace(s.name(), id().withEntityName(s.name()));
wms.first->second.path = path;
wms.first->second.append(s);
}
- }
+
+ return true;
+ });
}
}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.cpp
index 4e92467af..b4ece9ec4 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.cpp
@@ -60,21 +60,22 @@ namespace armarx::armem::ltm
mongocxx::database db = client[dbsettings.database];
mongocxx::collection coll = db[id().str()];
- for (const auto& [k, s] : m)
+ m.forEachEntitySnapshot([this](const wm::EntitySnapshot & snapshot)
{
- if (auto it = _container.find(k); it != _container.end())
+ if (auto it = _container.find(snapshot.time()); it != _container.end())
{
// timestamp already exists
// We assume that a snapshot does not change, so ignore
}
else
{
- auto wms = _container.emplace(std::make_pair(k, id().withTimestamp(k)));
+ auto wms = _container.emplace(std::make_pair(snapshot.time(), id().withTimestamp(snapshot.time())));
wms.first->second.dbsettings = dbsettings;
- wms.first->second.setTo(s, k);
+ wms.first->second.setTo(snapshot, snapshot.time());
//truncateHistoryToSize();
}
- }
+ return true;
+ });
}
bool Entity::hasSnapshot(const Time& time) const
@@ -89,21 +90,22 @@ namespace armarx::armem::ltm
mongocxx::database db = client[dbsettings.database];
mongocxx::collection coll = db[id().str()];
- bsoncxx::stdx::optional<bsoncxx::document::value> maybe_result = coll.find_one(document{} << "timestamp" << time.toMicroSeconds() << finalize);
+ bsoncxx::stdx::optional<bsoncxx::document::value> maybe_result =
+ coll.find_one(document{} << "timestamp" << time.toMicroSeconds() << finalize);
if (!maybe_result)
{
return false;
}
- auto json = nlohmann::json::parse(bsoncxx::to_json(*maybe_result));
- auto id = MemoryID::fromString(json["id"].get<std::string>());
- auto instances = json["instances"];
+ nlohmann::json json = nlohmann::json::parse(bsoncxx::to_json(*maybe_result));
+ MemoryID id = MemoryID::fromString(json["id"].get<std::string>());
+ nlohmann::json instances = json["instances"];
EntitySnapshot snapshot(id);
snapshot.dbsettings = dbsettings;
- for (unsigned int i = 0; i < instances.size(); ++i)
+ for (size_t i = 0; i < instances.size(); ++i)
{
- EntityInstance instance(id.withInstanceIndex(i));
+ EntityInstance instance(id.withInstanceIndex(static_cast<int>(i)));
snapshot.addInstance(instance);
}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.cpp
index 30297767a..f0afc6a70 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.cpp
@@ -19,11 +19,9 @@ namespace armarx::armem::ltm
return id() == other.id() && _metadata == other.metadata();
}
- void EntityInstance::update(const EntityUpdate& update, int index)
+ void EntityInstance::update(const EntityUpdate& update)
{
- ARMARX_CHECK_FITS_SIZE(index, update.instancesData.size());
-
- this->index() = index;
+ ARMARX_CHECK_FITS_SIZE(this->index(), update.instancesData.size());
this->_metadata.confidence = update.confidence;
this->_metadata.timeCreated = update.timeCreated;
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.h b/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.h
index 81bd70fd3..5fa23431b 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.h
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.h
@@ -62,7 +62,7 @@ namespace armarx::armem::ltm
* @param update The update.
* @param index The instances index.
*/
- virtual void update(const EntityUpdate& update, int index) override;
+ virtual void update(const EntityUpdate& update) override;
virtual bool equalsDeep(const EntityInstance& other) const override;
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.cpp
index f3dd8a595..313d6901d 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.cpp
@@ -85,18 +85,20 @@ namespace armarx::armem::ltm
auto array_builder = bsoncxx::builder::basic::array{};
int i = 0;
- for (const auto& s : m)
+ m.forEachEntityInstance([this, &array_builder, &i](const wm::EntityInstance & instance)
{
auto wms = _container.emplace_back(id().withInstanceIndex(i++));
auto aron = std::make_shared<aron::datanavigator::DictNavigator>();
- to_aron(aron, s);
+ to_aron(aron, instance);
nlohmann::json j;
from_aron(aron, j);
auto doc_value = bsoncxx::from_json(j.dump(2));
array_builder.append(doc_value);
- }
+
+ return true;
+ });
auto after_array = in_array << array_builder;
bsoncxx::document::value doc = after_array << bsoncxx::builder::stream::finalize;
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.cpp
index 9b81f00a8..ecefdc468 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.cpp
@@ -202,9 +202,9 @@ namespace armarx::armem::ltm
mongocxx::database db = client[dbsettings.database];
mongocxx::collection coll = db[id().str()];
- for (const auto& [k, s] : m)
+ m.forEachCoreSegment([this, &coll](const wm::CoreSegment & s)
{
- if (auto it = _container.find(k); it != _container.end())
+ if (auto it = _container.find(s.name()); it != _container.end())
{
// TODO check if foreign key exists
it->second.append(s);
@@ -213,15 +213,17 @@ namespace armarx::armem::ltm
{
auto builder = bsoncxx::builder::stream::document{};
bsoncxx::document::value foreign_key = builder
- << "foreign_key" << s.id().withCoreSegmentName(k).str()
+ << "foreign_key" << s.id().withCoreSegmentName(s.name()).str()
<< bsoncxx::builder::stream::finalize;
coll.insert_one(foreign_key.view());
- auto wms = _container.emplace(k, id().withCoreSegmentName(k));
+ auto wms = _container.emplace(s.name(), id().withCoreSegmentName(s.name()));
wms.first->second.dbsettings = dbsettings;
wms.first->second.append(s);
}
- }
+
+ return true;
+ });
TIMING_END(LTM_Append);
}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.cpp
index 878adc8d7..8126867e4 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.cpp
@@ -1,8 +1,10 @@
#include "ProviderSegment.h"
+#include "error.h"
+
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-#include "error.h"
+#include <SimoxUtility/json/json.hpp>
namespace armarx::armem::ltm
@@ -60,9 +62,9 @@ namespace armarx::armem::ltm
mongocxx::database db = client[dbsettings.database];
mongocxx::collection coll = db[id().str()];
- for (const auto& [k, s] : m)
+ m.forEachEntity([this, &coll](const wm::Entity & s)
{
- if (auto it = _container.find(k); it != _container.end())
+ if (auto it = _container.find(s.name()); it != _container.end())
{
it->second.append(s);
}
@@ -70,14 +72,16 @@ namespace armarx::armem::ltm
{
auto builder = bsoncxx::builder::stream::document{};
bsoncxx::document::value foreign_key = builder
- << "foreign_key" << s.id().withEntityName(k).str()
+ << "foreign_key" << s.id().withEntityName(s.name()).str()
<< bsoncxx::builder::stream::finalize;
coll.insert_one(foreign_key.view());
- auto wms = _container.emplace(k, id().withEntityName(k));
+ auto wms = _container.emplace(s.name(), id().withEntityName(s.name()));
wms.first->second.dbsettings = dbsettings;
wms.first->second.append(s);
}
- }
+
+ return true;
+ });
}
}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.cpp
index 9158bd7e3..0962f86fb 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.cpp
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.cpp
@@ -43,12 +43,12 @@ namespace armarx::armem::wm
return id() == other.id() && _metadata == other.metadata();
}
- void EntityInstance::update(const EntityUpdate& update, int index)
+
+ void EntityInstance::update(const EntityUpdate& update)
{
- ARMARX_CHECK_FITS_SIZE(index, update.instancesData.size());
+ ARMARX_CHECK_FITS_SIZE(this->index(), update.instancesData.size());
- this->index() = index;
- setData(update.instancesData.at(size_t(index)));
+ setData(update.instancesData.at(size_t(this->index())));
this->_metadata.confidence = update.confidence;
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h b/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h
index ef516e630..06389c366 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h
@@ -82,7 +82,7 @@ namespace armarx::armem::wm
* @param update The update.
* @param index The instances index.
*/
- virtual void update(const EntityUpdate& update, int index) override;
+ virtual void update(const EntityUpdate& update) override;
virtual bool equalsDeep(const EntityInstance& other) const override;
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.h b/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.h
index fb3123eb7..226fefd83 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.h
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.h
@@ -21,10 +21,17 @@ namespace armarx::armem::wm
public:
using Base::EntitySnapshotBase;
- using Base::operator=;
+ // using Base::operator=;
+
+ EntitySnapshot(const EntitySnapshot& other) = default;
+ EntitySnapshot(EntitySnapshot&& other) = default;
+ EntitySnapshot& operator=(const EntitySnapshot& other) = default;
+ EntitySnapshot& operator=(EntitySnapshot&& other) = default;
+
std::vector<aron::datanavigator::DictNavigatorPtr> getAronData() const;
+
protected:
virtual void _copySelfWithoutData(EntitySnapshot& other) const override;
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/visitor/Visitor.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/visitor/Visitor.cpp
index ede63a494..e9b42d775 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/visitor/Visitor.cpp
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/visitor/Visitor.cpp
@@ -19,80 +19,55 @@ namespace armarx::armem::wm
bool Visitor::applyTo(Memory& memory)
{
- bool cont = true;
visitEnter(memory);
- for (auto& [_, coreSeg] : memory)
+ bool cont = memory.forEachCoreSegment([this](CoreSegment & coreSeg)
{
- if (!applyTo(coreSeg))
- {
- cont = false;
- break;
- }
- }
+ return applyTo(coreSeg);
+ });
visitExit(memory);
return cont;
}
bool Visitor::applyTo(CoreSegment& coreSegment)
{
- bool cont = true;
visitEnter(coreSegment);
- for (auto& [_, provSeg] : coreSegment)
+ bool cont = coreSegment.forEachProviderSegment([this](ProviderSegment & provSeg)
{
- if (!applyTo(provSeg))
- {
- cont = false;
- break;
- }
- }
+ return applyTo(provSeg);
+ });
visitExit(coreSegment);
return cont;
}
bool Visitor::applyTo(ProviderSegment& providerSegment)
{
- bool cont = true;
visitEnter(providerSegment);
- for (auto& [_, entity] : providerSegment)
+ bool cont = providerSegment.forEachEntity([this](Entity & entity)
{
- if (!applyTo(entity))
- {
- cont = false;
- break;
- }
- }
+ return applyTo(entity);
+ });
visitExit(providerSegment);
return cont;
}
bool Visitor::applyTo(Entity& entity)
{
- bool cont = true;
visitEnter(entity);
- for (auto& [_, snapshot] : entity)
+ bool cont = entity.forEachEntitySnapshot([this](EntitySnapshot & snapshot)
{
- if (!applyTo(snapshot))
- {
- cont = false;
- break;
- }
- }
+ return applyTo(snapshot);
+ });
visitExit(entity);
return cont;
}
bool Visitor::applyTo(EntitySnapshot& snapshot)
{
- bool cont = true;
visitEnter(snapshot);
- for (auto& instance : snapshot)
+ bool cont = snapshot.forEachEntityInstance([this](EntityInstance & instance)
{
- if (!applyTo(instance))
- {
- cont = false;
- break;
- }
- }
+ return applyTo(instance);
+ });
visitExit(snapshot);
return cont;
}
@@ -105,80 +80,55 @@ namespace armarx::armem::wm
bool Visitor::applyTo(const Memory& memory)
{
- bool cont = true;
visitEnter(memory);
- for (const auto& [_, coreSeg] : memory)
+ bool cont = memory.forEachCoreSegment([this](const CoreSegment & coreSeg)
{
- if (!applyTo(coreSeg))
- {
- cont = false;
- break;
- }
- }
+ return applyTo(coreSeg);
+ });
visitExit(memory);
return cont;
}
bool Visitor::applyTo(const CoreSegment& coreSegment)
{
- bool cont = true;
visitEnter(coreSegment);
- for (const auto& [_, provSeg] : coreSegment)
+ bool cont = coreSegment.forEachProviderSegment([this](const ProviderSegment & provSeg)
{
- if (!applyTo(provSeg))
- {
- cont = false;
- break;
- }
- }
+ return applyTo(provSeg);
+ });
visitExit(coreSegment);
return cont;
}
bool Visitor::applyTo(const ProviderSegment& providerSegment)
{
- bool cont = true;
visitEnter(providerSegment);
- for (const auto& [_, entity] : providerSegment)
+ bool cont = providerSegment.forEachEntity([this](const Entity & entity)
{
- if (!applyTo(entity))
- {
- cont = false;
- break;
- }
- }
+ return applyTo(entity);
+ });
visitExit(providerSegment);
return cont;
}
bool Visitor::applyTo(const Entity& entity)
{
- bool cont = true;
visitEnter(entity);
- for (const auto& [_, snapshot] : entity)
+ bool cont = entity.forEachEntitySnapshot([this](const EntitySnapshot & snapshot)
{
- if (!applyTo(snapshot))
- {
- cont = false;
- break;
- }
- }
+ return applyTo(snapshot);
+ });
visitExit(entity);
return cont;
}
bool Visitor::applyTo(const EntitySnapshot& snapshot)
{
- bool cont = true;
visitEnter(snapshot);
- for (const auto& instance : snapshot)
+ bool cont = snapshot.forEachEntityInstance([this](const EntityInstance & instance)
{
- if (!applyTo(instance))
- {
- cont = false;
- break;
- }
- }
+ return applyTo(instance);
+ });
visitExit(snapshot);
return cont;
}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/CoreSegmentQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/base/CoreSegmentQueryProcessorBase.h
index 9d7b25182..bb0c5072e 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/CoreSegmentQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/CoreSegmentQueryProcessorBase.h
@@ -57,10 +57,11 @@ namespace armarx::armem::base::query_proc
const armem::query::data::core::All& query,
const _CoreSegmentT& coreSegment) const
{
- for (const auto& [name, providerSegment] : coreSegment.providerSegments())
+ coreSegment.forEachProviderSegment([this, &query, &result](const ProviderSegmentT & providerSegment)
{
result.addProviderSegment(providerSegmentProcessorProcess(query.providerSegmentQueries, providerSegment));
- }
+ return true;
+ });
}
void process(_CoreSegmentT& result,
@@ -83,13 +84,15 @@ namespace armarx::armem::base::query_proc
const _CoreSegmentT& coreSegment) const
{
std::regex regex(query.providerSegmentNameRegex);
- for (const auto& [name, providerSegment] : coreSegment.providerSegments())
+ coreSegment.forEachProviderSegment(
+ [this, &result, &query, ®ex](const ProviderSegmentT & providerSegment)
{
if (std::regex_search(providerSegment.name(), regex))
{
result.addProviderSegment(providerSegmentProcessorProcess(query.providerSegmentQueries, providerSegment));
}
- }
+ return true;
+ });
}
protected:
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.h
index 40113207f..009683a32 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.h
@@ -78,10 +78,11 @@ namespace armarx::armem::base::query_proc
(void) query;
// Copy this entitiy and its contents.
- for (const auto& [time, snapshot] : entity)
+ entity.forEachEntitySnapshot([this, &result](const EntitySnapshotT & snapshot)
{
addResultSnapshot(result, snapshot);
- }
+ return true;
+ });
}
void process(_EntityT& result,
@@ -211,24 +212,27 @@ namespace armarx::armem::base::query_proc
const armem::query::data::entity::BeforeTime& query,
const _EntityT& entity) const
{
- const auto referenceTimestamp = fromIce<Time>(query.timestamp);
+ const armem::Time referenceTimestamp = fromIce<Time>(query.timestamp);
ARMARX_CHECK(referenceTimestamp.toMicroSeconds() >= 0) << "Reference timestamp is negative!";
- const auto maxEntries = fromIce<std::int64_t>(query.maxEntries);
-
try
{
- const auto before = entity.getSnapshotsBefore(referenceTimestamp);
+ const auto& befores = entity.getSnapshotsBefore(referenceTimestamp);
- int i = 0;
- for (const auto& snapshot : before)
+ size_t num = 0;
+ if (query.maxEntries < 0)
{
- if (maxEntries >= 0 && i >= maxEntries)
- {
- break;
- }
- addResultSnapshot(result, snapshot);
- ++i;
+ num = befores.size();
+ }
+ else
+ {
+ num = std::min(befores.size(), static_cast<size_t>(query.maxEntries));
+ }
+
+ for (size_t r = 0; r < num; ++r)
+ {
+ size_t i = befores.size() - 1 - r;
+ addResultSnapshot(result, befores[i]);
}
}
catch (const error::MissingEntry&)
diff --git a/source/RobotAPI/libraries/armem/test/ArMemForEachTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemForEachTest.cpp
new file mode 100644
index 000000000..013fae19b
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/test/ArMemForEachTest.cpp
@@ -0,0 +1,170 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package RobotAPI::ArmarXObjects::armem
+ * @author Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
+ * @date 2020
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#define BOOST_TEST_MODULE RobotAPI::ArmarXLibraries::armem
+
+#define ARMARX_BOOST_TEST
+
+#include <RobotAPI/Test.h>
+#include <RobotAPI/libraries/armem/core/Commit.h>
+#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
+
+#include <iostream>
+#include <set>
+
+
+namespace armem = armarx::armem;
+
+
+template <class ValueT>
+static
+std::vector<ValueT> toVector(const std::set<ValueT>& set)
+{
+ return {set.begin(), set.end()};
+}
+
+
+
+BOOST_AUTO_TEST_CASE(test_forEach)
+{
+ using namespace armarx::armem;
+
+ const MemoryID mid("memory");
+ const std::set<MemoryID> emptySet; // For comparison.
+
+ wm::Memory memory(mid);
+ std::set<MemoryID> cids, pids, eids, sids, iids;
+
+ for (size_t c = 0; c <= 2; ++c)
+ {
+ const MemoryID cid = mid.withCoreSegmentName("core_" + std::to_string(c));
+ cids.insert(cid);
+ wm::CoreSegment& coreSeg = memory.addCoreSegment(cid.coreSegmentName);
+ for (size_t p = 0; p <= c; ++p)
+ {
+ const MemoryID pid = cid.withProviderSegmentName("prov_" + std::to_string(p));
+ pids.insert(pid);
+ for (size_t e = 0; e <= p; ++e)
+ {
+ const MemoryID eid = pid.withEntityName("entity_" + std::to_string(e));
+ eids.insert(eid);
+ for (size_t s = 0; s <= e; ++s)
+ {
+ const MemoryID sid = eid.withTimestamp(Time::microSeconds(int(s)));
+ sids.insert(sid);
+
+ EntityUpdate update;
+ update.entityID = eid;
+ update.timeCreated = sid.timestamp;
+ for (size_t i = 0; i <= s; ++i)
+ {
+ const MemoryID iid = sid.withInstanceIndex(int(i));
+ iids.insert(iid);
+ update.instancesData.emplace_back();
+ }
+ auto r = memory.update(update);
+
+ BOOST_CHECK(coreSeg.hasProviderSegment(pid.providerSegmentName));
+ }
+ }
+
+ BOOST_CHECK_EQUAL(coreSeg.size(), p + 1);
+ }
+ BOOST_CHECK_EQUAL(memory.size(), c + 1);
+ }
+
+ BOOST_CHECK_GT(iids.size(), 0);
+ BOOST_CHECK_GT(sids.size(), 0);
+ BOOST_CHECK_GT(eids.size(), 0);
+ BOOST_CHECK_GT(pids.size(), 0);
+ BOOST_CHECK_GT(cids.size(), 0);
+
+ BOOST_TEST_MESSAGE("Memory: \n" << memory.dump());
+
+ memory.forEachEntityInstance([&](const wm::EntityInstance & i) -> bool
+ {
+ BOOST_TEST_CONTEXT(i.getLevelName() << " " << i.id())
+ {
+ BOOST_TEST_INFO(toVector(iids));
+ BOOST_CHECK_EQUAL(iids.count(i.id()), 1);
+ iids.erase(i.id());
+ }
+ return true;
+ });
+ BOOST_TEST_CONTEXT(toVector(iids))
+ {
+ BOOST_CHECK_EQUAL(iids.size(), 0);
+ }
+
+ memory.forEachEntitySnapshot([&](const wm::EntitySnapshot & s) -> bool
+ {
+ BOOST_TEST_CONTEXT(s.getLevelName() << " " << s.id())
+ {
+ BOOST_TEST_INFO(toVector(sids));
+ BOOST_CHECK_EQUAL(sids.count(s.id()), 1);
+ sids.erase(s.id());
+ }
+ return true;
+ });
+ BOOST_TEST_INFO(toVector(sids));
+ BOOST_CHECK_EQUAL(sids.size(), 0);
+
+ memory.forEachEntity([&](const wm::Entity & e) -> bool
+ {
+ BOOST_TEST_CONTEXT(e.getLevelName() << " " << e.id())
+ {
+ BOOST_TEST_INFO(toVector(eids));
+ BOOST_CHECK_EQUAL(eids.count(e.id()), 1);
+ eids.erase(e.id());
+ }
+ return true;
+ });
+ BOOST_TEST_INFO(toVector(eids));
+ BOOST_CHECK_EQUAL(eids.size(), 0);
+
+ memory.forEachProviderSegment([&](const wm::ProviderSegment & p) // -> bool
+ {
+ BOOST_TEST_CONTEXT(p.getLevelName() << " " << p.id())
+ {
+ BOOST_TEST_INFO(toVector(pids));
+ BOOST_CHECK_EQUAL(pids.count(p.id()), 1);
+ pids.erase(p.id());
+ }
+ return true;
+ });
+ BOOST_TEST_INFO(toVector(pids));
+ BOOST_CHECK_EQUAL(pids.size(), 0);
+
+ memory.forEachCoreSegment([&](const wm::CoreSegment & c) // -> bool
+ {
+ BOOST_TEST_CONTEXT(c.getLevelName() << " " << c.id())
+ {
+ BOOST_TEST_INFO(toVector(cids));
+ BOOST_CHECK_EQUAL(cids.count(c.id()), 1);
+ cids.erase(c.id());
+ }
+ return true;
+ });
+ BOOST_TEST_INFO(toVector(cids));
+ BOOST_CHECK_EQUAL(cids.size(), 0);
+
+}
diff --git a/source/RobotAPI/libraries/armem/test/ArMemIceConversionsTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemIceConversionsTest.cpp
index a835f39be..52530a7c5 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemIceConversionsTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemIceConversionsTest.cpp
@@ -59,12 +59,12 @@ BOOST_AUTO_TEST_CASE(test_entity)
BOOST_CHECK_EQUAL(ice->id.providerSegmentName, entity.id().providerSegmentName);
BOOST_CHECK_EQUAL(ice->id.entityName, entity.id().entityName);
- BOOST_CHECK_EQUAL(ice->history.size(), entity.history().size());
+ BOOST_CHECK_EQUAL(ice->history.size(), entity.size());
armem::wm::Entity entityOut;
armem::fromIce(ice, entityOut);
- BOOST_CHECK_EQUAL(entityOut.history().size(), entity.history().size());
+ BOOST_CHECK_EQUAL(entityOut.size(), entity.size());
std::vector<armem::Time> timestamps = entityOut.getTimestamps();
BOOST_CHECK_EQUAL_COLLECTIONS(timestamps.begin(), timestamps.end(), expectedTimestamps.begin(), expectedTimestamps.end());
diff --git a/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp
index d30c49232..f7aebf000 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp
@@ -170,8 +170,8 @@ namespace ArMemMemoryTest
};
struct MemoryContainerCtorOpTestFixture
{
- const armem::MemoryID id {"A/B/C/123/1"};
- const armem::MemoryID moved {"////1"}; // int is not moved
+ const armem::MemoryID id {"M/C/P/E/123/1"};
+ const armem::MemoryID moved {"////123/1"}; // Time and int are just copied, not moved
TestMemoryContainer cont {id};
MemoryContainerCtorOpTestFixture()
@@ -364,14 +364,17 @@ struct CustomChecks<armem::d_ltm::Memory>
struct CopyMoveCtorsOpsTestBase
{
- const armem::MemoryID id {"A/B/C/123000"}; // int index would not be moved
- const armem::MemoryID idMoved;
+ const armem::MemoryID id {"M", "C", "P", "E", armem::Time::microSeconds(123000), 1};
+ //const armem::MemoryID idMoved {"", "", "", "", armem::Time::microSeconds(123000), 1};
+ armem::MemoryID idMoved = id;
std::string typeName;
CopyMoveCtorsOpsTestBase(const std::string& typeName) :
typeName(typeName)
{
+ armem::MemoryID copy = std::move(idMoved);
+ (void) copy;
}
virtual ~CopyMoveCtorsOpsTestBase()
{
@@ -490,10 +493,17 @@ struct CopyMoveCtorsOpsTest : public CopyMoveCtorsOpsTestBase
void reset() override
{
in = T {id};
+ if constexpr(std::is_same_v<T, armem::wm::Memory>
+ || std::is_same_v<T, armem::ltm::Memory>
+ || std::is_same_v<T, armem::d_ltm::Memory>)
+ {
+ in._addMissingCoreSegmentDuringUpdate = true;
+ }
{
armem::EntityUpdate update;
- update.entityID = armem::MemoryID("A", "B", "C", "D", armem::Time::seconds(1), 0);
+ update.entityID = armem::MemoryID("M", "C", "P", "E", armem::Time::microSeconds(123000), 0);
update.timeCreated = update.entityID.timestamp;
+ update.instancesData.emplace_back();
in.update(update);
}
@@ -662,9 +672,9 @@ BOOST_AUTO_TEST_CASE(test_segment_setup)
armem::wm::Entity& entity = providerSegment.getEntity("image");
BOOST_CHECK_EQUAL(entity.name(), "image");
BOOST_CHECK_EQUAL(entity.size(), 1);
- BOOST_CHECK_EQUAL(entity.history().count(update.timeCreated), 1);
+ BOOST_CHECK(entity.hasSnapshot(update.timeCreated));
- armem::wm::EntitySnapshot& entitySnapshot = entity.history().at(update.timeCreated);
+ armem::wm::EntitySnapshot& entitySnapshot = entity.getSnapshot(update.timeCreated);
BOOST_CHECK_EQUAL(entitySnapshot.size(), update.instancesData.size());
@@ -674,8 +684,8 @@ BOOST_AUTO_TEST_CASE(test_segment_setup)
update.timeCreated = armem::Time::milliSeconds(2000);
memory.update(update);
BOOST_CHECK_EQUAL(entity.size(), 2);
- BOOST_CHECK_EQUAL(entity.history().count(update.timeCreated), 1);
- BOOST_CHECK_EQUAL(entity.history().at(update.timeCreated).size(), update.instancesData.size());
+ BOOST_CHECK(entity.hasSnapshot(update.timeCreated));
+ BOOST_CHECK_EQUAL(entity.getSnapshot(update.timeCreated).size(), update.instancesData.size());
// A third update (on entity).
@@ -707,17 +717,17 @@ BOOST_AUTO_TEST_CASE(test_history_size_in_entity)
// Now with maximum history size.
entity.setMaxHistorySize(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);
+ BOOST_CHECK(not entity.hasSnapshot(armem::Time::milliSeconds(1000)));
+ BOOST_CHECK(entity.hasSnapshot(armem::Time::milliSeconds(2000)));
+ BOOST_CHECK(entity.hasSnapshot(armem::Time::milliSeconds(3000)));
update.timeCreated = armem::Time::milliSeconds(4000);
entity.update(update);
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);
+ BOOST_CHECK(not entity.hasSnapshot(armem::Time::milliSeconds(2000)));
+ BOOST_CHECK(entity.hasSnapshot(armem::Time::milliSeconds(3000)));
+ BOOST_CHECK(entity.hasSnapshot(armem::Time::milliSeconds(4000)));
// Disable maximum history size.
entity.setMaxHistorySize(-1);
@@ -725,9 +735,9 @@ BOOST_AUTO_TEST_CASE(test_history_size_in_entity)
update.timeCreated = armem::Time::milliSeconds(5000);
entity.update(update);
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);
+ BOOST_CHECK(entity.hasSnapshot(armem::Time::milliSeconds(3000)));
+ BOOST_CHECK(entity.hasSnapshot(armem::Time::milliSeconds(4000)));
+ BOOST_CHECK(entity.hasSnapshot(armem::Time::milliSeconds(5000)));
}
diff --git a/source/RobotAPI/libraries/armem/test/ArMemQueryTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemQueryTest.cpp
index 4b83fd432..a674ef503 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemQueryTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemQueryTest.cpp
@@ -56,7 +56,6 @@ namespace ArMemQueryTest
armem::wm::Entity entity;
armem::wm::query_proc::EntityQueryProcessor processor;
- query::EntityQueryPtr entityQuery;
std::vector<armem::wm::Entity> results;
@@ -85,10 +84,10 @@ namespace ArMemQueryTest
template <class QueryT>
void addResults(QueryT query = {})
{
- entityQuery = new QueryT(query);
-
+ // Test whether we get the same result when we pass the concrete type
+ // (static resolution) and when we pass the base type (dynamic resolution).
results.emplace_back(processor.process(query, entity));
- results.emplace_back(processor.process(*entityQuery, entity));
+ results.emplace_back(processor.process(static_cast<query::EntityQuery const&>(query), entity));
}
};
@@ -126,8 +125,8 @@ BOOST_AUTO_TEST_CASE(test_entity_Single_latest)
{
BOOST_CHECK_EQUAL(result.name(), entity.name());
BOOST_CHECK_EQUAL(result.size(), 1);
- BOOST_CHECK_EQUAL(result.history().begin()->second.time(), entity.getLatestSnapshot().time());
- BOOST_CHECK_NE(&result.history().begin()->second, &entity.history().rbegin()->second);
+ const armem::wm::EntitySnapshot& first = result.getFirstSnapshotAfterOrAt(armem::Time::microSeconds(0));
+ BOOST_CHECK_EQUAL(first.time(), armem::Time::microSeconds(5000));
}
}
@@ -191,7 +190,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_slice)
BOOST_CHECK_EQUAL(result.size(), 2);
- std::vector<armem::Time> times = simox::alg::get_keys(result.history());
+ std::vector<armem::Time> times = result.getTimestamps();
std::vector<armem::Time> expected
{
armem::Time::microSeconds(2000), armem::Time::microSeconds(3000)
@@ -212,7 +211,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_exact)
BOOST_CHECK_EQUAL(result.size(), 3);
- std::vector<armem::Time> times = simox::alg::get_keys(result.history());
+ std::vector<armem::Time> times = result.getTimestamps();
std::vector<armem::Time> expected
{
armem::Time::microSeconds(2000), armem::Time::microSeconds(3000), armem::Time::microSeconds(4000)
@@ -233,8 +232,8 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_all)
BOOST_CHECK_EQUAL(result.size(), entity.size());
- std::vector<armem::Time> times = simox::alg::get_keys(result.history());
- std::vector<armem::Time> expected = simox::alg::get_keys(entity.history());
+ const std::vector<armem::Time> times = result.getTimestamps();
+ const std::vector<armem::Time> expected = entity.getTimestamps();
BOOST_CHECK_EQUAL_COLLECTIONS(times.begin(), times.end(), expected.begin(), expected.end());
}
}
@@ -266,7 +265,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_from_start)
BOOST_CHECK_EQUAL(result.size(), 2);
- std::vector<armem::Time> times = simox::alg::get_keys(result.history());
+ const std::vector<armem::Time> times = result.getTimestamps();
std::vector<armem::Time> expected
{
armem::Time::microSeconds(1000), armem::Time::microSeconds(2000)
@@ -284,10 +283,9 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_to_end)
for (const armem::wm::Entity& result : results)
{
BOOST_CHECK_EQUAL(result.name(), entity.name());
-
BOOST_CHECK_EQUAL(result.size(), 3);
- std::vector<armem::Time> times = simox::alg::get_keys(result.history());
+ const std::vector<armem::Time> times = result.getTimestamps();
std::vector<armem::Time> expected
{
armem::Time::microSeconds(3000), armem::Time::microSeconds(4000), armem::Time::microSeconds(5000)
@@ -307,12 +305,11 @@ BOOST_AUTO_TEST_CASE(test_entity_BeforeTime_1)
for (const auto& result : results)
{
- std::vector<armem::Time> times = simox::alg::get_keys(result.history());
+ const std::vector<armem::Time> times = result.getTimestamps();
BOOST_REQUIRE_EQUAL(times.size(), 1);
- BOOST_REQUIRE_EQUAL(times.front(), armem::Time::microSeconds(3000));
+ BOOST_CHECK_EQUAL(times.front(), armem::Time::microSeconds(3000));
}
-
}
BOOST_AUTO_TEST_CASE(test_entity_BeforeTime_2)
@@ -323,7 +320,7 @@ BOOST_AUTO_TEST_CASE(test_entity_BeforeTime_2)
for (const auto& result : results)
{
- std::vector<armem::Time> times = simox::alg::get_keys(result.history());
+ const std::vector<armem::Time> times = result.getTimestamps();
BOOST_REQUIRE_EQUAL(times.size(), 2);
std::vector<armem::Time> expected
@@ -348,7 +345,7 @@ BOOST_AUTO_TEST_CASE(test_entity_BeforeOrAtTime_before)
for (const auto& result : results)
{
- std::vector<armem::Time> times = simox::alg::get_keys(result.history());
+ std::vector<armem::Time> times = result.getTimestamps();
BOOST_REQUIRE_EQUAL(times.size(), 1);
BOOST_REQUIRE_EQUAL(times.front(), armem::Time::microSeconds(3000));
@@ -363,7 +360,7 @@ BOOST_AUTO_TEST_CASE(test_entity_BeforeOrAtTime_at)
for (const auto& result : results)
{
- std::vector<armem::Time> times = simox::alg::get_keys(result.history());
+ std::vector<armem::Time> times = result.getTimestamps();
BOOST_REQUIRE_EQUAL(times.size(), 1);
BOOST_REQUIRE_EQUAL(times.front(), armem::Time::microSeconds(3000));
@@ -378,7 +375,7 @@ BOOST_AUTO_TEST_CASE(test_entity_BeforeOrAtTime_lookup_past)
for (const auto& result : results)
{
- std::vector<armem::Time> times = simox::alg::get_keys(result.history());
+ std::vector<armem::Time> times = result.getTimestamps();
BOOST_REQUIRE(times.empty());
}
}
@@ -398,7 +395,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_no_limit)
for (const auto& result : results)
{
- std::vector<armem::Time> times = simox::alg::get_keys(result.history());
+ std::vector<armem::Time> times = result.getTimestamps();
BOOST_REQUIRE_EQUAL(times.size(), 2);
std::vector<armem::Time> expected
@@ -424,7 +421,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_600)
for (const auto& result : results)
{
- std::vector<armem::Time> times = simox::alg::get_keys(result.history());
+ std::vector<armem::Time> times = result.getTimestamps();
BOOST_REQUIRE_EQUAL(times.size(), 2);
std::vector<armem::Time> expected
@@ -450,7 +447,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_too_small)
for (const auto& result : results)
{
- std::vector<armem::Time> times = simox::alg::get_keys(result.history());
+ std::vector<armem::Time> times = result.getTimestamps();
BOOST_REQUIRE_EQUAL(times.size(), 0);
}
@@ -469,7 +466,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_only_next)
for (const auto& result : results)
{
- std::vector<armem::Time> times = simox::alg::get_keys(result.history());
+ std::vector<armem::Time> times = result.getTimestamps();
BOOST_REQUIRE_EQUAL(times.size(), 1);
std::vector<armem::Time> expected
@@ -494,7 +491,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_only_previous)
for (const auto& result : results)
{
- std::vector<armem::Time> times = simox::alg::get_keys(result.history());
+ std::vector<armem::Time> times = result.getTimestamps();
BOOST_REQUIRE_EQUAL(times.size(), 1);
std::vector<armem::Time> expected
@@ -519,7 +516,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_perfect_match)
for (const auto& result : results)
{
- std::vector<armem::Time> times = simox::alg::get_keys(result.history());
+ std::vector<armem::Time> times = result.getTimestamps();
BOOST_REQUIRE_EQUAL(times.size(), 1);
std::vector<armem::Time> expected
@@ -544,7 +541,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_lookup_past)
for (const auto& result : results)
{
- std::vector<armem::Time> times = simox::alg::get_keys(result.history());
+ std::vector<armem::Time> times = result.getTimestamps();
BOOST_REQUIRE(times.empty());
}
}
@@ -562,7 +559,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_lookup_future)
for (const auto& result : results)
{
- std::vector<armem::Time> times = simox::alg::get_keys(result.history());
+ std::vector<armem::Time> times = result.getTimestamps();
BOOST_REQUIRE(times.empty());
}
}
@@ -580,7 +577,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_lookup_future_valid)
for (const auto& result : results)
{
- std::vector<armem::Time> times = simox::alg::get_keys(result.history());
+ std::vector<armem::Time> times = result.getTimestamps();
BOOST_REQUIRE_EQUAL(times.size(), 1);
std::vector<armem::Time> expected
@@ -643,7 +640,7 @@ BOOST_AUTO_TEST_CASE(test_entity_IndexRange_all_default)
BOOST_CHECK_EQUAL(result.size(), entity.size());
- std::vector<armem::Time> times = simox::alg::get_keys(result.history());
+ std::vector<armem::Time> times = result.getTimestamps();
std::vector<armem::Time> expected = simox::alg::get_keys(entity.history());
BOOST_CHECK_EQUAL_COLLECTIONS(times.begin(), times.end(), expected.begin(), expected.end());
}
@@ -666,7 +663,7 @@ BOOST_AUTO_TEST_CASE(test_entity_IndexRange_slice)
BOOST_CHECK_EQUAL(result.size(), 3);
- std::vector<armem::Time> times = simox::alg::get_keys(result.history());
+ std::vector<armem::Time> times = result.getTimestamps();
std::vector<armem::Time> expected
{
armem::Time::microSeconds(2000), armem::Time::microSeconds(3000), armem::Time::microSeconds(4000)
diff --git a/source/RobotAPI/libraries/armem/test/CMakeLists.txt b/source/RobotAPI/libraries/armem/test/CMakeLists.txt
index e7fa876c1..b10935f95 100644
--- a/source/RobotAPI/libraries/armem/test/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem/test/CMakeLists.txt
@@ -8,3 +8,4 @@ armarx_add_test(ArMemMemoryIDTest ArMemMemoryIDTest.cpp "${LIBS}")
armarx_add_test(ArMemQueryTest ArMemQueryTest.cpp "${LIBS}")
armarx_add_test(ArMemLTMTest ArMemLTMTest.cpp "${LIBS}")
armarx_add_test(ArMemQueryBuilderTest ArMemQueryBuilderTest.cpp "${LIBS}")
+armarx_add_test(ArMemForEachTest ArMemForEachTest.cpp "${LIBS}")
diff --git a/source/RobotAPI/libraries/armem_gui/test/ArMemGuiTest.cpp b/source/RobotAPI/libraries/armem_gui/test/ArMemGuiTest.cpp
index 4f259c7af..303a319bc 100644
--- a/source/RobotAPI/libraries/armem_gui/test/ArMemGuiTest.cpp
+++ b/source/RobotAPI/libraries/armem_gui/test/ArMemGuiTest.cpp
@@ -44,13 +44,13 @@ BOOST_AUTO_TEST_CASE(test_sanitizeTypeName)
BOOST_CHECK_EQUAL(sanitizeTypeName(dict.getName()), "Dict<Float>");
}
{
- ListNavigator dict;
- dict.setAcceptedType(std::make_shared<LongNavigator>());
- BOOST_CHECK_EQUAL(sanitizeTypeName(dict.getName()), "Dict<Long>");
+ ListNavigator list;
+ list.setAcceptedType(std::make_shared<LongNavigator>());
+ BOOST_CHECK_EQUAL(sanitizeTypeName(list.getName()), "List<Long>");
}
{
- ObjectNavigator dict;
- dict.setObjectName("namespace::MyObjectName");
- BOOST_CHECK_EQUAL(sanitizeTypeName(dict.getName()), "namespace::MyObjectName");
+ ObjectNavigator obj;
+ obj.setObjectName("namespace::MyObjectName");
+ BOOST_CHECK_EQUAL(sanitizeTypeName(obj.getName()), "MyObjectName (namespace)");
}
}
--
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