From 30af9a425847f5706ef1915ce3c4cba516f30fca Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Thu, 20 May 2021 10:40:37 +0200
Subject: [PATCH] attachments segment class
---
.../libraries/armem_objects/CMakeLists.txt | 6 +++++
.../server/attachments/Segment.cpp | 26 ++++++++-----------
.../server/attachments/Segment.h | 9 +++----
3 files changed, 21 insertions(+), 20 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_objects/CMakeLists.txt b/source/RobotAPI/libraries/armem_objects/CMakeLists.txt
index 30a1f2ef6..dd799ece0 100644
--- a/source/RobotAPI/libraries/armem_objects/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem_objects/CMakeLists.txt
@@ -34,6 +34,9 @@ armarx_add_library(
# server/articulated_object/SegmentAdapter.h
server/articulated_object_instance/Visu.h
+ server/attachments/Segment.h
+
+
client/articulated_object/Reader.cpp
client/articulated_object/Writer.cpp
@@ -55,6 +58,9 @@ armarx_add_library(
# server/articulated_object/SegmentAdapter.cpp
server/articulated_object_instance/Visu.cpp
+ server/attachments/Segment.cpp
+
+
client/articulated_object/Reader.h
client/articulated_object/Writer.h
client/articulated_object/interfaces.h
diff --git a/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.cpp
index bfbee9a10..c2b3b77ab 100644
--- a/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.cpp
@@ -5,6 +5,7 @@
#include <ArmarXCore/core/time/TimeUtil.h>
#include "ArmarXCore/core/logging/Logging.h"
+#include "RobotAPI/libraries/armem/util/util.h"
#include "RobotAPI/libraries/aron/common/aron_conversions.h"
#include <RobotAPI/libraries/armem/core/aron_conversions.h>
@@ -17,7 +18,7 @@
#include <RobotAPI/libraries/armem_objects/aron/Robot.aron.generated.h>
#include <RobotAPI/libraries/armem_objects/aron_conversions.h>
-#include "RobotAPI/libraries/armem_objects/articulated_object_conversions.h"
+#include <RobotAPI/libraries/armem_objects/aron/Attachment.aron.generated.h>
namespace armarx::armem::server::obj::attachments
@@ -51,37 +52,32 @@ namespace armarx::armem::server::obj::attachments
// this->visu = std::make_unique<Visu>(arviz, *this);
}
-
- std::unordered_map<armem::MemoryID, ::armarx::armem::articulated_object::ArticulatedObjectDescription> Segment::getKnownObjectClasses() const
+ std::vector<armarx::armem::attachments::ObjectAttachment> Segment::getAttachments(const armem::Time& timestamp) const
{
- std::unordered_map<armem::MemoryID, ::armarx::armem::articulated_object::ArticulatedObjectDescription> objects;
+ std::vector<armarx::armem::attachments::ObjectAttachment> attachments;
for (const auto& [_, provSeg] : iceMemory.workingMemory->getCoreSegment(p.coreClassSegmentName))
{
for (const auto& [name, entity] : provSeg.entities())
{
const auto& entityInstance = entity.getLatestSnapshot().getInstance(0);
- const auto description = articulated_object::convertRobotDescription(entityInstance);
+ const auto attachment = tryCast<armarx::arondto::attachment::ObjectAttachment>(entityInstance);
- if (not description)
+ if (not attachment)
{
- ARMARX_WARNING << "Could not convert entity instance to 'RobotDescription'";
+ ARMARX_WARNING << "Could not convert entity instance to 'ObjectAttachment'";
continue;
}
- ARMARX_INFO << "Key is " << armem::MemoryID(entity.id());
-
- objects.emplace(armem::MemoryID(entity.id()), *description);
+ ARMARX_DEBUG << "Key is " << armem::MemoryID(entity.id());
+ attachments.push_back(attachment);
}
}
- ARMARX_IMPORTANT << "Number of known articulated object classes: " << objects.size();
-
- return objects;
+ return attachments;
}
-
// void Segment::RemoteGui::setup(const Segment& data)
// {
// using namespace armarx::RemoteGui::Client;
@@ -124,4 +120,4 @@ namespace armarx::armem::server::obj::attachments
// }
// }
-} // namespace armarx::armem::server::obj::articulated_object_class
+} // namespace armarx::armem::server::obj::attachments
diff --git a/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.h b/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.h
index 16faad0bb..e974a36a2 100644
--- a/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.h
+++ b/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.h
@@ -34,6 +34,7 @@
#include "RobotAPI/components/ArViz/Client/Client.h"
#include "RobotAPI/libraries/armem/core/MemoryID.h"
+#include "RobotAPI/libraries/armem/core/Time.h"
#include "RobotAPI/libraries/armem_objects/types.h"
namespace armarx::armem
@@ -55,8 +56,6 @@ namespace armarx::armem::server::obj::attachments
class Visu;
-
-
class Segment : public armarx::Logging
{
public:
@@ -71,7 +70,7 @@ namespace armarx::armem::server::obj::attachments
void init();
- std::vector<Attachments> getAttachments() const;
+ std::vector<armarx::armem::attachments::ObjectAttachment> getAttachments(const armem::Time& timestamp) const;
private:
@@ -82,7 +81,7 @@ namespace armarx::armem::server::obj::attachments
struct Properties
{
- std::string coreClassSegmentName = "ArticulatedObjectClass";
+ std::string coreClassSegmentName = "Attachments";
int64_t maxHistorySize = -1;
};
Properties p;
@@ -105,4 +104,4 @@ namespace armarx::armem::server::obj::attachments
};
-} // namespace armarx::armem::server::obj::articulated_object_class
+} // namespace armarx::armem::server::obj::attachments
--
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