diff --git a/source/RobotAPI/libraries/armem/CMakeLists.txt b/source/RobotAPI/libraries/armem/CMakeLists.txt
index cf25aaef2d9eaee41a90d5dc5134df04c813b61a..4f9b5be30489e93151d9f4e5034b058bed520dc3 100644
--- a/source/RobotAPI/libraries/armem/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem/CMakeLists.txt
@@ -20,6 +20,7 @@ set(LIB_FILES
segments/CoreSegment.cpp
segments/Entity.cpp
segments/EntityData.cpp
+ segments/EntityStorage.cpp
segments/Memory.cpp
segments/ProviderSegment.cpp
)
@@ -34,6 +35,7 @@ set(LIB_HEADERS
segments/CoreSegment.h
segments/Entity.h
segments/EntityData.h
+ segments/EntityStorage.h
segments/Memory.h
segments/ProviderSegment.h
)
diff --git a/source/RobotAPI/libraries/armem/client/Commit.h b/source/RobotAPI/libraries/armem/client/Commit.h
index e280a6a19d89dc93646cbd0fcd0065925b8b135b..4fd0a2a5aa5199989a17e3ba4477776ebd6ea61b 100644
--- a/source/RobotAPI/libraries/armem/client/Commit.h
+++ b/source/RobotAPI/libraries/armem/client/Commit.h
@@ -20,7 +20,7 @@ namespace armarx::armem
MemoryID entityID;
/// The entity data.
- aron::AronDataPtr data;
+ std::vector<aron::AronDataPtr> instancesData;
/**
* @brief Time when this entity update was created (e.g. time of image recording).
diff --git a/source/RobotAPI/libraries/armem/segments/CoreSegment.cpp b/source/RobotAPI/libraries/armem/segments/CoreSegment.cpp
index 9636c0abcf45d24d2517a896191b347491d6deaf..dcfdb18e8228ccd1aa3eb7b6d7dc5f0969d624f5 100644
--- a/source/RobotAPI/libraries/armem/segments/CoreSegment.cpp
+++ b/source/RobotAPI/libraries/armem/segments/CoreSegment.cpp
@@ -1,2 +1,24 @@
#include "CoreSegment.h"
+
+namespace armarx::armem
+{
+
+ void CoreSegment::update(const EntityUpdate& update)
+ {
+ if (update.entityID.coreSegmentName != this->name)
+ {
+ // Throw some exception
+ }
+ auto it = this->providers.find(update.entityID.providerSegmentName);
+ if (it != providers.end())
+ {
+ it->second->update(update);
+ }
+ else
+ {
+ // throw
+ }
+ }
+
+}
diff --git a/source/RobotAPI/libraries/armem/segments/CoreSegment.h b/source/RobotAPI/libraries/armem/segments/CoreSegment.h
index 9306bd762e119ba7fbd760eb62087af043cab1a5..6fbfba228308a1daf4e3a87880e56026632b541e 100644
--- a/source/RobotAPI/libraries/armem/segments/CoreSegment.h
+++ b/source/RobotAPI/libraries/armem/segments/CoreSegment.h
@@ -4,6 +4,7 @@
#include <memory>
#include <string>
+#include "EntityStorage.h"
#include "ProviderSegment.h"
@@ -13,15 +14,21 @@ namespace armarx::armem
/**
* @brief Data of a core segment containing multiple provider segments.
*/
- class CoreSegment
+ class CoreSegment : public EntityStorage
{
public:
- CoreSegment();
- std::string name;
- std::map<std::string, ProviderSegment> providers;
+ using EntityStorage::EntityStorage;
+
+ virtual void update(const EntityUpdate& update) override;
+
+
+ public:
+
+ std::map<std::string, ProviderSegmentPtr> providers;
};
+
using CoreSegmentPtr = std::unique_ptr<CoreSegment>;
}
diff --git a/source/RobotAPI/libraries/armem/segments/Entity.cpp b/source/RobotAPI/libraries/armem/segments/Entity.cpp
index b0ae70b109e074413af04079233538628e5e8c47..595679fa7d8d0697b8f376ad3679a1413adea61c 100644
--- a/source/RobotAPI/libraries/armem/segments/Entity.cpp
+++ b/source/RobotAPI/libraries/armem/segments/Entity.cpp
@@ -1,2 +1,46 @@
#include "Entity.h"
+
+namespace armarx::armem
+{
+
+ Entity::Entity()
+ {
+ }
+
+ Entity::Entity(const std::string& name) : name(name)
+ {
+ }
+
+ void Entity::update(const EntityUpdate& update)
+ {
+ if (update.entityID.entityName != this->name)
+ {
+ // Throw name exception
+ }
+
+ auto it = history.find(update.timeCreated);
+ if (it == history.end())
+ {
+ // Insert into history.
+ it = history.emplace(update.timeCreated,
+ std::make_unique<EntitySnapshot>()).first;
+ }
+ // Update entry.
+ it->second->update(update);
+ }
+
+
+ void EntitySnapshot::update(const EntityUpdate& update)
+ {
+ id = update.timeCreated;
+
+ instances.clear();
+ for (int i = 0; i < int(update.instancesData.size()); ++i)
+ {
+ EntityDataPtr& data = instances.emplace_back(std::make_unique<EntityData>());
+ data->update(update, i);
+ }
+ }
+
+}
diff --git a/source/RobotAPI/libraries/armem/segments/Entity.h b/source/RobotAPI/libraries/armem/segments/Entity.h
index 7bf8f61190d0b5865c43ad654e9ad4932af70c86..f21467acbb41335d3dea46dfd19ea7a0dca65e24 100644
--- a/source/RobotAPI/libraries/armem/segments/Entity.h
+++ b/source/RobotAPI/libraries/armem/segments/Entity.h
@@ -9,18 +9,51 @@
#include "../core/Time.h"
#include "../core/MemoryID.h"
#include "EntityData.h"
+#include "EntityStorage.h"
namespace armarx::armem
{
+ class EntitySnapshot;
+ using EntitySnapshotPtr = std::unique_ptr<EntitySnapshot>;
+
+
+ /**
+ * @brief Data of an entity over a period of time.
+ */
+ class Entity
+ {
+ public:
+
+ Entity();
+ Entity(const std::string& name);
+
+ void update(const EntityUpdate& update);
+
+
+ public:
+
+ std::string name;
+ std::map<Time, EntitySnapshotPtr> history;
+
+ };
+
+ using EntityPtr = std::unique_ptr<Entity>;
+
+
/**
* @brief Data of an entity at one point in time.
*/
- struct EntitySnapshot
+ class EntitySnapshot
{
- Time id;
- std::vector<EntityDataPtr> instances;
+ public:
+
+ EntitySnapshot() = default;
+
+
+ void update(const EntityUpdate& update);
+
EntityData* getInstance(int index)
{
@@ -31,18 +64,13 @@ namespace armarx::armem
{
return id.hasInstanceIndex() ? getInstance(id.instanceIndex) : nullptr;
}
- };
- using EntitySnapshotPtr = std::unique_ptr<EntitySnapshot>;
- /**
- * @brief Data of an entity over a period of time.
- */
- struct Entity
- {
- std::string name;
- std::map<Time, EntitySnapshot> history;
+ public:
+
+ Time id;
+ std::vector<EntityDataPtr> instances;
+
};
- using EntityPtr = std::unique_ptr<Entity>;
}
diff --git a/source/RobotAPI/libraries/armem/segments/EntityData.cpp b/source/RobotAPI/libraries/armem/segments/EntityData.cpp
index 450e88904d4fae6f3a8bdb54248677d548492fc4..0a2fd172bc52e04508f464af7165978829124803 100644
--- a/source/RobotAPI/libraries/armem/segments/EntityData.cpp
+++ b/source/RobotAPI/libraries/armem/segments/EntityData.cpp
@@ -1,2 +1,22 @@
#include "EntityData.h"
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+
+namespace armarx::armem
+{
+
+ void EntityData::update(const EntityUpdate& update, int index)
+ {
+ ARMARX_CHECK_FITS_SIZE(index, update.instancesData.size());
+
+ this->index = index;
+ this->data = update.instancesData.at(size_t(index));
+
+ this->metadata.importance = update.importance;
+ this->metadata.timeCreated = update.timeCreated;
+ this->metadata.timeSent = update.timeSent;
+ this->metadata.timeArrived = Time::now(); // todo;
+ }
+
+}
diff --git a/source/RobotAPI/libraries/armem/segments/EntityData.h b/source/RobotAPI/libraries/armem/segments/EntityData.h
index 5c46d6e58bfaad35ef72fa2e3eeb415015456b57..4fa91a181a8ae1f9375c7058412466f9115000bd 100644
--- a/source/RobotAPI/libraries/armem/segments/EntityData.h
+++ b/source/RobotAPI/libraries/armem/segments/EntityData.h
@@ -5,6 +5,7 @@
#include <RobotAPI/interface/aron.h>
#include "../core/Time.h"
+#include "../client/Commit.h"
namespace armarx::armem
@@ -13,7 +14,7 @@ namespace armarx::armem
/**
* @brief Metadata of an entity value.
*/
- struct Metadata
+ struct EntityMetadata
{
/// Time when this value was created.
Time timeCreated;
@@ -35,7 +36,10 @@ namespace armarx::armem
int index;
aron::AronDataPtr data;
- Metadata metadata;
+ EntityMetadata metadata;
+
+ void update(const EntityUpdate& update, int index);
+
};
using EntityDataPtr = std::unique_ptr<EntityData>;
diff --git a/source/RobotAPI/libraries/armem/segments/EntityStorage.cpp b/source/RobotAPI/libraries/armem/segments/EntityStorage.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..8ed344d85132e6695b4b1de5555bab6900ace1b5
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/segments/EntityStorage.cpp
@@ -0,0 +1,22 @@
+#include "EntityStorage.h"
+
+
+namespace armarx::armem
+{
+
+ EntityStorage::EntityStorage()
+ {
+ }
+
+ EntityStorage::EntityStorage(const std::string& name) : name(name)
+ {
+ }
+
+ void EntityStorage::update(const Commit& commit)
+ {
+ for (const auto& update : commit.updates)
+ {
+ this->update(update);
+ }
+ }
+}
diff --git a/source/RobotAPI/libraries/armem/segments/EntityStorage.h b/source/RobotAPI/libraries/armem/segments/EntityStorage.h
new file mode 100644
index 0000000000000000000000000000000000000000..9a50056942348f4db2b678eaad05f8f85dccd55e
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/segments/EntityStorage.h
@@ -0,0 +1,34 @@
+#pragma once
+
+#include "../client/Commit.h"
+
+
+namespace armarx::armem
+{
+
+ /**
+ * @brief A container of entities at some point in the hierarchy.
+ *
+ * Can be updated by multiple entity updates.
+ */
+ class EntityStorage
+ {
+ public:
+
+ EntityStorage();
+ EntityStorage(const std::string& name);
+
+ virtual ~EntityStorage() = default;
+
+ void update(const Commit& commit);
+ virtual void update(const EntityUpdate& update) = 0;
+
+
+ public:
+
+ std::string name;
+
+ };
+
+
+}
diff --git a/source/RobotAPI/libraries/armem/segments/Memory.cpp b/source/RobotAPI/libraries/armem/segments/Memory.cpp
index 02d00ef8fc185d1a2534a0abd755f164c80e2a04..cf6d5fb62831722e8c760990554e38fca0b7643e 100644
--- a/source/RobotAPI/libraries/armem/segments/Memory.cpp
+++ b/source/RobotAPI/libraries/armem/segments/Memory.cpp
@@ -1 +1,24 @@
#include "Memory.h"
+
+
+namespace armarx::armem
+{
+
+ void Memory::update(const EntityUpdate& update)
+ {
+ if (update.entityID.memoryName != this->name)
+ {
+ // Throw some exception
+ }
+ auto it = this->coreSegments.find(update.entityID.coreSegmentName);
+ if (it != coreSegments.end())
+ {
+ it->second->update(update);
+ }
+ else
+ {
+ // throw
+ }
+ }
+
+}
diff --git a/source/RobotAPI/libraries/armem/segments/Memory.h b/source/RobotAPI/libraries/armem/segments/Memory.h
index 2266a8a7b81a0575b5dd61d5dd6452b251b86f1a..c436acfea7e964a58e1d45f44b6342725afa0c8c 100644
--- a/source/RobotAPI/libraries/armem/segments/Memory.h
+++ b/source/RobotAPI/libraries/armem/segments/Memory.h
@@ -5,6 +5,7 @@
#include <string>
#include "CoreSegment.h"
+#include "EntityStorage.h"
namespace armarx::armem
@@ -13,13 +14,18 @@ namespace armarx::armem
/**
* @brief Data of a memory consisting of multiple core segments.
*/
- class Memory
+ class Memory : public EntityStorage
{
public:
- Memory();
- std::string name;
- std::map<std::string, CoreSegment> coreSegments;
+ using EntityStorage::EntityStorage;
+
+ virtual void update(const EntityUpdate& update) override;
+
+
+ public:
+
+ std::map<std::string, CoreSegmentPtr> coreSegments;
};
using MemoryPtr = std::unique_ptr<Memory>;
diff --git a/source/RobotAPI/libraries/armem/segments/ProviderSegment.cpp b/source/RobotAPI/libraries/armem/segments/ProviderSegment.cpp
index 318413dba6d9b7e9cd8a9b68493b296d563253d8..e30e617a13cdb37e395c65f926ae43353ca6067c 100644
--- a/source/RobotAPI/libraries/armem/segments/ProviderSegment.cpp
+++ b/source/RobotAPI/libraries/armem/segments/ProviderSegment.cpp
@@ -1,2 +1,25 @@
#include "ProviderSegment.h"
+
+namespace armarx::armem
+{
+
+ void ProviderSegment::update(const EntityUpdate& update)
+ {
+ if (update.entityID.coreSegmentName != this->name)
+ {
+ // Throw some exception
+ }
+
+ auto it = this->entities.find(update.entityID.providerSegmentName);
+ if (it == entities.end())
+ {
+ // Add entity entry.
+ it = entities.emplace(update.entityID.entityName,
+ std::make_unique<Entity>(update.entityID.entityName)).first;
+ }
+ // Update entity.
+ it->second->update(update);
+ }
+
+}
diff --git a/source/RobotAPI/libraries/armem/segments/ProviderSegment.h b/source/RobotAPI/libraries/armem/segments/ProviderSegment.h
index c6e9e454d393b7deec73329564979b9cb1805f14..d0a111a5dd4b64afcdcbbeeacc345331662198d7 100644
--- a/source/RobotAPI/libraries/armem/segments/ProviderSegment.h
+++ b/source/RobotAPI/libraries/armem/segments/ProviderSegment.h
@@ -5,6 +5,7 @@
#include <string>
#include "Entity.h"
+#include "EntityStorage.h"
namespace armarx::armem
@@ -13,16 +14,21 @@ namespace armarx::armem
/**
* @brief Data of a provider segment containing multiple entities.
*/
- class ProviderSegment
+ class ProviderSegment : public EntityStorage
{
public:
- using ID = std::string;
+
+ using EntityStorage::EntityStorage;
+
+ virtual void update(const EntityUpdate& update) override;
+
+
public:
- ProviderSegment();
- std::string name;
- std::map<std::string, Entity> entities;
+ std::map<std::string, EntityPtr> entities;
+
};
+
using ProviderSegmentPtr = std::unique_ptr<ProviderSegment>;
}