changed which timestamp is used for frequency filtering (time referenced) and...

changed which timestamp is used for frequency filtering (time referenced) and deactivated storeOnStop

source/RobotAPI/libraries/armem/server/ltm/detail/MemoryBase.h

@@ -253,7 +253,6 @@ namespace armarx::armem::server::ltm::detail
         void
         stopRecording()
         {
-
             disable();
         }
 
@@ -351,7 +350,7 @@ namespace armarx::armem::server::ltm::detail
                 "{ \"SnapshotFrequencyFilter\": {\"WaitingTimeInMsForFilter\" : 50}}"; //record with 20 fps as standard
             std::string export_name = "MemoryExport";
             std::string export_path = "/tmp/ltm";
-            bool storeOnStop = true; 
+            bool storeOnStop = false; 
 
             //belong more to WM, but no good solution for that currently:
             bool importOnStartUp = false;

source/RobotAPI/libraries/armem/server/ltm/processors/filter/frequencyFilter/FrequencyFilter.cpp

@@ -89,6 +89,39 @@ namespace armarx::armem::server::ltm::processor::filter
         ARMARX_DEBUG << VAROUT(arrivedTime.toMilliSecondsSinceEpoch());
         ARMARX_DEBUG << VAROUT(referencedTime.toMilliSecondsSinceEpoch());
 
+        //we want the referenced time, if not set correctly we take sent time, then arrvived time:
+        if(referencedTime.toMilliSecondsSinceEpoch() < 946688400000){
+            //timestamp corrupted:
+            if(sentTime.toMilliSecondsSinceEpoch() < 946688400000){
+                //sent also corrupted:
+                if(arrivedTime.toMilliSecondsSinceEpoch() < 946688400000){
+                    //arrived also corrupted:
+                    if(!corruptedWarningGiven){
+                        ARMARX_WARNING << "LTM recording does not work correctly, as frequency filter is used, but "
+                                    << "time sent, arrived and referenced are all corrupted. \n"
+                                    << "Accepting all snapshots.";
+                        this->nonCorruptedType = TimestampType::ALL_CORRUPTED;
+                        corruptedWarningGiven = true;
+                    }
+                } else {
+                    if(!corruptedWarningGiven){ //only print this warning once
+                        ARMARX_INFO << "Time referenced and sent for snapshot corrupted, using time arrived for filtering";
+                        corruptedWarningGiven = true;
+                    }
+                    this->nonCorruptedType = TimestampType::ARRIVED;
+                }
+            } else {
+                if(!corruptedWarningGiven){ //only print this warning once
+                        ARMARX_INFO << "Time referenced snapshot corrupted, using time sent for filtering";
+                        corruptedWarningGiven = true;
+                    }
+                this->nonCorruptedType = TimestampType::SENT;
+            }
+        } else {
+            this->nonCorruptedType = TimestampType::REFERENCED;
+        }
+
+        /**
         if(sentTime.toMilliSecondsSinceEpoch() < 946688400000){
             // we assume the timestamp does not make sense if it is older than the year 2000
             if(arrivedTime.toMilliSecondsSinceEpoch() < 946688400000){
@@ -116,6 +149,7 @@ namespace armarx::armem::server::ltm::processor::filter
         } else {
             this->nonCorruptedType = TimestampType::SENT;
         }
+        */
     }
 
     int