From 34a48c8bcbfc4d8e9f66fcb10c7ca5bf4ca5f841 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Mon, 16 Aug 2021 09:48:39 +0200
Subject: [PATCH] Fix names being empty when using move-add()
---
.../armem/core/base/CoreSegmentBase.h | 3 +-
.../libraries/armem/core/base/EntityBase.h | 29 ++++++++++++-------
.../libraries/armem/core/base/MemoryBase.h | 3 +-
.../armem/core/base/ProviderSegmentBase.h | 6 ++--
4 files changed, 24 insertions(+), 17 deletions(-)
diff --git a/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h b/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h
index aa3a1c903..f4d0b530f 100644
--- a/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h
@@ -284,7 +284,8 @@ namespace armarx::armem::base
/// Move and insert a provider segment.
ProviderSegmentT& addProviderSegment(ProviderSegmentT&& providerSegment)
{
- return this->_derived().addProviderSegment(providerSegment.name(), std::move(providerSegment));
+ const std::string name = providerSegment.name(); // Copy before move.
+ return this->_derived().addProviderSegment(name, std::move(providerSegment));
}
/// Insert a provider segment in-place.
diff --git a/source/RobotAPI/libraries/armem/core/base/EntityBase.h b/source/RobotAPI/libraries/armem/core/base/EntityBase.h
index ce366164f..ca9fdd8d6 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntityBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/EntityBase.h
@@ -529,26 +529,33 @@ namespace armarx::armem::base
});
}
- /**
- * @brief Add a single snapshot with data.
- * @param snapshot The snapshot.
- * @return The stored snapshot.
- */
+
+ /// Add a snapshot at the given time.
+ EntitySnapshotT& addSnapshot(const Time& timestamp)
+ {
+ return this->addSnapshot(timestamp, EntitySnapshotT(timestamp));
+ }
+
+ /// Copy and insert a snapshot
EntitySnapshotT& addSnapshot(const EntitySnapshotT& snapshot)
{
- return addSnapshot(EntitySnapshotT(snapshot));
+ return this->addSnapshot(snapshot.time(), EntitySnapshotT(snapshot));
}
+ /// Move and insert a snapshot
EntitySnapshotT& addSnapshot(EntitySnapshotT&& snapshot)
{
- auto it = this->_container.emplace_hint(this->_container.end(), snapshot.time(), std::move(snapshot));
- it->second.id().setEntityID(this->id());
- return it->second;
+ Time timestamp = snapshot.time(); // Copy before move.
+ return this->addSnapshot(timestamp, std::move(snapshot));
}
- EntitySnapshotT& addSnapshot(const Time& timestamp)
+ /// Insert a snapshot in-place.
+ template <class ...Args>
+ EntitySnapshotT& addSnapshot(const Time& timestamp, Args... args)
{
- return addSnapshot(EntitySnapshotT(timestamp, this->id()));
+ auto it = this->_container.emplace_hint(this->_container.end(), timestamp, args...);
+ it->second.id() = this->id().withTimestamp(timestamp);
+ return it->second;
}
diff --git a/source/RobotAPI/libraries/armem/core/base/MemoryBase.h b/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
index e73db7d84..e1729bbcd 100644
--- a/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
@@ -223,7 +223,8 @@ namespace armarx::armem::base
/// Move and insert a core segment.
CoreSegmentT& addCoreSegment(CoreSegmentT&& coreSegment)
{
- return this->_derived().addCoreSegment(coreSegment.name(), std::move(coreSegment));
+ const std::string name = coreSegment.name(); // Copy before move.
+ return this->_derived().addCoreSegment(name, std::move(coreSegment));
}
/// Move and insert a core segment.
diff --git a/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h b/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h
index ba9b091a3..6a5497444 100644
--- a/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h
@@ -231,8 +231,6 @@ namespace armarx::armem::base
void append(const DerivedT& m)
{
- // ARMARX_INFO << "ProviderSegment: Merge name '" << m.name() << "' into '" << name() << "'";
-
m.forEachEntity([this](const EntityT & entity)
{
auto it = this->_container.find(entity.name());
@@ -261,7 +259,8 @@ namespace armarx::armem::base
/// Move and insert an entity.
EntityT& addEntity(EntityT&& entity)
{
- return this->_derived().addEntity(entity.name(), std::move(entity));
+ const std::string name = entity.name(); // Copy before move.
+ return this->_derived().addEntity(name, std::move(entity));
}
/// Insert an entity in-place.
@@ -278,7 +277,6 @@ namespace armarx::armem::base
bool equalsDeep(const DerivedT& other) const
{
- //std::cout << "ProviderSegment::equalsDeep" << std::endl;
if (this->size() != other.size())
{
return false;
--
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