diff --git a/source/RobotAPI/interface/CMakeLists.txt b/source/RobotAPI/interface/CMakeLists.txt
index 7ee210481fec8c2714f3cdb29f0eb3c02f46dd7a..547fb0833f1e0475b48a60e8be33979a9dfd09ee 100644
--- a/source/RobotAPI/interface/CMakeLists.txt
+++ b/source/RobotAPI/interface/CMakeLists.txt
@@ -104,6 +104,7 @@ set(SLICE_FILES
armem.ice
+ armem/io.ice
armem/commit.ice
armem/memory.ice
armem/query.ice
@@ -112,6 +113,7 @@ set(SLICE_FILES
armem/client/MemoryListenerInterface.ice
armem/server.ice
+ armem/server/LongTermMemoryInterface.ice
armem/server/MemoryInterface.ice
armem/server/MemoryPredictorInterface.ice
armem/server/ReadingMemoryInterface.ice
diff --git a/source/RobotAPI/interface/armem/io.ice b/source/RobotAPI/interface/armem/io.ice
new file mode 100644
index 0000000000000000000000000000000000000000..51c5f42b2eda1d5bb9f8f83e0171c95b506bf35e
--- /dev/null
+++ b/source/RobotAPI/interface/armem/io.ice
@@ -0,0 +1,50 @@
+#pragma once
+
+#include <ArmarXCore/interface/core/PackagePath.ice>
+
+module armarx
+{
+ module armem
+ {
+ module data
+ {
+ struct LoadInput
+ {
+ armarx::data::PackagePath path;
+ };
+
+ struct LoadResult
+ {
+ bool success = false;
+ long timeStartedMicroSeconds;
+ long timeFinishedMicroSeconds;
+
+ long numLoadedCoreSegments;
+ long numLoadedProviderSegments;
+ long numLoadedEntities;
+ long numLoadedEntitySnapshots;
+
+ string errorMessage;
+ };
+
+ struct StoreInput
+ {
+ armarx::data::PackagePath path;
+ };
+
+ struct StoreResult
+ {
+ bool success = false;
+ long timeStartedMicroSeconds;
+ long timeFinishedMicroSeconds;
+
+ long numStoredCoreSegments;
+ long numStoredLoadedProviderSegments;
+ long numStoredLoadedEntities;
+ long numStoredLoadedEntitySnapshots;
+
+ string errorMessage;
+ };
+ };
+ };
+};
diff --git a/source/RobotAPI/interface/armem/server/LongTermMemoryInterface.ice b/source/RobotAPI/interface/armem/server/LongTermMemoryInterface.ice
new file mode 100644
index 0000000000000000000000000000000000000000..ba64d626c1c156c3820a508625d1c3a3b36ec847
--- /dev/null
+++ b/source/RobotAPI/interface/armem/server/LongTermMemoryInterface.ice
@@ -0,0 +1,19 @@
+#pragma once
+
+#include <RobotAPI/interface/armem/io.ice>
+
+
+module armarx
+{
+ module armem
+ {
+ module server
+ {
+ interface LongTermMemoryInterface
+ {
+ data::LoadResult load(data::LoadInput input);
+ data::StoreResult store(data::StoreInput input);
+ };
+ };
+ };
+};
diff --git a/source/RobotAPI/interface/armem/server/MemoryInterface.ice b/source/RobotAPI/interface/armem/server/MemoryInterface.ice
index 2764998e2bf3d1226d8d34abb76772806b6bfd25..93213eed1d85269c83cfcd2547908e2be61f2d2a 100644
--- a/source/RobotAPI/interface/armem/server/MemoryInterface.ice
+++ b/source/RobotAPI/interface/armem/server/MemoryInterface.ice
@@ -3,6 +3,7 @@
#include <RobotAPI/interface/armem/server/ReadingMemoryInterface.ice>
#include <RobotAPI/interface/armem/server/WritingMemoryInterface.ice>
+#include <RobotAPI/interface/armem/server/LongTermMemoryInterface.ice>
module armarx
{
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/Writer.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/Writer.cpp
index d7df863de0a34f0a8007c9b69a0e27c6bbc72e87..e1481de91136feddf28cdd464981558bd15afa89 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/Writer.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/Writer.cpp
@@ -264,6 +264,7 @@ namespace armarx::aron::cppcodegenerator
// ctor
c->addCtor(serializer->toCtor(c->getName()));
+ c->addCtor(serializer->toInnerEnumCtor(c->getName()));
// Specific methods
CppEnumPtr enumrepresentation = serializer->toInnerEnumDefinition();
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.cpp
index 416d8c6135674c8d26bcca570dfa79b15e7c6166..975086d4464b645f57322cbee532fc2bbe68cb5c 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.cpp
@@ -30,7 +30,7 @@ namespace armarx::aron::cppcodegenerator::serializer
IntEnumClassSerializer::IntEnumClassSerializer(const typenavigator::IntEnumNavigatorPtr& n) :
Serializer(n->getEnumName(), simox::meta::get_type_name(typeid(data::AronNDArray)), simox::meta::get_type_name(typeid(type::AronIntEnum))),
navigator(n),
- enumName(navigator->getEnumName() + "Enum")
+ enumName("__ImplEnum")
{
}
@@ -48,11 +48,14 @@ namespace armarx::aron::cppcodegenerator::serializer
value_to_enum << "{" << std::endl;
for (const auto& [key, value] : navigator->getAcceptedValues())
{
- enum_to_name << "\t\t{" << key << ", \"" << key << "\"}," << std::endl;
- name_to_enum << "\t\t{\"" << key << "\", " << key << "}," << std::endl;
+ std::string enumKeyWithNamespace = enumName + "::" + key;
+ fields.push_back(std::make_shared<CppField>("const static " + enumName, key + " = " + enumKeyWithNamespace));
- enum_to_value << "\t\t{" << key << ", " << value << "}," << std::endl;
- value_to_enum << "\t\t{" << value << ", " << key << "}," << std::endl;
+ enum_to_name << "\t\t{" << enumKeyWithNamespace << ", \"" << key << "\"}," << std::endl;
+ name_to_enum << "\t\t{\"" << key << "\", " << enumKeyWithNamespace << "}," << std::endl;
+
+ enum_to_value << "\t\t{" << enumKeyWithNamespace << ", " << value << "}," << std::endl;
+ value_to_enum << "\t\t{" << value << ", " << enumKeyWithNamespace << "}," << std::endl;
}
enum_to_name << "\t}";
@@ -133,6 +136,14 @@ namespace armarx::aron::cppcodegenerator::serializer
return b;
}
+ CppCtorPtr IntEnumClassSerializer::toInnerEnumCtor(const std::string& name) const
+ {
+ CppCtorPtr c = std::make_shared<CppCtor>(name + "(const " + enumName + " e)");
+ std::vector<std::pair<std::string, std::string>> initList = {{"value", "e"}};
+ c->addInitListEntries(initList);
+ return c;
+ }
+
CppEnumPtr IntEnumClassSerializer::toInnerEnumDefinition() const
{
CppEnumPtr e = std::make_shared<CppEnum>(enumName, "The internal enum definition of the enum of this autogenerated class.");
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.h
index ba64400afa789a83882fb4942e7ba8b3d9fbd2ee..a199fe4fefb4339986cc4847f12d14a1a6408b5a 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.h
@@ -61,6 +61,7 @@ namespace armarx::aron::cppcodegenerator::serializer
virtual CppBlockPtr getReadBlock(const std::string&) const override;
virtual CppBlockPtr getEqualsBlock(const std::string&, const std::string&) const override;
+ CppCtorPtr toInnerEnumCtor(const std::string&) const;
CppEnumPtr toInnerEnumDefinition() const;
CppMethodPtr toIntMethod() const;
CppMethodPtr toEnumAssignmentMethod() const;