From 42d2aa93e8b06ab861354cad1f7860a26f37682b Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Fri, 16 Feb 2024 08:47:36 +0100
Subject: [PATCH] adapting articulated object reader and writer
---
.../libraries/armem/client/Writer.cpp | 82 +++++++++++--------
.../RobotAPI/libraries/armem/client/Writer.h | 20 ++---
.../ArticulatedObjectReader.h | 7 +-
.../client/articulated_object/Reader.cpp | 13 ++-
.../client/articulated_object/Reader.h | 24 +++---
.../client/articulated_object/Writer.cpp | 8 +-
.../client/articulated_object/Writer.h | 16 ++--
.../client/articulated_object/interfaces.h | 21 +++--
8 files changed, 108 insertions(+), 83 deletions(-)
diff --git a/source/RobotAPI/libraries/armem/client/Writer.cpp b/source/RobotAPI/libraries/armem/client/Writer.cpp
index e9b06f66e..727c1ff19 100644
--- a/source/RobotAPI/libraries/armem/client/Writer.cpp
+++ b/source/RobotAPI/libraries/armem/client/Writer.cpp
@@ -5,7 +5,6 @@
#include "../error.h"
-
namespace armarx::armem::client
{
@@ -13,7 +12,10 @@ namespace armarx::armem::client
{
}
- data::AddSegmentResult Writer::addSegment(const std::string& coreSegmentName, const std::string& providerSegmentName, bool clearWhenExists)
+ data::AddSegmentResult
+ Writer::addSegment(const std::string& coreSegmentName,
+ const std::string& providerSegmentName,
+ bool clearWhenExists) const
{
data::AddSegmentInput input;
input.coreSegmentName = coreSegmentName;
@@ -22,24 +24,30 @@ namespace armarx::armem::client
return addSegment(input);
}
- data::AddSegmentResult Writer::addSegment(const MemoryID& providerSegmentID, bool clearWhenExists)
+ data::AddSegmentResult
+ Writer::addSegment(const MemoryID& providerSegmentID, bool clearWhenExists) const
{
- return addSegment(providerSegmentID.coreSegmentName, providerSegmentID.providerSegmentName, clearWhenExists);
+ return addSegment(providerSegmentID.coreSegmentName,
+ providerSegmentID.providerSegmentName,
+ clearWhenExists);
}
- data::AddSegmentResult Writer::addSegment(const std::pair<std::string, std::string>& names, bool clearWhenExists)
+ data::AddSegmentResult
+ Writer::addSegment(const std::pair<std::string, std::string>& names, bool clearWhenExists) const
{
return addSegment(names.first, names.second, clearWhenExists);
}
- data::AddSegmentResult Writer::addSegment(const data::AddSegmentInput& input)
+ data::AddSegmentResult
+ Writer::addSegment(const data::AddSegmentInput& input) const
{
data::AddSegmentsResult results = addSegments({input});
ARMARX_CHECK_EQUAL(results.size(), 1);
return results.at(0);
}
- data::AddSegmentsResult Writer::addSegments(const data::AddSegmentsInput& inputs)
+ data::AddSegmentsResult
+ Writer::addSegments(const data::AddSegmentsInput& inputs) const
{
ARMARX_CHECK_NOT_NULL(memory);
data::AddSegmentsResult results = memory->addSegments(inputs);
@@ -47,8 +55,8 @@ namespace armarx::armem::client
return results;
}
-
- CommitResult Writer::commit(const Commit& commit)
+ CommitResult
+ Writer::commit(const Commit& commit) const
{
ARMARX_CHECK_NOT_NULL(memory);
@@ -63,15 +71,15 @@ namespace armarx::armem::client
return result;
}
-
- data::CommitResult Writer::commit(const data::Commit& _commit)
+ data::CommitResult
+ Writer::commit(const data::Commit& _commit) const
{
data::Commit commit = _commit;
return this->_commit(commit);
}
-
- EntityUpdateResult Writer::commit(const EntityUpdate& update)
+ EntityUpdateResult
+ Writer::commit(const EntityUpdate& update) const
{
armem::Commit commit;
commit.updates.push_back(update);
@@ -81,10 +89,10 @@ namespace armarx::armem::client
return result.results.at(0);
}
- EntityUpdateResult Writer::commit(
- const MemoryID& entityID,
- const std::vector<aron::data::DictPtr>& instancesData,
- Time referencedTime)
+ EntityUpdateResult
+ Writer::commit(const MemoryID& entityID,
+ const std::vector<aron::data::DictPtr>& instancesData,
+ Time referencedTime) const
{
EntityUpdate update;
update.entityID = entityID;
@@ -99,7 +107,8 @@ namespace armarx::armem::client
this->memory = memory;
}
- data::CommitResult Writer::_commit(data::Commit& commit)
+ data::CommitResult
+ Writer::_commit(data::Commit& commit) const
{
ARMARX_CHECK_NOT_NULL(memory);
@@ -119,11 +128,11 @@ namespace armarx::armem::client
}
data::CommitResult result;
- auto handleError = [&commit, &result](const std::string & what)
+ auto handleError = [&commit, &result](const std::string& what)
{
for (const auto& _ : commit.updates)
{
- (void) _;
+ (void)_;
data::EntityUpdateResult& r = result.results.emplace_back();
r.success = false;
r.errorMessage = "Memory component not registered.\n" + std::string(what);
@@ -149,18 +158,20 @@ namespace armarx::armem::client
return result;
}
-}
+} // namespace armarx::armem::client
-
-std::ostream& armarx::armem::data::operator<<(std::ostream& os, const AddSegmentInput& rhs)
+std::ostream&
+armarx::armem::data::operator<<(std::ostream& os, const AddSegmentInput& rhs)
{
return os << "AddSegmentInput: "
- << "\n- core segment: \t'" << rhs.coreSegmentName << "'"
- << "\n- provider segment: \t'" << rhs.providerSegmentName << "'"
- << "\n- clear when exists:\t" << rhs.clearWhenExists << ""
- << "\n";
+ << "\n- core segment: \t'" << rhs.coreSegmentName << "'"
+ << "\n- provider segment: \t'" << rhs.providerSegmentName << "'"
+ << "\n- clear when exists:\t" << rhs.clearWhenExists << ""
+ << "\n";
}
-std::ostream& armarx::armem::data::operator<<(std::ostream& os, const AddSegmentsInput& rhs)
+
+std::ostream&
+armarx::armem::data::operator<<(std::ostream& os, const AddSegmentsInput& rhs)
{
for (size_t i = 0; i < rhs.size(); ++i)
{
@@ -168,15 +179,18 @@ std::ostream& armarx::armem::data::operator<<(std::ostream& os, const AddSegment
}
return os;
}
-std::ostream& armarx::armem::data::operator<<(std::ostream& os, const AddSegmentResult& rhs)
+
+std::ostream&
+armarx::armem::data::operator<<(std::ostream& os, const AddSegmentResult& rhs)
{
return os << "AddSegmentResult:"
- << "\n- success: \t" << rhs.success
- << "\n- segment ID: \t'" << rhs.segmentID << "'"
- << "\n- error message: \t" << rhs.errorMessage
- << "\n";
+ << "\n- success: \t" << rhs.success << "\n- segment ID: \t'" << rhs.segmentID
+ << "'"
+ << "\n- error message: \t" << rhs.errorMessage << "\n";
}
-std::ostream& armarx::armem::data::operator<<(std::ostream& os, const AddSegmentsResult& rhs)
+
+std::ostream&
+armarx::armem::data::operator<<(std::ostream& os, const AddSegmentsResult& rhs)
{
for (size_t i = 0; i < rhs.size(); ++i)
{
diff --git a/source/RobotAPI/libraries/armem/client/Writer.h b/source/RobotAPI/libraries/armem/client/Writer.h
index 61eeef93b..65d405a37 100644
--- a/source/RobotAPI/libraries/armem/client/Writer.h
+++ b/source/RobotAPI/libraries/armem/client/Writer.h
@@ -32,28 +32,28 @@ namespace armarx::armem::client
data::AddSegmentResult addSegment(const std::string& coreSegmentName,
const std::string& providerSegmentName,
- bool clearWhenExists = false);
+ bool clearWhenExists = false) const;
data::AddSegmentResult addSegment(const MemoryID& providerSegmentID,
- bool clearWhenExists = false);
+ bool clearWhenExists = false) const;
data::AddSegmentResult addSegment(const std::pair<std::string, std::string>& names,
- bool clearWhenExists = false);
- data::AddSegmentResult addSegment(const data::AddSegmentInput& input);
- data::AddSegmentsResult addSegments(const data::AddSegmentsInput& input);
+ bool clearWhenExists = false) const;
+ data::AddSegmentResult addSegment(const data::AddSegmentInput& input) const;
+ data::AddSegmentsResult addSegments(const data::AddSegmentsInput& input) const;
/**
* @brief Writes a `Commit` to the memory.
*/
- CommitResult commit(const Commit& commit);
+ CommitResult commit(const Commit& commit) const;
/// Commit a single entity update.
- EntityUpdateResult commit(const EntityUpdate& update);
+ EntityUpdateResult commit(const EntityUpdate& update) const;
/// Commit a single entity update.
EntityUpdateResult commit(const MemoryID& entityID,
const std::vector<aron::data::DictPtr>& instancesData,
- Time referencedTime);
+ Time referencedTime) const;
// with bare-ice types
- data::CommitResult commit(const data::Commit& commit);
+ data::CommitResult commit(const data::Commit& commit) const;
void setWritingMemory(server::WritingMemoryInterfacePrx memory);
@@ -65,7 +65,7 @@ namespace armarx::armem::client
private:
/// Sets `timeSent` on all entity updates and performs the commit,
- data::CommitResult _commit(data::Commit& commit);
+ data::CommitResult _commit(data::Commit& commit) const;
public:
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectReader.h b/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectReader.h
index ab0c5aa6d..4bdcaac5b 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectReader.h
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectReader.h
@@ -15,8 +15,9 @@ namespace armarx::armem::articulated_object
const std::optional<std::string>& providerName,
const std::string& instanceName = "");
- bool synchronizeArticulatedObject(VirtualRobot::Robot& object,
- const armem::Time& timestamp,
- const std::optional<std::string>& providerName);
+ [[nodiscard]] bool
+ synchronizeArticulatedObject(VirtualRobot::Robot& object,
+ const armem::Time& timestamp,
+ const std::optional<std::string>& providerName);
};
} // namespace armarx::armem::articulated_object
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp
index 16c83498c..f21151f19 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp
@@ -26,7 +26,6 @@
#include "utils.h"
-namespace fs = ::std::filesystem;
namespace armarx::armem::articulated_object
{
@@ -100,7 +99,7 @@ namespace armarx::armem::articulated_object
std::optional<ArticulatedObject>
Reader::get(const std::string& name,
const armem::Time& timestamp,
- const std::optional<std::string>& providerName)
+ const std::optional<std::string>& providerName) const
{
ARMARX_TRACE;
@@ -125,7 +124,7 @@ namespace armarx::armem::articulated_object
Reader::get(const ArticulatedObjectDescription& description,
const armem::Time& timestamp,
const std::string& instanceName,
- const std::optional<std::string>& providerName)
+ const std::optional<std::string>& providerName) const
{
ARMARX_TRACE;
@@ -142,7 +141,7 @@ namespace armarx::armem::articulated_object
bool
Reader::synchronize(ArticulatedObject& obj,
const armem::Time& timestamp,
- const std::optional<std::string>& providerName)
+ const std::optional<std::string>& providerName) const
{
ARMARX_TRACE;
@@ -164,7 +163,7 @@ namespace armarx::armem::articulated_object
std::vector<robot::RobotDescription>
Reader::queryDescriptions(const armem::Time& timestamp,
- const std::optional<std::string>& providerName)
+ const std::optional<std::string>& providerName) const
{
ARMARX_TRACE;
// Query all entities from provider.
@@ -209,7 +208,7 @@ namespace armarx::armem::articulated_object
std::optional<robot::RobotDescription>
Reader::queryDescription(const std::string& name,
const armem::Time& timestamp,
- const std::optional<std::string>& providerName)
+ const std::optional<std::string>& providerName) const
{
ARMARX_TRACE;
@@ -256,7 +255,7 @@ namespace armarx::armem::articulated_object
std::optional<robot::RobotState>
Reader::queryState(const std::string& instanceName,
const armem::Time& timestamp,
- const std::optional<std::string>& providerName)
+ const std::optional<std::string>& providerName) const
{
ARMARX_TRACE;
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.h b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.h
index 0eb5bd104..50c342c0c 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.h
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.h
@@ -26,13 +26,17 @@
#include <VirtualRobot/VirtualRobot.h>
-#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
+#include "ArmarXCore/core/application/properties/forward_declarations.h"
-#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
#include <RobotAPI/libraries/armem/client/Reader.h>
+#include <RobotAPI/libraries/armem/client/forward_declarations.h>
#include "interfaces.h"
+// #include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
+// #include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
+
+
namespace armarx::armem::articulated_object
{
@@ -40,7 +44,7 @@ namespace armarx::armem::articulated_object
{
public:
Reader() = default;
- virtual ~Reader() = default;
+ ~Reader() override = default;
void
registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def)
@@ -49,30 +53,30 @@ namespace armarx::armem::articulated_object
void connect(armem::client::MemoryNameSystem& memoryNameSystem);
- bool synchronize(ArticulatedObject& obj,
+ [[nodiscard]] bool synchronize(ArticulatedObject& obj,
const armem::Time& timestamp,
- const std::optional<std::string>& providerName) override;
+ const std::optional<std::string>& providerName) const override;
std::optional<ArticulatedObject>
get(const std::string& name,
const armem::Time& timestamp,
- const std::optional<std::string>& providerName) override;
+ const std::optional<std::string>& providerName) const override;
ArticulatedObject get(const ArticulatedObjectDescription& description,
const armem::Time& timestamp,
const std::string& instanceName,
- const std::optional<std::string>& providerName) override;
+ const std::optional<std::string>& providerName) const override;
std::optional<robot::RobotState> queryState(const std::string& instanceName,
const armem::Time& timestamp,
- const std::optional<std::string>& providerName);
+ const std::optional<std::string>& providerName) const;
std::optional<robot::RobotDescription>
queryDescription(const std::string& name,
const armem::Time& timestamp,
- const std::optional<std::string>& providerName);
+ const std::optional<std::string>& providerName) const;
std::vector<robot::RobotDescription>
queryDescriptions(const armem::Time& timestamp,
- const std::optional<std::string>& providerName);
+ const std::optional<std::string>& providerName) const;
std::string getProviderName() const;
void setProviderName(const std::string& providerName);
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
index c507fd905..4df792102 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
@@ -103,7 +103,7 @@ namespace armarx::armem::articulated_object
}
std::optional<armem::MemoryID>
- Writer::storeOrGetClass(const ArticulatedObject& obj)
+ Writer::storeOrGetClass(const ArticulatedObject& obj) const
{
ARMARX_TRACE;
@@ -129,7 +129,7 @@ namespace armarx::armem::articulated_object
}
std::optional<armem::MemoryID>
- Writer::storeClass(const ArticulatedObject& obj)
+ Writer::storeClass(const ArticulatedObject& obj) const
{
std::lock_guard g{memoryWriterMutex};
@@ -190,7 +190,7 @@ namespace armarx::armem::articulated_object
}
bool
- Writer::storeInstance(const ArticulatedObject& obj)
+ Writer::storeInstance(const ArticulatedObject& obj) const
{
std::lock_guard g{memoryWriterMutex};
@@ -259,7 +259,7 @@ namespace armarx::armem::articulated_object
}
bool
- Writer::store(const ArticulatedObject& obj)
+ Writer::store(const ArticulatedObject& obj) const
{
const std::optional<armem::MemoryID> classId = storeOrGetClass(obj);
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.h b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.h
index 6245ef374..bf1c7d945 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.h
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.h
@@ -39,16 +39,16 @@ namespace armarx::armem::articulated_object
{
public:
Writer() = default;
- virtual ~Writer() = default;
+ ~Writer() override = default;
void registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def);
void connect(armem::client::MemoryNameSystem& memoryNameSystem);
- bool store(const ArticulatedObject& obj) override;
+ bool store(const ArticulatedObject& obj) const override;
- bool storeInstance(const ArticulatedObject& obj);
- std::optional<armem::MemoryID> storeClass(const ArticulatedObject& obj);
+ bool storeInstance(const ArticulatedObject& obj) const;
+ std::optional<armem::MemoryID> storeClass(const ArticulatedObject& obj) const;
// const std::string& getPropertyPrefix() const override;
@@ -57,7 +57,7 @@ namespace armarx::armem::articulated_object
private:
- std::optional<armem::MemoryID> storeOrGetClass(const ArticulatedObject& obj);
+ std::optional<armem::MemoryID> storeOrGetClass(const ArticulatedObject& obj) const;
void updateKnownObjects(const armem::MemoryID& subscriptionID,
const std::vector<armem::MemoryID>& snapshotIDs);
@@ -85,13 +85,13 @@ namespace armarx::armem::articulated_object
const std::string propertyPrefix = "mem.obj.articulated.";
armem::client::Writer memoryWriter;
- std::mutex memoryWriterMutex;
+ mutable std::mutex memoryWriterMutex;
armem::client::Reader memoryReader;
- std::mutex memoryReaderMutex;
+ mutable std::mutex memoryReaderMutex;
// key: name of object: RobotDescription::name
- std::unordered_map<std::string, MemoryID> knownObjects;
+ mutable std::unordered_map<std::string, MemoryID> knownObjects;
};
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/interfaces.h b/source/RobotAPI/libraries/armem_objects/client/articulated_object/interfaces.h
index 6031eba4b..899cb1e79 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/interfaces.h
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/interfaces.h
@@ -11,19 +11,26 @@ namespace armarx::armem::articulated_object
public:
virtual ~ReaderInterface() = default;
- virtual bool synchronize(ArticulatedObject& obj, const armem::Time& timestamp, const std::optional<std::string>& providerName) = 0;
-
- virtual ArticulatedObject get(const ArticulatedObjectDescription& description, const armem::Time& timestamp, const std::string& instanceName, const std::optional<std::string>& providerName) = 0;
- virtual std::optional<ArticulatedObject> get(const std::string& name, const armem::Time& timestamp, const std::optional<std::string>& providerName) = 0;
+ virtual bool synchronize(ArticulatedObject& obj,
+ const armem::Time& timestamp,
+ const std::optional<std::string>& providerName) const = 0;
+
+ virtual ArticulatedObject get(const ArticulatedObjectDescription& description,
+ const armem::Time& timestamp,
+ const std::string& instanceName,
+ const std::optional<std::string>& providerName) const = 0;
+ virtual std::optional<ArticulatedObject>
+ get(const std::string& name,
+ const armem::Time& timestamp,
+ const std::optional<std::string>& providerName) const = 0;
};
-
class WriterInterface
{
public:
virtual ~WriterInterface() = default;
- virtual bool store(const ArticulatedObject& obj) = 0;
+ virtual bool store(const ArticulatedObject& obj) const = 0;
};
-} // namespace armarx::armem::articulated_object
+} // namespace armarx::armem::articulated_object
--
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