From 58a91dccff6c4590119f927b95361b7f924b5b16 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Wed, 11 Aug 2021 18:46:38 +0200
Subject: [PATCH] Fix deprecation warning
---
.../libraries/armem/core/operations.h | 21 +++++-
.../armem/core/wm/memory_definitions.h | 4 +-
.../client/articulated_object/Writer.cpp | 67 ++++++-------------
.../client/articulated_object/Writer.h | 5 +-
4 files changed, 47 insertions(+), 50 deletions(-)
diff --git a/source/RobotAPI/libraries/armem/core/operations.h b/source/RobotAPI/libraries/armem/core/operations.h
index 2245262f4..775b6dd07 100644
--- a/source/RobotAPI/libraries/armem/core/operations.h
+++ b/source/RobotAPI/libraries/armem/core/operations.h
@@ -17,11 +17,14 @@ namespace armarx::armem
std::vector<aron::datanavigator::DictNavigatorPtr>
getAronData(const wm::EntitySnapshot& snapshot);
- EntityUpdate toEntityUpdate(const wm::EntitySnapshot& snapshot);
+
+ EntityUpdate
+ toEntityUpdate(const wm::EntitySnapshot& snapshot);
template <class ContainerT>
- Commit toCommit(const ContainerT& container)
+ Commit
+ toCommit(const ContainerT& container)
{
Commit commit;
container.forEachSnapshot([&commit](const wm::EntitySnapshot & snapshot)
@@ -33,6 +36,20 @@ namespace armarx::armem
}
+ template <class ContainerT>
+ const typename ContainerT::EntityInstanceT*
+ findFirstInstance(const ContainerT& container)
+ {
+ const typename ContainerT::EntityInstanceT* instance = nullptr;
+ container.forEachInstance([&instance](const wm::EntityInstance & i)
+ {
+ instance = &i;
+ return false;
+ });
+ return instance;
+ }
+
+
std::string print(const wm::Memory& data, int maxDepth = -1, int depth = 0);
std::string print(const wm::CoreSegment& data, int maxDepth = -1, int depth = 0);
std::string print(const wm::ProviderSegment& data, int maxDepth = -1, int depth = 0);
diff --git a/source/RobotAPI/libraries/armem/core/wm/memory_definitions.h b/source/RobotAPI/libraries/armem/core/wm/memory_definitions.h
index c4998b889..5bfc4aa3e 100644
--- a/source/RobotAPI/libraries/armem/core/wm/memory_definitions.h
+++ b/source/RobotAPI/libraries/armem/core/wm/memory_definitions.h
@@ -1,5 +1,7 @@
#pragma once
+#include "detail/data_lookup_mixins.h"
+
#include <RobotAPI/libraries/armem/core/base/EntityInstanceBase.h>
#include <RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h>
#include <RobotAPI/libraries/armem/core/base/EntityBase.h>
@@ -7,7 +9,7 @@
#include <RobotAPI/libraries/armem/core/base/CoreSegmentBase.h>
#include <RobotAPI/libraries/armem/core/base/MemoryBase.h>
-#include "detail/data_lookup_mixins.h"
+#include <RobotAPI/libraries/aron/core/navigator/data/forward_declarations.h>
namespace armarx::armem::wm
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 237bc31cc..d1cb1e008 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
@@ -1,25 +1,20 @@
#include "Writer.h"
-#include <mutex>
-#include <optional>
-
-#include <IceUtil/Time.h>
-
#include <SimoxUtility/algorithm/get_map_keys_values.h>
-#include "ArmarXCore/core/exceptions/LocalException.h"
+#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
#include <ArmarXCore/core/logging/Logging.h>
-#include "RobotAPI/libraries/ArmarXObjects/ObjectID.h"
-#include "RobotAPI/libraries/ArmarXObjects/ObjectInfo.h"
+#include <RobotAPI/libraries/ArmarXObjects/ObjectID.h>
+#include <RobotAPI/libraries/ArmarXObjects/ObjectInfo.h>
#include <RobotAPI/libraries/ArmarXObjects/aron/ObjectID.aron.generated.h>
#include <RobotAPI/libraries/armem/client/query.h>
#include <RobotAPI/libraries/armem/core/MemoryID.h>
#include <RobotAPI/libraries/armem/core/aron_conversions.h>
#include <RobotAPI/libraries/armem/core/error.h>
+#include <RobotAPI/libraries/armem/core/operations.h>
#include <RobotAPI/libraries/armem_objects/aron/ObjectClass.aron.generated.h>
#include <RobotAPI/libraries/armem_objects/aron/ObjectInstance.aron.generated.h>
-#include <RobotAPI/libraries/armem_objects/aron_conversions.h>
#include <RobotAPI/libraries/armem_robot/aron/Robot.aron.generated.h>
#include <RobotAPI/libraries/armem_robot/aron/RobotDescription.aron.generated.h>
#include <RobotAPI/libraries/armem_robot/aron_conversions.h>
@@ -27,6 +22,7 @@
#include "utils.h"
+
namespace armarx::armem::articulated_object
{
Writer::Writer(armem::client::MemoryNameSystem& memoryNameSystem) :
@@ -86,7 +82,6 @@ namespace armarx::armem::articulated_object
void Writer::updateKnownObject(const armem::MemoryID& snapshotId)
{
-
arondto::RobotDescription aronArticulatedObjectDescription;
// aronArticulatedObjectDescription.fromAron(snapshotId.ent);
@@ -269,59 +264,41 @@ namespace armarx::armem::articulated_object
.getCoreSegment(properties.coreClassSegmentName)
.getProviderSegment(properties.providerName); // TODO(fabian.reister): all
// clang-format on
- const auto entities = simox::alg::get_values(providerSegment.entities());
- if (entities.empty())
+ if (const armem::wm::EntityInstance* instance = findFirstInstance(providerSegment))
{
- ARMARX_WARNING << "No entity found";
- return std::nullopt;
+ return convertRobotDescription(*instance);
}
-
- const auto entitySnapshots = simox::alg::get_values(entities.front().history());
-
- if (entitySnapshots.empty())
+ else
{
ARMARX_WARNING << "No entity snapshots found";
return std::nullopt;
}
-
- // TODO(fabian.reister): check if 0 available
- const armem::wm::EntityInstance& instance = entitySnapshots.front().getInstance(0);
-
- return convertRobotDescription(instance);
}
std::unordered_map<std::string, armem::MemoryID>
Writer::getRobotDescriptions(const armarx::armem::wm::Memory& memory) const
{
- std::unordered_map<std::string, armem::MemoryID> descriptions;
-
const armem::wm::CoreSegment& coreSegment =
memory.getCoreSegment(properties.coreClassSegmentName);
- for (const auto& [providerName, providerSegment] : coreSegment.providerSegments())
+ std::unordered_map<std::string, armem::MemoryID> descriptions;
+ coreSegment.forEachEntity([&descriptions](const wm::Entity & entity)
{
- for (const auto& [name, entity] : providerSegment.entities())
+ if (entity.empty())
{
- if (entity.empty())
- {
- ARMARX_WARNING << "No entity found";
- continue;
- }
-
- const auto entitySnapshots = simox::alg::get_values(entity.history());
- const armem::wm::EntitySnapshot& sn = entitySnapshots.front();
- const armem::wm::EntityInstance& instance = sn.getInstance(0);
-
- const auto robotDescription = convertRobotDescription(instance);
-
- if (robotDescription)
- {
- const armem::MemoryID snapshotID(sn.id());
- descriptions.insert({robotDescription->name, snapshotID});
- }
+ ARMARX_WARNING << "No entity found";
+ return true;
}
- }
+
+ const armem::wm::EntitySnapshot& sn = entity.getFirstSnapshot();
+ if (const auto robotDescription = convertRobotDescription(sn.getInstance(0)))
+ {
+ const armem::MemoryID snapshotID(sn.id());
+ descriptions.insert({robotDescription->name, snapshotID});
+ }
+ return true;
+ });
return descriptions;
}
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 954952207..3e827d66a 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.h
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.h
@@ -22,8 +22,9 @@
#pragma once
#include <mutex>
+#include <optional>
-#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>
@@ -39,7 +40,7 @@ namespace armarx::armem::articulated_object
virtual public WriterInterface
{
public:
- Writer(armem::client::MemoryNameSystem& memoryNameSystem);
+ Writer(armem::client::MemoryNameSystem& memoryNameSystemopti);
virtual ~Writer() = default;
void registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def);
--
GitLab