diff --git a/source/RobotAPI/libraries/armem/CMakeLists.txt b/source/RobotAPI/libraries/armem/CMakeLists.txt
index 457c62565e215c4d76a686cc73647aeb71397190..b08141a6ef60148532ce3f1097eafacb6ae384b9 100644
--- a/source/RobotAPI/libraries/armem/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem/CMakeLists.txt
@@ -40,7 +40,7 @@ set(LIB_FILES
core/base/detail/negative_index_semantics.cpp
# core/base/CoreSegmentBase.cpp
- core/base/EntityBase.cpp
+ # core/base/EntityBase.cpp
core/base/EntityInstanceBase.cpp
core/base/EntitySnapshotBase.cpp
# core/base/MemoryBase.cpp
diff --git a/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h b/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h
index 36d7274acedb92271587e3ba941345254033d840..7653136447dbe968d3d53f878ba47619481594fc 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h
@@ -2,8 +2,8 @@
#include <vector>
-#include "../MemoryID.h"
-#include "../Time.h"
+#include <RobotAPI/libraries/armem/core/MemoryID.h>
+#include <RobotAPI/libraries/armem/core/Time.h>
#include "EntityInstanceBase.h"
#include "detail/MemoryContainerBase.h"
diff --git a/source/RobotAPI/libraries/armem/core/base/MemoryBase.h b/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
index 80b57801d0031c3b66a7e6b72573290ed8c05a5a..9865f6da1398ac78dda2c704eff1d621b00442f4 100644
--- a/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
@@ -3,8 +3,6 @@
#include <map>
#include <string>
-#include <ArmarXCore/core/logging/Logging.h>
-
#include "CoreSegmentBase.h"
#include "detail/EntityContainerBase.h"
#include "detail/iteration_mixins.h"
@@ -247,7 +245,7 @@ namespace armarx::armem::base
}
catch (const armem::error::ContainerEntryAlreadyExists& e)
{
- ARMARX_INFO << e.what() << "\nIgnoring multiple addition.";
+ // ARMARX_INFO << e.what() << "\nIgnoring multiple addition.";
}
}
return segments;
@@ -278,7 +276,7 @@ namespace armarx::armem::base
{
this->_checkContainerName(update.entityID.memoryName, this->name());
- auto [inserted, coreSeg] = addCoreSegmentIfMissing(update.entityID.coreSegmentName);
+ auto [inserted, coreSeg] = _addCoreSegmentIfMissing(update.entityID.coreSegmentName);
// Update entry.
UpdateResult ret(coreSeg->update(update));
@@ -293,30 +291,6 @@ namespace armarx::armem::base
return ret;
}
- std::pair<bool, CoreSegmentT*> addCoreSegmentIfMissing(const std::string& coreSegmentName)
- {
- CoreSegmentT* coreSeg;
-
- auto it = this->_container.find(coreSegmentName);
- if (it == this->_container.end())
- {
- if (_addMissingCoreSegmentDuringUpdate)
- {
- // Insert into map.
- coreSeg = &addCoreSegment(coreSegmentName);
- return {true, coreSeg};
- }
- else
- {
- throw error::MissingEntry::create<CoreSegmentT>(coreSegmentName, *this);
- }
- }
- else
- {
- coreSeg = &it->second;
- return {false, coreSeg};
- }
- }
/**
* @brief Merge another memory into this one. Append all data
@@ -324,7 +298,7 @@ namespace armarx::armem::base
*/
void append(const _Derived& m)
{
- ARMARX_INFO << "Memory: Merge name '" << m.name() << "' into '" << name() << "'";
+ // ARMARX_INFO << "Memory: Merge name '" << m.name() << "' into '" << name() << "'";
m.forEachCoreSegment([this](const CoreSegmentT & coreSeg)
{
@@ -403,8 +377,8 @@ namespace armarx::armem::base
template <class ...Args>
CoreSegmentT& _addCoreSegment(const std::string& name, Args... args)
{
- auto [it, existed] = this->_container.try_emplace(name, args...);
- if (existed)
+ auto [it, inserted] = this->_container.try_emplace(name, args...);
+ if (not inserted)
{
throw armem::error::ContainerEntryAlreadyExists(
CoreSegmentT::getLevelName(), name, DerivedT::getLevelName(), this->name());
@@ -418,8 +392,36 @@ namespace armarx::armem::base
}
+ std::pair<bool, CoreSegmentT*> _addCoreSegmentIfMissing(const std::string& coreSegmentName)
+ {
+ CoreSegmentT* coreSeg;
+
+ auto it = this->_container.find(coreSegmentName);
+ if (it == this->_container.end())
+ {
+ if (_addMissingCoreSegmentDuringUpdate)
+ {
+ // Insert into map.
+ coreSeg = &addCoreSegment(coreSegmentName);
+ return {true, coreSeg};
+ }
+ else
+ {
+ throw error::MissingEntry::create<CoreSegmentT>(coreSegmentName, *this);
+ }
+ }
+ else
+ {
+ coreSeg = &it->second;
+ return {false, coreSeg};
+ }
+ }
+
+
public:
+ // ToDo: Remove from base structure - this should be specific to the server versions.
+ // If necessary at all.
bool _addMissingCoreSegmentDuringUpdate = false;
};
diff --git a/source/RobotAPI/libraries/armem/core/forward_declarations.h b/source/RobotAPI/libraries/armem/core/forward_declarations.h
index 761a8513111d55de8b81ade1af62a60ee18f1f3c..e39274b7c332fe7ee4b0505c3aa7bce8c5c0a8ca 100644
--- a/source/RobotAPI/libraries/armem/core/forward_declarations.h
+++ b/source/RobotAPI/libraries/armem/core/forward_declarations.h
@@ -1,9 +1,15 @@
#pragma once
+namespace IceUtil
+{
+ class Time;
+}
+
namespace armarx::armem
{
- // class Time; // Cannot be forward declared (it's a typedef)
+ using Time = IceUtil::Time;
+ using Duration = IceUtil::Time;
class MemoryID;
class Commit;
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
index 5e5431e41aa6a94ba8616247ec19a5529ca9927e..802de477cdd143051b6e45f8f2c4d995ebfa4e29 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
+++ b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
@@ -26,6 +26,8 @@
#include <QSettings>
#include <filesystem>
+#include <iomanip>
+
namespace armarx::armem::gui
{
@@ -218,12 +220,9 @@ namespace armarx::armem::gui
{
int errorCount = 0;
- memoryReaders.clear();
memoryData.clear();
-
memoryReaders = mns.getAllReaders(true);
- bool dataChanged = false;
std::filesystem::path path(memoryControlWidget->getEnteredPath().toStdString());
armem::client::QueryInput input = memoryGroup->queryWidget()->queryInput();
@@ -255,8 +254,6 @@ namespace armarx::armem::gui
{
ARMARX_WARNING << "Could not import a memory from '" << path << "'. Skipping import.";
}
-
- dataChanged = true; // in any case we update the view (even if there was no result)
}
else
{
@@ -265,27 +262,13 @@ namespace armarx::armem::gui
TIMING_START(MemoryQuery);
{
armem::client::QueryResult result = reader.query(input);
- if (result)
+ if (result.success)
{
- if (auto it = memoryData.find(name); it != memoryData.end())
- {
- result.memory.append(it->second);
- if (result.memory.empty())
- {
- ARMARX_ERROR << "A memory which had data before lost data. This indicates that there is something wrong.";
- }
-
- memoryData[name] = std::move(result.memory);
- }
- else
- {
- ARMARX_INFO << "The memory " << name << " has no data after querying.";
- }
- dataChanged = true; // in any case we update the view (even if there was no result)
+ memoryData[name] = result.memory;
}
else
{
- ARMARX_WARNING << "A query for memory '" << name << "' produced an error: " << result.errorMessage;
+ ARMARX_INFO << "A query for memory '" << name << "' produced an error: " << result.errorMessage;
errorCount++;
}
}
@@ -298,29 +281,19 @@ namespace armarx::armem::gui
}
}
- // Code to output status label information
- std::stringstream ss;
- auto now = std::chrono::system_clock::now();
- auto in_time_t = std::chrono::system_clock::to_time_t(now);
- ss << "Last update: " ;// << std::put_time(std::localtime(&in_time_t), "%Y-%m-%d %X");
+ emit memoryDataChanged();
- if (dataChanged)
- {
- emit memoryDataChanged();
- }
- else
+ // Code to output status label information
+ if (statusLabel and errorCount > 0)
{
- ss << "- No query result. ";
- }
+ auto now = std::chrono::system_clock::now();
+ auto in_time_t = std::chrono::system_clock::to_time_t(now);
- if (errorCount > 0)
- {
- ss << "The query produced " << errorCount << " errors! Please check log.";
- }
+ std::stringstream ss;
+ ss << "Last update: " << std::put_time(std::localtime(&in_time_t), "%Y-%m-%d %X");
+ ss << "\nThe query produced " << errorCount << " errors! Please check log.";
- if (statusLabel)
- {
- statusLabel->setText(ss.str().c_str());
+ statusLabel->setText(QString::fromStdString(ss.str()));
}
}
@@ -447,17 +420,10 @@ namespace armarx::armem::gui
std::map<std::string, const armem::wm::Memory*> convMap;
for (auto& [name, data] : memoryData)
{
- /*if (data.has_value())
- {
- convMap[name] = &data.value();
- }*/
convMap[name] = &data;
}
- if (convMap.empty())
- {
- return;
- }
+ // if convMap.empty(), we still need to update to remove existing entries.
TIMING_START(GuiUpdate);
memoryGroup->tree()->update(convMap);