From 634efb743e5ec99ab757e0113435266962917d2a Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Tue, 22 Mar 2022 14:13:52 +0100
Subject: [PATCH] Update usage of time in armem/core
---
.../RobotAPI/libraries/armem/CMakeLists.txt | 1 +
.../libraries/armem/client/Writer.cpp | 5 +--
source/RobotAPI/libraries/armem/core/Commit.h | 8 ++---
.../libraries/armem/core/MemoryID.cpp | 10 +++---
.../RobotAPI/libraries/armem/core/MemoryID.h | 23 ++++++------
.../libraries/armem/core/aron_conversions.cpp | 5 +--
.../libraries/armem/core/aron_conversions.h | 8 +++--
.../libraries/armem/core/base/EntityBase.h | 10 +++---
.../armem/core/base/ice_conversions.cpp | 15 ++++----
.../armem/core/base/ice_conversions.h | 2 +-
.../armem/core/forward_declarations.h | 22 ++++++++++++
.../libraries/armem/core/ice_conversions.cpp | 35 ++++++++++---------
.../libraries/armem/core/ice_conversions.h | 20 ++---------
.../libraries/armem/core/json_conversions.cpp | 4 +--
.../armem/core/wm/aron_conversions.cpp | 14 ++++----
.../armem/core/wm/ice_conversions.cpp | 1 +
16 files changed, 102 insertions(+), 81 deletions(-)
diff --git a/source/RobotAPI/libraries/armem/CMakeLists.txt b/source/RobotAPI/libraries/armem/CMakeLists.txt
index 5feda749b..afd231ffb 100644
--- a/source/RobotAPI/libraries/armem/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem/CMakeLists.txt
@@ -9,6 +9,7 @@ set(LIBS
ArmarXCore
RemoteGui
aron
+ aroncommon
)
set(LIB_FILES
diff --git a/source/RobotAPI/libraries/armem/client/Writer.cpp b/source/RobotAPI/libraries/armem/client/Writer.cpp
index 7ffeeca7a..3c4edce62 100644
--- a/source/RobotAPI/libraries/armem/client/Writer.cpp
+++ b/source/RobotAPI/libraries/armem/client/Writer.cpp
@@ -1,6 +1,7 @@
#include "Writer.h"
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/core/time/ice_conversions.h>
#include "../error.h"
@@ -111,10 +112,10 @@ namespace armarx::armem::client
* anyway.
*/
- const Time timeSent = armem::Time::now();
+ const Time timeSent = armem::Time::Now();
for (data::EntityUpdate& update : commit.updates)
{
- update.timeSentMicroSeconds = timeSent.toMicroSeconds();
+ toIce(update.timeSent, timeSent);
}
data::CommitResult result;
diff --git a/source/RobotAPI/libraries/armem/core/Commit.h b/source/RobotAPI/libraries/armem/core/Commit.h
index 433703a5a..8a1da2075 100644
--- a/source/RobotAPI/libraries/armem/core/Commit.h
+++ b/source/RobotAPI/libraries/armem/core/Commit.h
@@ -36,7 +36,7 @@ namespace armarx::armem
* @brief Time when this entity update was created (e.g. time of image recording).
* This is the key of the entity's history.
*/
- Time timeCreated = Time::microSeconds(-1);
+ Time timeCreated = Time::Invalid();
// OPTIONAL
@@ -52,14 +52,14 @@ namespace armarx::armem
*
* Set automatically when sending the commit.
*/
- Time timeSent = Time::microSeconds(-1);
+ Time timeSent = Time::Invalid();
/**
* @brief Time when this update arrived at the memory server.
*
* Set by memory server on arrival.
*/
- Time timeArrived = Time::microSeconds(-1);
+ Time timeArrived = Time::Invalid();
friend std::ostream& operator<<(std::ostream& os, const EntityUpdate& rhs);
@@ -74,7 +74,7 @@ namespace armarx::armem
bool success = false;
MemoryID snapshotID;
- Time timeArrived = Time::microSeconds(-1);
+ Time timeArrived = Time::Invalid();
std::string errorMessage;
diff --git a/source/RobotAPI/libraries/armem/core/MemoryID.cpp b/source/RobotAPI/libraries/armem/core/MemoryID.cpp
index f3b8c662d..5757bf196 100644
--- a/source/RobotAPI/libraries/armem/core/MemoryID.cpp
+++ b/source/RobotAPI/libraries/armem/core/MemoryID.cpp
@@ -251,7 +251,7 @@ namespace armarx::armem
{
return getEntitySnapshotID();
}
- if (timestamp != Time::microSeconds(-1))
+ if (timestamp.isValid())
{
return getEntityID();
}
@@ -350,7 +350,7 @@ namespace armarx::armem
std::string MemoryID::timestampStr() const
{
- return hasTimestamp() ? std::to_string(timestamp.toMicroSeconds()) : "";
+ return hasTimestamp() ? std::to_string(timestamp.toMicroSecondsSinceEpoch()) : "";
}
std::string MemoryID::instanceIndexStr() const
@@ -358,9 +358,9 @@ namespace armarx::armem
return hasInstanceIndex() ? std::to_string(instanceIndex) : "";
}
- IceUtil::Time MemoryID::timestampFromStr(const std::string& string)
+ Time MemoryID::timestampFromStr(const std::string& string)
{
- return Time::microSeconds(parseInteger(string, "timestamp"));
+ return Time(Duration::MicroSeconds(parseInteger(string, "timestamp")));
}
int MemoryID::instanceIndexFromStr(const std::string& string)
@@ -506,7 +506,7 @@ namespace armarx::armem
return false;
}
- if (general.timestamp.toMicroSeconds() < 0)
+ if (general.timestamp.isInvalid())
{
return true;
}
diff --git a/source/RobotAPI/libraries/armem/core/MemoryID.h b/source/RobotAPI/libraries/armem/core/MemoryID.h
index d583e7522..64850ddef 100644
--- a/source/RobotAPI/libraries/armem/core/MemoryID.h
+++ b/source/RobotAPI/libraries/armem/core/MemoryID.h
@@ -1,5 +1,6 @@
#pragma once
+#include <functional> // for std::hash
#include <string>
#include <vector>
@@ -52,7 +53,7 @@ namespace armarx::armem
std::string coreSegmentName = "";
std::string providerSegmentName = "";
std::string entityName = "";
- Time timestamp = Time::microSeconds(-1);
+ Time timestamp = Time::Invalid();
int instanceIndex = -1;
@@ -67,7 +68,7 @@ namespace armarx::armem
const std::string& coreSegmentName,
const std::string& providerSegmentName = "",
const std::string& entityName = "",
- Time timestamp = Time::microSeconds(-1),
+ Time timestamp = Time::Invalid(),
int instanceIndex = -1);
@@ -97,27 +98,27 @@ namespace armarx::armem
bool hasMemoryName() const
{
- return !memoryName.empty();
+ return not memoryName.empty();
}
bool hasCoreSegmentName() const
{
- return !coreSegmentName.empty();
+ return not coreSegmentName.empty();
}
bool hasProviderSegmentName() const
{
- return !providerSegmentName.empty();
+ return not providerSegmentName.empty();
}
bool hasEntityName() const
{
- return !entityName.empty();
+ return not entityName.empty();
}
bool hasTimestamp() const
{
- return timestamp.toMicroSeconds() >= 0;
+ return timestamp.isValid();
}
void clearTimestamp()
{
- timestamp = Time::microSeconds(-1);
+ timestamp = Time::Invalid();
}
bool hasInstanceIndex() const
{
@@ -208,7 +209,7 @@ namespace armarx::armem
bool operator ==(const MemoryID& other) const;
inline bool operator !=(const MemoryID& other) const
{
- return !(*this == other);
+ return not (*this == other);
}
bool operator< (const MemoryID& rhs) const;
@@ -218,11 +219,11 @@ namespace armarx::armem
}
inline bool operator<=(const MemoryID& rhs) const
{
- return !operator> (rhs);
+ return not operator> (rhs);
}
inline bool operator>=(const MemoryID& rhs) const
{
- return !operator< (rhs);
+ return not operator< (rhs);
}
friend std::ostream& operator<<(std::ostream& os, const MemoryID id);
diff --git a/source/RobotAPI/libraries/armem/core/aron_conversions.cpp b/source/RobotAPI/libraries/armem/core/aron_conversions.cpp
index 4eafef35a..62ff85270 100644
--- a/source/RobotAPI/libraries/armem/core/aron_conversions.cpp
+++ b/source/RobotAPI/libraries/armem/core/aron_conversions.cpp
@@ -1,5 +1,6 @@
#include "aron_conversions.h"
+#include <RobotAPI/libraries/aron/common/aron_conversions/armarx.h>
#include <RobotAPI/libraries/armem/core/MemoryID.h>
#include <RobotAPI/libraries/armem/aron/MemoryID.aron.generated.h>
@@ -10,7 +11,7 @@ void armarx::armem::fromAron(const arondto::MemoryID& dto, MemoryID& bo)
bo.coreSegmentName = dto.coreSegmentName;
bo.providerSegmentName = dto.providerSegmentName;
bo.entityName = dto.entityName;
- bo.timestamp = dto.timestamp;
+ fromAron(dto.timestamp, bo.timestamp);
bo.instanceIndex = dto.instanceIndex;
}
@@ -20,7 +21,7 @@ void armarx::armem::toAron(arondto::MemoryID& dto, const MemoryID& bo)
dto.coreSegmentName = bo.coreSegmentName;
dto.providerSegmentName = bo.providerSegmentName;
dto.entityName = bo.entityName;
- dto.timestamp = bo.timestamp;
+ toAron(dto.timestamp, bo.timestamp);
dto.instanceIndex = bo.instanceIndex;
}
diff --git a/source/RobotAPI/libraries/armem/core/aron_conversions.h b/source/RobotAPI/libraries/armem/core/aron_conversions.h
index 064aafe8d..f0b1a2659 100644
--- a/source/RobotAPI/libraries/armem/core/aron_conversions.h
+++ b/source/RobotAPI/libraries/armem/core/aron_conversions.h
@@ -1,12 +1,16 @@
#pragma once
-#include "forward_declarations.h"
-
#include <ostream>
+#include "forward_declarations.h"
+
namespace armarx::armem
{
+ // Implemented in <RobotAPI/libraries/aron/common/aron_conversions/armarx.h>
+ // void fromAron(const IceUtil::Time& dto, Time& bo);
+ // void toAron(IceUtil::Time& dto, const Time& bo);
+
void fromAron(const arondto::MemoryID& dto, MemoryID& bo);
void toAron(arondto::MemoryID& dto, const MemoryID& bo);
}
diff --git a/source/RobotAPI/libraries/armem/core/base/EntityBase.h b/source/RobotAPI/libraries/armem/core/base/EntityBase.h
index 9b34e11bd..5a3b55a80 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntityBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/EntityBase.h
@@ -311,7 +311,7 @@ namespace armarx::armem::base
*/
const EntitySnapshotT* findLatestSnapshotBeforeOrAt(const Time& time) const
{
- return findLatestSnapshotBefore(time + Time::microSeconds(1));
+ return findLatestSnapshotBefore(time + Duration::MicroSeconds(1));
}
/**
@@ -339,7 +339,7 @@ namespace armarx::armem::base
*/
const EntitySnapshotT* findFirstSnapshotAfter(const Time& time) const
{
- return findFirstSnapshotAfter(time - Time::microSeconds(1));
+ return findFirstSnapshotAfter(time - Duration::MicroSeconds(1));
}
@@ -418,7 +418,7 @@ namespace armarx::armem::base
template <class FunctionT>
void forEachSnapshotBeforeOrAt(const Time& time, FunctionT&& func) const
{
- getSnapshotsBefore(time + Time::microSeconds(1), func);
+ getSnapshotsBefore(time + Duration::MicroSeconds(1), func);
}
@@ -432,9 +432,9 @@ namespace armarx::armem::base
void forEachSnapshotInTimeRange(const Time& min, const Time& max, FunctionT&& func) const
{
// Returns an iterator pointing to the first element that is not less than (i.e. greater or equal to) key.
- auto begin = min.toMicroSeconds() > 0 ? this->_container.lower_bound(min) : this->_container.begin();
+ auto begin = min.isValid() ? this->_container.lower_bound(min) : this->_container.begin();
// Returns an iterator pointing to the first element that is *greater than* key.
- auto end = max.toMicroSeconds() > 0 ? this->_container.upper_bound(max) : this->_container.end();
+ auto end = max.isValid() ? this->_container.upper_bound(max) : this->_container.end();
for (auto it = begin; it != end && it != this->_container.end(); ++it)
{
diff --git a/source/RobotAPI/libraries/armem/core/base/ice_conversions.cpp b/source/RobotAPI/libraries/armem/core/base/ice_conversions.cpp
index 1e19f25a7..a71881a57 100644
--- a/source/RobotAPI/libraries/armem/core/base/ice_conversions.cpp
+++ b/source/RobotAPI/libraries/armem/core/base/ice_conversions.cpp
@@ -1,5 +1,7 @@
#include "ice_conversions.h"
+#include <ArmarXCore/core/time/ice_conversions.h>
+
#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
#include <RobotAPI/libraries/aron/core/type/variant/container/Object.h>
@@ -50,19 +52,20 @@ namespace armarx::armem::base
}
namespace armarx::armem
{
+
void base::toIce(data::EntityInstanceMetadata& ice, const EntityInstanceMetadata& metadata)
{
ice.confidence = metadata.confidence;
- toIce(ice.timeArrivedMicroSeconds, metadata.timeArrived);
- toIce(ice.timeCreatedMicroSeconds, metadata.timeCreated);
- toIce(ice.timeSentMicroSeconds, metadata.timeSent);
+ toIce(ice.timeArrived, metadata.timeArrived);
+ toIce(ice.timeCreated, metadata.timeCreated);
+ toIce(ice.timeSent, metadata.timeSent);
}
void base::fromIce(const data::EntityInstanceMetadata& ice, EntityInstanceMetadata& metadata)
{
metadata.confidence = ice.confidence;
- fromIce(ice.timeArrivedMicroSeconds, metadata.timeArrived);
- fromIce(ice.timeCreatedMicroSeconds, metadata.timeCreated);
- fromIce(ice.timeSentMicroSeconds, metadata.timeSent);
+ fromIce(ice.timeArrived, metadata.timeArrived);
+ fromIce(ice.timeCreated, metadata.timeCreated);
+ fromIce(ice.timeSent, metadata.timeSent);
}
diff --git a/source/RobotAPI/libraries/armem/core/base/ice_conversions.h b/source/RobotAPI/libraries/armem/core/base/ice_conversions.h
index 21316623c..a660ad488 100644
--- a/source/RobotAPI/libraries/armem/core/base/ice_conversions.h
+++ b/source/RobotAPI/libraries/armem/core/base/ice_conversions.h
@@ -86,7 +86,7 @@ namespace armarx::armem::base
ice.history.clear();
entity.forEachSnapshot([&ice](const auto & snapshot)
{
- armem::toIce(ice.history[armem::toIce<long>(snapshot.time())], snapshot);
+ armem::toIce(ice.history[toIce<armarx::core::time::dto::DateTime>(snapshot.time())], snapshot);
});
}
template <class ...Args>
diff --git a/source/RobotAPI/libraries/armem/core/forward_declarations.h b/source/RobotAPI/libraries/armem/core/forward_declarations.h
index 9a2bbf881..4b6d38266 100644
--- a/source/RobotAPI/libraries/armem/core/forward_declarations.h
+++ b/source/RobotAPI/libraries/armem/core/forward_declarations.h
@@ -2,7 +2,10 @@
#include <ArmarXCore/core/time/forward_declarations.h>
+
+namespace IceInternal
{
+ template<typename T> class Handle;
}
namespace armarx::armem
@@ -61,3 +64,22 @@ namespace armarx::armem::server::wm
class Memory;
}
+namespace armarx::armem::data
+{
+ struct MemoryID;
+ struct Commit;
+ struct CommitResult;
+ struct EntityUpdate;
+ struct EntityUpdateResult;
+}
+
+namespace armarx::armem::actions
+{
+ class Menu;
+}
+
+namespace armarx::armem::actions::data
+{
+ class Menu;
+ using MenuPtr = ::IceInternal::Handle<Menu>;
+}
diff --git a/source/RobotAPI/libraries/armem/core/ice_conversions.cpp b/source/RobotAPI/libraries/armem/core/ice_conversions.cpp
index 20df9176b..1dd76ae47 100644
--- a/source/RobotAPI/libraries/armem/core/ice_conversions.cpp
+++ b/source/RobotAPI/libraries/armem/core/ice_conversions.cpp
@@ -1,17 +1,20 @@
#include "ice_conversions.h"
+#include <ArmarXCore/core/time/ice_conversions.h>
+
#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
+#include <RobotAPI/interface/armem/actions.h>
+#include <RobotAPI/interface/armem/commit.h>
+#include <RobotAPI/interface/armem/memory.h>
-void IceUtil::toIce(long& ice, const IceUtil::Time& time)
-{
- ice = time.toMicroSeconds();
-}
+#include "ice_conversions_templates.h"
+
+#include "actions.h"
+#include "Commit.h"
+#include "MemoryID.h"
+#include "Time.h"
-void IceUtil::fromIce(const long& ice, IceUtil::Time& time)
-{
- time = Time::microSeconds(ice);
-}
namespace armarx
{
@@ -22,7 +25,7 @@ namespace armarx
ice.coreSegmentName = id.coreSegmentName;
ice.providerSegmentName = id.providerSegmentName;
ice.entityName = id.entityName;
- toIce(ice.timestampMicroSeconds, id.timestamp);
+ toIce(ice.timestamp, id.timestamp);
ice.instanceIndex = id.instanceIndex;
}
@@ -32,7 +35,7 @@ namespace armarx
id.coreSegmentName = ice.coreSegmentName;
id.providerSegmentName = ice.providerSegmentName;
id.entityName = ice.entityName;
- fromIce(ice.timestampMicroSeconds, id.timestamp);
+ fromIce(ice.timestamp, id.timestamp);
id.instanceIndex = ice.instanceIndex;
}
@@ -85,10 +88,10 @@ namespace armarx
std::transform(ice.instancesData.begin(), ice.instancesData.end(), std::back_inserter(update.instancesData),
aron::data::Dict::FromAronDictDTO);
- update.timeCreated = Time::microSeconds(ice.timeCreatedMicroSeconds);
+ fromIce(ice.timeCreated, update.timeCreated);
update.confidence = ice.confidence;
- update.timeSent = Time::microSeconds(ice.timeSentMicroSeconds);
+ fromIce(ice.timeSent, update.timeSent);
}
void armem::toIce(data::EntityUpdate& ice, const EntityUpdate& update)
@@ -100,17 +103,17 @@ namespace armarx
std::transform(update.instancesData.begin(), update.instancesData.end(), std::back_inserter(ice.instancesData),
aron::data::Dict::ToAronDictDTO);
- ice.timeCreatedMicroSeconds = update.timeCreated.toMicroSeconds();
+ toIce(ice.timeCreated, update.timeCreated);
ice.confidence = update.confidence;
- ice.timeSentMicroSeconds = update.timeSent.toMicroSeconds();
+ toIce(ice.timeSent, update.timeSent);
}
void armem::fromIce(const data::EntityUpdateResult& ice, EntityUpdateResult& result)
{
result.success = ice.success;
fromIce(ice.snapshotID, result.snapshotID);
- result.timeArrived = Time::microSeconds(ice.timeArrivedMicroSeconds);
+ fromIce(ice.timeArrived, result.timeArrived);
result.errorMessage = ice.errorMessage;
}
@@ -118,7 +121,7 @@ namespace armarx
{
ice.success = result.success;
toIce(ice.snapshotID, result.snapshotID);
- ice.timeArrivedMicroSeconds = result.timeArrived.toMicroSeconds();
+ toIce(ice.timeArrived, result.timeArrived);
ice.errorMessage = result.errorMessage;
}
diff --git a/source/RobotAPI/libraries/armem/core/ice_conversions.h b/source/RobotAPI/libraries/armem/core/ice_conversions.h
index a8ef35e79..2a4daf725 100644
--- a/source/RobotAPI/libraries/armem/core/ice_conversions.h
+++ b/source/RobotAPI/libraries/armem/core/ice_conversions.h
@@ -1,23 +1,6 @@
#pragma once
-#include <RobotAPI/interface/armem/actions.h>
-#include <RobotAPI/interface/armem/commit.h>
-#include <RobotAPI/interface/armem/memory.h>
-
-#include "ice_conversions_templates.h"
-
-#include "actions.h"
-#include "Commit.h"
-#include "MemoryID.h"
-#include "Time.h"
-
-
-namespace IceUtil
-{
- // Define in original namespace to allow ADL.
- void toIce(long& ice, const Time& time);
- void fromIce(const long& ice, Time& time);
-}
+#include "forward_declarations.h"
namespace armarx::armem
@@ -48,5 +31,6 @@ namespace armarx::armem
void fromIce(const actions::data::MenuPtr& ice, actions::Menu& menu);
void toIce(actions::data::MenuPtr& ice, const actions::Menu& menu);
+
}
diff --git a/source/RobotAPI/libraries/armem/core/json_conversions.cpp b/source/RobotAPI/libraries/armem/core/json_conversions.cpp
index e4da9d89b..2a6f2a1f6 100644
--- a/source/RobotAPI/libraries/armem/core/json_conversions.cpp
+++ b/source/RobotAPI/libraries/armem/core/json_conversions.cpp
@@ -9,7 +9,7 @@ void armarx::armem::to_json(nlohmann::json& j, const MemoryID& bo)
j["coreSegmentName"] = bo.coreSegmentName;
j["providerSegmentName"] = bo.providerSegmentName;
j["entityName"] = bo.entityName;
- j["timestamp_usec"] = bo.timestamp.toMicroSeconds();
+ j["timestamp_usec"] = bo.timestamp.toMicroSecondsSinceEpoch();
j["timestamp_datetime"] = toDateTimeMilliSeconds(bo.timestamp);
j["instanceIndex"] = bo.instanceIndex;
}
@@ -20,7 +20,7 @@ void armarx::armem::from_json(const nlohmann::json& j, MemoryID& bo)
j.at("coreSegmentName").get_to(bo.coreSegmentName);
j.at("providerSegmentName").get_to(bo.providerSegmentName);
j.at("entityName").get_to(bo.entityName);
- bo.timestamp = Time::microSeconds(j.at("timestamp_usec").get<int64_t>());
+ bo.timestamp = Time(Duration::MicroSeconds(j.at("timestamp_usec").get<int64_t>()));
// j.at("timestamp_datetime").get_to(toDateTimeMilliSeconds(bo.timestamp));
j.at("instanceIndex").get_to(bo.instanceIndex);
}
diff --git a/source/RobotAPI/libraries/armem/core/wm/aron_conversions.cpp b/source/RobotAPI/libraries/armem/core/wm/aron_conversions.cpp
index dacedd5e0..d24ce36b5 100644
--- a/source/RobotAPI/libraries/armem/core/wm/aron_conversions.cpp
+++ b/source/RobotAPI/libraries/armem/core/wm/aron_conversions.cpp
@@ -23,13 +23,13 @@ void armarx::armem::from_aron(const aron::data::DictPtr& metadata, const aron::d
e.data() = data;
auto timeCreated = aron::data::Long::DynamicCastAndCheck(metadata->getElement(DATA_WRAPPER_TIME_CREATED_FIELD));
- m.timeCreated = Time::microSeconds(timeCreated->toAronLongDTO()->value);
+ m.timeCreated = Time(Duration::MicroSeconds(timeCreated->toAronLongDTO()->value));
auto timeSent = aron::data::Long::DynamicCastAndCheck(metadata->getElement(DATA_WRAPPER_TIME_SENT_FIELD));
- m.timeSent = Time::microSeconds(timeSent->toAronLongDTO()->value);
+ m.timeSent = Time(Duration::MicroSeconds(timeSent->toAronLongDTO()->value));
auto timeArrived = aron::data::Long::DynamicCastAndCheck(metadata->getElement(DATA_WRAPPER_TIME_ARRIVED_FIELD));
- m.timeArrived = Time::microSeconds(timeArrived->toAronLongDTO()->value);
+ m.timeArrived = Time(Duration::MicroSeconds(timeArrived->toAronLongDTO()->value));
auto confidence = aron::data::Double::DynamicCastAndCheck(metadata->getElement(DATA_WRAPPER_CONFIDENCE_FIELD));
m.confidence = static_cast<float>(confidence->toAronDoubleDTO()->value);
@@ -42,20 +42,20 @@ void armarx::armem::to_aron(aron::data::DictPtr& metadata, aron::data::DictPtr&
metadata = std::make_shared<aron::data::Dict>();
auto timeWrapped = std::make_shared<aron::data::Long>();
- timeWrapped->setValue(Time::now().toMicroSeconds());
+ timeWrapped->setValue(Time::Now().toMicroSecondsSinceEpoch());
metadata->addElement(DATA_WRAPPER_TIME_STORED_FIELD, timeWrapped);
const wm::EntityInstanceMetadata& m = e.metadata();
auto timeCreated = std::make_shared<aron::data::Long>();
- timeCreated->setValue(m.timeCreated.toMicroSeconds());
+ timeCreated->setValue(m.timeCreated.toMicroSecondsSinceEpoch());
metadata->addElement(DATA_WRAPPER_TIME_CREATED_FIELD, timeCreated);
auto timeSent = std::make_shared<aron::data::Long>();
- timeSent->setValue(m.timeSent.toMicroSeconds());
+ timeSent->setValue(m.timeSent.toMicroSecondsSinceEpoch());
metadata->addElement(DATA_WRAPPER_TIME_SENT_FIELD, timeSent);
auto timeArrived = std::make_shared<aron::data::Long>();
- timeArrived->setValue(m.timeArrived.toMicroSeconds());
+ timeArrived->setValue(m.timeArrived.toMicroSecondsSinceEpoch());
metadata->addElement(DATA_WRAPPER_TIME_ARRIVED_FIELD, timeArrived);
auto confidence = std::make_shared<aron::data::Double>();
diff --git a/source/RobotAPI/libraries/armem/core/wm/ice_conversions.cpp b/source/RobotAPI/libraries/armem/core/wm/ice_conversions.cpp
index ba6c9782e..826bf6d9f 100644
--- a/source/RobotAPI/libraries/armem/core/wm/ice_conversions.cpp
+++ b/source/RobotAPI/libraries/armem/core/wm/ice_conversions.cpp
@@ -1,5 +1,6 @@
#include "ice_conversions.h"
+#include <RobotAPI/libraries/armem/core/ice_conversions.h>
#include <RobotAPI/libraries/armem/core/base/ice_conversions.h>
--
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