Move statechart memory to SkillsMemory and get it working

source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp

@@ -27,8 +27,6 @@
 #include <ArmarXCore/core/exceptions/local/ExpressionException.h>
 #include <ArmarXCore/core/time/TimeUtil.h>
 
-//#include <SimoxUtility/algorithm/string.h>
-
 #include <RobotAPI/libraries/armem/core/error.h>
 #include <RobotAPI/libraries/armem/server/MemoryRemoteGui.h>
 
@@ -46,8 +44,6 @@ namespace armarx
         defs->topic(debugObserver);
 
         // Subscribe
-        //        defs->defineOptionalProperty("tpc.sub.ProfilerListener", p.statechartTransitionsTopicName,
-        //                                     "Name of the ProfilerListenerInterface topics to subscribe.");
         defs->optional(p.statechartTransitionsTopicName, "tpc.sub.ProfilerListener", "Name of the ProfilerListenerInterface topics to subscribe.");
 
         const std::string prefix = "mem.";
@@ -67,12 +63,9 @@ namespace armarx
     {
         workingMemory.name() = p.memoryName;
 
-        //        getProperty(p.statechartTransitionsTopicName, "tpc.sub.StatechartListener");
-
         {
-            armem::data::CoreSegment& core = workingMemory.addCoreSegment("Statechart");
-            workingMemory.
-            //            statechartTransitionsProviderSegmentID = core.p  ("Transitions",armarx::statechart::aron::Transition::toInitialAronType()).id();
+            armarx::armem::wm::CoreSegment& c = workingMemory.addCoreSegment(statechartCoreSegmentName, armarx::statechart::aron::Transition::toInitialAronType());
+            c.addProviderSegment("Transitions", armarx::statechart::aron::Transition::toInitialAronType());
         }
     }
 
@@ -155,13 +148,18 @@ namespace armarx
     {
         for (const StatechartListener::Transition& t : transitions)
         {
-            const std::string& entityName = std::to_string(t.processId);
+            const std::string& entityName = getStatechartName(t.targetStateIdentifier);
             IceUtil::Time transitionTime = IceUtil::Time::microSeconds(t.timestamp);
 
             armem::EntityUpdate update;
-            update.entityID = statechartTransitionsProviderSegmentID.withEntityName(entityName);
-            update.timeCreated = transitionTime;
+            update.entityID = armem::MemoryID()
+                              .withMemoryName(p.memoryName)
+                              .withCoreSegmentName(statechartCoreSegmentName)
+                              .withProviderSegmentName(statechartTransitionsProviderSegmentName)
+                              .withEntityName(entityName);
 
+            ARMARX_INFO << "update.entityId = " << update.entityID;
+            update.timeCreated = transitionTime;
 
             armarx::statechart::aron::Transition data;
             data.processId = t.processId;
@@ -186,7 +184,7 @@ namespace armarx
         }
     }
 
-    std::shared_ptr<armarx::statechart::aron::ParameterMap> SkillsMemory::toParameterMap(const armarx::StateParameterMap& map)
+    std::shared_ptr<armarx::statechart::aron::ParameterMap> SkillsMemory::toAronParameterMap(const armarx::StateParameterMap& map)
     {
         std::shared_ptr<armarx::statechart::aron::ParameterMap> aronMap(new armarx::statechart::aron::ParameterMap);
         for (auto const& [key, val] : map)
@@ -195,4 +193,26 @@ namespace armarx
         }
         return aronMap;
     }
+
+    std::string SkillsMemory::getStatechartName(std::string stateName)
+    {
+        const std::string delimiter = "->";
+        const int maxLevels = 2;
+
+        size_t pos;
+        int levels = 0;
+        std::string statechartName;
+        while ((pos = stateName.find(delimiter)) != std::string::npos && levels < maxLevels)
+        {
+            if (levels != 0)
+            {
+                statechartName += delimiter;
+            }
+            statechartName += stateName.substr(0, pos);
+            stateName.erase(0, pos + delimiter.length());
+            levels++;
+        }
+
+        return statechartName;
+    }
 }

source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h

@@ -93,7 +93,6 @@ namespace armarx
 
             struct CoreSegments
             {
-                //                std::vector<std::string> defaultCoreSegments = { "Transitions" };
                 bool addOnUsage = false;
             };
             CoreSegments core;
@@ -101,14 +100,15 @@ namespace armarx
         Properties p;
 
         // Statechart transition logging
-        armem::MemoryID statechartTransitionsProviderSegmentID;
+        const std::string statechartCoreSegmentName = "Statechart";
+        const std::string statechartTransitionsProviderSegmentName = "Transitions";
 
         IceInternal::Handle<StatechartListener> createStatechartListener(const std::string& topicName,
                 const std::string& _name = "");
-
         IceInternal::Handle<armarx::StatechartListener> statechartListener;
         void reportTransitions(const std::vector<StatechartListener::Transition>& transitions);
 
+        // Converts an armarx::eStateType to the corresponding aron enum value
         std::map<armarx::eStateType, armarx::statechart::aron::StateType> toAronStateEnum =
         {
             {eNormalState, armarx::statechart::aron::StateType::NORMAL},
@@ -117,6 +117,9 @@ namespace armarx
             {eDynamicRemoteState, armarx::statechart::aron::StateType::DYNAMIC_REMOTE},
             {eUndefined, armarx::statechart::aron::StateType::UNDEFINED},
         };
+        // Converts an armarx::StateParameterMap to aron
         static std::shared_ptr<armarx::statechart::aron::ParameterMap> toAronParameterMap(const armarx::StateParameterMap&);
+        // Gets the statechart name from a state name (takes first two levels of the hierarchy)
+        static std::string getStatechartName(std::string stateName);
     };
 }