From 6e4a680fddb41f64e189a43e2b4cbfbc57dd9a58 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Mon, 11 Jan 2021 10:16:47 +0100
Subject: [PATCH] Move implementations to cpp
---
.../RobotAPI/libraries/armem/CMakeLists.txt | 1 +
.../libraries/armem/client/QueryBuilder.cpp | 24 ++++
.../libraries/armem/client/QueryBuilder.h | 37 +++--
.../armem/client/query/NameSelectorOps.h | 41 ++++++
.../armem/client/query/SelectorOps.h | 4 +-
.../armem/client/query/selectors.cpp | 129 +++++++++++++++++-
.../libraries/armem/client/query/selectors.h | 111 +++++----------
.../armem/test/ArMemQueryBuilderTest.cpp | 20 +--
8 files changed, 252 insertions(+), 115 deletions(-)
create mode 100644 source/RobotAPI/libraries/armem/client/query/NameSelectorOps.h
diff --git a/source/RobotAPI/libraries/armem/CMakeLists.txt b/source/RobotAPI/libraries/armem/CMakeLists.txt
index 4c168c147..4920ebedd 100644
--- a/source/RobotAPI/libraries/armem/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem/CMakeLists.txt
@@ -92,6 +92,7 @@ set(LIB_HEADERS
client/QueryBuilder.h
client/query/SelectorOps.h
+ client/query/NameSelectorOps.h
client/query/selectors.h
component/IceMemory.h
diff --git a/source/RobotAPI/libraries/armem/client/QueryBuilder.cpp b/source/RobotAPI/libraries/armem/client/QueryBuilder.cpp
index 3a864c3da..d0377a155 100644
--- a/source/RobotAPI/libraries/armem/client/QueryBuilder.cpp
+++ b/source/RobotAPI/libraries/armem/client/QueryBuilder.cpp
@@ -4,5 +4,29 @@
namespace armarx::armem::client
{
+ data::query::MemoryQuerySeq QueryBuilder::buildQueries() const
+ {
+ data::query::MemoryQuerySeq memoryQueries;
+ for (const query::CoreSegmentSelector& child : _children)
+ {
+ for (const data::query::MemoryQueryPtr& query : child.buildQueries())
+ {
+ memoryQueries.push_back(query);
+ }
+ }
+ return memoryQueries;
+ }
+
+ data::QueryInput QueryBuilder::buildQueryInput() const
+ {
+ data::QueryInput input;
+ input.memoryQueries = buildQueries();
+ return input;
+ }
+
+ query::CoreSegmentSelector& QueryBuilder::coreSegments()
+ {
+ return _addChild();
+ }
}
diff --git a/source/RobotAPI/libraries/armem/client/QueryBuilder.h b/source/RobotAPI/libraries/armem/client/QueryBuilder.h
index c4d485845..96b30f3c9 100644
--- a/source/RobotAPI/libraries/armem/client/QueryBuilder.h
+++ b/source/RobotAPI/libraries/armem/client/QueryBuilder.h
@@ -1,8 +1,7 @@
#pragma once
-#include <vector>
-
#include <RobotAPI/interface/armem/query.h>
+#include <RobotAPI/interface/armem/ReadingInterface.h>
#include "query/selectors.h"
@@ -11,29 +10,27 @@ namespace armarx::armem::client
{
// ToDo: Make a memory selector (but this level is not in ice, yet)
+ /**
+ * @brief The QueryBuilder class provides a fluent-style specification of
+ * hierarchical queries.
+ *
+ * Syntax:
+ *
+ * @code
+ * TODO
+ * @endcode
+ */
class QueryBuilder :
public query::detail::ParentSelectorOps<QueryBuilder, query::CoreSegmentSelector>
{
public:
- std::vector<data::query::MemoryQueryPtr> finalize() const
- {
- std::vector<data::query::MemoryQueryPtr> childQueries;
- for (const query::CoreSegmentSelector& child : _children)
- {
- for (const data::query::MemoryQueryPtr& query : child.build())
- {
- childQueries.push_back(query);
- }
- }
- return childQueries;
- }
-
-
- query::CoreSegmentSelector& coreSegments()
- {
- return _addChild();
- }
+ /// Start specifying core segments.
+ query::CoreSegmentSelector& coreSegments();
+
+
+ data::query::MemoryQuerySeq buildQueries() const;
+ data::QueryInput buildQueryInput() const;
};
diff --git a/source/RobotAPI/libraries/armem/client/query/NameSelectorOps.h b/source/RobotAPI/libraries/armem/client/query/NameSelectorOps.h
new file mode 100644
index 000000000..9c6d7d9f6
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/client/query/NameSelectorOps.h
@@ -0,0 +1,41 @@
+#pragma once
+
+#include <string>
+#include <vector>
+
+
+namespace armarx::armem::client::query::detail
+{
+
+ template <class DerivedT>
+ class NameSelectorOps
+ {
+ public:
+
+ virtual DerivedT& withName(const std::string& name) = 0;
+ virtual DerivedT& withNameMatching(const std::string& regex) = 0;
+
+
+ virtual DerivedT& withNames(const std::vector<std::string>& names)
+ {
+ return withNames(names);
+ }
+
+ template <class StringContainerT>
+ DerivedT& withNames(const StringContainerT& names)
+ {
+ return withNames(names.begin(), names.end());
+ }
+ template <class IteratorT>
+ DerivedT& withNames(IteratorT begin, IteratorT end)
+ {
+ for (auto it = begin; it != end; ++it)
+ {
+ this->withName(*it);
+ }
+ return dynamic_cast<DerivedT&>(*this);
+ }
+
+ };
+
+}
diff --git a/source/RobotAPI/libraries/armem/client/query/SelectorOps.h b/source/RobotAPI/libraries/armem/client/query/SelectorOps.h
index 2ba0bbf7b..dda1f6edc 100644
--- a/source/RobotAPI/libraries/armem/client/query/SelectorOps.h
+++ b/source/RobotAPI/libraries/armem/client/query/SelectorOps.h
@@ -64,12 +64,12 @@ namespace armarx::armem::client::query::detail
{}
- virtual std::vector<QueryT> build() const
+ virtual std::vector<QueryT> buildQueries() const
{
std::vector<typename ChildT::QueryT> childQueries;
for (const auto& child : _children)
{
- for (const auto& query : child.build())
+ for (const auto& query : child.buildQueries())
{
childQueries.push_back(query);
}
diff --git a/source/RobotAPI/libraries/armem/client/query/selectors.cpp b/source/RobotAPI/libraries/armem/client/query/selectors.cpp
index 6364447a9..e21d812d6 100644
--- a/source/RobotAPI/libraries/armem/client/query/selectors.cpp
+++ b/source/RobotAPI/libraries/armem/client/query/selectors.cpp
@@ -1,22 +1,145 @@
#include "selectors.h"
+#include <RobotAPI/libraries/armem/core/ice_conversions.h>
+
+
+namespace dq = ::armarx::armem::data::query;
+
namespace armarx::armem::client::query
{
+ dq::EntityQuerySeq SnapshotsSelector::buildQueries() const
+ {
+ return _queries;
+ }
+
+ SnapshotsSelector& SnapshotsSelector::all(bool withData)
+ {
+ auto q = _addQuery<dq::entity::All>(withData);
+ return *this;
+ }
+
+ SnapshotsSelector& SnapshotsSelector::latest(bool withData)
+ {
+ auto q = _addQuery<dq::entity::Single>(withData);
+ q.timestamp = -1;
+ return *this;
+ }
+
+ SnapshotsSelector& SnapshotsSelector::atTime(Time timestamp, bool withData)
+ {
+ auto q = _addQuery<dq::entity::Single>(withData);
+ toIce(q.timestamp, timestamp);
+ return *this;
+ }
+
+ SnapshotsSelector& SnapshotsSelector::timeRange(Time min, Time max, bool withData)
+ {
+ auto q = _addQuery<dq::entity::TimeRange>(withData);
+ toIce(q.minTimestamp, min);
+ toIce(q.maxTimestamp, max);
+ return *this;
+ }
+
+ SnapshotsSelector& SnapshotsSelector::indexRange(long first, long last, bool withData)
+ {
+ auto q = _addQuery<dq::entity::IndexRange>(withData);
+ q.first = first;
+ q.last = last;
+ return *this;
+ }
+
- void EntitiesSelector::_setChildQueries(data::query::ProviderSegmentQueryPtr& query, const data::query::EntityQuerySeq& childQueries) const
+
+ SnapshotsSelector& EntitiesSelector::snapshots()
+ {
+ return _addChild();
+ }
+
+ EntitiesSelector& EntitiesSelector::all()
+ {
+ auto q = _addQuery<dq::provider::All>();
+ return *this;
+ }
+
+ EntitiesSelector& EntitiesSelector::withName(const std::string& name)
+ {
+ auto q = _addQuery<dq::provider::Single>();
+ q.entityName = name;
+ return *this;
+ }
+
+ EntitiesSelector& EntitiesSelector::withNameMatching(const std::string& regex)
+ {
+ auto q = _addQuery<dq::provider::Regex>();
+ q.entityNameRegex = regex;
+ return *this;
+ }
+
+ void EntitiesSelector::_setChildQueries(dq::ProviderSegmentQueryPtr& query, const dq::EntityQuerySeq& childQueries) const
{
query->entityQueries = childQueries;
}
- void ProviderSegmentSelector::_setChildQueries(data::query::CoreSegmentQueryPtr& query, const data::query::ProviderSegmentQuerySeq& childQueries) const
+
+ EntitiesSelector& ProviderSegmentSelector::entities()
+ {
+ return _addChild();
+ }
+
+ ProviderSegmentSelector& ProviderSegmentSelector::all()
+ {
+ auto q = _addQuery<dq::core::All>();
+ return *this;
+ }
+
+ ProviderSegmentSelector& ProviderSegmentSelector::withName(const std::string& name)
+ {
+ auto q = _addQuery<dq::core::Single>();
+ q.providerSegmentName = name;
+ return *this;
+ }
+
+ ProviderSegmentSelector& ProviderSegmentSelector::withNameMatching(const std::string& regex)
+ {
+ auto q = _addQuery<dq::core::Regex>();
+ q.providerSegmentNameRegex = regex;
+ return *this;
+ }
+
+ void ProviderSegmentSelector::_setChildQueries(dq::CoreSegmentQueryPtr& query, const dq::ProviderSegmentQuerySeq& childQueries) const
{
query->providerSegmentQueries = childQueries;
}
- void CoreSegmentSelector::_setChildQueries(data::query::MemoryQueryPtr& query, const data::query::CoreSegmentQuerySeq& childQueries) const
+
+ ProviderSegmentSelector& CoreSegmentSelector::providerSegments()
+ {
+ return _addChild();
+ }
+
+ CoreSegmentSelector& CoreSegmentSelector::all()
+ {
+ auto q = _addQuery<dq::memory::All>();
+ return *this;
+ }
+
+ CoreSegmentSelector& CoreSegmentSelector::withName(const std::string& name)
+ {
+ auto q = _addQuery<dq::memory::Single>();
+ q.coreSegmentName = name;
+ return *this;
+ }
+ CoreSegmentSelector& CoreSegmentSelector::withNameMatching(const std::string& regex)
+ {
+ auto q = _addQuery<dq::memory::Regex>();
+ q.coreSegmentNameRegex = regex;
+ return *this;
+ }
+
+ void CoreSegmentSelector::_setChildQueries(dq::MemoryQueryPtr& query, const dq::CoreSegmentQuerySeq& childQueries) const
{
query->coreSegmentQueries = childQueries;
}
diff --git a/source/RobotAPI/libraries/armem/client/query/selectors.h b/source/RobotAPI/libraries/armem/client/query/selectors.h
index b1d80f8fc..32cd67a79 100644
--- a/source/RobotAPI/libraries/armem/client/query/selectors.h
+++ b/source/RobotAPI/libraries/armem/client/query/selectors.h
@@ -1,12 +1,10 @@
#pragma once
-#include <vector>
-
#include <RobotAPI/interface/armem/query.h>
#include <RobotAPI/libraries/armem/core/Time.h>
-#include <RobotAPI/libraries/armem/core/ice_conversions.h>
+#include "NameSelectorOps.h"
#include "SelectorOps.h"
@@ -18,43 +16,16 @@ namespace armarx::armem::client::query
{
public:
+ data::query::EntityQuerySeq buildQueries() const;
- std::vector<data::query::EntityQueryPtr> build() const
- {
- return _queries;
- }
+ SnapshotsSelector& all(bool withData = true);
- SnapshotsSelector& all(bool withData = true)
- {
- auto q = _addQuery<data::query::entity::All>(withData);
- q.withData = withData;
- return *this;
- }
SnapshotsSelector& latest(bool withData = true);
+ SnapshotsSelector& atTime(Time timestamp, bool withData = true);
- SnapshotsSelector& atTime(Time timestamp, bool withData = true)
- {
- auto q = _addQuery<data::query::entity::Single>(withData);
- toIce(q.timestamp, timestamp);
- return *this;
- }
-
- SnapshotsSelector& timeRange(Time min, Time max, bool withData = true)
- {
- auto q = _addQuery<data::query::entity::TimeRange>(withData);
- toIce(q.minTimestamp, min);
- toIce(q.maxTimestamp, max);
- return *this;
- }
-
- SnapshotsSelector& indexRange(long first, long last, bool withData = true)
- {
- auto q = _addQuery<data::query::entity::IndexRange>(withData);
- q.first = first;
- q.last = last;
- return *this;
- }
+ SnapshotsSelector& timeRange(Time min, Time max, bool withData = true);
+ SnapshotsSelector& indexRange(long first, long last, bool withData = true);
protected:
@@ -70,93 +41,73 @@ namespace armarx::armem::client::query
};
+
class EntitiesSelector :
public detail::InnerSelectorOps<EntitiesSelector, data::query::ProviderSegmentQueryPtr, SnapshotsSelector>
+ , public detail::NameSelectorOps<EntitiesSelector>
+
{
public:
- SnapshotsSelector& snapshots()
- {
- return _addChild();
- }
+ /// Start specifying entity snapshots.
+ SnapshotsSelector& snapshots();
- EntitiesSelector& all()
- {
- auto q = _addQuery<data::query::provider::All>();
- return *this;
- }
-
- EntitiesSelector& withName(const std::string& name);
- EntitiesSelector& withNames(const std::vector<std::string>& names);
+ EntitiesSelector& all();
- EntitiesSelector& withNameMatching(const std::string& regex);
+ EntitiesSelector& withName(const std::string& name) override;
+ EntitiesSelector& withNameMatching(const std::string& regex) override;
+ using NameSelectorOps::withNames;
protected:
-
void _setChildQueries(data::query::ProviderSegmentQueryPtr& query, const data::query::EntityQuerySeq& childQueries) const override;
};
+
class ProviderSegmentSelector :
public detail::InnerSelectorOps<ProviderSegmentSelector, data::query::CoreSegmentQueryPtr, EntitiesSelector>
+ , public detail::NameSelectorOps<ProviderSegmentSelector>
{
public:
- EntitiesSelector& entities()
- {
- return _addChild();
- }
+ /// Start specifying entities.
+ EntitiesSelector& entities();
- ProviderSegmentSelector& all()
- {
- auto q = _addQuery<data::query::core::All>();
- return *this;
- }
- ProviderSegmentSelector& withName(const std::string& name);
- ProviderSegmentSelector& withNames(const std::vector<std::string>& names);
+ ProviderSegmentSelector& all();
- ProviderSegmentSelector& withNameMatching(const std::string& regex);
+ ProviderSegmentSelector& withName(const std::string& name) override;
+ ProviderSegmentSelector& withNameMatching(const std::string& regex) override;
+ using NameSelectorOps::withNames;
- protected:
+ protected:
void _setChildQueries(data::query::CoreSegmentQueryPtr& query, const data::query::ProviderSegmentQuerySeq& childQueries) const override;
};
-
-
class CoreSegmentSelector :
public detail::InnerSelectorOps<CoreSegmentSelector, data::query::MemoryQueryPtr, ProviderSegmentSelector>
+ , public detail::NameSelectorOps<CoreSegmentSelector>
{
public:
- ProviderSegmentSelector& providerSegments()
- {
- return _addChild();
- }
+ /// Start specifying provider segments.
+ ProviderSegmentSelector& providerSegments();
- CoreSegmentSelector& all()
- {
- auto q = _addQuery<data::query::memory::All>();
- return *this;
- }
- CoreSegmentSelector& withName(const std::string& name);
- CoreSegmentSelector& withNames(const std::vector<std::string>& names);
+ CoreSegmentSelector& all();
- CoreSegmentSelector& withNameMatching(const std::string& regex);
+ CoreSegmentSelector& withName(const std::string& name) override;
+ CoreSegmentSelector& withNameMatching(const std::string& regex) override;
+ using NameSelectorOps::withNames;
protected:
-
void _setChildQueries(data::query::MemoryQueryPtr& query, const data::query::CoreSegmentQuerySeq& childQueries) const override;
-
};
-
-
}
diff --git a/source/RobotAPI/libraries/armem/test/ArMemQueryBuilderTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemQueryBuilderTest.cpp
index ba0edf28d..c05a405d1 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemQueryBuilderTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemQueryBuilderTest.cpp
@@ -32,7 +32,7 @@
namespace armem = armarx::armem;
-namespace aron = armarx::aron;
+namespace query = armarx::armem::data::query;
namespace ArMemQueryBuilderTest
@@ -62,23 +62,23 @@ BOOST_AUTO_TEST_CASE(test_all_all)
.entities().all()
.snapshots().all();
- std::vector<armem::data::query::MemoryQueryPtr> memoryQueries = qb.finalize();
+ query::MemoryQuerySeq memoryQueries = qb.buildQueries();
BOOST_REQUIRE_EQUAL(memoryQueries.size(), 1);
- armem::data::query::MemoryQueryPtr memoryQuery = memoryQueries.front();
- BOOST_CHECK(armem::data::query::memory::AllPtr::dynamicCast(memoryQuery));
+ query::MemoryQueryPtr memoryQuery = memoryQueries.front();
+ BOOST_CHECK(query::memory::AllPtr::dynamicCast(memoryQuery));
BOOST_REQUIRE_EQUAL(memoryQuery->coreSegmentQueries.size(), 1);
- armem::data::query::CoreSegmentQueryPtr coreSegQuery = memoryQuery->coreSegmentQueries.front();
- BOOST_CHECK(armem::data::query::core::AllPtr::dynamicCast(coreSegQuery));
+ query::CoreSegmentQueryPtr coreSegQuery = memoryQuery->coreSegmentQueries.front();
+ BOOST_CHECK(query::core::AllPtr::dynamicCast(coreSegQuery));
BOOST_REQUIRE_EQUAL(coreSegQuery->providerSegmentQueries.size(), 1);
- armem::data::query::ProviderSegmentQueryPtr provSegQuery = coreSegQuery->providerSegmentQueries.front();
- BOOST_CHECK(armem::data::query::provider::AllPtr::dynamicCast(provSegQuery));
+ query::ProviderSegmentQueryPtr provSegQuery = coreSegQuery->providerSegmentQueries.front();
+ BOOST_CHECK(query::provider::AllPtr::dynamicCast(provSegQuery));
BOOST_REQUIRE_EQUAL(provSegQuery->entityQueries.size(), 1);
- armem::data::query::EntityQueryPtr entityQuery = provSegQuery->entityQueries.front();
- BOOST_CHECK(armem::data::query::entity::AllPtr::dynamicCast(entityQuery));
+ query::EntityQueryPtr entityQuery = provSegQuery->entityQueries.front();
+ BOOST_CHECK(query::entity::AllPtr::dynamicCast(entityQuery));
}
--
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