From 77537fa40332648efa83f3308b7fe1524818a6fd Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Tue, 22 Mar 2022 14:15:38 +0100
Subject: [PATCH] Update usage of time in armem_vision
---
.../libraries/armem_vision/aron_conversions.cpp | 10 ++++++----
.../armem_vision/client/laser_scans/Writer.cpp | 2 +-
.../armem_vision/client/occupancy_grid/Writer.cpp | 2 +-
3 files changed, 8 insertions(+), 6 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_vision/aron_conversions.cpp b/source/RobotAPI/libraries/armem_vision/aron_conversions.cpp
index b4caa2632..4819a27ab 100644
--- a/source/RobotAPI/libraries/armem_vision/aron_conversions.cpp
+++ b/source/RobotAPI/libraries/armem_vision/aron_conversions.cpp
@@ -6,12 +6,14 @@
#include <RobotAPI/interface/units/LaserScannerUnit.h>
#include <RobotAPI/libraries/armem_vision/aron/LaserScan.aron.generated.h>
+#include <RobotAPI/libraries/armem/core/aron_conversions.h>
#include <RobotAPI/libraries/aron/common/aron_conversions.h>
#include <RobotAPI/libraries/aron/converter/common/Converter.h>
#include <RobotAPI/libraries/aron/core/data/variant/complex/NDArray.h>
#include "types.h"
+
namespace armarx::armem
{
@@ -20,7 +22,7 @@ namespace armarx::armem
{
return {.agent = aronSensorHeader.agent,
.frame = aronSensorHeader.frame,
- .timestamp = aronSensorHeader.timestamp};
+ .timestamp = aron::fromAron<Time>(aronSensorHeader.timestamp)};
}
void fromAron(const arondto::LaserScanStamped& aronLaserScan,
@@ -40,7 +42,7 @@ namespace armarx::armem
// laserScan = fromAron(aronLaserScan.data);
- timestamp = header.timestamp.toMicroSeconds();
+ timestamp = header.timestamp.toMicroSecondsSinceEpoch();
frame = header.frame;
agentName = header.agent;
}
@@ -54,7 +56,7 @@ namespace armarx::armem
int64_t toAron(const armem::Time& timestamp)
{
- return timestamp.toMicroSeconds();
+ return timestamp.toMicroSecondsSinceEpoch();
}
arondto::SensorHeader toAron(const SensorHeader& sensorHeader)
@@ -63,7 +65,7 @@ namespace armarx::armem
aronSensorHeader.agent = sensorHeader.agent;
aronSensorHeader.frame = sensorHeader.frame;
- aronSensorHeader.timestamp = sensorHeader.timestamp;
+ toAron(aronSensorHeader.timestamp, sensorHeader.timestamp);
return aronSensorHeader;
}
diff --git a/source/RobotAPI/libraries/armem_vision/client/laser_scans/Writer.cpp b/source/RobotAPI/libraries/armem_vision/client/laser_scans/Writer.cpp
index 861e02c4c..0cfe7fb95 100644
--- a/source/RobotAPI/libraries/armem_vision/client/laser_scans/Writer.cpp
+++ b/source/RobotAPI/libraries/armem_vision/client/laser_scans/Writer.cpp
@@ -65,7 +65,7 @@ namespace armarx::armem::vision::laser_scans::client
return false;
}
- const auto iceTimestamp = Time::microSeconds(timestamp);
+ const auto iceTimestamp = Time(Duration::MicroSeconds(timestamp));
const auto providerId = armem::MemoryID(result.segmentID);
const auto entityID =
diff --git a/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.cpp b/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.cpp
index 3275d888d..e781a2582 100644
--- a/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.cpp
+++ b/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.cpp
@@ -25,7 +25,7 @@ namespace armarx::armem::vision::occupancy_grid::client
return false;
}
- const auto iceTimestamp = Time::microSeconds(timestamp);
+ const auto iceTimestamp = Time(Duration::MicroSeconds(timestamp));
const auto providerId = armem::MemoryID(result.segmentID);
const auto entityID = providerId.withEntityName(frame).withTimestamp(iceTimestamp);
--
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