From 77de82200366fb087fe38dfae6d77d6b69873bdf Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Mon, 3 May 2021 15:43:34 +0200
Subject: [PATCH] Add findEntity()
---
.../armem/core/base/CoreSegmentBase.h | 20 ++++++++++++++++
.../libraries/armem/core/base/MemoryBase.h | 20 ++++++++++++++++
.../armem/core/base/ProviderSegmentBase.h | 14 +++++++++++
.../core/base/detail/EntityContainerBase.h | 23 +++++++++++++++----
4 files changed, 73 insertions(+), 4 deletions(-)
diff --git a/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h b/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h
index 4c4e50c92..d28d09c74 100644
--- a/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h
@@ -109,6 +109,26 @@ namespace armarx::armem::base
return getProviderSegment(id.providerSegmentName).getEntity(id);
}
+ const EntityT* findEntity(const MemoryID& id) const override
+ {
+ this->_checkContainerName(id.coreSegmentName, this->getKeyString());
+ if (id.hasProviderSegmentName())
+ {
+ return getProviderSegment(id.providerSegmentName).findEntity(id);
+ }
+ else
+ {
+ for (const auto& [_, providerSegment] : this->_container)
+ {
+ if (auto entity = providerSegment.findEntity(id))
+ {
+ return entity;
+ }
+ }
+ return nullptr;
+ }
+ }
+
virtual MemoryID update(const EntityUpdate& update) override
{
this->_checkContainerName(update.entityID.coreSegmentName, this->name());
diff --git a/source/RobotAPI/libraries/armem/core/base/MemoryBase.h b/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
index 7bcef9350..53b398a28 100644
--- a/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
@@ -103,6 +103,26 @@ namespace armarx::armem::base
return getCoreSegment(id.coreSegmentName).getEntity(id);
}
+ const EntityT* findEntity(const MemoryID& id) const override
+ {
+ this->_checkContainerName(id.memoryName, this->name());
+ if (id.hasCoreSegmentName())
+ {
+ return getCoreSegment(id.providerSegmentName).findEntity(id);
+ }
+ else
+ {
+ for (const auto& [_, coreSegment] : this->_container)
+ {
+ if (auto entity = coreSegment.findEntity(id))
+ {
+ return entity;
+ }
+ }
+ return nullptr;
+ }
+ }
+
/**
* @brief Add an empty core segment with the given name.
* @param name The core segment name.
diff --git a/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h b/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h
index 81be753a7..20b298af5 100644
--- a/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h
@@ -109,6 +109,20 @@ namespace armarx::armem::base
}
}
+ const EntityT* findEntity(const MemoryID& id) const override
+ {
+ this->_checkContainerName(id.providerSegmentName, this->getKeyString());
+ auto it = this->_container.find(id.entityName);
+ if (it != this->_container.end())
+ {
+ return &it->second;
+ }
+ else
+ {
+ return nullptr;
+ }
+ }
+
/**
* @brief Updates an entity's history.
*
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/EntityContainerBase.h b/source/RobotAPI/libraries/armem/core/base/detail/EntityContainerBase.h
index 9e5c869c3..09733b648 100644
--- a/source/RobotAPI/libraries/armem/core/base/detail/EntityContainerBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/detail/EntityContainerBase.h
@@ -67,11 +67,26 @@ namespace armarx::armem::base::detail
* @return The entity.
* @throw An exception deriving from `armem::error::ArMemError` if the entity is missing.
*/
- virtual _EntityT& getEntity(const MemoryID& id)
+ virtual EntityT& getEntity(const MemoryID& id)
{
- return const_cast<_EntityT&>(const_cast<const EntityContainerBase*>(this)->getEntity(id));
+ return const_cast<EntityT&>(const_cast<const EntityContainerBase*>(this)->getEntity(id));
}
- virtual const _EntityT& getEntity(const MemoryID& id) const = 0;
+ virtual const EntityT& getEntity(const MemoryID& id) const = 0;
+
+ /**
+ * @brief Find an entity.
+ *
+ * Search for the entity with the given ID and return a pointer to the
+ * first match. If `id` is underspecified (e.g. no provider segment name),
+ * search all children until the first match is found.
+ *
+ * If no matching entity is found, return `nullptr`.
+ *
+ * @param id The entities ID.
+ * @return A pointer to the first matching entity or `nullptr` if none was found.
+ */
+ virtual const EntityT* findEntity(const MemoryID& id) const = 0;
+
/**
* @brief Retrieve an entity snapshot.
@@ -89,7 +104,7 @@ namespace armarx::armem::base::detail
virtual const EntitySnapshotT& getEntitySnapshot(const MemoryID& id) const
{
- const _EntityT& entity = getEntity(id);
+ const EntityT& entity = getEntity(id);
if (id.hasTimestamp())
{
--
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