diff --git a/source/RobotAPI/libraries/armem/CMakeLists.txt b/source/RobotAPI/libraries/armem/CMakeLists.txt
index 84a5e312a9ef7502b9b3c22fcd7da4ab0f7e725b..6898b8e364aa449e87fdb7dac83735f933cb1e1d 100644
--- a/source/RobotAPI/libraries/armem/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem/CMakeLists.txt
@@ -41,7 +41,7 @@ set(LIB_FILES
# core/base/CoreSegmentBase.cpp
core/base/EntityBase.cpp
- # core/base/EntityInstanceBase.cpp
+ core/base/EntityInstanceBase.cpp
core/base/EntitySnapshotBase.cpp
# core/base/MemoryBase.cpp
# core/base/ProviderSegmentBase.cpp
diff --git a/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.cpp b/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.cpp
index a6cfc7103728d5a81fecefe4ade6c96efef2814e..1cc2e9544d00ce96d65658acaf853c670418bdce 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.cpp
+++ b/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.cpp
@@ -1 +1,25 @@
#include "EntityInstanceBase.h"
+
+
+namespace armarx::armem::base
+{
+ bool EntityInstanceMetadata::operator==(const EntityInstanceMetadata& other) const
+ {
+ return timeCreated == other.timeCreated
+ && timeSent == other.timeSent
+ && timeArrived == other.timeArrived
+ && std::abs(confidence - other.confidence) < 1e-6f;
+ }
+}
+
+
+std::ostream& armarx::armem::base::operator<<(std::ostream& os, const EntityInstanceMetadata& d)
+{
+ os << "EntityInstanceMetadata: "
+ << "\n- t_create = \t" << armem::toStringMicroSeconds(d.timeCreated) << " us"
+ << "\n- t_sent = \t" << armem::toStringMicroSeconds(d.timeSent) << " us"
+ << "\n- t_arrived = \t" << armem::toStringMicroSeconds(d.timeArrived) << " us"
+ << "\n- confidence = \t" << d.confidence << " us"
+ ;
+ return os;
+}
diff --git a/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h b/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h
index c9689c1822154c17d906132fbe95b46c9e214ed7..fcb1869f791d9094fd793ff3af721e5fb942f111 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h
@@ -2,15 +2,52 @@
#include <RobotAPI/libraries/armem/core/Commit.h>
#include <RobotAPI/libraries/armem/core/Time.h>
+
#include "detail/MemoryItem.h"
namespace armarx::armem::base
{
+
+ /**
+ * @brief Default data of an entity instance (empty).
+ */
+ struct NoData
+ {
+ };
+
+
+ /**
+ * @brief Metadata of an entity instance.
+ */
+ struct EntityInstanceMetadata
+ {
+ /// Time when this value was created.
+ Time timeCreated;
+ /// Time when this value was sent to the memory.
+ Time timeSent;
+ /// Time when this value has arrived at the memory.
+ Time timeArrived;
+
+ /// An optional confidence, may be used for things like decay.
+ float confidence = 1.0;
+
+
+ bool operator==(const EntityInstanceMetadata& other) const;
+ inline bool operator!=(const EntityInstanceMetadata& other) const
+ {
+ return !(*this == other);
+ }
+ };
+
+ std::ostream& operator<<(std::ostream& os, const EntityInstanceMetadata& rhs);
+
+
+
/**
* @brief Data of a single entity instance.
*/
- template <class _DerivedT>
+ template <class _DataT = NoData, class _MetadataT = EntityInstanceMetadata>
class EntityInstanceBase :
public detail::MemoryItem
{
@@ -18,10 +55,9 @@ namespace armarx::armem::base
public:
- using DerivedT = _DerivedT;
-
+ using MetadataT = _MetadataT;
+ using DataT = _DataT;
- public:
EntityInstanceBase()
{
@@ -45,17 +81,28 @@ namespace armarx::armem::base
return id().instanceIndex;
}
- /**
- * @brief Fill `*this` with the update's values.
- * @param update The update.
- * @param index The instances index.
- */
- virtual void update(const EntityUpdate& update) = 0;
- virtual bool equalsDeep(const DerivedT& other) const = 0;
+ EntityInstanceMetadata& metadata()
+ {
+ return _metadata;
+ }
+ const EntityInstanceMetadata& metadata() const
+ {
+ return _metadata;
+ }
+ const DataT& data() const
+ {
+ return _data;
+ }
- std::string getLevelName() const
+ DataT& data()
+ {
+ return _data;
+ }
+
+
+ static std::string getLevelName()
{
return "entity instance";
}
@@ -65,6 +112,17 @@ namespace armarx::armem::base
return std::to_string(index());
}
+
+
+ protected:
+
+ /// The metadata.
+ MetadataT _metadata;
+
+ /// The data. May be nullptr.
+ DataT _data;
+
+
};
}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.cpp
index f0afc6a703c1ac7d8fda6b8127c1ad4692ffb946..63fe18145c561e9efda0ba2a14cb07175b029d1c 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.cpp
@@ -6,14 +6,6 @@
namespace armarx::armem::ltm
{
- bool EntityInstanceMetadata::operator==(const EntityInstanceMetadata& other) const
- {
- return timeCreated == other.timeCreated
- && timeSent == other.timeSent
- && timeArrived == other.timeArrived
- && std::abs(confidence - other.confidence) < 1e-6f;
- }
-
bool EntityInstance::equalsDeep(const EntityInstance& other) const
{
return id() == other.id() && _metadata == other.metadata();
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.h b/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.h
index c8d28b8e59136f04f38cb6795b5d06f2bfbf104a..ba72d68bf6e758f4770b5215754a6c73f2fa3e66 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.h
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.h
@@ -6,36 +6,16 @@
namespace armarx::armem::ltm
{
- /**
- * @brief Metadata of an entity instance.
- */
- struct EntityInstanceMetadata
- {
- /// Time when this value was created.
- Time timeCreated;
- /// Time when this value was sent to the memory.
- Time timeSent;
- /// Time when this value has arrived at the memory.
- Time timeArrived;
+ using EntityInstanceMetadata = base::EntityInstanceMetadata;
- /// An optional confidence, may be used for things like decay.
- float confidence = 1.0;
-
-
- bool operator==(const EntityInstanceMetadata& other) const;
- inline bool operator!=(const EntityInstanceMetadata& other) const
- {
- return !(*this == other);
- }
- };
/**
* @brief Data of a single entity instance.
*/
class EntityInstance :
- public base::EntityInstanceBase<EntityInstance>
+ public base::EntityInstanceBase<base::NoData, EntityInstanceMetadata>
{
- using Base = base::EntityInstanceBase<EntityInstance>;
+ using Base = base::EntityInstanceBase<base::NoData, EntityInstanceMetadata>;
public:
@@ -47,16 +27,6 @@ namespace armarx::armem::ltm
EntityInstance& operator=(EntityInstance&& other) = default;
- EntityInstanceMetadata& metadata()
- {
- return _metadata;
- }
- inline const EntityInstanceMetadata& metadata() const
- {
- return _metadata;
- }
-
-
/**
* @brief Fill `*this` with the update's values.
* @param update The update.
@@ -65,10 +35,6 @@ namespace armarx::armem::ltm
void update(const EntityUpdate& update);
bool equalsDeep(const EntityInstance& other) const;
- private:
-
- /// The metadata.
- EntityInstanceMetadata _metadata;
};
}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.cpp
index 1be40a13108fc30ac615a3ed08ec1a64f3245b5f..8cda21f290bdae1b7fc837fc1559fdf821bb0f2f 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.cpp
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.cpp
@@ -5,29 +5,9 @@
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-std::ostream& armarx::armem::wm::operator<<(std::ostream& os, const EntityInstanceMetadata& d)
-{
- os << "EntityInstanceMetadata: "
- << "\n- t_create = \t" << armem::toStringMicroSeconds(d.timeCreated) << " us"
- << "\n- t_sent = \t" << armem::toStringMicroSeconds(d.timeSent) << " us"
- << "\n- t_arrived = \t" << armem::toStringMicroSeconds(d.timeArrived) << " us"
- << "\n- confidence = \t" << d.confidence << " us"
- ;
- return os;
-}
-
namespace armarx::armem::wm
{
- bool EntityInstanceMetadata::operator==(const EntityInstanceMetadata& other) const
- {
- return timeCreated == other.timeCreated
- && timeSent == other.timeSent
- && timeArrived == other.timeArrived
- && std::abs(confidence - other.confidence) < 1e-6f;
- }
-
-
bool EntityInstance::equalsDeep(const EntityInstance& other) const
{
if (_data and other.data())
@@ -48,7 +28,7 @@ namespace armarx::armem::wm
{
ARMARX_CHECK_FITS_SIZE(this->index(), update.instancesData.size());
- setData(update.instancesData.at(size_t(this->index())));
+ this->data() = update.instancesData.at(size_t(this->index()));
this->_metadata.confidence = update.confidence;
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h b/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h
index fbeb3f19f93e594604fd9de94da6975584b12745..18d744c59731331e010d8ebea257e7d51aa5ed0b 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h
@@ -6,43 +6,18 @@
namespace armarx::armem::wm
{
+ using EntityInstanceMetadata = base::EntityInstanceMetadata;
using EntityInstanceData = armarx::aron::datanavigator::DictNavigator;
using EntityInstanceDataPtr = armarx::aron::datanavigator::DictNavigatorPtr;
- /**
- * @brief Metadata of an entity instance.
- */
- struct EntityInstanceMetadata
- {
- /// Time when this value was created.
- Time timeCreated;
- /// Time when this value was sent to the memory.
- Time timeSent;
- /// Time when this value has arrived at the memory.
- Time timeArrived;
-
- /// An optional confidence, may be used for things like decay.
- float confidence = 1.0;
-
-
- bool operator==(const EntityInstanceMetadata& other) const;
- inline bool operator!=(const EntityInstanceMetadata& other) const
- {
- return !(*this == other);
- }
- };
-
- std::ostream& operator<<(std::ostream& os, const EntityInstanceMetadata& rhs);
-
-
/**
* @brief Data of a single entity instance.
*/
class EntityInstance :
- public base::EntityInstanceBase<EntityInstance>
+ public base::EntityInstanceBase<EntityInstanceDataPtr, EntityInstanceMetadata>
{
- using Base = base::EntityInstanceBase<EntityInstance>;
+ using Base = base::EntityInstanceBase<EntityInstanceDataPtr, EntityInstanceMetadata>;
public:
@@ -54,43 +29,14 @@ namespace armarx::armem::wm
EntityInstance& operator=(EntityInstance&& other) = default;
- EntityInstanceMetadata& metadata()
- {
- return _metadata;
- }
- inline const EntityInstanceMetadata& metadata() const
- {
- return _metadata;
- }
-
- inline EntityInstanceDataPtr data() const
- {
- return _data;
- }
-
- void setData(const aron::datanavigator::DictNavigatorPtr& data)
- {
- this->_data = data;
- }
-
-
/**
* @brief Fill `*this` with the update's values.
* @param update The update.
* @param index The instances index.
*/
- virtual void update(const EntityUpdate& update) override;
-
- virtual bool equalsDeep(const EntityInstance& other) const override;
-
-
- private:
-
- /// The metadata.
- EntityInstanceMetadata _metadata;
+ void update(const EntityUpdate& update);
- /// The data. May be nullptr.
- EntityInstanceDataPtr _data;
+ bool equalsDeep(const EntityInstance& other) const;
};
}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/entityInstance_conversions.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/entityInstance_conversions.cpp
index 31538f8d8e2f1eeaf932ed16e50b7040520f0a99..0d9344be877417264f27c9370052b7fb4d098604 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/entityInstance_conversions.cpp
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/entityInstance_conversions.cpp
@@ -16,8 +16,7 @@ namespace armarx::armem
if (dataWrapped->hasElement(DATA_WRAPPER_DATA_FIELD))
{
- aron::datanavigator::DictNavigatorPtr data = aron::datanavigator::DictNavigator::DynamicCastAndCheck(dataWrapped->getElement(DATA_WRAPPER_DATA_FIELD));
- e.setData(data);
+ e.data() = aron::datanavigator::DictNavigator::DynamicCastAndCheck(dataWrapped->getElement(DATA_WRAPPER_DATA_FIELD));
}
auto timeCreated = aron::datanavigator::LongNavigator::DynamicCastAndCheck(dataWrapped->getElement(DATA_WRAPPER_TIME_CREATED_FIELD));
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/entityInstance_conversions.h b/source/RobotAPI/libraries/armem/core/workingmemory/entityInstance_conversions.h
index f3b25566f110dca844e24dcac4c997f724c74548..ab9ab27c4e361b6faad31c8063ed175316d960b0 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/entityInstance_conversions.h
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/entityInstance_conversions.h
@@ -1,6 +1,6 @@
#pragma once
-#include "Memory.h"
+#include "EntityInstance.h"
namespace armarx::armem
{
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/ice_conversions.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/ice_conversions.cpp
index 58db49b16deda95182a9307d8866b3d9f2326b40..8509ed5ea641028af0ab60c27af0f947acbf8a58 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/ice_conversions.cpp
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/ice_conversions.cpp
@@ -37,7 +37,7 @@ namespace armarx::armem
if (ice.data)
{
- data.setData(aron::datanavigator::DictNavigator::FromAronDictPtr(ice.data));
+ data.data() = aron::datanavigator::DictNavigator::FromAronDictPtr(ice.data);
}
fromIce(ice.metadata, data.metadata());
}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/EntityQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/EntityQueryProcessor.cpp
index a4945405e752f32cd8d5b9836650fc92e5cdd7ea..b8d97d2d06958e5a49bee86447de23aa1c665f9f 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/EntityQueryProcessor.cpp
+++ b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/EntityQueryProcessor.cpp
@@ -25,7 +25,7 @@ namespace armarx::armem::wm::query_proc
wm::EntitySnapshot copy = snapshot;
copy.forEachInstance([](EntityInstance & i)
{
- i.setData(nullptr);
+ i.data() = nullptr;
return true;
});
result.addSnapshot(std::move(copy));