updates to aron and armem

source/RobotAPI/libraries/armem/server/ComponentPlugin.cpp

@@ -17,7 +17,7 @@ namespace armarx::armem::server::plugins
     void ComponentPlugin::postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties)
     {
         ClientPlugin::postCreatePropertyDefinitions(properties);
-        properties->topic(memoryListener, "MemoryUpdates");
+        properties->topic(memoryListener, this->parent<ComponentPluginUser>().memoryListenerDefaultName);
     }
 
 

source/RobotAPI/libraries/armem/server/ComponentPlugin.h

@@ -86,6 +86,9 @@ namespace armarx::armem::server
         Memory memory;
         std::mutex memoryMutex;
 
+        /// property defauls
+        std::string memoryListenerDefaultName = "MemoryUpdates";
+
         /// Helps connecting `memory` to ice. Used to handle Ice callbacks.
         MemoryToIceAdapter iceMemory { &memory };
 

source/RobotAPI/libraries/armem/test/ArMemLTMTest.cpp

@@ -82,7 +82,7 @@ armem::Memory setupMemoryWithType(const std::string& memoryName, const aron::typ
 
     return memory;
 }
-
+/*
 BOOST_AUTO_TEST_CASE(test_memory_export__easy_int_setup)
 {
     std::string memoryName = "TestMemory_IntSetup";
@@ -325,6 +325,51 @@ BOOST_AUTO_TEST_CASE(test_memory_export__easy_bool_setup)
     //std::cout << mfs2_str << std::endl;
     BOOST_CHECK_EQUAL(mfs_str == mfs2_str, true);
 
+    armem::Memory memory2 = mfs.readMemoryFromDisk(memoryName);
+    BOOST_CHECK_EQUAL(memory.equalsDeep(memory2), true);
+}*/
+
+BOOST_AUTO_TEST_CASE(test_memory_export__easy_rainer_setup)
+{
+    std::string memoryName = "TestMemory_RainerSetup";
+
+    aron::typenavigator::AronObjectTypeNavigatorPtr t(new aron::typenavigator::AronObjectTypeNavigator(aron::AronPath()));
+    t->setObjectName("TestRainerType1");
+
+    aron::typenavigator::AronDictTypeNavigatorPtr tm1(new aron::typenavigator::AronDictTypeNavigator(aron::AronPath()));
+    aron::typenavigator::AronFloatTypeNavigatorPtr tm1m1(new aron::typenavigator::AronFloatTypeNavigator(aron::AronPath()));
+    tm1->setAcceptedType(tm1m1);
+    aron::typenavigator::AronStringTypeNavigatorPtr tm2(new aron::typenavigator::AronStringTypeNavigator(aron::AronPath()));
+    aron::typenavigator::AronDictTypeNavigatorPtr tm3(new aron::typenavigator::AronDictTypeNavigator(aron::AronPath()));
+    aron::typenavigator::AronStringTypeNavigatorPtr tm3m1(new aron::typenavigator::AronStringTypeNavigator(aron::AronPath()));
+    tm3->setAcceptedType(tm3m1);
+    aron::typenavigator::AronStringTypeNavigatorPtr tm4(new aron::typenavigator::AronStringTypeNavigator(aron::AronPath()));
+    t->addAcceptedType("float_params", tm1);
+    t->addAcceptedType("name", tm2);
+    //t->addAcceptedType("string_params", tm3);
+    t->addAcceptedType("type", tm4);
+
+    armem::Memory memory = setupMemoryWithType(memoryName, t, nullptr, 15, 1);
+
+    // export memory
+    std::string storagePath = "/tmp/MemoryExport"; // important! without tailing /
+    std::filesystem::remove_all(storagePath);
+    armem::io::FileSystemMemoryManager mfs(storagePath, true);
+    mfs.writeOnDisk(memory);
+
+    std::string mfs_str = mfs.toString();
+
+    armem::io::FileSystemMemoryManager mfs2(storagePath);
+    mfs2.update();
+
+    std::string mfs2_str = mfs2.toString();
+
+    //std::cout << "MFS1: " << std::endl;
+    //std::cout << mfs_str << std::endl;
+    //std::cout << "MFS2: " << std::endl;
+    //std::cout << mfs2_str << std::endl;
+    BOOST_CHECK_EQUAL(mfs_str == mfs2_str, true);
+
     armem::Memory memory2 = mfs.readMemoryFromDisk(memoryName);
     BOOST_CHECK_EQUAL(memory.equalsDeep(memory2), true);
 }

source/RobotAPI/libraries/aron/aroncore/AronException.h

@@ -138,7 +138,7 @@ namespace armarx
             public:
                 AronIndexNotValidException() = delete;
                 AronIndexNotValidException(const std::string& caller, const std::string& method, const std::string& reason, int real, int expected) :
-                    AronException(caller, method, reason + ". The measured size is: " + std::to_string(real) + ". The maximum index was: " + std::to_string(expected))
+                    AronException(caller, method, reason + ". The requested index is: " + std::to_string(real) + ". The maximum index was: " + std::to_string(expected))
                 {
 
                 }

source/RobotAPI/libraries/aron/aroncore/test/aronTest.cpp

@@ -191,7 +191,7 @@ BOOST_AUTO_TEST_CASE(AronNaturalIKTest)
     AronPath memberReached(path, "reached");
     AronPath memberJointValues(path, "jointValues");
     AronPath indexJointValues0(memberJointValues, "0");
-    AronPath indexJointValues1(memberJointValues, "1");
+    AronPath indexJointValues1(memberJointValues, "1000");
 
     BOOST_CHECK_EQUAL(path.toString(), "\\");
     BOOST_CHECK_EQUAL(path.size(), 0);