diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
index 06096a9960aab2b13c694492b2eb1d022a6d9728..63b9bba20d1575cc3377109b856d57a09bc4aae8 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
@@ -286,7 +286,10 @@ namespace armarx::armem::server
// append result to return memory and sanity check
wmResult.append(ltmResult);
- ARMARX_CHECK(not wmResult.empty());
+ if (wmResult.empty())
+ {
+ ARMARX_ERROR << "A merged Memory has no data although at least the LTM result contains data. This indicates that something is wrong.";
+ }
// Ist das wirklich notwendig?
// query again to limit output size (TODO: Skip if querytype is all)
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/converter/Converter.h b/source/RobotAPI/libraries/armem/server/ltm/base/converter/Converter.h
index 0ed3d9b08188179d17e5baaf0087b0c33e75eaa0..c42e9c0d57d64f4776f7c1f586ea3eba3a4af75a 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/converter/Converter.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/converter/Converter.h
@@ -26,7 +26,7 @@ namespace armarx::armem::server::ltm
virtual ~Converter() = default;
virtual std::pair<std::vector<unsigned char>, std::string> convert(const aron::data::VariantPtr& data) = 0;
- virtual aron::data::VariantPtr convert(const std::vector<unsigned char>& data, const armarx::aron::Path& p, const std::string&) = 0;
+ virtual aron::data::VariantPtr convert(const std::vector<unsigned char>& data, const std::string&) = 0;
public:
const ConverterType type;
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/Converter.cpp b/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/Converter.cpp
index 30349fd4faa55ab513d6c080251138cb16bafe77..39b4d94b015841467ccadf14e34bf6ab1bf00ef0 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/Converter.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/Converter.cpp
@@ -9,9 +9,9 @@ namespace armarx::armem::server::ltm
return _convert(d);
}
- aron::data::VariantPtr ImageConverter::convert(const std::vector<unsigned char>& data, const armarx::aron::Path& p, const std::string& m)
+ aron::data::VariantPtr ImageConverter::convert(const std::vector<unsigned char>& data, const std::string& m)
{
- auto d = _convert(data, p, m);
+ auto d = _convert(data, m);
return d;
}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/Converter.h b/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/Converter.h
index 440c1c6c50815eb56576fca2cd1bb65d1185f0ec..8cb070f09d46f4f7ce4bc069920f082c30ba1763 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/Converter.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/Converter.h
@@ -21,10 +21,10 @@ namespace armarx::armem::server::ltm
virtual ~ImageConverter() = default;
std::pair<std::vector<unsigned char>, std::string> convert(const aron::data::VariantPtr& data) final;
- aron::data::VariantPtr convert(const std::vector<unsigned char>& data, const armarx::aron::Path& p, const std::string&) final;
+ aron::data::VariantPtr convert(const std::vector<unsigned char>& data, const std::string&) final;
protected:
virtual std::pair<std::vector<unsigned char>, std::string> _convert(const aron::data::NDArrayPtr& data) = 0;
- virtual aron::data::NDArrayPtr _convert(const std::vector<unsigned char>& data, const armarx::aron::Path& p, const std::string&) = 0;
+ virtual aron::data::NDArrayPtr _convert(const std::vector<unsigned char>& data, const std::string&) = 0;
};
}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/exr/ExrConverter.cpp b/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/exr/ExrConverter.cpp
index 6bf18cff45eea27f018c9dc7c371becbb5baf90a..c5eee777b60ac5b7e1c97606e5902107afdb0221 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/exr/ExrConverter.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/exr/ExrConverter.cpp
@@ -25,9 +25,9 @@ namespace armarx::armem::server::ltm::converter::image
return std::make_pair(buffer, "");
}
- aron::data::NDArrayPtr ExrConverter::_convert(const std::vector<unsigned char>& data, const armarx::aron::Path& p, const std::string& m)
+ aron::data::NDArrayPtr ExrConverter::_convert(const std::vector<unsigned char>& data, const std::string& m)
{
cv::Mat img = cv::imdecode(data, cv::IMREAD_ANYDEPTH);
- return aron::converter::AronOpenCVConverter::ConvertFromMat(img, p);
+ return aron::converter::AronOpenCVConverter::ConvertFromMat(img);
}
}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/exr/ExrConverter.h b/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/exr/ExrConverter.h
index 07e94a5b2c8ef2951949854600e25f4a901d6478..ad4b1bfa2f4b517a55136ace72942d4440404c9f 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/exr/ExrConverter.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/exr/ExrConverter.h
@@ -16,6 +16,6 @@ namespace armarx::armem::server::ltm::converter::image
protected:
std::pair<std::vector<unsigned char>, std::string> _convert(const aron::data::NDArrayPtr& data) final;
- aron::data::NDArrayPtr _convert(const std::vector<unsigned char>& data, const armarx::aron::Path& p, const std::string&) final;
+ aron::data::NDArrayPtr _convert(const std::vector<unsigned char>& data, const std::string&) final;
};
}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/png/PngConverter.cpp b/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/png/PngConverter.cpp
index 03453e6f6c4432e1efd0445ae393d1d14242a4bd..e8536cf64841d23712e7264ce76282039b893189 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/png/PngConverter.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/png/PngConverter.cpp
@@ -39,23 +39,23 @@ namespace armarx::armem::server::ltm::converter::image
return std::make_pair(buffer, "");
}
- aron::data::NDArrayPtr PngConverter::_convert(const std::vector<unsigned char>& data, const armarx::aron::Path& p, const std::string& m)
+ aron::data::NDArrayPtr PngConverter::_convert(const std::vector<unsigned char>& data, const std::string& m)
{
if (m == ".rgb")
{
cv::Mat img = cv::imdecode(data, cv::IMREAD_COLOR);
cv::cvtColor(img, img, CV_BGR2RGB);
- return aron::converter::AronOpenCVConverter::ConvertFromMat(img, p);
+ return aron::converter::AronOpenCVConverter::ConvertFromMat(img);
}
if (m == ".gs")
{
cv::Mat img = cv::imdecode(data, cv::IMREAD_GRAYSCALE);
- return aron::converter::AronOpenCVConverter::ConvertFromMat(img, p);
+ return aron::converter::AronOpenCVConverter::ConvertFromMat(img);
}
// try to load without conversion
cv::Mat img = cv::imdecode(data, cv::IMREAD_ANYCOLOR);
- return aron::converter::AronOpenCVConverter::ConvertFromMat(img, p);
+ return aron::converter::AronOpenCVConverter::ConvertFromMat(img);
}
}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/png/PngConverter.h b/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/png/PngConverter.h
index 0c443fa794d22a6a7a6f5c837565693f8cf2e28c..5b6c80134319a52b77565dba322349985fed2267 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/png/PngConverter.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/png/PngConverter.h
@@ -16,6 +16,6 @@ namespace armarx::armem::server::ltm::converter::image
protected:
std::pair<std::vector<unsigned char>, std::string> _convert(const aron::data::NDArrayPtr& data) final;
- aron::data::NDArrayPtr _convert(const std::vector<unsigned char>& data, const armarx::aron::Path& p, const std::string&) final;
+ aron::data::NDArrayPtr _convert(const std::vector<unsigned char>& data, const std::string&) final;
};
}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/Converter.cpp b/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/Converter.cpp
index e6c3345028e9c3af35636d0f509412c4e8ca925a..4f0808a6f03f1739e76cf6fc02a9a155be334be8 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/Converter.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/Converter.cpp
@@ -9,9 +9,9 @@ namespace armarx::armem::server::ltm
return _convert(d);
}
- aron::data::VariantPtr ObjectConverter::convert(const std::vector<unsigned char>& data, const armarx::aron::Path& p, const std::string& m)
+ aron::data::VariantPtr ObjectConverter::convert(const std::vector<unsigned char>& data, const std::string& m)
{
- auto d = _convert(data, p, m);
+ auto d = _convert(data, m);
return d;
}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/Converter.h b/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/Converter.h
index 113dd7a5b726f9b75efa07875f0a07fa443fc3a1..35f1a9d968221565184a823e3e57a20d83565546 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/Converter.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/Converter.h
@@ -21,10 +21,10 @@ namespace armarx::armem::server::ltm
virtual ~ObjectConverter() = default;
std::pair<std::vector<unsigned char>, std::string> convert(const aron::data::VariantPtr& data) final;
- aron::data::VariantPtr convert(const std::vector<unsigned char>& data, const armarx::aron::Path& p, const std::string&) final;
+ aron::data::VariantPtr convert(const std::vector<unsigned char>& data, const std::string&) final;
protected:
virtual std::pair<std::vector<unsigned char>, std::string> _convert(const aron::data::DictPtr& data) = 0;
- virtual aron::data::DictPtr _convert(const std::vector<unsigned char>& data, const armarx::aron::Path& p, const std::string&) = 0;
+ virtual aron::data::DictPtr _convert(const std::vector<unsigned char>& data, const std::string&) = 0;
};
}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/bson/BsonConverter.cpp b/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/bson/BsonConverter.cpp
index 4155808d3c7dc5818bfb48112a6e77f41a74b681..8465201f3bd078b7bd93bec2cbd26378dfd119ab 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/bson/BsonConverter.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/bson/BsonConverter.cpp
@@ -24,13 +24,13 @@ namespace armarx::armem::server::ltm::converter::object
return std::make_pair(bson, str);
}
- aron::data::DictPtr BsonConverter::_convert(const std::vector<unsigned char>& data, const armarx::aron::Path& p, const std::string& m)
+ aron::data::DictPtr BsonConverter::_convert(const std::vector<unsigned char>& data, const std::string& m)
{
bsoncxx::document::view view(data.data(), data.size());
nlohmann::json json = bsoncxx::to_json(view);
std::string str = json.dump(2);
std::vector<unsigned char> jsonVec(str.begin(), str.end());
- auto v = jsonConverter.convert(jsonVec, p, m);
+ auto v = jsonConverter.convert(jsonVec, m);
return aron::data::Dict::DynamicCast(v);
}
}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/bson/BsonConverter.h b/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/bson/BsonConverter.h
index fddf6870f2bbcbc6580e1eb8bf8907e40416e3a0..6eb183be2c5998a3eb43251ff7018a6e336260ea 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/bson/BsonConverter.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/bson/BsonConverter.h
@@ -20,7 +20,7 @@ namespace armarx::armem::server::ltm::converter::object
protected:
std::pair<std::vector<unsigned char>, std::string> _convert(const aron::data::DictPtr& data) final;
- aron::data::DictPtr _convert(const std::vector<unsigned char>& data, const armarx::aron::Path& p, const std::string&) final;
+ aron::data::DictPtr _convert(const std::vector<unsigned char>& data, const std::string&) final;
private:
JsonConverter jsonConverter;
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/json/JsonConverter.cpp b/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/json/JsonConverter.cpp
index c24125140309ee7c3c597fbd2a57eba5fff4caaa..1495b275baa88a14aecb9487db781ac0236b57d5 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/json/JsonConverter.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/json/JsonConverter.cpp
@@ -12,10 +12,10 @@ namespace armarx::armem::server::ltm::converter::object
return std::make_pair(std::vector<unsigned char>(str.begin(), str.end()), "");
}
- aron::data::DictPtr JsonConverter::_convert(const std::vector<unsigned char>& data, const armarx::aron::Path& p, const std::string&)
+ aron::data::DictPtr JsonConverter::_convert(const std::vector<unsigned char>& data, const std::string&)
{
std::string str(data.begin(), data.end());
nlohmann::json j = nlohmann::json::parse(str);
- return aron::converter::AronNlohmannJSONConverter::ConvertFromNlohmannJSONObject(j, p);
+ return aron::converter::AronNlohmannJSONConverter::ConvertFromNlohmannJSONObject(j);
}
}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/json/JsonConverter.h b/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/json/JsonConverter.h
index 0c6d71d119396ff7e0293ea5196c252c9ba3cc7c..1b9f86ee93cda46983201be6e7910e4596734b3e 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/json/JsonConverter.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/json/JsonConverter.h
@@ -19,6 +19,6 @@ namespace armarx::armem::server::ltm::converter::object
protected:
std::pair<std::vector<unsigned char>, std::string> _convert(const aron::data::DictPtr& data) final;
- aron::data::DictPtr _convert(const std::vector<unsigned char>& data, const armarx::aron::Path& p, const std::string&) final;
+ aron::data::DictPtr _convert(const std::vector<unsigned char>& data, const std::string&) final;
};
}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/CoreSegment.cpp b/source/RobotAPI/libraries/armem/server/ltm/disk/CoreSegment.cpp
index a6a7aa48e28f697254755e857df6c7c70ceb01e3..cfc859a5f89418247c1d7f383cfea1b5bce8aa2a 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/CoreSegment.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/CoreSegment.cpp
@@ -8,7 +8,7 @@
namespace armarx::armem::server::ltm::disk
{
- CoreSegment::CoreSegment(const std::filesystem::path& p, const MemoryID& id /* UNESCAPED */, const std::shared_ptr<Processors>& filters, const DiskMemoryItem::MemoryEncodingMode mode, const unsigned long e) :
+ CoreSegment::CoreSegment(const std::filesystem::path& p, const MemoryID& id, const std::shared_ptr<Processors>& filters, const DiskMemoryItem::MemoryEncodingMode mode, const unsigned long e) :
CoreSegmentBase(id, filters),
DiskMemoryItem(p, EscapeSegmentName(id.memoryName), std::filesystem::path(EscapeSegmentName(id.coreSegmentName))),
currentMode(mode),
@@ -20,7 +20,6 @@ namespace armarx::armem::server::ltm::disk
{
auto mPath = getMemoryBasePathForMode(currentMode, currentExport);
auto relPath = getRelativePathForMode(currentMode);
-
if (!util::checkIfBasePathExists(mPath) || !util::checkIfFolderExists(mPath, relPath))
{
return false;
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.cpp b/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.cpp
index ea5ad1757f2d71e955d41a80a416a2c10474feb7..8b00d8d39b8fa49de6c31d8b617549d97e6a45cb 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.cpp
@@ -67,7 +67,6 @@ namespace armarx::armem::server::ltm::disk
continue;
}
-
EntitySnapshot c(memoryParentPath, id().withTimestamp(timeFromStringMicroSeconds(usecName)), processors, currentMode, currentExport);
func(c);
}
@@ -78,7 +77,7 @@ namespace armarx::armem::server::ltm::disk
bool Entity::forEachSnapshotInIndexRange(long first, long last, std::function<void(EntitySnapshot&)> func) const
{
- //ARMARX_WARNING << "PLEASE NOTE THAT QUERYING THE LTM INDEX WISE MAY BE BUGGY BECAUSE THE FILESYSTEM ITERATOR IS UNSORTED!";
+ ARMARX_WARNING << "PLEASE NOTE THAT QUERYING THE LTM INDEX WISE MAY BE BUGGY BECAUSE THE FILESYSTEM ITERATOR IS UNSORTED!";
if (first < 0 or last < 0)
{
@@ -97,11 +96,11 @@ namespace armarx::armem::server::ltm::disk
long checked = 0;
auto f = [&](EntitySnapshot& e)
{
+ checked++;
if (checked >= first && checked <= last)
{
func(e);
}
- checked++;
};
return forEachSnapshot(std::move(f));
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.cpp b/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.cpp
index aea0141b662e58a1dda66b261ccec875bcdf0768..f1706a545a0f3d81cee3637e3bef3f5eb7df0e17 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.cpp
@@ -12,7 +12,7 @@
namespace armarx::armem::server::ltm::disk
{
- EntitySnapshot::EntitySnapshot(const std::filesystem::path& p, const MemoryID& id /* UNESCAPED */, const std::shared_ptr<Processors>& filters, const DiskMemoryItem::MemoryEncodingMode mode, const unsigned long e) :
+ EntitySnapshot::EntitySnapshot(const std::filesystem::path& p, const MemoryID& id, const std::shared_ptr<Processors>& filters, const DiskMemoryItem::MemoryEncodingMode mode, const unsigned long e) :
EntitySnapshotBase(id, filters),
DiskMemoryItem(p, EscapeSegmentName(id.memoryName),
std::filesystem::path(EscapeSegmentName(id.coreSegmentName))
@@ -29,7 +29,6 @@ namespace armarx::armem::server::ltm::disk
{
auto mPath = getMemoryBasePathForMode(currentMode, currentExport);
auto relPath = getRelativePathForMode(currentMode);
-
if (!util::checkIfBasePathExists(mPath) || !util::checkIfFolderExists(mPath, relPath))
{
return;
@@ -83,10 +82,10 @@ namespace armarx::armem::server::ltm::disk
{
//ARMARX_INFO << "Convert data for entity " << id();
auto datafilecontent = util::readDataFromFile(mPath, relDataPath);
- auto dataaron = dictConverter.convert(datafilecontent, {}, "");
+ auto dataaron = dictConverter.convert(datafilecontent, "");
datadict = aron::data::Dict::DynamicCastAndCheck(dataaron);
- // check for special members TODO: only allowed for direct children?
+ // check for special members
for (const auto& [key, m] : datadict->getElements())
{
for (auto& [t, f] : processors->converters)
@@ -99,7 +98,7 @@ namespace armarx::armem::server::ltm::disk
std::string mode = simox::alg::remove_suffix(simox::alg::remove_prefix(filename, key), f->suffix);
auto memberfilecontent = util::readDataFromFile(mPath, relMemberPath);
- auto memberaron = f->convert(memberfilecontent, armarx::aron::Path(datadict->getPath(), std::vector<std::string>{key}), mode);
+ auto memberaron = f->convert(memberfilecontent, mode);
datadict->setElement(key, memberaron);
break;
}
@@ -116,7 +115,7 @@ namespace armarx::armem::server::ltm::disk
if (std::find(allFilesInIndexFolder.begin(), allFilesInIndexFolder.end(), metadataFilename) != allFilesInIndexFolder.end())
{
auto metadatafilecontent = util::readDataFromFile(mPath, relMetadataPath);
- auto metadataaron = dictConverter.convert(metadatafilecontent, {}, "");
+ auto metadataaron = dictConverter.convert(metadatafilecontent, "");
metadatadict = aron::data::Dict::DynamicCastAndCheck(metadataaron);
}
else
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.cpp b/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.cpp
index 31f5bd8106a32172540db9692b166cdd7fb9d858..a2a374c6de24e4fd1dca370149841d79f85de027 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.cpp
@@ -71,7 +71,6 @@ namespace armarx::armem::server::ltm::disk
{
MemoryEncodingMode mode = i == 0 ? MemoryEncodingMode::FILESYSTEM : defaultExportEncodingMode;
auto mPath = getMemoryBasePathForMode(mode, i);
-
if (util::checkIfBasePathExists(mPath))
{
for (const auto& subdirName : util::getAllDirectories(mPath, getRelativePathForMode(mode)))
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/ProviderSegment.cpp b/source/RobotAPI/libraries/armem/server/ltm/disk/ProviderSegment.cpp
index 631461f464f25977fddbb518c9332bc51e273ce9..32500f7d6a799f678d5fdf1fce09024d93c4a796 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/ProviderSegment.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/ProviderSegment.cpp
@@ -10,7 +10,7 @@
namespace armarx::armem::server::ltm::disk
{
- ProviderSegment::ProviderSegment(const std::filesystem::path& p, const MemoryID& id /* UNESCAPED */, const std::shared_ptr<Processors>& filters, const DiskMemoryItem::MemoryEncodingMode mode, const unsigned long e) :
+ ProviderSegment::ProviderSegment(const std::filesystem::path& p, const MemoryID& id, const std::shared_ptr<Processors>& filters, const DiskMemoryItem::MemoryEncodingMode mode, const unsigned long e) :
ProviderSegmentBase(id, filters),
DiskMemoryItem(p, EscapeSegmentName(id.memoryName), std::filesystem::path(EscapeSegmentName(id.coreSegmentName)) / EscapeSegmentName(id.providerSegmentName)),
currentMode(mode),
@@ -22,7 +22,6 @@ namespace armarx::armem::server::ltm::disk
{
auto mPath = getMemoryBasePathForMode(currentMode, currentExport);
auto relPath = getRelativePathForMode(currentMode);
-
if (!util::checkIfBasePathExists(mPath) || !util::checkIfFolderExists(mPath, relPath))
{
return false;
@@ -31,7 +30,7 @@ namespace armarx::armem::server::ltm::disk
for (const auto& subdirName : util::getAllDirectories(mPath, relPath))
{
std::string segmentName = UnescapeSegmentName(subdirName);
- Entity c(memoryParentPath, id().withEntityName(segmentName), processors, currentMode, currentExport);
+ Entity c(memoryParentPath, id().withEntityName(subdirName), processors, currentMode, currentExport);
func(c);
}
return true;
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/ltm/detail/EntityQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/ltm/detail/EntityQueryProcessorBase.h
index 70250e824baba3192db3c1ee009f6ef3b75f51bc..d9f64fc7a42508ddf297490d4ce8481a054fdb9a 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/ltm/detail/EntityQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/ltm/detail/EntityQueryProcessorBase.h
@@ -2,8 +2,6 @@
#include "../../base/EntityQueryProcessorBase.h"
-#include <ArmarXCore/core/logging/Logging.h>
-
namespace armarx::armem::server::query_proc::ltm::detail
{
diff --git a/source/RobotAPI/libraries/aron/converter/common/VectorConverter.h b/source/RobotAPI/libraries/aron/converter/common/VectorConverter.h
index 14b3ffc96765308ddc49fb684e69fb78b3fa5b5f..096e4830c37276c492d805515e47dd863301f545 100644
--- a/source/RobotAPI/libraries/aron/converter/common/VectorConverter.h
+++ b/source/RobotAPI/libraries/aron/converter/common/VectorConverter.h
@@ -37,97 +37,37 @@ namespace armarx::aron::converter
{
class AronVectorConverter
{
- private:
- template<typename T>
- static std::vector<T> convert_to_1d_vector(const unsigned char* data, const int elements, const int offset, const int size)
- {
- ARMARX_CHECK_NOT_NULL(data);
- ARMARX_CHECK(elements * sizeof(T) == size);
-
- std::vector<T> v(elements);
- memcpy(v.data(), data, size);
-
- return v;
- }
-
public:
AronVectorConverter() = delete;
template<typename T>
- static std::vector<std::vector<T>> ConvertTo2DVector(const data::NDArray& nav)
- {
- const auto& dims = nav.getShape();
-
- if (dims.size() != 3)
- {
- throw error::AronException(__PRETTY_FUNCTION__, "The NDArray must have 3 dimensions.", nav.getPath());
- }
-
- if (dims.at(dims.size()-1) != sizeof(T))
- {
- throw error::AronException(__PRETTY_FUNCTION__, "Last dimension of the array has to match the element size.", nav.getPath());
- }
-
- const int one_row_size = dims.at(1) * dims.at(2);
- std::vector<std::vector<T>> v(dims.at(0));
- for (int i = 0; i < dims.at(0); i++)
- {
- v[i] = convert_to_1d_vector<T>(nav.getData(), dims.at(1), i * one_row_size, one_row_size);
- }
-
- return v;
- }
-
- template<typename T>
- static std::vector<std::vector<T>> ConvertTo2DVector(const data::NDArrayPtr& nav)
+ static std::vector<T> ConvertToVector(const data::NDArrayPtr& nav)
{
ARMARX_CHECK_NOT_NULL(nav);
- return ConvertTo2DVector<T>(*nav);
- }
-
- template<typename T>
- static std::vector<T> ConvertTo1DVector(const data::NDArray& nav, const bool allowFlatten = false)
- {
- const auto& dims = nav.getShape();
+ const auto& dims = nav->getShape();
- if (!allowFlatten && dims.size() != 2)
+ if (dims.size() != 2)
{
- throw error::AronException(__PRETTY_FUNCTION__, "The NDArray must have 2 dimensions.", nav.getPath());
+ throw error::AronException(__PRETTY_FUNCTION__, "The NDArray must have two dimensions.", nav->getPath());
}
- if (dims.at(dims.size()-1) != sizeof(T))
+ if (dims.at(1) != sizeof(T))
{
- throw error::AronException(__PRETTY_FUNCTION__, "Last dimension of the array has to match the element size.", nav.getPath());
+ throw error::AronException(__PRETTY_FUNCTION__, "Dimension 1 of the array has to match the element size.", nav->getPath());
}
- ARMARX_CHECK(dims.size() >= 1);
+ const int size = std::accumulate(std::begin(dims), std::end(dims), 1, std::multiplies<>());
- const int elements = std::accumulate(std::begin(dims), std::prev(std::end(dims)), 1, std::multiplies<>());
- const int all_size = std::accumulate(std::begin(dims), std::end(dims), 1, std::multiplies<>());
- std::vector<T> v = convert_to_1d_vector<T>(nav.getData(), elements, 0, all_size);
- return v;
- }
+ std::vector<T> v(dims.at(0));
+ memcpy(v.data(), nav->getData(), size);
- template<typename T>
- static std::vector<T> ConvertTo1DVector(const data::NDArrayPtr& nav, const bool allowFlatten = false)
- {
- ARMARX_CHECK_NOT_NULL(nav);
-
- return ConvertTo1DVector<T>(*nav, allowFlatten);
- }
-
- // alias
- template<typename T>
- static std::vector<T> ConvertToVector(const data::NDArrayPtr& nav, const bool allowFlatten = false)
- {
- return ConvertTo1DVector<T>(nav, allowFlatten);
+ return v;
}
- // Attention: If a vector was flattened, the reconstruction is flattened as well!
template<typename T>
- static data::NDArrayPtr ConvertFrom1DVector(const std::vector<T>& data)
+ static data::NDArrayPtr ConvertFromVector(const std::vector<T>& data)
{
data::NDArrayPtr ndArr(new data::NDArray);
@@ -137,13 +77,6 @@ namespace armarx::aron::converter
return ndArr;
}
- // alias
- template<typename T>
- static data::NDArrayPtr ConvertFromVector(const std::vector<T>& data)
- {
- return ConvertFrom1DVector<T>(data);
- }
-
};
} // namespace armarx::aron::converter
diff --git a/source/RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.cpp b/source/RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.cpp
index e083d47104d5c4747470d97b162028d7fee5a3a7..3729e90a5812a192c256f2deaaa13bbecad71bab 100644
--- a/source/RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.cpp
+++ b/source/RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.cpp
@@ -28,19 +28,18 @@ namespace armarx::aron::converter
j = aron::type::readAndWrite<type::FromVariantConverter<type::writer::NlohmannJSONWriter>>(aron);
}
- data::DictPtr AronNlohmannJSONConverter::ConvertFromNlohmannJSONObject(const nlohmann::json& j, const armarx::aron::Path& p)
+ data::DictPtr AronNlohmannJSONConverter::ConvertFromNlohmannJSONObject(const nlohmann::json& j)
{
// TODO Switch case over json type and add other methods, e.g. for float, array, ...
// TODO add check if json is object_t
- data::VariantPtr aron = std::make_shared<aron::data::Dict>(p);
+ data::VariantPtr aron = std::make_shared<aron::data::Dict>();
ConvertFromNlohmannJSON(aron, j);
return data::Dict::DynamicCastAndCheck(aron);
}
- type::ObjectPtr AronNlohmannJSONConverter::ConvertFromNlohmannJSONTypeObject(const nlohmann::json& j, const armarx::aron::Path& p)
+ type::ObjectPtr AronNlohmannJSONConverter::ConvertFromNlohmannJSONTypeObject(const nlohmann::json& j)
{
- type::ObjectPtr foo = std::make_shared<aron::type::Object>("foo"); // foo is just a placeholder
- type::VariantPtr aron = std::make_shared<aron::type::Object>(*foo, p);
+ type::VariantPtr aron = std::make_shared<aron::type::Object>("foo"); // foo is just a placeholder
ConvertFromNlohmannJSON(aron, j);
return type::Object::DynamicCastAndCheck(aron);
}
diff --git a/source/RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h b/source/RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h
index 0902ed0c3c133fcec75e0cf2502801f8fcce218a..6cce4d7e363795f6a70184faf4fd60110516590f 100644
--- a/source/RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h
+++ b/source/RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h
@@ -38,10 +38,10 @@ namespace armarx::aron::converter
static nlohmann::json ConvertToNlohmannJSON(const type::VariantPtr&);
static void ConvertToNlohmannJSON(const type::VariantPtr&, nlohmann::json&);
- static data::DictPtr ConvertFromNlohmannJSONObject(const nlohmann::json&, const armarx::aron::Path& p = {});
+ static data::DictPtr ConvertFromNlohmannJSONObject(const nlohmann::json&);
static void ConvertFromNlohmannJSON(data::VariantPtr&, const nlohmann::json&, const aron::type::VariantPtr& = nullptr);
- static type::ObjectPtr ConvertFromNlohmannJSONTypeObject(const nlohmann::json& j, const armarx::aron::Path& p = {});
+ static type::ObjectPtr ConvertFromNlohmannJSONTypeObject(const nlohmann::json& j);
static void ConvertFromNlohmannJSON(aron::type::VariantPtr& a, const nlohmann::json& e);
};
}
diff --git a/source/RobotAPI/libraries/aron/converter/opencv/OpenCVConverter.cpp b/source/RobotAPI/libraries/aron/converter/opencv/OpenCVConverter.cpp
index d232500c20754beb3d2f212a79b6f16939812ef7..6208bd9b451862e74c1f137d70e61711b49299b2 100644
--- a/source/RobotAPI/libraries/aron/converter/opencv/OpenCVConverter.cpp
+++ b/source/RobotAPI/libraries/aron/converter/opencv/OpenCVConverter.cpp
@@ -45,7 +45,7 @@ namespace armarx::aron::converter
return ret;
}
- data::NDArrayPtr AronOpenCVConverter::ConvertFromMat(const cv::Mat& mat, const armarx::aron::Path& p)
+ data::NDArrayPtr AronOpenCVConverter::ConvertFromMat(const cv::Mat& mat)
{
std::vector<int> dims;
for (int i = 0; i < mat.dims; ++i)
@@ -54,7 +54,7 @@ namespace armarx::aron::converter
}
dims.push_back(mat.elemSize());
- auto ret = std::make_shared<data::NDArray>(p);
+ auto ret = std::make_shared<data::NDArray>();
ret->setShape(dims);
ret->setType(std::to_string(mat.type()));
ret->setData(std::accumulate(std::begin(dims), std::end(dims), 1, std::multiplies<int>()), reinterpret_cast<const unsigned char*>(mat.data));
diff --git a/source/RobotAPI/libraries/aron/converter/opencv/OpenCVConverter.h b/source/RobotAPI/libraries/aron/converter/opencv/OpenCVConverter.h
index fb4f21487b413272fc6b1b4cbb340cf819a8a5a7..5223ce3da2a5ca471ebb1d8dcc54a70a347e02be 100644
--- a/source/RobotAPI/libraries/aron/converter/opencv/OpenCVConverter.h
+++ b/source/RobotAPI/libraries/aron/converter/opencv/OpenCVConverter.h
@@ -41,7 +41,7 @@ namespace armarx::aron::converter
public:
static cv::Mat ConvertToMat(const data::NDArrayPtr&);
- static data::NDArrayPtr ConvertFromMat(const cv::Mat&, const armarx::aron::Path& = {});
+ static data::NDArrayPtr ConvertFromMat(const cv::Mat&);
};
}