diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/CoreSegmentQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/base/CoreSegmentQueryProcessorBase.h
index 1b704ed4907f6e1ab4222904f542d74c3bbc6684..0c6199eac95465a27da8bc0d59b4fcd40607d139 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/CoreSegmentQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/CoreSegmentQueryProcessorBase.h
@@ -71,7 +71,7 @@ namespace armarx::armem::server::query_proc::base
{
coreSegment.forEachProviderSegment([this, &query, &result](const ProviderSegmentT & providerSegment)
{
- childProcessor.process(result.addProviderSegment(providerSegment.name(), providerSegment.aronType()), query.providerSegmentQueries, providerSegment);
+ this->_processResult(result, providerSegment, query);
});
}
@@ -79,14 +79,10 @@ namespace armarx::armem::server::query_proc::base
const armem::query::data::core::Single& query,
const CoreSegmentT& coreSegment) const
{
- try
+ const ProviderSegmentT* providerSegment = coreSegment.findProviderSegment(query.providerSegmentName);
+ if (providerSegment)
{
- const ProviderSegmentT& providerSegment = coreSegment.getProviderSegment(query.providerSegmentName);
- childProcessor.process(result.addProviderSegment(providerSegment.name(), providerSegment.aronType()), query.providerSegmentQueries, providerSegment);
- }
- catch (const error::MissingEntry&)
- {
- // Leave empty.
+ this->_processResult(result, *providerSegment, query);
}
}
@@ -94,18 +90,29 @@ namespace armarx::armem::server::query_proc::base
const armem::query::data::core::Regex& query,
const CoreSegmentT& coreSegment) const
{
- std::regex regex(query.providerSegmentNameRegex);
+ const std::regex regex(query.providerSegmentNameRegex);
coreSegment.forEachProviderSegment(
[this, &result, &query, ®ex](const ProviderSegmentT & providerSegment)
{
if (std::regex_search(providerSegment.name(), regex))
{
- childProcessor.process(result.addProviderSegment(providerSegment.name(), providerSegment.aronType()), query.providerSegmentQueries, providerSegment);
+ this->_processResult(result, providerSegment, query);
}
});
}
+ private:
+
+ void _processResult(ResultCoreSegmentT& result,
+ const ProviderSegmentT& providerSegment,
+ const armem::query::data::CoreSegmentQuery& query) const
+ {
+ ResultProviderSegmentT& added = result.addProviderSegment(providerSegment.name(), providerSegment.aronType());
+ childProcessor.process(added, query.providerSegmentQueries, providerSegment);
+ }
+
+
protected:
ChildProcessorT childProcessor;
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.cpp b/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.cpp
index 5cbac85a8dc5f8899e7c72434516063121a2b4c1..d9df528842d11fd66ba38877318785d6c4dd5263 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.cpp
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.cpp
@@ -1 +1,12 @@
#include "EntityQueryProcessorBase.h"
+
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+
+namespace armarx::armem::server::query_proc::base
+{
+ void detail::checkReferenceTimestampNonNegative(const Time& timestamp)
+ {
+ ARMARX_CHECK_NONNEGATIVE(timestamp.toMicroSeconds()) << "Reference timestamp must be non-negative.";
+ }
+}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.h
index 6552f44f54448dc6f11e8cfe5b820e2bb236bcd9..b0210c37e4ed71b64875a79453e56d928852b54f 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.h
@@ -8,12 +8,14 @@
#include <RobotAPI/interface/armem/query.h>
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
#include <cstdint>
#include <iterator>
+namespace armarx::armem::server::query_proc::base::detail
+{
+ void checkReferenceTimestampNonNegative(const Time& timestamp);
+}
namespace armarx::armem::server::query_proc::base
{
@@ -92,27 +94,19 @@ namespace armarx::armem::server::query_proc::base
{
if (query.timestamp < 0)
{
- try
+ if (const ResultSnapshotT* snapshot = entity.findLatestSnapshot())
{
- addResultSnapshot(result, entity.getLatestSnapshot());
- }
- catch (const armem::error::EntityHistoryEmpty&)
- {
-#if 0
- ARMARX_IMPORTANT << "Failed to retrieve latest snapshot from entity " << entity.id() << ". "
- << "Entity is empty.";
-#endif
+ addResultSnapshot(result, *snapshot);
}
}
else
{
const Time time = fromIce<Time>(query.timestamp);
- try
+ if (const ResultSnapshotT* snapshot = entity.findSnapshot(time))
{
- auto snapshot = entity.getSnapshot(time);
- addResultSnapshot(result, snapshot);
+ addResultSnapshot(result, *snapshot);
}
- catch (const armem::error::MissingEntry&)
+ else
{
// Leave empty.
#if 0
@@ -178,8 +172,8 @@ namespace armarx::armem::server::query_proc::base
const armem::query::data::entity::BeforeOrAtTime& query,
const EntityT& entity) const
{
- const auto referenceTimestamp = fromIce<Time>(query.timestamp);
- ARMARX_CHECK(referenceTimestamp.toMicroSeconds() >= 0) << "Reference timestamp is negative!";
+ const Time referenceTimestamp = fromIce<Time>(query.timestamp);
+ detail::checkReferenceTimestampNonNegative(referenceTimestamp);
if (auto* beforeOrAt = entity.findLatestSnapshotBeforeOrAt(referenceTimestamp))
{
@@ -192,8 +186,8 @@ namespace armarx::armem::server::query_proc::base
const armem::query::data::entity::BeforeTime& query,
const EntityT& entity) const
{
- const armem::Time referenceTimestamp = fromIce<Time>(query.timestamp);
- ARMARX_CHECK(referenceTimestamp.toMicroSeconds() >= 0) << "Reference timestamp must be non-negative.";
+ const Time referenceTimestamp = fromIce<Time>(query.timestamp);
+ detail::checkReferenceTimestampNonNegative(referenceTimestamp);
std::vector<const EntitySnapshotT*> befores;
entity.forEachSnapshotBefore(referenceTimestamp, [&befores](const EntitySnapshotT & s)
@@ -224,7 +218,7 @@ namespace armarx::armem::server::query_proc::base
const EntityT& entity) const
{
const Time referenceTimestamp = fromIce<Time>(query.timestamp);
- ARMARX_CHECK(referenceTimestamp.toMicroSeconds() >= 0) << "Reference timestamp is negative!";
+ detail::checkReferenceTimestampNonNegative(referenceTimestamp);
const float referenceTimestampMicroSeconds = referenceTimestamp.toMicroSeconds();
const float epsDuration = fromIce<Time>(query.eps).toMicroSeconds();
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/MemoryQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/base/MemoryQueryProcessorBase.h
index ecc3ebe511610a0fc3cbb27d3fb93a9e203eb573..91c41d9f54cb762654db9763dfe6d9c3af1aa60d 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/MemoryQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/MemoryQueryProcessorBase.h
@@ -73,7 +73,7 @@ namespace armarx::armem::server::query_proc::base
{
memory.forEachCoreSegment([this, &result, &query](const CoreSegmentT & coreSegment)
{
- childProcessor.process(result.addCoreSegment(coreSegment.name(), coreSegment.aronType()), query.coreSegmentQueries, coreSegment);
+ this->_processResult(result, coreSegment, query);
});
}
@@ -81,13 +81,9 @@ namespace armarx::armem::server::query_proc::base
const armem::query::data::memory::Single& query,
const MemoryT& memory) const
{
- try
- {
- const CoreSegmentT& coreSegment = memory.getCoreSegment(query.coreSegmentName);
- childProcessor.process(result.addCoreSegment(coreSegment.name(), coreSegment.aronType()), query.coreSegmentQueries, coreSegment);
- }
- catch (const error::MissingEntry&)
+ if (const CoreSegmentT* coreSegment = memory.findCoreSegment(query.coreSegmentName))
{
+ this->_processResult(result, *coreSegment, query);
}
}
@@ -100,12 +96,23 @@ namespace armarx::armem::server::query_proc::base
{
if (std::regex_search(coreSegment.name(), regex))
{
- childProcessor.process(result.addCoreSegment(coreSegment.name(), coreSegment.aronType()), query.coreSegmentQueries, coreSegment);
+ this->_processResult(result, coreSegment, query);
}
});
}
+ private:
+
+ void _processResult(ResultMemoryT& result,
+ const CoreSegmentT& coreSegment,
+ const armem::query::data::MemoryQuery& query) const
+ {
+ ResultCoreSegmentT& added = result.addCoreSegment(coreSegment.name(), coreSegment.aronType());
+ childProcessor.process(added, query.coreSegmentQueries, coreSegment);
+ }
+
+
protected:
ChildProcessorT childProcessor;
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/ProviderSegmentQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/base/ProviderSegmentQueryProcessorBase.h
index 5102a12829c106e58159e7dcc35a7df0890f93d5..46f146694825936d4834b579093881e8452db3ca 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/ProviderSegmentQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/ProviderSegmentQueryProcessorBase.h
@@ -70,7 +70,7 @@ namespace armarx::armem::server::query_proc::base
{
providerSegment.forEachEntity([this, &result, &query](const EntityT & entity)
{
- childProcessor.process(result.addEntity(entity.name()), query.entityQueries, entity);
+ this->_processResult(result, entity, query);
});
}
@@ -78,14 +78,9 @@ namespace armarx::armem::server::query_proc::base
const armem::query::data::provider::Single& query,
const ProviderSegmentT& providerSegment) const
{
- try
+ if (const EntityT* entity = providerSegment.findEntity(query.entityName))
{
- const EntityT& entity = providerSegment.getEntity(query.entityName);
- childProcessor.process(result.addEntity(entity.name()), query.entityQueries, entity);
- }
- catch (const error::MissingEntry&)
- {
- // Leave empty.
+ this->_processResult(result, *entity, query);
}
}
@@ -98,13 +93,24 @@ namespace armarx::armem::server::query_proc::base
{
if (std::regex_search(entity.name(), regex))
{
- childProcessor.process(result.addEntity(entity.name()), query.entityQueries, entity);
+ this->_processResult(result, entity, query);
}
return true;
});
}
+ private:
+
+ void _processResult(ResultProviderSegmentT& result,
+ const EntityT& entity,
+ const armem::query::data::ProviderSegmentQuery& query) const
+ {
+ ResultEntityT& added = result.addEntity(entity.name());
+ childProcessor.process(added, query.entityQueries, entity);
+ }
+
+
protected:
ChildProcessorT childProcessor;