diff --git a/source/RobotAPI/libraries/armem/CMakeLists.txt b/source/RobotAPI/libraries/armem/CMakeLists.txt
index 4f9b5be30489e93151d9f4e5034b058bed520dc3..c004148924127bbcc2145def5a1e10ba160143d4 100644
--- a/source/RobotAPI/libraries/armem/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem/CMakeLists.txt
@@ -20,7 +20,9 @@ set(LIB_FILES
segments/CoreSegment.cpp
segments/Entity.cpp
segments/EntityData.cpp
+ segments/EntitySnapshot.cpp
segments/EntityStorage.cpp
+ segments/InternalCommit.cpp
segments/Memory.cpp
segments/ProviderSegment.cpp
)
@@ -35,7 +37,9 @@ set(LIB_HEADERS
segments/CoreSegment.h
segments/Entity.h
segments/EntityData.h
+ segments/EntitySnapshot.h
segments/EntityStorage.h
+ segments/InternalCommit.h
segments/Memory.h
segments/ProviderSegment.h
)
diff --git a/source/RobotAPI/libraries/armem/segments/CoreSegment.cpp b/source/RobotAPI/libraries/armem/segments/CoreSegment.cpp
index dcfdb18e8228ccd1aa3eb7b6d7dc5f0969d624f5..3043abb4a4b1057c69d6b2b20cca05d700c1ac64 100644
--- a/source/RobotAPI/libraries/armem/segments/CoreSegment.cpp
+++ b/source/RobotAPI/libraries/armem/segments/CoreSegment.cpp
@@ -4,7 +4,7 @@
namespace armarx::armem
{
- void CoreSegment::update(const EntityUpdate& update)
+ void CoreSegment::update(const InternalEntityUpdate& update)
{
if (update.entityID.coreSegmentName != this->name)
{
diff --git a/source/RobotAPI/libraries/armem/segments/CoreSegment.h b/source/RobotAPI/libraries/armem/segments/CoreSegment.h
index 6fbfba228308a1daf4e3a87880e56026632b541e..ce7f33555bf5aafccaff5fe948723386d11adbfb 100644
--- a/source/RobotAPI/libraries/armem/segments/CoreSegment.h
+++ b/source/RobotAPI/libraries/armem/segments/CoreSegment.h
@@ -20,7 +20,7 @@ namespace armarx::armem
using EntityStorage::EntityStorage;
- virtual void update(const EntityUpdate& update) override;
+ virtual void update(const InternalEntityUpdate& update) override;
public:
diff --git a/source/RobotAPI/libraries/armem/segments/Entity.cpp b/source/RobotAPI/libraries/armem/segments/Entity.cpp
index 595679fa7d8d0697b8f376ad3679a1413adea61c..8ddd6dba27647aecb1f4796e20e3d816eb9c7590 100644
--- a/source/RobotAPI/libraries/armem/segments/Entity.cpp
+++ b/source/RobotAPI/libraries/armem/segments/Entity.cpp
@@ -12,7 +12,7 @@ namespace armarx::armem
{
}
- void Entity::update(const EntityUpdate& update)
+ void Entity::update(const InternalEntityUpdate& update)
{
if (update.entityID.entityName != this->name)
{
@@ -30,17 +30,4 @@ namespace armarx::armem
it->second->update(update);
}
-
- void EntitySnapshot::update(const EntityUpdate& update)
- {
- id = update.timeCreated;
-
- instances.clear();
- for (int i = 0; i < int(update.instancesData.size()); ++i)
- {
- EntityDataPtr& data = instances.emplace_back(std::make_unique<EntityData>());
- data->update(update, i);
- }
- }
-
}
diff --git a/source/RobotAPI/libraries/armem/segments/Entity.h b/source/RobotAPI/libraries/armem/segments/Entity.h
index f21467acbb41335d3dea46dfd19ea7a0dca65e24..78d0625d91bfa282f5e7247f6d837ddd28a0c102 100644
--- a/source/RobotAPI/libraries/armem/segments/Entity.h
+++ b/source/RobotAPI/libraries/armem/segments/Entity.h
@@ -4,12 +4,9 @@
#include <memory>
#include <string>
-#include <RobotAPI/interface/aron.h>
-
#include "../core/Time.h"
-#include "../core/MemoryID.h"
-#include "EntityData.h"
-#include "EntityStorage.h"
+
+#include "EntitySnapshot.h"
namespace armarx::armem
@@ -29,7 +26,7 @@ namespace armarx::armem
Entity();
Entity(const std::string& name);
- void update(const EntityUpdate& update);
+ void update(const InternalEntityUpdate& update);
public:
@@ -41,36 +38,4 @@ namespace armarx::armem
using EntityPtr = std::unique_ptr<Entity>;
-
- /**
- * @brief Data of an entity at one point in time.
- */
- class EntitySnapshot
- {
- public:
-
- EntitySnapshot() = default;
-
-
- void update(const EntityUpdate& update);
-
-
- EntityData* getInstance(int index)
- {
- size_t si = size_t(index);
- return (index >= 0 && si < instances.size()) ? instances[si].get() : nullptr;
- }
- EntityData* getInstance(MemoryID id)
- {
- return id.hasInstanceIndex() ? getInstance(id.instanceIndex) : nullptr;
- }
-
-
- public:
-
- Time id;
- std::vector<EntityDataPtr> instances;
-
- };
-
}
diff --git a/source/RobotAPI/libraries/armem/segments/EntityData.cpp b/source/RobotAPI/libraries/armem/segments/EntityData.cpp
index 0a2fd172bc52e04508f464af7165978829124803..b9f841c2c5d4258a22257045a8f9ea753e361bd7 100644
--- a/source/RobotAPI/libraries/armem/segments/EntityData.cpp
+++ b/source/RobotAPI/libraries/armem/segments/EntityData.cpp
@@ -6,7 +6,7 @@
namespace armarx::armem
{
- void EntityData::update(const EntityUpdate& update, int index)
+ void EntityData::update(const InternalEntityUpdate& update, int index)
{
ARMARX_CHECK_FITS_SIZE(index, update.instancesData.size());
@@ -14,9 +14,10 @@ namespace armarx::armem
this->data = update.instancesData.at(size_t(index));
this->metadata.importance = update.importance;
+
this->metadata.timeCreated = update.timeCreated;
this->metadata.timeSent = update.timeSent;
- this->metadata.timeArrived = Time::now(); // todo;
+ this->metadata.timeArrived = update.timeArrived;
}
}
diff --git a/source/RobotAPI/libraries/armem/segments/EntityData.h b/source/RobotAPI/libraries/armem/segments/EntityData.h
index 4fa91a181a8ae1f9375c7058412466f9115000bd..c904a643a248a05189c316deb7e340945a62ca27 100644
--- a/source/RobotAPI/libraries/armem/segments/EntityData.h
+++ b/source/RobotAPI/libraries/armem/segments/EntityData.h
@@ -5,7 +5,8 @@
#include <RobotAPI/interface/aron.h>
#include "../core/Time.h"
-#include "../client/Commit.h"
+
+#include "InternalCommit.h"
namespace armarx::armem
@@ -38,7 +39,7 @@ namespace armarx::armem
aron::AronDataPtr data;
EntityMetadata metadata;
- void update(const EntityUpdate& update, int index);
+ void update(const InternalEntityUpdate& update, int index);
};
using EntityDataPtr = std::unique_ptr<EntityData>;
diff --git a/source/RobotAPI/libraries/armem/segments/EntitySnapshot.cpp b/source/RobotAPI/libraries/armem/segments/EntitySnapshot.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..73eac93d18a30612deed6a08e37ea82289961a3e
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/segments/EntitySnapshot.cpp
@@ -0,0 +1,20 @@
+#include "EntitySnapshot.h"
+
+
+namespace armarx::armem
+{
+
+
+ void EntitySnapshot::update(const InternalEntityUpdate& update)
+ {
+ id = update.timeCreated;
+
+ instances.clear();
+ for (int i = 0; i < int(update.instancesData.size()); ++i)
+ {
+ EntityDataPtr& data = instances.emplace_back(std::make_unique<EntityData>());
+ data->update(update, i);
+ }
+ }
+
+}
diff --git a/source/RobotAPI/libraries/armem/segments/EntitySnapshot.h b/source/RobotAPI/libraries/armem/segments/EntitySnapshot.h
new file mode 100644
index 0000000000000000000000000000000000000000..dce6c4c0f1baf90b341f4bdc1f6bdcb35a90b033
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/segments/EntitySnapshot.h
@@ -0,0 +1,49 @@
+#pragma once
+
+#include <memory>
+#include <vector>
+
+#include "../core/Time.h"
+#include "../core/MemoryID.h"
+
+#include "EntityData.h"
+
+
+namespace armarx::armem
+{
+
+ /**
+ * @brief Data of an entity at one point in time.
+ */
+ class EntitySnapshot
+ {
+ public:
+
+ EntitySnapshot() = default;
+
+
+ void update(const InternalEntityUpdate& update);
+
+
+ EntityData* getInstance(int index)
+ {
+ size_t si = size_t(index);
+ return (index >= 0 && si < instances.size()) ? instances[si].get() : nullptr;
+ }
+ EntityData* getInstance(MemoryID id)
+ {
+ return id.hasInstanceIndex() ? getInstance(id.instanceIndex) : nullptr;
+ }
+
+
+ public:
+
+ Time id;
+ std::vector<EntityDataPtr> instances;
+
+ };
+
+ using EntitySnapshotPtr = std::unique_ptr<EntitySnapshot>;
+
+
+}
diff --git a/source/RobotAPI/libraries/armem/segments/EntityStorage.cpp b/source/RobotAPI/libraries/armem/segments/EntityStorage.cpp
index 8ed344d85132e6695b4b1de5555bab6900ace1b5..4cff8192604930f91a03ab04686981731098f537 100644
--- a/source/RobotAPI/libraries/armem/segments/EntityStorage.cpp
+++ b/source/RobotAPI/libraries/armem/segments/EntityStorage.cpp
@@ -12,7 +12,7 @@ namespace armarx::armem
{
}
- void EntityStorage::update(const Commit& commit)
+ void EntityStorage::update(const InternalCommit& commit)
{
for (const auto& update : commit.updates)
{
diff --git a/source/RobotAPI/libraries/armem/segments/EntityStorage.h b/source/RobotAPI/libraries/armem/segments/EntityStorage.h
index 9a50056942348f4db2b678eaad05f8f85dccd55e..960064a108aee9b6fadf7adddf0bf67466fbfa43 100644
--- a/source/RobotAPI/libraries/armem/segments/EntityStorage.h
+++ b/source/RobotAPI/libraries/armem/segments/EntityStorage.h
@@ -1,6 +1,6 @@
#pragma once
-#include "../client/Commit.h"
+#include "InternalCommit.h"
namespace armarx::armem
@@ -20,8 +20,8 @@ namespace armarx::armem
virtual ~EntityStorage() = default;
- void update(const Commit& commit);
- virtual void update(const EntityUpdate& update) = 0;
+ void update(const InternalCommit& commit);
+ virtual void update(const InternalEntityUpdate& update) = 0;
public:
diff --git a/source/RobotAPI/libraries/armem/segments/InternalCommit.cpp b/source/RobotAPI/libraries/armem/segments/InternalCommit.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..0f21876094199ba6dea13325683466efebed9d1b
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/segments/InternalCommit.cpp
@@ -0,0 +1,7 @@
+#include "InternalCommit.h"
+
+
+namespace armarx::armem
+{
+
+}
diff --git a/source/RobotAPI/libraries/armem/segments/InternalCommit.h b/source/RobotAPI/libraries/armem/segments/InternalCommit.h
new file mode 100644
index 0000000000000000000000000000000000000000..07264dcbf2abd1303ec46841601cc856f5be4905
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/segments/InternalCommit.h
@@ -0,0 +1,28 @@
+#pragma once
+
+#include <vector>
+
+#include "../client/Commit.h"
+
+
+namespace armarx::armem
+{
+
+ /**
+ * @brief An update received by a memory.
+ *
+ * For use inside a memory.
+ */
+ struct InternalEntityUpdate : public EntityUpdate
+ {
+ Time timeArrived = Time::microSeconds(-1);
+ };
+
+
+ struct InternalCommit
+ {
+ std::vector<InternalEntityUpdate> updates;
+ };
+
+
+}
diff --git a/source/RobotAPI/libraries/armem/segments/Memory.cpp b/source/RobotAPI/libraries/armem/segments/Memory.cpp
index cf6d5fb62831722e8c760990554e38fca0b7643e..7a30818c0ec313a19446765075ce6727fe009eea 100644
--- a/source/RobotAPI/libraries/armem/segments/Memory.cpp
+++ b/source/RobotAPI/libraries/armem/segments/Memory.cpp
@@ -4,7 +4,7 @@
namespace armarx::armem
{
- void Memory::update(const EntityUpdate& update)
+ void Memory::update(const InternalEntityUpdate& update)
{
if (update.entityID.memoryName != this->name)
{
diff --git a/source/RobotAPI/libraries/armem/segments/Memory.h b/source/RobotAPI/libraries/armem/segments/Memory.h
index c436acfea7e964a58e1d45f44b6342725afa0c8c..4e1ad888ab573a17db74423fc725f298af6eb646 100644
--- a/source/RobotAPI/libraries/armem/segments/Memory.h
+++ b/source/RobotAPI/libraries/armem/segments/Memory.h
@@ -20,7 +20,7 @@ namespace armarx::armem
using EntityStorage::EntityStorage;
- virtual void update(const EntityUpdate& update) override;
+ virtual void update(const InternalEntityUpdate& update) override;
public:
diff --git a/source/RobotAPI/libraries/armem/segments/ProviderSegment.cpp b/source/RobotAPI/libraries/armem/segments/ProviderSegment.cpp
index e30e617a13cdb37e395c65f926ae43353ca6067c..67dc198f50f3646c70e05707de63df51207aa00b 100644
--- a/source/RobotAPI/libraries/armem/segments/ProviderSegment.cpp
+++ b/source/RobotAPI/libraries/armem/segments/ProviderSegment.cpp
@@ -4,7 +4,7 @@
namespace armarx::armem
{
- void ProviderSegment::update(const EntityUpdate& update)
+ void ProviderSegment::update(const InternalEntityUpdate& update)
{
if (update.entityID.coreSegmentName != this->name)
{
diff --git a/source/RobotAPI/libraries/armem/segments/ProviderSegment.h b/source/RobotAPI/libraries/armem/segments/ProviderSegment.h
index d0a111a5dd4b64afcdcbbeeacc345331662198d7..c85c8dc528a32120df0fbf91cc89d295f298c63a 100644
--- a/source/RobotAPI/libraries/armem/segments/ProviderSegment.h
+++ b/source/RobotAPI/libraries/armem/segments/ProviderSegment.h
@@ -20,7 +20,7 @@ namespace armarx::armem
using EntityStorage::EntityStorage;
- virtual void update(const EntityUpdate& update) override;
+ virtual void update(const InternalEntityUpdate& update) override;
public: