From b79fcce1ffb6f66b40fa588be6004954e03a5789 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Thu, 5 Aug 2021 07:45:11 +0200
Subject: [PATCH] Remove functions and base class related to copyWithoutData()
---
.../RobotAPI/libraries/armem/CMakeLists.txt | 2 --
.../armem/core/workingmemory/CoreSegment.cpp | 16 ++++------
.../armem/core/workingmemory/CoreSegment.h | 7 ++---
.../armem/core/workingmemory/Entity.cpp | 10 +------
.../armem/core/workingmemory/Entity.h | 8 +----
.../core/workingmemory/EntityInstance.cpp | 7 -----
.../armem/core/workingmemory/EntityInstance.h | 10 +------
.../core/workingmemory/EntitySnapshot.cpp | 8 -----
.../armem/core/workingmemory/EntitySnapshot.h | 9 +-----
.../armem/core/workingmemory/Memory.cpp | 10 -------
.../armem/core/workingmemory/Memory.h | 9 +-----
.../core/workingmemory/ProviderSegment.cpp | 10 -------
.../core/workingmemory/ProviderSegment.h | 9 +-----
.../workingmemory/detail/CopyWithoutData.cpp | 1 -
.../workingmemory/detail/CopyWithoutData.h | 30 -------------------
.../workingmemory/EntityQueryProcessor.cpp | 8 ++++-
16 files changed, 20 insertions(+), 134 deletions(-)
delete mode 100644 source/RobotAPI/libraries/armem/core/workingmemory/detail/CopyWithoutData.cpp
delete mode 100644 source/RobotAPI/libraries/armem/core/workingmemory/detail/CopyWithoutData.h
diff --git a/source/RobotAPI/libraries/armem/CMakeLists.txt b/source/RobotAPI/libraries/armem/CMakeLists.txt
index a5274706c..84a5e312a 100644
--- a/source/RobotAPI/libraries/armem/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem/CMakeLists.txt
@@ -47,7 +47,6 @@ set(LIB_FILES
# core/base/ProviderSegmentBase.cpp
core/workingmemory/ice_conversions.cpp
- core/workingmemory/detail/CopyWithoutData.cpp
core/workingmemory/CoreSegment.cpp
core/workingmemory/Entity.cpp
core/workingmemory/EntityInstance.cpp
@@ -166,7 +165,6 @@ set(LIB_HEADERS
core/base/MemoryBase.h
core/base/ProviderSegmentBase.h
- core/workingmemory/detail/CopyWithoutData.h
core/workingmemory/CoreSegment.h
core/workingmemory/Entity.h
core/workingmemory/EntityInstance.h
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.cpp
index 8097ab717..7a3ef7efe 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.cpp
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.cpp
@@ -39,25 +39,19 @@ namespace armarx::armem::wm
}
- Commit CoreSegment::toCommit() const
+ CoreSegment::~CoreSegment()
{
- Commit c;
- for (const auto& [k, s] : _container)
- {
- c.append(s.toCommit());
- }
- return c;
}
- void CoreSegment::_copySelfWithoutData(CoreSegment& other) const
+ Commit CoreSegment::toCommit() const
{
- other.id() = _id;
- other.setMaxHistorySize(_maxHistorySize);
+ Commit c;
for (const auto& [k, s] : _container)
{
- other.addProviderSegment(s.copyWithoutData());
+ c.append(s.toCommit());
}
+ return c;
}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.h b/source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.h
index 54df4ff40..7dff9a9ad 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.h
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.h
@@ -6,7 +6,6 @@
#include <RobotAPI/libraries/armem/core/base/CoreSegmentBase.h>
#include "ProviderSegment.h"
-#include "detail/CopyWithoutData.h"
namespace armarx::armem::wm
@@ -16,14 +15,14 @@ namespace armarx::armem::wm
* @brief Data of a core segment containing multiple provider segments.
*/
class CoreSegment :
- public base::CoreSegmentBase<ProviderSegment, CoreSegment>,
- public detail::CopyWithoutData<CoreSegment>
+ public base::CoreSegmentBase<ProviderSegment, CoreSegment>
{
using Base = base::CoreSegmentBase<ProviderSegment, CoreSegment>;
public:
using Base::CoreSegmentBase;
+ virtual ~CoreSegment() override;
CoreSegment(const CoreSegment& other);
CoreSegment(CoreSegment&& other);
@@ -102,8 +101,6 @@ namespace armarx::armem::wm
protected:
- virtual void _copySelfWithoutData(CoreSegment& other) const override;
-
mutable std::mutex _mutex;
};
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/Entity.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/Entity.cpp
index e704e96d5..27661a6ce 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/Entity.cpp
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/Entity.cpp
@@ -1,5 +1,6 @@
#include "Entity.h"
+
namespace armarx::armem::wm
{
@@ -16,13 +17,4 @@ namespace armarx::armem::wm
return c;
}
- void Entity::_copySelfWithoutData(Entity& other) const
- {
- other.id() = _id;
- other.setMaxHistorySize(_maxHistorySize);
- for (const auto& [k, s] : _container)
- {
- other.addSnapshot(s.copyWithoutData());
- }
- }
}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/Entity.h b/source/RobotAPI/libraries/armem/core/workingmemory/Entity.h
index d8e29a794..450a95c81 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/Entity.h
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/Entity.h
@@ -3,7 +3,6 @@
#include <RobotAPI/libraries/armem/core/base/EntityBase.h>
#include "EntitySnapshot.h"
-#include "detail/CopyWithoutData.h"
namespace armarx::armem::wm
@@ -28,8 +27,7 @@ namespace armarx::armem::wm
* each containing a single `AronData` object of a specific `AronType`.
*/
class Entity :
- public base::EntityBase<EntitySnapshot, Entity>,
- public detail::CopyWithoutData<Entity>
+ public base::EntityBase<EntitySnapshot, Entity>
{
using Base = base::EntityBase<EntitySnapshot, Entity>;
@@ -48,10 +46,6 @@ namespace armarx::armem::wm
*/
Commit toCommit() const;
- protected:
-
- virtual void _copySelfWithoutData(Entity& other) const override;
-
};
}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.cpp
index 0962f86fb..1be40a131 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.cpp
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.cpp
@@ -57,11 +57,4 @@ namespace armarx::armem::wm
this->_metadata.timeArrived = update.timeArrived;
}
-
- void EntityInstance::_copySelfWithoutData(EntityInstance& other) const
- {
- other._id = _id;
- other._metadata = _metadata;
- // no: other._data = _data;
- }
}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h b/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h
index 06389c366..fbeb3f19f 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h
@@ -2,8 +2,6 @@
#include <RobotAPI/libraries/armem/core/base/EntityInstanceBase.h>
-#include "detail/CopyWithoutData.h"
-
namespace armarx::armem::wm
{
@@ -42,8 +40,7 @@ namespace armarx::armem::wm
* @brief Data of a single entity instance.
*/
class EntityInstance :
- public base::EntityInstanceBase<EntityInstance>,
- public detail::CopyWithoutData<EntityInstance>
+ public base::EntityInstanceBase<EntityInstance>
{
using Base = base::EntityInstanceBase<EntityInstance>;
@@ -87,11 +84,6 @@ namespace armarx::armem::wm
virtual bool equalsDeep(const EntityInstance& other) const override;
- protected:
-
- virtual void _copySelfWithoutData(EntityInstance& other) const override;
-
-
private:
/// The metadata.
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.cpp
index 76d540013..5d7506a0f 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.cpp
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.cpp
@@ -17,12 +17,4 @@ namespace armarx::armem::wm
return ret;
}
- void EntitySnapshot::_copySelfWithoutData(EntitySnapshot& other) const
- {
- other.id() = _id;
- for (const auto& s : _container)
- {
- other.addInstance(s.copyWithoutData());
- }
- }
}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.h b/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.h
index 226fefd83..90b03d1ae 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.h
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.h
@@ -3,7 +3,6 @@
#include <RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h>
#include "EntityInstance.h"
-#include "detail/CopyWithoutData.h"
namespace armarx::armem::wm
@@ -13,8 +12,7 @@ namespace armarx::armem::wm
* @brief Data of an entity at one point in time.
*/
class EntitySnapshot :
- public base::EntitySnapshotBase<EntityInstance, EntitySnapshot>,
- public detail::CopyWithoutData<EntitySnapshot>
+ public base::EntitySnapshotBase<EntityInstance, EntitySnapshot>
{
using Base = base::EntitySnapshotBase<EntityInstance, EntitySnapshot>;
@@ -31,10 +29,5 @@ namespace armarx::armem::wm
std::vector<aron::datanavigator::DictNavigatorPtr> getAronData() const;
-
- protected:
-
- virtual void _copySelfWithoutData(EntitySnapshot& other) const override;
-
};
}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/Memory.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/Memory.cpp
index 70fd41e7c..c69a222b3 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/Memory.cpp
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/Memory.cpp
@@ -82,14 +82,4 @@ namespace armarx::armem::wm
return c;
}
-
- void Memory::_copySelfWithoutData(Memory& other) const
- {
- other.id() = _id;
- for (const auto& [k, s] : _container)
- {
- other.addCoreSegment(s.copyWithoutData());
- }
- }
-
}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/Memory.h b/source/RobotAPI/libraries/armem/core/workingmemory/Memory.h
index d52bce5ca..b6595c83d 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/Memory.h
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/Memory.h
@@ -3,7 +3,6 @@
#include <RobotAPI/libraries/armem/core/base/MemoryBase.h>
#include "CoreSegment.h"
-#include "detail/CopyWithoutData.h"
namespace armarx::armem::wm
@@ -13,8 +12,7 @@ namespace armarx::armem::wm
* @brief Data of a memory consisting of multiple core segments.
*/
class Memory :
- public base::MemoryBase<CoreSegment, Memory>,
- public detail::CopyWithoutData<Memory>
+ public base::MemoryBase<CoreSegment, Memory>
{
using Base = base::MemoryBase<CoreSegment, Memory>;
@@ -47,10 +45,5 @@ namespace armarx::armem::wm
*/
Commit toCommit() const;
-
- protected:
-
- virtual void _copySelfWithoutData(Memory& other) const override;
-
};
}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.cpp
index bd03cf21c..b67fa10f5 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.cpp
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.cpp
@@ -18,14 +18,4 @@ namespace armarx::armem::wm
return c;
}
- void ProviderSegment::_copySelfWithoutData(ProviderSegment& other) const
- {
- other.id() = _id;
- other.setMaxHistorySize(_maxHistorySize);
- for (const auto& [k, s] : _container)
- {
- other.addEntity(s.copyWithoutData());
- }
- }
-
}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.h b/source/RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.h
index f3e708628..e837469d8 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.h
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.h
@@ -3,7 +3,6 @@
#include <RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h>
#include "Entity.h"
-#include "detail/CopyWithoutData.h"
namespace armarx::armem::wm
@@ -13,8 +12,7 @@ namespace armarx::armem::wm
* @brief Data of a provider segment containing multiple entities.
*/
class ProviderSegment :
- public base::ProviderSegmentBase<Entity, ProviderSegment>,
- public detail::CopyWithoutData<ProviderSegment>
+ public base::ProviderSegmentBase<Entity, ProviderSegment>
{
using Base = base::ProviderSegmentBase<Entity, ProviderSegment>;
@@ -33,11 +31,6 @@ namespace armarx::armem::wm
*/
Commit toCommit() const;
-
- protected:
-
- virtual void _copySelfWithoutData(ProviderSegment& other) const override;
-
};
}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/detail/CopyWithoutData.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/detail/CopyWithoutData.cpp
deleted file mode 100644
index 70441033d..000000000
--- a/source/RobotAPI/libraries/armem/core/workingmemory/detail/CopyWithoutData.cpp
+++ /dev/null
@@ -1 +0,0 @@
-#include "CopyWithoutData.h"
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/detail/CopyWithoutData.h b/source/RobotAPI/libraries/armem/core/workingmemory/detail/CopyWithoutData.h
deleted file mode 100644
index caabd1e60..000000000
--- a/source/RobotAPI/libraries/armem/core/workingmemory/detail/CopyWithoutData.h
+++ /dev/null
@@ -1,30 +0,0 @@
-#pragma once
-
-
-namespace armarx::armem::wm::detail
-{
-
- /**
- * @class Allows copying `*this` without data in the leaf
- * data structures.
- */
- template <class DerivedT>
- class CopyWithoutData
- {
- public:
-
- /// Get a copy of `this` without data.
- virtual DerivedT copyWithoutData() const
- {
- DerivedT t;
- _copySelfWithoutData(t);
- return t;
- }
-
-
- protected:
-
- virtual void _copySelfWithoutData(DerivedT& other) const = 0;
-
- };
-}
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 cc2744906..0c41d3a6f 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/EntityQueryProcessor.cpp
+++ b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/EntityQueryProcessor.cpp
@@ -22,7 +22,13 @@ namespace armarx::armem::wm::query_proc
}
else
{
- result.addSnapshot(snapshot.copyWithoutData());
+ wm::EntitySnapshot copy = snapshot;
+ copy.forEachEntityInstance([](EntityInstance & i)
+ {
+ i.setData(nullptr);
+ return true;
+ });
+ result.addSnapshot(std::move(copy));
}
}
--
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