From b86d2b48cbd0a6367ba667f432879624a7098cca Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Thu, 5 Aug 2021 15:08:51 +0200
Subject: [PATCH] Make toCommit() a free function, remove copy/move ctors/ops
---
.../RobotAPI/libraries/armem/CMakeLists.txt | 2 +
.../armem/core/diskmemory/CoreSegment.h | 1 -
.../libraries/armem/core/diskmemory/Entity.h | 1 -
.../armem/core/diskmemory/EntityInstance.cpp | 6 ---
.../armem/core/diskmemory/EntityInstance.h | 5 ---
.../armem/core/diskmemory/EntitySnapshot.h | 1 -
.../libraries/armem/core/diskmemory/Memory.h | 1 -
.../armem/core/diskmemory/ProviderSegment.h | 1 -
.../armem/core/longtermmemory/CoreSegment.h | 1 -
.../armem/core/longtermmemory/Entity.h | 1 -
.../core/longtermmemory/EntityInstance.h | 5 ---
.../core/longtermmemory/EntitySnapshot.h | 1 -
.../core/longtermmemory/ProviderSegment.h | 1 -
.../libraries/armem/core/operations.cpp | 34 +++++++++++++++
.../libraries/armem/core/operations.h | 42 +++++++++++++++++++
.../armem/core/workingmemory/CoreSegment.cpp | 11 -----
.../armem/core/workingmemory/Entity.cpp | 12 ------
.../armem/core/workingmemory/Entity.h | 15 +------
.../armem/core/workingmemory/EntityInstance.h | 5 ---
.../core/workingmemory/EntitySnapshot.cpp | 13 ------
.../armem/core/workingmemory/EntitySnapshot.h | 13 +-----
.../armem/core/workingmemory/Memory.cpp | 11 -----
.../armem/core/workingmemory/Memory.h | 11 -----
.../core/workingmemory/ProviderSegment.cpp | 13 ------
.../core/workingmemory/ProviderSegment.h | 15 +------
.../armem/server/MemoryToIceAdapter.cpp | 2 +-
26 files changed, 82 insertions(+), 142 deletions(-)
create mode 100644 source/RobotAPI/libraries/armem/core/operations.cpp
create mode 100644 source/RobotAPI/libraries/armem/core/operations.h
diff --git a/source/RobotAPI/libraries/armem/CMakeLists.txt b/source/RobotAPI/libraries/armem/CMakeLists.txt
index 6898b8e36..475bfbcf1 100644
--- a/source/RobotAPI/libraries/armem/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem/CMakeLists.txt
@@ -25,6 +25,7 @@ set(LIB_FILES
core/Commit.cpp
core/MemoryID.cpp
core/MemoryID_operators.cpp
+ core/operations.cpp
core/SuccessHeader.cpp
core/Time.cpp
core/ice_conversions.cpp
@@ -138,6 +139,7 @@ set(LIB_HEADERS
core/DataMode.h
core/MemoryID.h
core/MemoryID_operators.h
+ core/operations.h
core/SuccessHeader.h
core/Time.h
core/aron_conversions.h
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.h b/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.h
index 76bb297e7..cccf81b00 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.h
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.h
@@ -22,7 +22,6 @@ namespace armarx::armem::d_ltm
public:
using Base::CoreSegmentBase;
- using Base::operator=;
// Conversion
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/Entity.h b/source/RobotAPI/libraries/armem/core/diskmemory/Entity.h
index 350222755..09b8ab78c 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/Entity.h
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/Entity.h
@@ -38,7 +38,6 @@ namespace armarx::armem::d_ltm
public:
using Base::EntityBase;
- using Base::operator=;
// Conversion
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.cpp
index d22310fb2..e3bff18fa 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.cpp
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.cpp
@@ -15,12 +15,6 @@
namespace armarx::armem::d_ltm
{
- EntityInstance::EntityInstance(const EntityInstance& other) :
- Base(other),
- path(other.path)
- {
- }
-
bool EntityInstance::equalsDeep(const EntityInstance& other) const
{
return id() == other.id();
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.h b/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.h
index c27f49951..c94ee5dcd 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.h
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.h
@@ -22,11 +22,6 @@ namespace armarx::armem::d_ltm
using Base::EntityInstanceBase;
- EntityInstance(const EntityInstance& other);
- EntityInstance(EntityInstance&& other) = default;
- EntityInstance& operator=(const EntityInstance& other) = default;
- EntityInstance& operator=(EntityInstance&& other) = default;
-
/**
* @brief Fill `*this` with the update's values.
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.h b/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.h
index be36a8a77..5005af5f7 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.h
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.h
@@ -24,7 +24,6 @@ namespace armarx::armem::d_ltm
public:
using Base::EntitySnapshotBase;
- using Base::operator=;
// Conversion
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/Memory.h b/source/RobotAPI/libraries/armem/core/diskmemory/Memory.h
index 7f7872f7a..de2cae3c7 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/Memory.h
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/Memory.h
@@ -22,7 +22,6 @@ namespace armarx::armem::d_ltm
public:
using Base::MemoryBase;
- using Base::operator=;
// Conversion
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.h b/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.h
index 8ad96ea06..eb7d300e0 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.h
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.h
@@ -22,7 +22,6 @@ namespace armarx::armem::d_ltm
public:
using Base::ProviderSegmentBase;
- using Base::operator=;
// Conversion
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.h b/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.h
index adb325791..797b9df1f 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.h
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.h
@@ -21,7 +21,6 @@ namespace armarx::armem::ltm
public:
using Base::CoreSegmentBase;
- using Base::operator=;
// Conversion
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.h b/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.h
index c564e60b6..79c783de9 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.h
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.h
@@ -36,7 +36,6 @@ namespace armarx::armem::ltm
public:
using Base::EntityBase;
- using Base::operator=;
Entity()
{
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.h b/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.h
index ba72d68bf..6046f6ac5 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.h
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.h
@@ -21,11 +21,6 @@ namespace armarx::armem::ltm
using Base::EntityInstanceBase;
- EntityInstance(const EntityInstance& other) = default;
- EntityInstance(EntityInstance&& other) = default;
- EntityInstance& operator=(const EntityInstance& other) = default;
- EntityInstance& operator=(EntityInstance&& other) = default;
-
/**
* @brief Fill `*this` with the update's values.
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.h b/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.h
index b55760247..b3d6211bd 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.h
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.h
@@ -23,7 +23,6 @@ namespace armarx::armem::ltm
public:
using Base::EntitySnapshotBase;
- using Base::operator=;
// Conversion
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.h b/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.h
index c18100e96..ed48ff071 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.h
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.h
@@ -21,7 +21,6 @@ namespace armarx::armem::ltm
public:
using Base::ProviderSegmentBase;
- using Base::operator=;
// Conversion
diff --git a/source/RobotAPI/libraries/armem/core/operations.cpp b/source/RobotAPI/libraries/armem/core/operations.cpp
new file mode 100644
index 000000000..e43995730
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/operations.cpp
@@ -0,0 +1,34 @@
+#include "operations.h"
+
+#include "workingmemory/EntityInstance.h"
+
+
+namespace armarx
+{
+
+ std::vector<aron::datanavigator::DictNavigatorPtr>
+ armem::getAronData(const wm::EntitySnapshot& snapshot)
+ {
+ std::vector<aron::datanavigator::DictNavigatorPtr> result;
+ snapshot.forEachChild([&result](const wm::EntityInstance& instance)
+ {
+ result.push_back(instance.data());
+ return true;
+ });
+ return result;
+ }
+
+
+ armem::EntityUpdate armem::toEntityUpdate(const wm::EntitySnapshot& snapshot)
+ {
+ EntityUpdate up;
+ up.entityID = snapshot.id().getEntityID();
+ up.timeCreated = snapshot.time();
+ up.instancesData = getAronData(snapshot);
+ return up;
+ }
+
+}
+
+
+
diff --git a/source/RobotAPI/libraries/armem/core/operations.h b/source/RobotAPI/libraries/armem/core/operations.h
new file mode 100644
index 000000000..9fc479dcf
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/operations.h
@@ -0,0 +1,42 @@
+#pragma once
+
+#if 0 // Not need at the moment.
+#include "workingmemory/Memory.h"
+#include "workingmemory/CoreSegment.h"
+#include "workingmemory/ProviderSegment.h"
+#include "workingmemory/Entity.h"
+#include "workingmemory/EntityInstance.h"
+#endif
+
+#include "workingmemory/EntitySnapshot.h"
+
+
+/*
+ * Functions performing some "advanced" operations on the memory
+ * data structure, which are using their public API but should not
+ * be part of it.
+ */
+
+namespace armarx::armem
+{
+
+ std::vector<aron::datanavigator::DictNavigatorPtr>
+ getAronData(const wm::EntitySnapshot& snapshot);
+
+ EntityUpdate toEntityUpdate(const wm::EntitySnapshot& snapshot);
+
+
+ template <class ContainerT>
+ Commit toCommit(const ContainerT& container)
+ {
+ Commit commit;
+ container.forEachSnapshot([&commit](const wm::EntitySnapshot & snapshot)
+ {
+ commit.add(toEntityUpdate(snapshot));
+ return true;
+ });
+ return commit;
+ }
+
+}
+
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.cpp
index 9e87538e0..eb437eb16 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.cpp
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.cpp
@@ -39,17 +39,6 @@ namespace armarx::armem::wm
}
- Commit CoreSegment::toCommit() const
- {
- Commit c;
- for (const auto& [k, s] : _container)
- {
- c.append(s.toCommit());
- }
- return c;
- }
-
-
std::mutex& CoreSegment::mutex() const
{
return _mutex;
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/Entity.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/Entity.cpp
index 27661a6ce..e212c0d36 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/Entity.cpp
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/Entity.cpp
@@ -4,17 +4,5 @@
namespace armarx::armem::wm
{
- Commit Entity::toCommit() const
- {
- Commit c;
- for (const auto& [k, s] : _container)
- {
- EntityUpdate& up = c.add();
- up.entityID = id();
- up.timeCreated = k;
- up.instancesData = s.getAronData();
- }
- return c;
- }
}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/Entity.h b/source/RobotAPI/libraries/armem/core/workingmemory/Entity.h
index 450a95c81..34e9b2abd 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/Entity.h
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/Entity.h
@@ -29,22 +29,9 @@ namespace armarx::armem::wm
class Entity :
public base::EntityBase<EntitySnapshot, Entity>
{
- using Base = base::EntityBase<EntitySnapshot, Entity>;
-
public:
- using Base::EntityBase;
-
- Entity(const Entity& other) = default;
- Entity(Entity&& other) = default;
- Entity& operator=(const Entity& other) = default;
- Entity& operator=(Entity&& other) = default;
-
- /**
- * @brief Convert the content of this segmnet into a commit
- * @return The resulting commit
- */
- Commit toCommit() const;
+ using base::EntityBase<EntitySnapshot, Entity>::EntityBase;
};
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h b/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h
index 18d744c59..158b1c0f8 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h
@@ -23,11 +23,6 @@ namespace armarx::armem::wm
using Base::EntityInstanceBase;
- EntityInstance(const EntityInstance& other) = default;
- EntityInstance(EntityInstance&& other) = default;
- EntityInstance& operator=(const EntityInstance& other) = default;
- EntityInstance& operator=(EntityInstance&& other) = default;
-
/**
* @brief Fill `*this` with the update's values.
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.cpp
index 5d7506a0f..b5daa3192 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.cpp
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.cpp
@@ -1,20 +1,7 @@
#include "EntitySnapshot.h"
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-#include "error.h"
-
namespace armarx::armem::wm
{
- std::vector<aron::datanavigator::DictNavigatorPtr> EntitySnapshot::getAronData() const
- {
- std::vector<aron::datanavigator::DictNavigatorPtr> ret;
- for (const auto& aron : _container)
- {
- ret.push_back(aron.data());
- }
- return ret;
- }
}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.h b/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.h
index 90b03d1ae..c19a2f830 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.h
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.h
@@ -14,20 +14,9 @@ namespace armarx::armem::wm
class EntitySnapshot :
public base::EntitySnapshotBase<EntityInstance, EntitySnapshot>
{
- using Base = base::EntitySnapshotBase<EntityInstance, EntitySnapshot>;
-
public:
- using Base::EntitySnapshotBase;
- // using Base::operator=;
-
- EntitySnapshot(const EntitySnapshot& other) = default;
- EntitySnapshot(EntitySnapshot&& other) = default;
- EntitySnapshot& operator=(const EntitySnapshot& other) = default;
- EntitySnapshot& operator=(EntitySnapshot&& other) = default;
-
-
- std::vector<aron::datanavigator::DictNavigatorPtr> getAronData() const;
+ using base::EntitySnapshotBase<EntityInstance, EntitySnapshot>::EntitySnapshotBase;
};
}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/Memory.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/Memory.cpp
index c69a222b3..7bff4f19e 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/Memory.cpp
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/Memory.cpp
@@ -71,15 +71,4 @@ namespace armarx::armem::wm
return result;
}
-
- Commit Memory::toCommit() const
- {
- Commit c;
- for (const auto& [k, s] : _container)
- {
- c.append(s.toCommit());
- }
- return c;
- }
-
}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/Memory.h b/source/RobotAPI/libraries/armem/core/workingmemory/Memory.h
index b6595c83d..e3684b3b6 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/Memory.h
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/Memory.h
@@ -20,10 +20,6 @@ namespace armarx::armem::wm
using Base::MemoryBase;
- Memory(const Memory& other) = default;
- Memory(Memory&& other) = default;
- Memory& operator=(const Memory& other) = default;
- Memory& operator=(Memory&& other) = default;
/**
* @brief Perform the commit, locking the core segments.
@@ -38,12 +34,5 @@ namespace armarx::armem::wm
*/
Base::UpdateResult updateLocking(const EntityUpdate& update);
-
- /**
- * @brief Convert the content of this memory into a commit
- * @return The resulting commit
- */
- Commit toCommit() const;
-
};
}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.cpp
index b67fa10f5..01aa4e39b 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.cpp
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.cpp
@@ -1,21 +1,8 @@
#include "ProviderSegment.h"
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-#include "error.h"
-
namespace armarx::armem::wm
{
- Commit ProviderSegment::toCommit() const
- {
- Commit c;
- for (const auto& [k, s] : _container)
- {
- c.append(s.toCommit());
- }
- return c;
- }
}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.h b/source/RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.h
index e837469d8..75b5d3b36 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.h
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.h
@@ -14,22 +14,9 @@ namespace armarx::armem::wm
class ProviderSegment :
public base::ProviderSegmentBase<Entity, ProviderSegment>
{
- using Base = base::ProviderSegmentBase<Entity, ProviderSegment>;
-
public:
- using Base::ProviderSegmentBase;
-
- ProviderSegment(const ProviderSegment& other) = default;
- ProviderSegment(ProviderSegment&& other) = default;
- ProviderSegment& operator=(const ProviderSegment& other) = default;
- ProviderSegment& operator=(ProviderSegment&& other) = default;
-
- /**
- * @brief Convert the content of this segmnet into a commit
- * @return The resulting commit
- */
- Commit toCommit() const;
+ using base::ProviderSegmentBase<Entity, ProviderSegment>::ProviderSegmentBase;
};
diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
index b61a3ba13..60f134edc 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
@@ -279,7 +279,7 @@ namespace armarx::armem::server
result.memory = toIce<data::MemoryPtr>(merged_result);
// also move results of ltm to wm
- //this->commit(ltm_converted.toCommit());
+ //this->commit(toCommit(ltm_converted));
// mark removed entries of wm in viewer
// TODO
--
GitLab