From cad18d9eb222f6d2412b2cc5883f304999dc2e0f Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Wed, 13 Jan 2021 09:09:46 +0100
Subject: [PATCH] Use AronDataNavigator instead of AronData in EntityUpdate
---
source/RobotAPI/libraries/armem/core/Commit.cpp | 12 ------------
source/RobotAPI/libraries/armem/core/Commit.h | 7 +------
.../libraries/armem/core/ice_conversions.cpp | 4 ++--
.../libraries/armem/memory/EntityInstance.cpp | 2 +-
.../libraries/armem/test/ArMemMemoryTest.cpp | 11 +++++++----
5 files changed, 11 insertions(+), 25 deletions(-)
diff --git a/source/RobotAPI/libraries/armem/core/Commit.cpp b/source/RobotAPI/libraries/armem/core/Commit.cpp
index 5a52cc508..838205dd0 100644
--- a/source/RobotAPI/libraries/armem/core/Commit.cpp
+++ b/source/RobotAPI/libraries/armem/core/Commit.cpp
@@ -34,16 +34,4 @@ namespace armarx::armem
}, results);
}
-
- std::vector<aron::datanavigator::AronDataNavigatorPtr> EntityUpdate::getInstancesDataNavigator() const
- {
- return aron::datanavigator::AronDataNavigator::FromAronData(instancesData);
- }
-
- aron::datanavigator::AronDataNavigatorPtr EntityUpdate::getInstanceDataNavigator(size_t index) const
- {
- ARMARX_CHECK_FITS_SIZE(index, instancesData.size());
- return aron::datanavigator::AronDataNavigator::FromAronData(instancesData.at(index));
- }
-
}
diff --git a/source/RobotAPI/libraries/armem/core/Commit.h b/source/RobotAPI/libraries/armem/core/Commit.h
index db5ade523..6361aa97c 100644
--- a/source/RobotAPI/libraries/armem/core/Commit.h
+++ b/source/RobotAPI/libraries/armem/core/Commit.h
@@ -2,7 +2,6 @@
#include <vector>
-#include <RobotAPI/interface/aron.h>
#include <RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronDataNavigator.h>
#include "../core/MemoryID.h"
@@ -21,7 +20,7 @@ namespace armarx::armem
MemoryID entityID;
/// The entity data.
- std::vector<::armarx::aron::data::AronDataPtr> instancesData;
+ std::vector<aron::datanavigator::AronDataNavigatorPtr> instancesData;
/**
* @brief Time when this entity update was created (e.g. time of image recording).
@@ -45,10 +44,6 @@ namespace armarx::armem
*/
Time timeSent = Time::microSeconds(-1);
-
- std::vector<aron::datanavigator::AronDataNavigatorPtr> getInstancesDataNavigator() const;
- aron::datanavigator::AronDataNavigatorPtr getInstanceDataNavigator(size_t index) const;
-
};
diff --git a/source/RobotAPI/libraries/armem/core/ice_conversions.cpp b/source/RobotAPI/libraries/armem/core/ice_conversions.cpp
index f5913fad7..a5bed94aa 100644
--- a/source/RobotAPI/libraries/armem/core/ice_conversions.cpp
+++ b/source/RobotAPI/libraries/armem/core/ice_conversions.cpp
@@ -83,7 +83,7 @@ namespace armarx
{
update.entityID = MemoryID::fromString(ice.entityID);
- update.instancesData = ice.instancesData;
+ update.instancesData = aron::datanavigator::AronDataNavigator::FromAronData(ice.instancesData);
update.timeCreated = Time::microSeconds(ice.timeCreatedMicroSeconds);
update.confidence = ice.confidence;
@@ -93,7 +93,7 @@ namespace armarx
void armem::toIce(data::EntityUpdate& ice, const EntityUpdate& update)
{
ice.entityID = update.entityID.str();
- ice.instancesData = update.instancesData;
+ ice.instancesData = aron::datanavigator::AronDataNavigator::ToAronData(update.instancesData);
ice.timeCreatedMicroSeconds = update.timeCreated.toMicroSeconds();
ice.confidence = update.confidence;
diff --git a/source/RobotAPI/libraries/armem/memory/EntityInstance.cpp b/source/RobotAPI/libraries/armem/memory/EntityInstance.cpp
index 469aea44a..12810b26e 100644
--- a/source/RobotAPI/libraries/armem/memory/EntityInstance.cpp
+++ b/source/RobotAPI/libraries/armem/memory/EntityInstance.cpp
@@ -33,7 +33,7 @@ namespace armarx::armem
ARMARX_CHECK_FITS_SIZE(index, update.instancesData.size());
this->index() = index;
- setData(update.getInstanceDataNavigator(size_t(index)));
+ setData(update.instancesData.at(size_t(index)));
this->_metadata.confidence = update.confidence;
diff --git a/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp
index f58f4a9b9..e0e62360b 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp
@@ -25,10 +25,13 @@
#define ARMARX_BOOST_TEST
#include <RobotAPI/Test.h>
+
#include "../memory/Memory.h"
#include "../error/ArMemError.h"
+
#include <iostream>
+#include <RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronPrimitiveDataNavigator.h>
namespace armem = armarx::armem;
@@ -111,8 +114,8 @@ BOOST_AUTO_TEST_CASE(test_segment_setup)
update.entityID = armem::MemoryID::fromString("Memory/ImageRGB/SomeRGBImageProvider/image");
update.instancesData =
{
- aron::data::AronDataPtr(new aron::data::AronData()),
- aron::data::AronDataPtr(new aron::data::AronData())
+ std::make_shared<aron::datanavigator::AronIntDataNavigator>(),
+ std::make_shared<aron::datanavigator::AronIntDataNavigator>()
};
update.timeCreated = armem::Time::milliSeconds(1000);
BOOST_CHECK_NO_THROW(providerSegment.update(update));
@@ -132,7 +135,7 @@ BOOST_AUTO_TEST_CASE(test_segment_setup)
// Another update (on memory).
- update.instancesData = { aron::data::AronDataPtr(new aron::data::AronData()) };
+ update.instancesData = { std::make_shared<aron::datanavigator::AronIntDataNavigator>() };
update.timeCreated = armem::Time::milliSeconds(2000);
memory->update(update);
BOOST_CHECK_EQUAL(entity.history.size(), 2);
@@ -141,7 +144,7 @@ BOOST_AUTO_TEST_CASE(test_segment_setup)
// A third update (on entity).
- update.instancesData = { aron::data::AronDataPtr(new aron::data::AronData()) };
+ update.instancesData = { std::make_shared<aron::datanavigator::AronIntDataNavigator>() };
update.timeCreated = armem::Time::milliSeconds(3000);
entity.update(update);
BOOST_CHECK_EQUAL(entity.history.size(), 3);
--
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