Add Commit and EntityUpdate

source/RobotAPI/libraries/armem/CMakeLists.txt

@@ -15,6 +15,8 @@ set(LIB_FILES
     core/MemoryID.cpp
     core/Time.cpp
 
+    client/Commit.cpp
+
     segments/CoreSegment.cpp
     segments/Entity.cpp
     segments/EntityData.cpp
@@ -27,6 +29,8 @@ set(LIB_HEADERS
     core/MemoryID.h
     core/Time.h
 
+    client/Commit.h
+
     segments/CoreSegment.h
     segments/Entity.h
     segments/EntityData.h

source/RobotAPI/libraries/armem/client/Commit.cpp

+#include "Commit.h"
+
+
+namespace armarx::armem
+{
+
+}

source/RobotAPI/libraries/armem/client/Commit.h

+#pragma once
+
+#include <vector>
+
+#include <RobotAPI/interface/aron.h>
+
+#include "../core/MemoryID.h"
+#include "../core/Time.h"
+
+
+namespace armarx::armem
+{
+
+    /**
+     * @brief An update of an entity for a specific point in time.
+     */
+    struct EntityUpdate
+    {
+        /// The entity's ID.
+        MemoryID entityID;
+
+        /// The entity data.
+        aron::AronDataPtr data;
+
+        /**
+         * @brief Time when this entity update was created (e.g. time of image recording).
+         * This is the key of the entity's history.
+         */
+        Time timeCreated = Time::microSeconds(-1);
+
+
+        // OPTIONAL
+
+        /// An optional importance, may be used for decay.
+        float importance = 1.0;
+
+
+        // OPTIONAL
+
+        /**
+         * @brief Time when this update was sent to the memory.
+         *
+         * Set automatically when sending the commit.
+         */
+        Time timeSent = Time::microSeconds(-1);
+    };
+
+
+
+    /**
+     * @brief An update sent to the memory.
+     */
+    struct Commit
+    {
+
+        /**
+         * @brief The entity updates.
+         *
+         * May contain updates of multiple entities at different
+         * points in time.
+         */
+        std::vector<EntityUpdate> updates;
+
+    };
+
+
+}