From ce9a2b88c8bb1d5684d6a98eb4a7b391182e194a Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Tue, 17 Aug 2021 09:18:44 +0200
Subject: [PATCH] Add getLatestInstance() methods
---
.../libraries/armem/core/base/EntityBase.h | 25 ++++++
.../armem/core/base/detail/lookup_mixins.h | 8 +-
.../armem/core/wm/detail/data_lookup_mixins.h | 77 ++++++++++++++++---
.../armem/core/wm/memory_definitions.h | 3 +-
.../armem/server/wm/memory_definitions.h | 2 +-
5 files changed, 98 insertions(+), 17 deletions(-)
diff --git a/source/RobotAPI/libraries/armem/core/base/EntityBase.h b/source/RobotAPI/libraries/armem/core/base/EntityBase.h
index ca9fdd8d6..f45018ff9 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntityBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/EntityBase.h
@@ -340,6 +340,31 @@ namespace armarx::armem::base
}
+ auto* findLatestInstance(int instanceIndex = 0)
+ {
+ auto* snapshot = this->findLatestSnapshot();
+ return snapshot ? snapshot->findInstance(instanceIndex) : nullptr;
+ }
+ const auto* findLatestInstance(int instanceIndex = 0) const
+ {
+ auto* snapshot = this->findLatestSnapshot();
+ return snapshot ? snapshot->findInstance(instanceIndex) : nullptr;
+ }
+
+#if 0 // Do not offer this yet.
+ auto* findLatestInstanceData(int instanceIndex = 0)
+ {
+ auto* instance = this->findLatestInstance(instanceIndex);
+ return instance ? &instance->data() : nullptr;
+ }
+ const auto* findLatestInstanceData(int instanceIndex = 0) const
+ {
+ auto* instance = this->findLatestInstance(instanceIndex);
+ return instance ? &instance->data() : nullptr;
+ }
+#endif
+
+
// ITERATION
/**
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/lookup_mixins.h b/source/RobotAPI/libraries/armem/core/base/detail/lookup_mixins.h
index 030db150d..006a5fbce 100644
--- a/source/RobotAPI/libraries/armem/core/base/detail/lookup_mixins.h
+++ b/source/RobotAPI/libraries/armem/core/base/detail/lookup_mixins.h
@@ -150,12 +150,12 @@ namespace armarx::armem::base::detail
// More elaborate cases
- auto* findLatestEntitySnapshot(const MemoryID& entityID)
+ auto* findLatestSnapshot(const MemoryID& entityID)
{
auto* entity = derived<DerivedT>(this).findEntity(entityID);
return entity ? entity->findLatestSnapshot() : nullptr;
}
- const auto* findLatestEntitySnapshot(const MemoryID& entityID) const
+ const auto* findLatestSnapshot(const MemoryID& entityID) const
{
auto* entity = derived<DerivedT>(this).findEntity(entityID);
return entity ? entity->findLatestSnapshot() : nullptr;
@@ -163,12 +163,12 @@ namespace armarx::armem::base::detail
auto* findLatestInstance(const MemoryID& entityID, int instanceIndex = 0)
{
- auto* snapshot = derived<DerivedT>(this).findLatestEntitySnapshot(entityID);
+ auto* snapshot = derived<DerivedT>(this).findLatestSnapshot(entityID);
return snapshot ? snapshot->findInstance(instanceIndex) : nullptr;
}
const auto* findLatestInstance(const MemoryID& entityID, int instanceIndex = 0) const
{
- auto* snapshot = derived<DerivedT>(this).findLatestEntitySnapshot(entityID);
+ auto* snapshot = derived<DerivedT>(this).findLatestSnapshot(entityID);
return snapshot ? snapshot->findInstance(instanceIndex) : nullptr;
}
diff --git a/source/RobotAPI/libraries/armem/core/wm/detail/data_lookup_mixins.h b/source/RobotAPI/libraries/armem/core/wm/detail/data_lookup_mixins.h
index 280a465cb..c2d240e29 100644
--- a/source/RobotAPI/libraries/armem/core/wm/detail/data_lookup_mixins.h
+++ b/source/RobotAPI/libraries/armem/core/wm/detail/data_lookup_mixins.h
@@ -13,9 +13,74 @@ namespace armarx::armem::wm::detail
using base::detail::derived;
+ template <class AronDtoT>
+ std::optional<AronDtoT>
+ getInstanceDataAs(aron::datanavigator::DictNavigatorPtr data)
+ {
+ if (data)
+ {
+ AronDtoT aron;
+ aron.fromAron(data);
+ return aron;
+ }
+ else
+ {
+ return std::nullopt;
+ }
+ }
+
+
+
+ template <class DerivedT>
+ struct FindInstanceDataMixinForSnapshot
+ {
+
+ aron::datanavigator::DictNavigatorPtr
+ findInstanceData(int instanceIndex = 0) const
+ {
+ const auto* instance = derived<DerivedT>(this).findInstance(instanceIndex);
+ return instance ? instance->data() : nullptr;
+ }
+
+
+ template <class AronDtoT>
+ std::optional<AronDtoT>
+ findInstanceDataAs(int instanceIndex = 0) const
+ {
+ return getInstanceDataAs<AronDtoT>(derived<DerivedT>(this).findInstanceData(instanceIndex));
+ }
+
+ };
+
+
+
+ template <class DerivedT>
+ struct FindInstanceDataMixinForEntity
+ {
+
+ aron::datanavigator::DictNavigatorPtr
+ findLatestInstanceData(int instanceIndex = 0) const
+ {
+ const auto* instance = derived<DerivedT>(this).findLatestInstance(instanceIndex);
+ return instance ? instance->data() : nullptr;
+ }
+
+
+ template <class AronDtoT>
+ std::optional<AronDtoT>
+ findLatestInstanceDataAs(int instanceIndex = 0) const
+ {
+ return getInstanceDataAs<AronDtoT>(derived<DerivedT>(this).findLatestInstanceData(instanceIndex));
+ }
+
+ };
+
+
+
template <class DerivedT>
struct FindInstanceDataMixin
{
+
aron::datanavigator::DictNavigatorPtr
findLatestInstanceData(const MemoryID& entityID, int instanceIndex = 0) const
{
@@ -23,21 +88,11 @@ namespace armarx::armem::wm::detail
return instance ? instance->data() : nullptr;
}
-
template <class AronDtoT>
std::optional<AronDtoT>
findLatestInstanceDataAs(const MemoryID& entityID, int instanceIndex = 0) const
{
- if (aron::datanavigator::DictNavigatorPtr data = derived<DerivedT>(this).findLatestInstanceData(entityID, instanceIndex))
- {
- AronDtoT aron;
- aron.fromAron(data);
- return aron;
- }
- else
- {
- return std::nullopt;
- }
+ return getInstanceDataAs<AronDtoT>(derived<DerivedT>(this).findLatestInstanceData(entityID, instanceIndex));
}
};
diff --git a/source/RobotAPI/libraries/armem/core/wm/memory_definitions.h b/source/RobotAPI/libraries/armem/core/wm/memory_definitions.h
index 5bfc4aa3e..b77ea3c6e 100644
--- a/source/RobotAPI/libraries/armem/core/wm/memory_definitions.h
+++ b/source/RobotAPI/libraries/armem/core/wm/memory_definitions.h
@@ -47,6 +47,7 @@ namespace armarx::armem::wm
/// @see base::EntitySnapshotBase
class EntitySnapshot :
public base::EntitySnapshotBase<EntityInstance, EntitySnapshot>
+ , public detail::FindInstanceDataMixinForSnapshot<EntitySnapshot>
{
public:
@@ -58,7 +59,7 @@ namespace armarx::armem::wm
/// @see base::EntityBase
class Entity :
public base::EntityBase<EntitySnapshot, Entity>
- , public detail::FindInstanceDataMixin<Entity>
+ , public detail::FindInstanceDataMixinForEntity<Entity>
{
public:
diff --git a/source/RobotAPI/libraries/armem/server/wm/memory_definitions.h b/source/RobotAPI/libraries/armem/server/wm/memory_definitions.h
index 5d2036f05..029d185c6 100644
--- a/source/RobotAPI/libraries/armem/server/wm/memory_definitions.h
+++ b/source/RobotAPI/libraries/armem/server/wm/memory_definitions.h
@@ -29,7 +29,7 @@ namespace armarx::armem::server::wm
class Entity :
public base::EntityBase<EntitySnapshot, Entity>
, public detail::MaxHistorySize
- , public armem::wm::detail::FindInstanceDataMixin<Entity>
+ , public armem::wm::detail::FindInstanceDataMixinForEntity<Entity>
{
public:
--
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