From d8d0b333cf3761844a4edb1ce22fdd5e11fcd31d Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Wed, 11 Aug 2021 16:24:37 +0200
Subject: [PATCH] Revise entity get/find functions
---
.../RobotAPI/libraries/armem/CMakeLists.txt | 3 +
.../libraries/armem/core/base/EntityBase.h | 132 ++++++++++--------
.../armem/core/base/detail/derived.h | 22 +++
.../armem/core/base/detail/lookup_mixins.h | 42 ++++--
.../armem/core/longtermmemory/Entity.cpp | 6 -
.../armem/core/longtermmemory/Entity.h | 5 -
.../core/wm/detail/data_lookup_mixins.cpp | 7 +
.../armem/core/wm/detail/data_lookup_mixins.h | 45 ++++++
.../armem/core/wm/memory_definitions.cpp | 49 +------
.../armem/core/wm/memory_definitions.h | 38 ++---
.../base/EntityQueryProcessorBase.h | 38 +++--
.../armem/server/wm/memory_definitions.cpp | 62 --------
12 files changed, 200 insertions(+), 249 deletions(-)
create mode 100644 source/RobotAPI/libraries/armem/core/base/detail/derived.h
create mode 100644 source/RobotAPI/libraries/armem/core/wm/detail/data_lookup_mixins.cpp
create mode 100644 source/RobotAPI/libraries/armem/core/wm/detail/data_lookup_mixins.h
diff --git a/source/RobotAPI/libraries/armem/CMakeLists.txt b/source/RobotAPI/libraries/armem/CMakeLists.txt
index 81a6ad2cf..2427d51f1 100644
--- a/source/RobotAPI/libraries/armem/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem/CMakeLists.txt
@@ -51,6 +51,7 @@ set(LIB_FILES
core/wm/ice_conversions.cpp
core/wm/json_conversions.cpp
core/wm/aron_conversions.cpp
+ core/wm/detail/data_lookup_mixins.cpp
core/wm/visitor/Visitor.cpp
core/wm/visitor/FunctionalVisitor.cpp
@@ -141,6 +142,7 @@ set(LIB_HEADERS
core/base/detail/MemoryItem.h
core/base/detail/MemoryContainerBase.h
core/base/detail/AronTyped.h
+ core/base/detail/derived.h
core/base/detail/iteration_mixins.h
core/base/detail/lookup_mixins.h
core/base/detail/negative_index_semantics.h
@@ -158,6 +160,7 @@ set(LIB_HEADERS
core/wm/aron_conversions.h
core/wm/ice_conversions.h
core/wm/json_conversions.h
+ core/wm/detail/data_lookup_mixins.h
core/wm/visitor/Visitor.h
core/wm/visitor/FunctionalVisitor.h
diff --git a/source/RobotAPI/libraries/armem/core/base/EntityBase.h b/source/RobotAPI/libraries/armem/core/base/EntityBase.h
index 6f23cde75..ce366164f 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntityBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/EntityBase.h
@@ -188,7 +188,28 @@ namespace armarx::armem::base
*/
Time getLatestTimestamp() const
{
- return getLatestItem().first;
+ return this->getLatestSnapshot().time();
+ }
+ /**
+ * @brief Get the oldest timestamp.
+ * @throw `armem::error::EntityHistoryEmpty` If the history is empty.
+ */
+ Time getFirstTimestamp() const
+ {
+ return this->getFirstSnapshot().time();
+ }
+
+ /**
+ * @brief Return the snapshot with the most recent timestamp.
+ * @return The latest snapshot or nullptr if the entity is empty.
+ */
+ EntitySnapshotT* findLatestSnapshot()
+ {
+ return this->empty() ? nullptr : &this->_container.rbegin()->second;
+ }
+ const EntitySnapshotT* findLatestSnapshot() const
+ {
+ return this->empty() ? nullptr : &this->_container.rbegin()->second;
}
/**
@@ -202,12 +223,33 @@ namespace armarx::armem::base
}
const EntitySnapshotT& getLatestSnapshot() const
{
- return getLatestItem().second;
+ if (const EntitySnapshotT* snapshot = this->findLatestSnapshot())
+ {
+ return *snapshot;
+ }
+ else
+ {
+ throw armem::error::EntityHistoryEmpty(name(), "when getting the latest snapshot.");
+ }
}
+
/**
- * @brief Return the snapshot with the most recent timestamp.
- * @return The latest snapshot.
+ * @brief Return the snapshot with the least recent timestamp.
+ * @return The first snapshot or nullptr if the entity is empty.
+ */
+ EntitySnapshotT* findFirstSnapshot()
+ {
+ return this->empty() ? nullptr : &this->_container.begin()->second;
+ }
+ const EntitySnapshotT* findFirstSnapshot() const
+ {
+ return this->empty() ? nullptr : &this->_container.begin()->second;
+ }
+
+ /**
+ * @brief Return the snapshot with the least recent timestamp.
+ * @return The first snapshot.
* @throw `armem::error::EntityHistoryEmpty` If the history is empty.
*/
EntitySnapshotT& getFirstSnapshot()
@@ -216,22 +258,27 @@ namespace armarx::armem::base
}
const EntitySnapshotT& getFirstSnapshot() const
{
- return getFirstItem().second;
+ if (const EntitySnapshotT* snapshot = this->findFirstSnapshot())
+ {
+ return *snapshot;
+ }
+ else
+ {
+ throw armem::error::EntityHistoryEmpty(name(), "when getting the first snapshot.");
+ }
}
/**
* @brief Return the lastest snapshot before time.
* @param time The time.
- * @return The latest snapshot.
- * @throw `armem::error::EntityHistoryEmpty` If the history is empty.
- * @throw `armem::error::MissingEntry` If no such snapshot
+ * @return The latest snapshot < time or nullptr if none was found.
*/
- const EntitySnapshotT& getLatestSnapshotBefore(const Time& time) const
+ const EntitySnapshotT* findLatestSnapshotBefore(const Time& time) const
{
if (this->empty())
{
- throw error::EntityHistoryEmpty(this->name());
+ return nullptr;
}
// We want the rightmost element < time
@@ -241,7 +288,7 @@ namespace armarx::armem::base
// refIt = begin() => no element < time
if (greaterEq == this->_container.begin())
{
- throw error::MissingEntry::create<EntitySnapshotT>(toDateTimeMilliSeconds(time), *this);
+ return nullptr;
}
// end(): No element >= time, we can still have one < time (rbegin()) => std::prev(end())
@@ -251,29 +298,25 @@ namespace armarx::armem::base
typename ContainerT::const_iterator less = std::prev(greaterEq);
// we return the element before if possible
- return less->second;
+ return &less->second;
}
/**
- * @brief Return the lastest snapshot before or at time.
+ * @brief Return the latest snapshot before or at time.
* @param time The time.
- * @return The latest snapshot.
- * @throw `armem::error::EntityHistoryEmpty` If the history is empty.
- * @throw `armem::error::MissingEntry` If no such snapshot
+ * @return The latest snapshot <= time or nullptr if none was found.
*/
- const EntitySnapshotT& getLatestSnapshotBeforeOrAt(const Time& time) const
+ const EntitySnapshotT* findLatestSnapshotBeforeOrAt(const Time& time) const
{
- return getLatestSnapshotBefore(time + Time::microSeconds(1));
+ return findLatestSnapshotBefore(time + Time::microSeconds(1));
}
/**
* @brief Return first snapshot after or at time.
* @param time The time.
- * @return The first snapshot.
- * @throw `armem::error::EntityHistoryEmpty` If the history is empty.
- * @throw `armem::error::MissingEntry` If no such snapshot
+ * @return The first snapshot >= time or nullptr if none was found.
*/
- const EntitySnapshotT& getFirstSnapshotAfterOrAt(const Time& time) const
+ const EntitySnapshotT* findFirstSnapshotAfterOrAt(const Time& time) const
{
// We want the leftmost element >= time.
// That's lower bound.
@@ -281,21 +324,19 @@ namespace armarx::armem::base
if (greaterEq == this->_container.end())
{
- throw error::MissingEntry::create<EntitySnapshotT>(toDateTimeMilliSeconds(time), *this);
+ return nullptr;
}
- return greaterEq->second;
+ return &greaterEq->second;
}
/**
* @brief Return first snapshot after time.
* @param time The time.
- * @return The first snapshot.
- * @throw `armem::error::EntityHistoryEmpty` If the history is empty.
- * @throw `armem::error::MissingEntry` If no such snapshot
+ * @return The first snapshot >= time or nullptr if none was found.
*/
- const EntitySnapshotT& getFirstSnapshotAfter(const Time& time) const
+ const EntitySnapshotT* findFirstSnapshotAfter(const Time& time) const
{
- return getFirstSnapshotAfter(time - Time::microSeconds(1));
+ return findFirstSnapshotAfter(time - Time::microSeconds(1));
}
@@ -544,39 +585,6 @@ namespace armarx::armem::base
return "entity";
}
-
- protected:
-
- /**
- * @brief Return the snapshot with the most recent timestamp.
- * @return The latest snapshot.
- * @throw `armem::error::EntityHistoryEmpty` If the history is empty.
- */
- const typename ContainerT::value_type&
- getLatestItem() const
- {
- if (this->_container.empty())
- {
- throw armem::error::EntityHistoryEmpty(name(), "when getting the latest snapshot.");
- }
- return *this->_container.rbegin();
- }
-
- /**
- * @brief Return the snapshot with the least recent timestamp.
- * @return The first snapshot.
- * @throw `armem::error::EntityHistoryEmpty` If the history is empty.
- */
- const typename ContainerT::value_type&
- getFirstItem() const
- {
- if (this->_container.empty())
- {
- throw armem::error::EntityHistoryEmpty(name(), "when getting the first snapshot.");
- }
- return *this->_container.begin();
- }
-
};
}
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/derived.h b/source/RobotAPI/libraries/armem/core/base/detail/derived.h
new file mode 100644
index 000000000..721becfa0
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/base/detail/derived.h
@@ -0,0 +1,22 @@
+#pragma once
+
+
+namespace armarx::armem::base::detail
+{
+
+ template <class DerivedT, class ThisT>
+ DerivedT&
+ derived(ThisT* t)
+ {
+ return static_cast<DerivedT&>(*t);
+ }
+
+
+ template <class DerivedT, class ThisT>
+ const DerivedT&
+ derived(const ThisT* t)
+ {
+ return static_cast<const DerivedT&>(*t);
+ }
+
+}
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 8afbd7108..030db150d 100644
--- a/source/RobotAPI/libraries/armem/core/base/detail/lookup_mixins.h
+++ b/source/RobotAPI/libraries/armem/core/base/detail/lookup_mixins.h
@@ -1,5 +1,7 @@
#pragma once
+#include "derived.h"
+
#include <RobotAPI/libraries/armem/core/MemoryID.h>
#include <RobotAPI/libraries/armem/core/error/ArMemError.h>
@@ -53,20 +55,6 @@ namespace armarx::armem::base::detail
}
- template <class DerivedT, class ThisT>
- DerivedT&
- derived(ThisT* t)
- {
- return static_cast<DerivedT&>(*t);
- }
- template <class DerivedT, class ThisT>
- const DerivedT&
- derived(const ThisT* t)
- {
- return static_cast<const DerivedT&>(*t);
- }
-
-
template <class DerivedT>
struct GetFindInstanceMixin
{
@@ -158,6 +146,32 @@ namespace armarx::armem::base::detail
{
return derived<DerivedT>(this).getEntity(snapshotID).getSnapshot(snapshotID);
}
+
+
+ // More elaborate cases
+
+ auto* findLatestEntitySnapshot(const MemoryID& entityID)
+ {
+ auto* entity = derived<DerivedT>(this).findEntity(entityID);
+ return entity ? entity->findLatestSnapshot() : nullptr;
+ }
+ const auto* findLatestEntitySnapshot(const MemoryID& entityID) const
+ {
+ auto* entity = derived<DerivedT>(this).findEntity(entityID);
+ return entity ? entity->findLatestSnapshot() : nullptr;
+ }
+
+ auto* findLatestInstance(const MemoryID& entityID, int instanceIndex = 0)
+ {
+ auto* snapshot = derived<DerivedT>(this).findLatestEntitySnapshot(entityID);
+ return snapshot ? snapshot->findInstance(instanceIndex) : nullptr;
+ }
+ const auto* findLatestInstance(const MemoryID& entityID, int instanceIndex = 0) const
+ {
+ auto* snapshot = derived<DerivedT>(this).findLatestEntitySnapshot(entityID);
+ return snapshot ? snapshot->findInstance(instanceIndex) : nullptr;
+ }
+
};
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.cpp
index 6604c26e9..334eca272 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.cpp
@@ -142,10 +142,4 @@ namespace armarx::armem::ltm
return Base::getSnapshot(time);
}
- auto Entity::getLatestItem() const -> const ContainerT::value_type&
- {
- // Directly query mongodb (cache cant know whether it is the latest or not)
- // TODO
- return Base::getLatestItem();
- }
}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.h b/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.h
index 99bc3a736..3bbee7deb 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.h
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.h
@@ -50,11 +50,6 @@ namespace armarx::armem::ltm
std::vector<Time> getTimestamps() const;
const EntitySnapshot& getSnapshot(const Time& time) const;
-
- protected:
- // overrides for LTM storage
- const ContainerT::value_type& getLatestItem() const;
-
public:
MongoDBConnectionManager::MongoDBSettings dbsettings;
diff --git a/source/RobotAPI/libraries/armem/core/wm/detail/data_lookup_mixins.cpp b/source/RobotAPI/libraries/armem/core/wm/detail/data_lookup_mixins.cpp
new file mode 100644
index 000000000..50fd63bf6
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/wm/detail/data_lookup_mixins.cpp
@@ -0,0 +1,7 @@
+#include "data_lookup_mixins.h"
+
+
+namespace armarx::armem::base
+{
+
+}
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
new file mode 100644
index 000000000..7d20a4078
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/wm/detail/data_lookup_mixins.h
@@ -0,0 +1,45 @@
+#pragma once
+
+#include <RobotAPI/libraries/armem/core/forward_declarations.h>
+#include <RobotAPI/libraries/armem/core/base/detail/derived.h>
+
+#include <RobotAPI/libraries/aron/core/navigator/data/forward_declarations.h>
+
+#include <optional>
+
+
+namespace armarx::armem::wm::detail
+{
+ using base::detail::derived;
+
+
+ template <class DerivedT>
+ struct FindInstanceDataMixin
+ {
+ armarx::aron::datanavigator::DictNavigatorPtr
+ findLatestInstanceData(const MemoryID& entityID, int instanceIndex = 0) const
+ {
+ const auto* instance = derived<DerivedT>(*this).findLatestInstance(entityID, instanceIndex);
+ return instance ? instance->data() : nullptr;
+ }
+
+
+ template <class AronDtoT>
+ std::optional<AronDtoT>
+ findLatestInstanceDataAs(const MemoryID& entityID, int instanceIndex = 0) const
+ {
+ if (auto data = derived<DerivedT>(*this).findLatestInstanceData(entityID, instanceIndex))
+ {
+ AronDtoT aron;
+ aron.fromAron(data);
+ return aron;
+ }
+ else
+ {
+ return std::nullopt;
+ }
+ }
+
+ };
+
+}
diff --git a/source/RobotAPI/libraries/armem/core/wm/memory_definitions.cpp b/source/RobotAPI/libraries/armem/core/wm/memory_definitions.cpp
index c9516fc3b..de5ad02c2 100644
--- a/source/RobotAPI/libraries/armem/core/wm/memory_definitions.cpp
+++ b/source/RobotAPI/libraries/armem/core/wm/memory_definitions.cpp
@@ -9,6 +9,7 @@
#include <vector>
+
namespace armarx::armem::wm
{
@@ -41,52 +42,4 @@ namespace armarx::armem::wm
this->_metadata.timeArrived = update.timeArrived;
}
-
-
- std::optional<wm::EntitySnapshot> CoreSegment::getLatestEntitySnapshot(const MemoryID& entityID) const
- {
- const wm::Entity& entity = this->getEntity(entityID);
- if (entity.empty())
- {
- return std::nullopt;
- }
- else
- {
- return entity.getLatestSnapshot();
- }
- }
-
-
- std::optional<wm::EntityInstance> CoreSegment::getLatestEntityInstance(
- const MemoryID& entityID, int instanceIndex) const
- {
- auto snapshot = getLatestEntitySnapshot(entityID);
- if (snapshot.has_value()
- and instanceIndex >= 0
- and static_cast<size_t>(instanceIndex) < snapshot->size())
- {
- return snapshot->getInstance(instanceIndex);
- }
- else
- {
- return std::nullopt;
- }
- }
-
-
- armarx::aron::datanavigator::DictNavigatorPtr
- CoreSegment::getLatestEntityInstanceData(const MemoryID& entityID, int instanceIndex) const
- {
- auto instance = getLatestEntityInstance(entityID, instanceIndex);
- if (instance.has_value())
- {
- return instance->data();
- }
- else
- {
- return nullptr;
- }
- }
-
-
}
diff --git a/source/RobotAPI/libraries/armem/core/wm/memory_definitions.h b/source/RobotAPI/libraries/armem/core/wm/memory_definitions.h
index 679153b47..c4998b889 100644
--- a/source/RobotAPI/libraries/armem/core/wm/memory_definitions.h
+++ b/source/RobotAPI/libraries/armem/core/wm/memory_definitions.h
@@ -7,7 +7,7 @@
#include <RobotAPI/libraries/armem/core/base/CoreSegmentBase.h>
#include <RobotAPI/libraries/armem/core/base/MemoryBase.h>
-#include <optional>
+#include "detail/data_lookup_mixins.h"
namespace armarx::armem::wm
@@ -56,6 +56,7 @@ namespace armarx::armem::wm
/// @see base::EntityBase
class Entity :
public base::EntityBase<EntitySnapshot, Entity>
+ , public detail::FindInstanceDataMixin<Entity>
{
public:
@@ -68,10 +69,13 @@ namespace armarx::armem::wm
/// @see base::ProviderSegmentBase
class ProviderSegment :
public base::ProviderSegmentBase<Entity, ProviderSegment>
+ , public detail::FindInstanceDataMixin<ProviderSegment>
{
+ using Base = base::ProviderSegmentBase<Entity, ProviderSegment>;
+
public:
- using base::ProviderSegmentBase<Entity, ProviderSegment>::ProviderSegmentBase;
+ using Base::ProviderSegmentBase;
};
@@ -80,6 +84,7 @@ namespace armarx::armem::wm
/// @see base::CoreSegmentBase
class CoreSegment :
public base::CoreSegmentBase<ProviderSegment, CoreSegment>
+ , public detail::FindInstanceDataMixin<CoreSegment>
{
using Base = base::CoreSegmentBase<ProviderSegment, CoreSegment>;
@@ -87,34 +92,6 @@ namespace armarx::armem::wm
using Base::CoreSegmentBase;
-
- // Non-locking interface
-
- std::optional<wm::EntitySnapshot> getLatestEntitySnapshot(
- const MemoryID& entityID) const;
- std::optional<wm::EntityInstance> getLatestEntityInstance(
- const MemoryID& entityID, int instanceIndex = 0) const;
- armarx::aron::datanavigator::DictNavigatorPtr getLatestEntityInstanceData(
- const MemoryID& entityID, int instanceIndex = 0) const;
-
-
- template <class AronDtoT>
- std::optional<AronDtoT> getLatestEntityInstanceDataAs(
- const MemoryID& entityID, int instanceIndex = 0) const
- {
- wm::EntityInstanceDataPtr data = getLatestEntityInstanceData(entityID, instanceIndex);
- if (data)
- {
- AronDtoT aron;
- aron.fromAron(data);
- return aron;
- }
- else
- {
- return std::nullopt;
- }
- }
-
};
@@ -122,6 +99,7 @@ namespace armarx::armem::wm
/// @see base::MemoryBase
class Memory :
public base::MemoryBase<CoreSegment, Memory>
+ , public detail::FindInstanceDataMixin<Memory>
{
using Base = base::MemoryBase<CoreSegment, Memory>;
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.h
index 0c4a842fa..f986c7a81 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.h
@@ -184,14 +184,9 @@ namespace armarx::armem::server::query_proc::base
const auto referenceTimestamp = fromIce<Time>(query.timestamp);
ARMARX_CHECK(referenceTimestamp.toMicroSeconds() >= 0) << "Reference timestamp is negative!";
- try
+ if (auto* beforeOrAt = entity.findLatestSnapshotBeforeOrAt(referenceTimestamp))
{
- auto beforeOrAt = entity.getLatestSnapshotBeforeOrAt(referenceTimestamp);
- addResultSnapshot(result, beforeOrAt);
- }
- catch (const armem::error::MissingEntry&)
- {
- // Leave empty.
+ addResultSnapshot(result, *beforeOrAt);
}
}
@@ -231,11 +226,11 @@ namespace armarx::armem::server::query_proc::base
const armem::query::data::entity::TimeApprox& query,
const EntityT& entity) const
{
- const auto referenceTimestamp = fromIce<Time>(query.timestamp);
+ const Time referenceTimestamp = fromIce<Time>(query.timestamp);
ARMARX_CHECK(referenceTimestamp.toMicroSeconds() >= 0) << "Reference timestamp is negative!";
- const auto referenceTimestampMicroSeconds = referenceTimestamp.toMicroSeconds();
- const auto epsDuration = fromIce<Time>(query.eps).toMicroSeconds();
+ const float referenceTimestampMicroSeconds = referenceTimestamp.toMicroSeconds();
+ const float epsDuration = fromIce<Time>(query.eps).toMicroSeconds();
// elements have to be in range [t_ref - eps, t_ref + eps] if eps is positive
const auto isInRange = [&](const Time & t) -> bool
@@ -248,15 +243,14 @@ namespace armarx::armem::server::query_proc::base
return std::abs(t.toMicroSeconds() - referenceTimestampMicroSeconds) <= epsDuration;
};
- try
+ // last element before or at timestamp
+ if (auto* beforeOrAt = entity.findLatestSnapshotBeforeOrAt(referenceTimestamp))
{
- // last element before or at timestamp
- auto beforeOrAt = entity.getLatestSnapshotBeforeOrAt(referenceTimestamp);
- const auto timestampOfMatchBefore = beforeOrAt.id().timestamp;
+ const auto timestampOfMatchBefore = beforeOrAt->id().timestamp;
const auto isPerfectMatch = timestampOfMatchBefore == referenceTimestamp;
if (isInRange(timestampOfMatchBefore))
{
- addResultSnapshot(result, beforeOrAt);
+ addResultSnapshot(result, *beforeOrAt);
}
// earsly stop, not necessary to also get the next since the match is perfect
@@ -266,16 +260,16 @@ namespace armarx::armem::server::query_proc::base
}
// first element after or at timestamp (or at because of fewer checks, we can assure that there is not element at)
- const auto after = entity.getFirstSnapshotAfterOrAt(referenceTimestamp);
- const auto timestampOfMatchAfter = after.id().timestamp;
- if (isInRange(timestampOfMatchAfter))
+ const auto* after = entity.findFirstSnapshotAfterOrAt(referenceTimestamp);
+ if (after)
{
- addResultSnapshot(result, after);
+ const auto timestampOfMatchAfter = after->id().timestamp;
+ if (isInRange(timestampOfMatchAfter))
+ {
+ addResultSnapshot(result, *after);
+ }
}
}
- catch (const armem::error::MissingEntry&)
- {
- }
}
diff --git a/source/RobotAPI/libraries/armem/server/wm/memory_definitions.cpp b/source/RobotAPI/libraries/armem/server/wm/memory_definitions.cpp
index 58be8027d..7cf7d4e22 100644
--- a/source/RobotAPI/libraries/armem/server/wm/memory_definitions.cpp
+++ b/source/RobotAPI/libraries/armem/server/wm/memory_definitions.cpp
@@ -44,74 +44,12 @@ namespace armarx::armem::server::wm
- Entity& ProviderSegment::addEntity(Entity&& entity)
- {
- Entity& added = ProviderSegmentBase::addEntity(std::move(entity));
- added.setMaxHistorySize(this->getMaxHistorySize());
- return added;
- }
-
-
-
std::mutex& CoreSegment::mutex() const
{
return _mutex;
}
- std::optional<wm::EntitySnapshot> CoreSegment::getLatestEntitySnapshot(const MemoryID& entityID) const
- {
- const wm::Entity& entity = this->getEntity(entityID);
- if (entity.empty())
- {
- return std::nullopt;
- }
- else
- {
- return entity.getLatestSnapshot();
- }
- }
-
-
- std::optional<wm::EntityInstance> CoreSegment::getLatestEntityInstance(
- const MemoryID& entityID, int instanceIndex) const
- {
- auto snapshot = getLatestEntitySnapshot(entityID);
- if (snapshot.has_value()
- and instanceIndex >= 0
- and static_cast<size_t>(instanceIndex) < snapshot->size())
- {
- return snapshot->getInstance(instanceIndex);
- }
- else
- {
- return std::nullopt;
- }
- }
-
-
- armarx::aron::datanavigator::DictNavigatorPtr
- CoreSegment::getLatestEntityInstanceData(const MemoryID& entityID, int instanceIndex) const
- {
- auto instance = getLatestEntityInstance(entityID, instanceIndex);
- if (instance.has_value())
- {
- return instance->data();
- }
- else
- {
- return nullptr;
- }
- }
-
-
- ProviderSegment& CoreSegment::addProviderSegment(ProviderSegment&& providerSegment)
- {
- ProviderSegmentT& added = CoreSegmentBase::addProviderSegment(std::move(providerSegment));
- added.setMaxHistorySize(this->getMaxHistorySize());
- return added;
- }
-
std::optional<wm::EntitySnapshot>
CoreSegment::getLatestEntitySnapshotLocking(const MemoryID& entityID) const
--
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