Add ice interface and conversion (ice file name not final)

source/RobotAPI/interface/CMakeLists.txt

@@ -101,6 +101,7 @@ set(SLICE_FILES
 
     aron.ice
     armem.ice
+    armem/client.ice
     test2.ice
 
     components/ObstacleAvoidance/ObstacleAvoidanceInterface.ice

source/RobotAPI/interface/armem/client.ice

+#pragma once
+
+#include <RobotAPI/interface/aron.ice>
+
+
+module armarx
+{
+    module armem
+    {
+        module data
+        {
+            struct EntityUpdate
+            {
+                string entityID;
+                aron::AronDataList instancesData;
+                long timeCreatedMicroSeconds;
+
+                float importance;
+                long timeSentMicroSeconds;
+            };
+            sequence<EntityUpdate> EntityUpdateList;
+            struct Commit
+            {
+                EntityUpdateList updates;
+            };
+        }
+
+
+        interface ArMemMemoryInterface
+        {
+            string commit(data::Commit commit);
+        };
+
+    };
+};

source/RobotAPI/libraries/armem/CMakeLists.txt

@@ -15,6 +15,7 @@ set(LIB_FILES
     core/Commit.cpp
     core/MemoryID.cpp
     core/Time.cpp
+    core/ice_conversions.cpp
 
     error/ArmemError.cpp
 
@@ -33,6 +34,7 @@ set(LIB_HEADERS
     core/Commit.h
     core/MemoryID.h
     core/Time.h
+    core/ice_conversions.h
 
     error/ArmemError.h
 

source/RobotAPI/libraries/armem/core/ice_conversions.cpp

+#include "ice_conversions.h"
+
+
+namespace armarx
+{
+
+    void armem::fromIce(const data::Commit& ice, Commit& commit)
+    {
+        commit.updates.clear();
+        for (const auto& ice_update : ice.updates)
+        {
+            EntityUpdate& update = commit.updates.emplace_back(EntityUpdate());
+            fromIce(ice_update, update);
+        }
+    }
+
+    void armem::toIce(data::Commit& ice, const Commit& commit)
+    {
+        ice.updates.clear();
+        for (const auto& update : commit.updates)
+        {
+            data::EntityUpdate& ice_update = ice.updates.emplace_back(data::EntityUpdate());
+            toIce(ice_update, update);
+        }
+    }
+
+
+    void armem::fromIce(const data::EntityUpdate& ice, EntityUpdate& update)
+    {
+        update.entityID = MemoryID::fromString(ice.entityID);
+        update.instancesData = ice.instancesData;
+        update.timeCreated = Time::microSeconds(ice.timeCreatedMicroSeconds);
+
+        update.importance = ice.importance;
+        update.timeSent = Time::microSeconds(ice.timeSentMicroSeconds);
+    }
+
+    void armem::toIce(data::EntityUpdate& ice, const EntityUpdate& update)
+    {
+        ice.entityID = update.entityID.str();
+        ice.instancesData = update.instancesData;
+        ice.timeCreatedMicroSeconds = update.timeCreated.toMicroSeconds();
+
+        ice.importance = update.importance;
+        ice.timeSentMicroSeconds = update.timeSent.toMicroSeconds();
+    }
+
+}

source/RobotAPI/libraries/armem/core/ice_conversions.h

+#pragma once
+
+
+#include <RobotAPI/interface/armem/client.h>
+
+#include "Commit.h"
+
+
+namespace armarx::armem
+{
+
+    void fromIce(const data::Commit& ice, Commit& commit);
+    void toIce(data::Commit& ice, const Commit& commit);
+
+    void fromIce(const data::EntityUpdate& ice, EntityUpdate& update);
+    void toIce(data::EntityUpdate& ice, const EntityUpdate& update);
+
+}