From def519e4b00f1cdee91cc5a43578dcccf72b0146 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Wed, 28 Apr 2021 11:55:00 +0200
Subject: [PATCH] Update includes, namespaces and names
---
.../armem_gui/instance/InstanceViewList.h | 2 +-
.../armem_objects/server/class/Segment.cpp | 8 +--
.../armem_objects/server/class/Segment.h | 4 +-
.../armem_objects/server/instance/Segment.cpp | 58 +++++++++----------
.../armem_objects/server/instance/Segment.h | 36 ++++++------
5 files changed, 54 insertions(+), 54 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_gui/instance/InstanceViewList.h b/source/RobotAPI/libraries/armem_gui/instance/InstanceViewList.h
index 640712dff..5f937f419 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/InstanceViewList.h
+++ b/source/RobotAPI/libraries/armem_gui/instance/InstanceViewList.h
@@ -6,7 +6,7 @@
#include <RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronObjectTypeNavigator.h>
-#include <RobotAPI/libraries/armem/core/Memory.h>
+#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
class QGroupBox;
diff --git a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
index eb460d47f..fcb0d8156 100644
--- a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
@@ -38,9 +38,9 @@ namespace armarx::armem::server::obj::clazz
void Segment::init()
{
- ARMARX_CHECK_NOT_NULL(iceMemory.memory);
+ ARMARX_CHECK_NOT_NULL(iceMemory.workingMemory);
- coreSegment = &iceMemory.memory->addCoreSegment(p.coreSegmentName, arondto::ObjectClass::toInitialAronType());
+ coreSegment = &iceMemory.workingMemory->addCoreSegment(p.coreSegmentName, arondto::ObjectClass::toInitialAronType());
coreSegment->setMaxHistorySize(p.maxHistorySize);
if (p.loadFromObjectsPackage)
@@ -113,8 +113,8 @@ namespace armarx::armem::server::obj::clazz
{
try
{
- armem::Entity& entity = coreSegment->getEntity(entityID);
- armem::EntityInstance& instance = entity.getLatestSnapshot().getInstance(0);
+ const armem::wm::Entity& entity = coreSegment->getEntity(entityID);
+ const armem::wm::EntityInstance& instance = entity.getLatestSnapshot().getInstance(0);
arondto::ObjectClass aron;
aron.fromAron(instance.data());
diff --git a/source/RobotAPI/libraries/armem_objects/server/class/Segment.h b/source/RobotAPI/libraries/armem_objects/server/class/Segment.h
index 97c0af8d6..92fa7c182 100644
--- a/source/RobotAPI/libraries/armem_objects/server/class/Segment.h
+++ b/source/RobotAPI/libraries/armem_objects/server/class/Segment.h
@@ -12,7 +12,7 @@
#include <RobotAPI/libraries/ArmarXObjects/ObjectID.h>
#include <RobotAPI/libraries/ArmarXObjects/ObjectFinder.h>
-#include <RobotAPI/libraries/armem/core/Memory.h>
+#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
#include <RobotAPI/libraries/armem_objects/aron/ObjectClass.aron.generated.h>
@@ -45,7 +45,7 @@ namespace armarx::armem::server::obj::clazz
private:
armem::server::MemoryToIceAdapter& iceMemory;
- armem::CoreSegment* coreSegment = nullptr;
+ armem::wm::CoreSegment* coreSegment = nullptr;
std::mutex& memoryMutex;
ObjectFinder objectFinder;
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
index 6283f6aa0..94838ec6b 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
@@ -3,7 +3,7 @@
#include <RobotAPI/libraries/armem_objects/aron_conversions.h>
#include <RobotAPI/libraries/armem/core/aron_conversions.h>
-#include <RobotAPI/libraries/armem/core/Visitor.h>
+#include <RobotAPI/libraries/armem/core/workingmemory/Visitor.h>
#include <RobotAPI/libraries/armem/client/Writer.h>
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/client/query/query_fns.h>
@@ -72,9 +72,9 @@ namespace armarx::armem::server::obj::instance
void Segment::init()
{
- ARMARX_CHECK_NOT_NULL(iceMemory.memory);
+ ARMARX_CHECK_NOT_NULL(iceMemory.workingMemory);
- coreSegment = &iceMemory.memory->addCoreSegment(p.coreSegmentName, arondto::ObjectInstance::toInitialAronType());
+ coreSegment = &iceMemory.workingMemory->addCoreSegment(p.coreSegmentName, arondto::ObjectInstance::toInitialAronType());
coreSegment->setMaxHistorySize(p.maxHistorySize);
}
@@ -95,7 +95,7 @@ namespace armarx::armem::server::obj::instance
// Check whether we have an old snapshot for this object.
std::optional<objpose::ObjectPose> previousPose;
- const armem::Entity* entity = findObjectEntity(armarx::fromIce(provided.objectID), providerName);
+ const armem::wm::Entity* entity = findObjectEntity(armarx::fromIce(provided.objectID), providerName);
if (entity)
{
const arondto::ObjectInstance data = getLatestInstanceData(*entity);
@@ -166,16 +166,16 @@ namespace armarx::armem::server::obj::instance
ARMARX_CHECK_NOT_NULL(coreSegment);
// Update memory.
- const armem::MemoryID providerSegmentID = coreSegment->id().withProviderSegmentName(providerName);
+ const MemoryID providerSegmentID = coreSegment->id().withProviderSegmentName(providerName);
if (!coreSegment->hasProviderSegment(providerSegmentID.providerSegmentName))
{
coreSegment->addProviderSegment(providerSegmentID.providerSegmentName);
}
- armem::Commit commit;
+ Commit commit;
for (const objpose::ObjectPose& pose : objectPoses)
{
- armem::EntityUpdate& update = commit.updates.emplace_back();
+ EntityUpdate& update = commit.updates.emplace_back();
{
update.entityID = providerSegmentID.withEntityName(pose.objectID.str());
update.timeArrived = TimeUtil::GetTime();
@@ -197,13 +197,13 @@ namespace armarx::armem::server::obj::instance
}
- armem::CoreSegment& Segment::getCoreSegment()
+ wm::CoreSegment& Segment::getCoreSegment()
{
ARMARX_CHECK_NOT_NULL(coreSegment);
return *coreSegment;
}
- const armem::CoreSegment& Segment::getCoreSegment() const
+ const wm::CoreSegment& Segment::getCoreSegment() const
{
ARMARX_CHECK_NOT_NULL(coreSegment);
return *coreSegment;
@@ -227,7 +227,7 @@ namespace armarx::armem::server::obj::instance
return filterObjectPoses(objectPoses);
}
- armem::Entity* Segment::findObjectEntity(const ObjectID& objectID, const std::string& providerName)
+ armem::wm::Entity* Segment::findObjectEntity(const ObjectID& objectID, const std::string& providerName)
{
ARMARX_CHECK_NOT_NULL(coreSegment);
armem::MemoryID entityID = armem::MemoryID().withEntityName(objectID.str());
@@ -247,7 +247,7 @@ namespace armarx::armem::server::obj::instance
entityID.providerSegmentName = providerName;
if (coreSegment->hasProviderSegment(providerName))
{
- armem::ProviderSegment& prov = coreSegment->getProviderSegment(providerName);
+ armem::wm::ProviderSegment& prov = coreSegment->getProviderSegment(providerName);
return prov.hasEntity(entityID.entityName) ? &prov.getEntity(entityID) : nullptr;
}
else
@@ -335,28 +335,28 @@ namespace armarx::armem::server::obj::instance
return getLatestObjectPoses(*coreSegment);
}
- objpose::ObjectPoseSeq Segment::getLatestObjectPoses(const armem::CoreSegment& coreSeg)
+ objpose::ObjectPoseSeq Segment::getLatestObjectPoses(const armem::wm::CoreSegment& coreSeg)
{
ObjectPoseSeq result;
getLatestObjectPoses(coreSeg, result);
return result;
}
- objpose::ObjectPoseSeq Segment::getLatestObjectPoses(const armem::ProviderSegment& provSeg)
+ objpose::ObjectPoseSeq Segment::getLatestObjectPoses(const armem::wm::ProviderSegment& provSeg)
{
ObjectPoseSeq result;
getLatestObjectPoses(provSeg, result);
return result;
}
- objpose::ObjectPose Segment::getLatestObjectPose(const armem::Entity& entity)
+ objpose::ObjectPose Segment::getLatestObjectPose(const armem::wm::Entity& entity)
{
ObjectPose result;
getLatestObjectPose(entity, result);
return result;
}
- void Segment::getLatestObjectPoses(const armem::CoreSegment& coreSeg, ObjectPoseSeq& out)
+ void Segment::getLatestObjectPoses(const armem::wm::CoreSegment& coreSeg, ObjectPoseSeq& out)
{
for (const auto& [_, provSegment] : coreSeg)
{
@@ -364,7 +364,7 @@ namespace armarx::armem::server::obj::instance
}
}
- void Segment::getLatestObjectPoses(const armem::ProviderSegment& provSegment, ObjectPoseSeq& out)
+ void Segment::getLatestObjectPoses(const armem::wm::ProviderSegment& provSegment, ObjectPoseSeq& out)
{
for (const auto& [_, entity] : provSegment)
{
@@ -376,9 +376,9 @@ namespace armarx::armem::server::obj::instance
}
}
- void Segment::getLatestObjectPose(const armem::Entity& entity, ObjectPose& out)
+ void Segment::getLatestObjectPose(const armem::wm::Entity& entity, ObjectPose& out)
{
- for (const armem::EntityInstance& instance : entity.getLatestSnapshot())
+ for (const armem::wm::EntityInstance& instance : entity.getLatestSnapshot())
{
arondto::ObjectInstance dto;
dto.fromAron(instance.data());
@@ -388,13 +388,13 @@ namespace armarx::armem::server::obj::instance
}
- arondto::ObjectInstance Segment::getLatestInstanceData(const armem::Entity& entity)
+ arondto::ObjectInstance Segment::getLatestInstanceData(const armem::wm::Entity& entity)
{
ARMARX_CHECK_GREATER_EQUAL(entity.size(), 1);
- const armem::EntitySnapshot& snapshot = entity.getLatestSnapshot();
+ const armem::wm::EntitySnapshot& snapshot = entity.getLatestSnapshot();
ARMARX_CHECK_EQUAL(snapshot.size(), 1);
- const armem::EntityInstance& instance = snapshot.getInstance(0);
+ const armem::wm::EntityInstance& instance = snapshot.getInstance(0);
arondto::ObjectInstance data;
data.fromAron(instance.data());
@@ -457,7 +457,7 @@ namespace armarx::armem::server::obj::instance
// Find object pose (provider name can be empty).
- armem::Entity* objectEntity = this->findObjectEntity(objectID, input.providerName);
+ armem::wm::Entity* objectEntity = this->findObjectEntity(objectID, input.providerName);
if (!objectEntity || objectEntity->empty())
{
ARMARX_WARNING << "Tried to attach object " << objectID << " to node '" << frameName
@@ -529,7 +529,7 @@ namespace armarx::armem::server::obj::instance
{
// Remove from latest pose (if it was cached).
// Find object pose (provider name can be empty).
- armem::Entity* entity = this->findObjectEntity(objectID, input.providerName);
+ armem::wm::Entity* entity = this->findObjectEntity(objectID, input.providerName);
if (entity)
{
const arondto::ObjectInstance data = getLatestInstanceData(*entity);
@@ -565,7 +565,7 @@ namespace armarx::armem::server::obj::instance
}
- struct DetachVisitor : public armem::Visitor
+ struct DetachVisitor : public armem::wm::Visitor
{
Segment& owner;
armem::Time now;
@@ -578,10 +578,10 @@ namespace armarx::armem::server::obj::instance
{
}
- virtual bool visitEnter(armem::Entity& entity) override;
+ virtual bool visitEnter(armem::wm::Entity& entity) override;
};
- bool DetachVisitor::visitEnter(armem::Entity& entity)
+ bool DetachVisitor::visitEnter(armem::wm::Entity& entity)
{
const arondto::ObjectInstance data = owner.getLatestInstanceData(entity);
if (data.pose.attachmentValid)
@@ -614,7 +614,7 @@ namespace armarx::armem::server::obj::instance
}
void Segment::storeDetachedSnapshot(
- armem::Entity& entity,
+ armem::wm::Entity& entity,
const arondto::ObjectInstance& data,
armem::Time now,
bool commitAttachedPose)
@@ -648,12 +648,12 @@ namespace armarx::armem::server::obj::instance
}
- std::optional<EntityInstance> Segment::findClassInstance(const ObjectID& objectID)
+ std::optional<wm::EntityInstance> Segment::findClassInstance(const ObjectID& objectID)
{
const ObjectID classID = { objectID.dataset(), objectID.className() };
try
{
- for (const auto& [_, provSeg] : iceMemory.memory->getCoreSegment("Class"))
+ for (const auto& [_, provSeg] : iceMemory.workingMemory->getCoreSegment("Class"))
{
return provSeg.getEntity(classID.str()).getLatestSnapshot().getInstance(0);
}
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
index 5e82e2ac4..54314054a 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
@@ -16,7 +16,7 @@
#include <RobotAPI/libraries/ArmarXObjects/ObjectPose.h>
#include <RobotAPI/libraries/ArmarXObjects/ObjectFinder.h>
-#include <RobotAPI/libraries/armem/core/Memory.h>
+#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
#include <RobotAPI/libraries/armem_objects/aron/ObjectInstance.aron.generated.h>
@@ -40,7 +40,7 @@ namespace armarx::armem::server::obj::instance
public:
- Segment(armem::server::MemoryToIceAdapter& iceMemory,
+ Segment(server::MemoryToIceAdapter& iceMemory,
std::mutex& memoryMutex);
@@ -52,18 +52,18 @@ namespace armarx::armem::server::obj::instance
CommitStats commitObjectPoses(
const std::string& providerName,
const objpose::data::ProvidedObjectPoseSeq& providedPoses,
- std::optional<armem::Time> discardUpdatesUntil = std::nullopt);
+ std::optional<Time> discardUpdatesUntil = std::nullopt);
void commitObjectPoses(const std::string& providerName, const ObjectPoseSeq& objectPoses);
- armem::CoreSegment& getCoreSegment();
- const armem::CoreSegment& getCoreSegment() const;
+ wm::CoreSegment& getCoreSegment();
+ const wm::CoreSegment& getCoreSegment() const;
objpose::ObjectPoseSeq getObjectPoses(IceUtil::Time now);
objpose::ObjectPoseSeq getObjectPosesByProvider(const std::string& providerName, IceUtil::Time now);
- armem::Entity* findObjectEntity(const ObjectID& objectID, const std::string& providerName = "");
+ wm::Entity* findObjectEntity(const ObjectID& objectID, const std::string& providerName = "");
std::optional<simox::OrientedBoxf> getObjectOOBB(const ObjectID& id);
objpose::ProviderInfo getProviderInfo(const std::string& providerName);
@@ -87,15 +87,15 @@ namespace armarx::armem::server::obj::instance
bool& synchronized) const;
- static ObjectPoseSeq getLatestObjectPoses(const armem::CoreSegment& coreSeg);
- static ObjectPoseSeq getLatestObjectPoses(const armem::ProviderSegment& provSeg);
- static ObjectPose getLatestObjectPose(const armem::Entity& entity);
+ static ObjectPoseSeq getLatestObjectPoses(const wm::CoreSegment& coreSeg);
+ static ObjectPoseSeq getLatestObjectPoses(const wm::ProviderSegment& provSeg);
+ static ObjectPose getLatestObjectPose(const wm::Entity& entity);
- static void getLatestObjectPoses(const armem::CoreSegment& coreSeg, ObjectPoseSeq& out);
- static void getLatestObjectPoses(const armem::ProviderSegment& provSeg, ObjectPoseSeq& out);
- static void getLatestObjectPose(const armem::Entity& entity, ObjectPose& out);
+ static void getLatestObjectPoses(const wm::CoreSegment& coreSeg, ObjectPoseSeq& out);
+ static void getLatestObjectPoses(const wm::ProviderSegment& provSeg, ObjectPoseSeq& out);
+ static void getLatestObjectPose(const wm::Entity& entity, ObjectPose& out);
- static arondto::ObjectInstance getLatestInstanceData(const armem::Entity& entity);
+ static arondto::ObjectInstance getLatestInstanceData(const wm::Entity& entity);
private:
@@ -123,13 +123,13 @@ namespace armarx::armem::server::obj::instance
void storeDetachedSnapshot(
- armem::Entity& entity,
+ wm::Entity& entity,
const arondto::ObjectInstance& data,
- armem::Time now,
+ Time now,
bool commitAttachedPose);
- std::optional<EntityInstance> findClassInstance(const ObjectID& objectID);
+ std::optional<wm::EntityInstance> findClassInstance(const ObjectID& objectID);
friend struct DetachVisitor;
@@ -151,8 +151,8 @@ namespace armarx::armem::server::obj::instance
private:
- armem::server::MemoryToIceAdapter& iceMemory;
- armem::CoreSegment* coreSegment = nullptr;
+ server::MemoryToIceAdapter& iceMemory;
+ wm::CoreSegment* coreSegment = nullptr;
std::mutex& memoryMutex;
--
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