armem_objects/server: using virtual robot reader (new memory) instead of robot state component

source/RobotAPI/libraries/armem_objects/server/CMakeLists.txt

@@ -21,6 +21,9 @@ armarx_add_library(
         RobotAPI::armem_robot
         RobotAPI::armem_objects
 
+        armem_robot_state
+        armem_robot
+
     HEADERS
 
         class/FloorVis.h
@@ -51,4 +54,3 @@ armarx_add_library(
 
 
 add_library(${PROJECT_NAME}::armem_objects_server ALIAS armem_objects_server)
-

source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp

@@ -27,6 +27,7 @@
 #include <RobotAPI/libraries/core/FramedPose.h>
 #include <RobotAPI/libraries/core/remoterobot/RemoteRobot.h>
 
+#include "ArmarXCore/core/time/Clock.h"
 #include <ArmarXCore/core/ice_conversions/ice_conversions_templates.h>
 #include <ArmarXCore/core/logging/Logging.h>
 #include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
@@ -190,6 +191,8 @@ namespace armarx::armem::server::obj::instance
                 // Update the entity.
                 stats.numUpdated++;
 
+                ARMARX_CHECK(virtualRobotReader->synchronizeRobot(*robot, timestamp));
+
                 objpose::ObjectPose& newPose = newObjectPoses.emplace_back();
                 if (provided.objectPoseFrame.empty())
                 {
@@ -394,7 +397,12 @@ namespace armarx::armem::server::obj::instance
 
         if (!synchronized)  // Synchronize only once.
         {
-            RemoteRobot::synchronizeLocalClone(agent, robotStateComponent);
+            const auto timestamp = armarx::Clock::Now();
+
+            ARMARX_CHECK_NOT_NULL(agent);
+            ARMARX_CHECK_NOT_NULL(virtualRobotReader);
+
+            ARMARX_CHECK(virtualRobotReader->synchronizeRobot(*agent, timestamp));
             synchronized = true;
         }
         objectPose.updateAttached(agent);
@@ -653,7 +661,10 @@ namespace armarx::armem::server::obj::instance
         }
         else
         {
-            RemoteRobot::synchronizeLocalClone(agent, robotStateComponent);
+            ARMARX_CHECK_NOT_NULL(virtualRobotReader);
+
+            const auto timestamp = armarx::Clock::Now();
+            ARMARX_CHECK(virtualRobotReader->synchronizeRobot(*agent, timestamp));
 
             armarx::FramedPose framed(data.pose.objectPoseGlobal, armarx::GlobalFrame, agent->getName());
             if (frameName == armarx::GlobalFrame)

source/RobotAPI/libraries/armem_objects/server/instance/Segment.h

@@ -8,6 +8,7 @@
 #include <SimoxUtility/caching/CacheMap.h>
 #include <SimoxUtility/shapes/OrientedBox.h>
 
+#include "RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h"
 #include <RobotAPI/interface/core/RobotState.h>
 #include <RobotAPI/interface/objectpose/ObjectPoseStorageInterface.h>
 
@@ -158,7 +159,7 @@ namespace armarx::armem::server::obj::instance
 
     public:
 
-        RobotStateComponentInterfacePrx robotStateComponent;
+        robot_state::VirtualRobotReader* virtualRobotReader;
         VirtualRobot::RobotPtr robot;
 
         objpose::ProviderInfoMap providers;

source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp

@@ -30,6 +30,7 @@
 #include <RobotAPI/libraries/armem_objects/aron/ObjectInstance.aron.generated.h>
 #include <RobotAPI/libraries/aron/common/aron_conversions/core.h>
 
+#include "ArmarXCore/core/time/Clock.h"
 #include <ArmarXCore/core/ice_conversions/ice_conversions_templates.h>
 #include <ArmarXCore/core/time/CycleUtil.h>
 #include <ArmarXCore/core/time/ice_conversions.h>
@@ -77,7 +78,7 @@ namespace armarx::armem::server::obj::instance
 
 
     void SegmentAdapter::connect(
-        RobotStateComponentInterfacePrx robotStateComponent,
+        robot_state::VirtualRobotReader* virtualRobotReader,
         VirtualRobot::RobotPtr robot,
         KinematicUnitObserverInterfacePrx kinematicUnitObserver,
         viz::Client arviz,
@@ -88,7 +89,7 @@ namespace armarx::armem::server::obj::instance
         this->arviz = arviz;
 
         segment.robot = robot;
-        segment.robotStateComponent = robotStateComponent;
+        segment.virtualRobotReader = virtualRobotReader;
 
         robotHead.kinematicUnitObserver = kinematicUnitObserver;
         robotHead.debugObserver = debugObserver;
@@ -175,7 +176,10 @@ namespace armarx::armem::server::obj::instance
 
         segment.doLocked([&]()
         {
-            RemoteRobot::synchronizeLocalClone(segment.robot, segment.robotStateComponent);
+            const auto timestamp = armarx::Clock::Now();
+
+            ARMARX_CHECK_NOT_NULL(segment.robot);
+            ARMARX_CHECK(segment.virtualRobotReader->synchronizeRobot(*segment.robot, timestamp));
 
             if (segment.robot->hasRobotNode(calibration.robotNode))
             {
@@ -653,4 +657,3 @@ namespace armarx::armem::server::obj::instance
     }
 
 }
-

source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.h

@@ -28,6 +28,7 @@
 
 #include <ArmarXGui/libraries/RemoteGui/Client/Widgets.h>
 
+#include "RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h"
 #include <RobotAPI/interface/armem/server/ObjectMemoryInterface.h>
 #include <RobotAPI/interface/core/RobotState.h>
 
@@ -62,7 +63,7 @@ namespace armarx::armem::server::obj::instance
 
         void init();
         void connect(
-            RobotStateComponentInterfacePrx robotStateComponent,
+            robot_state::VirtualRobotReader* virtualRobotReader,
             VirtualRobot::RobotPtr robot,
             KinematicUnitObserverInterfacePrx kinematicUnitObserver,
             viz::Client arviz,