From e53f8714cfb98405df0d196a3c3beed0fcdf0f68 Mon Sep 17 00:00:00 2001
From: Fabian Peller <fabian.peller-konrad@kit.edu>
Date: Tue, 14 Mar 2023 09:51:16 +0000
Subject: [PATCH] rename time created
---
.../LegacyRobotStateMemoryAdapter.cpp | 6 +--
.../ExampleMemoryClient.cpp | 26 ++++++------
.../ObjectInstanceToIndex.cpp | 2 +-
.../impl/ObjectInstanceToIndex.cpp | 4 +-
.../RobotStatePredictionClient.cpp | 2 +-
.../server/ExampleMemory/ExampleMemory.cpp | 2 +-
source/RobotAPI/interface/armem/commit.ice | 2 +-
source/RobotAPI/interface/armem/memory.ice | 2 +-
.../GraspingUtility/GraspCandidateWriter.cpp | 2 +-
.../libraries/armem/client/Writer.cpp | 4 +-
.../RobotAPI/libraries/armem/client/Writer.h | 2 +-
.../RobotAPI/libraries/armem/core/Commit.cpp | 2 +-
source/RobotAPI/libraries/armem/core/Commit.h | 2 +-
.../libraries/armem/core/base/EntityBase.h | 4 +-
.../armem/core/base/EntityInstanceBase.cpp | 12 +++---
.../armem/core/base/EntityInstanceBase.h | 8 ++--
.../armem/core/base/EntitySnapshotBase.h | 2 +-
.../armem/core/base/ice_conversions.cpp | 12 +++---
.../libraries/armem/core/ice_conversions.cpp | 4 +-
.../libraries/armem/core/operations.cpp | 2 +-
.../armem/core/wm/aron_conversions.cpp | 18 ++++----
.../armem/core/wm/memory_definitions.cpp | 6 +--
.../armem/server/test/ArMemLTMTest.cpp | 2 +-
.../armem/server/test/ArMemMemoryTest.cpp | 42 +++++++++----------
.../libraries/armem/test/ArMemForEachTest.cpp | 2 +-
.../server/KnownGraspProviderSegment.cpp | 2 +-
.../libraries/armem_gui/MemoryViewer.cpp | 2 +-
.../armem_gui/instance/InstanceView.cpp | 6 +--
.../client/common/Writer.cpp | 2 +-
.../armem_motions/server/MotionSegment.cpp | 6 +--
.../server/MotionPrimitives/Segment.cpp | 6 +--
.../client/articulated_object/Writer.cpp | 4 +-
.../client/attachment/Writer.cpp | 4 +-
.../client/instance/ObjectWriter.cpp | 2 +-
.../armem_objects/server/class/Segment.cpp | 2 +-
.../armem_objects/server/instance/Segment.cpp | 6 +--
.../client/common/RobotWriter.cpp | 6 +--
.../client/localization/TransformWriter.cpp | 2 +-
.../server/description/Segment.cpp | 2 +-
.../server/localization/Segment.cpp | 2 +-
.../proprioception/RobotStateWriter.cpp | 4 +-
.../segment/ExecutableSkillLibrarySegment.cpp | 2 +-
.../server/segment/SkillEventSegment.cpp | 2 +-
.../segment/SkillExecutionRequestSegment.cpp | 4 +-
.../segment/StatechartListenerSegment.cpp | 2 +-
.../armem_system_state/server/CPUSegment.cpp | 2 +-
.../armem_system_state/server/RAMSegment.cpp | 2 +-
.../client/laser_scanner_features/Writer.cpp | 2 +-
.../client/occupancy_grid/Writer.cpp | 2 +-
49 files changed, 124 insertions(+), 124 deletions(-)
diff --git a/source/RobotAPI/components/armem/addon/LegacyRobotStateMemoryAdapter/LegacyRobotStateMemoryAdapter.cpp b/source/RobotAPI/components/armem/addon/LegacyRobotStateMemoryAdapter/LegacyRobotStateMemoryAdapter.cpp
index ae751bb1a..c9afa372d 100644
--- a/source/RobotAPI/components/armem/addon/LegacyRobotStateMemoryAdapter/LegacyRobotStateMemoryAdapter.cpp
+++ b/source/RobotAPI/components/armem/addon/LegacyRobotStateMemoryAdapter/LegacyRobotStateMemoryAdapter.cpp
@@ -96,7 +96,7 @@ namespace armarx::armem
armem::EntityUpdate entityUpdate;
entityUpdate.entityID = propEntityID;
- entityUpdate.timeCreated = Time(Duration::MicroSeconds(_timestampUpdateFirstModifiedInUs)); // we take the oldest timestamp
+ entityUpdate.referencedTime = Time(Duration::MicroSeconds(_timestampUpdateFirstModifiedInUs)); // we take the oldest timestamp
entityUpdate.instancesData =
{
@@ -128,7 +128,7 @@ namespace armarx::armem
armem::EntityUpdate locUpdate;
locUpdate.entityID = locEntityID;
- locUpdate.timeCreated = Time(Duration::MicroSeconds(_timestampUpdateFirstModifiedInUs));
+ locUpdate.referencedTime = Time(Duration::MicroSeconds(_timestampUpdateFirstModifiedInUs));
locUpdate.instancesData =
{
transform.toAron()
@@ -282,7 +282,7 @@ namespace armarx::armem
entityUpdate.entityID.entityName = "Armar3";
entityUpdate.instancesData = { desc.toAron() };
- entityUpdate.timeCreated = armem::Time::Now();
+ entityUpdate.referencedTime = armem::Time::Now();
auto res = memoryWriter.commit(c);
if (!res.allSuccess())
{
diff --git a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
index c072f6fce..cde81dc68 100644
--- a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
+++ b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
@@ -218,9 +218,9 @@ namespace armarx
// Prepare the update with some empty instances.
armem::EntityUpdate update;
update.entityID = entityID;
- update.timeCreated = armem::Time::Now();
+ update.referencedTime = armem::Time::Now();
- double diff = (update.timeCreated - runStarted).toMilliSecondsDouble() / 1000;
+ double diff = (update.referencedTime - runStarted).toMilliSecondsDouble() / 1000;
auto dict1 = std::make_shared<aron::data::Dict>();
auto dict2 = std::make_shared<aron::data::Dict>();
@@ -265,7 +265,7 @@ namespace armarx
{
armem::EntityUpdate& update = commit.add();
update.entityID = entityID;
- update.timeCreated = armem::Time::Now() + armem::Duration::Seconds(i);
+ update.referencedTime = armem::Time::Now() + armem::Duration::Seconds(i);
for (int j = 0; j < i; ++j)
{
update.instancesData.push_back(std::make_shared<aron::data::Dict>());
@@ -387,7 +387,7 @@ namespace armarx
{
armem::EntityUpdate& update = commit.add();
update.entityID = exampleDataProviderID.withEntityName("default");
- update.timeCreated = time;
+ update.referencedTime = time;
armem::example::ExampleData data;
toAron(data.memoryID, armem::MemoryID());
@@ -401,7 +401,7 @@ namespace armarx
{
armem::EntityUpdate& update = commit.add();
update.entityID = exampleDataProviderID.withEntityName("the answer");
- update.timeCreated = time;
+ update.referencedTime = time;
armem::example::ExampleData data;
data.the_bool = true;
@@ -488,7 +488,7 @@ namespace armarx
{
armem::EntityUpdate& update = commit.add();
update.entityID = linkedDataProviderID.withEntityName("yet_more_data");
- update.timeCreated = time;
+ update.referencedTime = time;
armem::example::LinkedData data;
data.yet_another_int = 42;
@@ -545,7 +545,7 @@ namespace armarx
{
armem::EntityUpdate& update = commit.add();
update.entityID = exampleDataProviderID.withEntityName("id to the_answer");
- update.timeCreated = time;
+ update.referencedTime = time;
armem::example::ExampleData data;
armem::toAron(data.memoryID, theAnswerSnapshotID);
@@ -556,7 +556,7 @@ namespace armarx
{
armem::EntityUpdate& update = commit.add();
update.entityID = exampleDataProviderID.withEntityName("id to self");
- update.timeCreated = time;
+ update.referencedTime = time;
armem::example::ExampleData data;
armem::toAron(data.memoryID, update.entityID.withTimestamp(time));
@@ -568,7 +568,7 @@ namespace armarx
{
armem::EntityUpdate& update = commit.add();
update.entityID = exampleDataProviderID.withEntityName("id to previous snapshot");
- update.timeCreated = time - armem::Duration::Seconds(1); // 1 sec in the past
+ update.referencedTime = time - armem::Duration::Seconds(1); // 1 sec in the past
armem::example::ExampleData data;
armem::toAron(data.memoryID, armem::MemoryID()); // First entry - invalid link
@@ -579,7 +579,7 @@ namespace armarx
{
armem::EntityUpdate& update = commit.add();
update.entityID = exampleDataProviderID.withEntityName("id to previous snapshot");
- update.timeCreated = time;
+ update.referencedTime = time;
armem::example::ExampleData data;
armem::toAron(data.memoryID, update.entityID.withTimestamp(time - armem::Duration::Seconds(1)));
@@ -634,7 +634,7 @@ namespace armarx
{
armem::EntityUpdate& update = commit.add();
update.entityID = exampleDataProviderID.withEntityName("link to yet_more_data");
- update.timeCreated = time;
+ update.referencedTime = time;
armem::example::ExampleData data;
armem::toAron(data.memoryID, armem::MemoryID());
@@ -686,7 +686,7 @@ namespace armarx
{
armem::EntityUpdate& update = commit.add();
update.entityID = exampleDataProviderID.withEntityName("some_new_fancy_entity_id");
- update.timeCreated = time;
+ update.referencedTime = time;
auto currentFolder = std::filesystem::current_path();
auto opencv_img = cv::imread((currentFolder / "images" / (std::to_string(imageCounter + 1) + ".jpg")).string());
@@ -708,7 +708,7 @@ namespace armarx
{
armem::EntityUpdate& update = commit.add();
update.entityID = exampleDataProviderID.withEntityName("unexpected_data");
- update.timeCreated = time;
+ update.referencedTime = time;
armem::example::ExampleData data;
toAron(data.memoryID, armem::MemoryID()); // ////1/1
diff --git a/source/RobotAPI/components/armem/client/ObjectInstanceToIndex/ObjectInstanceToIndex.cpp b/source/RobotAPI/components/armem/client/ObjectInstanceToIndex/ObjectInstanceToIndex.cpp
index fedf604b0..23b426f37 100644
--- a/source/RobotAPI/components/armem/client/ObjectInstanceToIndex/ObjectInstanceToIndex.cpp
+++ b/source/RobotAPI/components/armem/client/ObjectInstanceToIndex/ObjectInstanceToIndex.cpp
@@ -196,7 +196,7 @@ namespace armarx
armem::EntityUpdate& update = commit.add();
update.entityID = provSegID.withEntityName(instance.id().str());
- update.timeCreated = instance.id().timestamp;
+ update.referencedTime = instance.id().timestamp;
update.instancesData = { spatial.toAron() };
return true;
diff --git a/source/RobotAPI/components/armem/client/ObjectInstanceToIndex/impl/ObjectInstanceToIndex.cpp b/source/RobotAPI/components/armem/client/ObjectInstanceToIndex/impl/ObjectInstanceToIndex.cpp
index 4498d01ce..34901591b 100644
--- a/source/RobotAPI/components/armem/client/ObjectInstanceToIndex/impl/ObjectInstanceToIndex.cpp
+++ b/source/RobotAPI/components/armem/client/ObjectInstanceToIndex/impl/ObjectInstanceToIndex.cpp
@@ -75,7 +75,7 @@ namespace armarx::armem::objects
armem::EntityUpdate& update = commit.add();
update.entityID = indexSpatialProviderSegmentID.withEntityName(
objectInstanceID.getEntityID().str());
- update.timeCreated = objectPose.timestamp;
+ update.referencedTime = objectPose.timestamp;
update.instancesData = {spatial.toAron()};
}
@@ -114,7 +114,7 @@ namespace armarx::armem::objects
armem::EntityUpdate& update = commit.add();
update.entityID = indexNamedProviderSegmentID.withEntityName(
objectInstanceID.getEntityID().str());
- update.timeCreated = objectPose.timestamp;
+ update.referencedTime = objectPose.timestamp;
update.instancesData = {named.toAron()};
}
}
diff --git a/source/RobotAPI/components/armem/client/RobotStatePredictionClientExample/RobotStatePredictionClient.cpp b/source/RobotAPI/components/armem/client/RobotStatePredictionClientExample/RobotStatePredictionClient.cpp
index 3d98d0f27..492c2c142 100644
--- a/source/RobotAPI/components/armem/client/RobotStatePredictionClientExample/RobotStatePredictionClient.cpp
+++ b/source/RobotAPI/components/armem/client/RobotStatePredictionClientExample/RobotStatePredictionClient.cpp
@@ -163,7 +163,7 @@ namespace armarx::armem::robot_state
{
armem::EntityUpdate update;
update.entityID = entityID;
- update.timeCreated = predictedTime;
+ update.referencedTime = predictedTime;
update.instancesData = {result.prediction};
coreSegment->update(update);
}
diff --git a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
index 77135658d..981489f86 100644
--- a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
+++ b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
@@ -197,7 +197,7 @@ namespace armarx
.withProviderSegmentName(memoryID.providerSegmentName)
.withEntityName(memoryID.entityName);
update.entityID = newID;
- update.timeCreated = armem::Time::Now();
+ update.referencedTime = armem::Time::Now();
update.instancesData = { instance->data() };
armem::Commit newCommit;
diff --git a/source/RobotAPI/interface/armem/commit.ice b/source/RobotAPI/interface/armem/commit.ice
index 17260a213..4a7008293 100644
--- a/source/RobotAPI/interface/armem/commit.ice
+++ b/source/RobotAPI/interface/armem/commit.ice
@@ -34,7 +34,7 @@ module armarx
{
armem::data::MemoryID entityID;
aron::data::dto::AronDictSeq instancesData;
- armarx::core::time::dto::DateTime timeCreated;
+ armarx::core::time::dto::DateTime referencedTime;
float confidence = 1.0;
armarx::core::time::dto::DateTime timeSent;
diff --git a/source/RobotAPI/interface/armem/memory.ice b/source/RobotAPI/interface/armem/memory.ice
index 617f7043f..2b2dc5c81 100644
--- a/source/RobotAPI/interface/armem/memory.ice
+++ b/source/RobotAPI/interface/armem/memory.ice
@@ -38,7 +38,7 @@ module armarx
/// Ice Twin of `armarx::armem::EntityInstanceMetadata`.
class EntityInstanceMetadata
{
- armarx::core::time::dto::DateTime timeCreated;
+ armarx::core::time::dto::DateTime referencedTime;
armarx::core::time::dto::DateTime timeSent;
armarx::core::time::dto::DateTime timeArrived;
diff --git a/source/RobotAPI/libraries/GraspingUtility/GraspCandidateWriter.cpp b/source/RobotAPI/libraries/GraspingUtility/GraspCandidateWriter.cpp
index 76200b0ab..7aa20ba28 100644
--- a/source/RobotAPI/libraries/GraspingUtility/GraspCandidateWriter.cpp
+++ b/source/RobotAPI/libraries/GraspingUtility/GraspCandidateWriter.cpp
@@ -170,7 +170,7 @@ namespace armarx::armem
armem::EntityUpdate update;
update.entityID = entityID;
update.instancesData = instances;
- update.timeCreated = timestamp;
+ update.referencedTime = timestamp;
ARMARX_DEBUG << "Committing " << update << " at time " << timestamp;
armem::EntityUpdateResult updateResult = memoryWriter.commit(update);
diff --git a/source/RobotAPI/libraries/armem/client/Writer.cpp b/source/RobotAPI/libraries/armem/client/Writer.cpp
index 3c4edce62..e9b06f66e 100644
--- a/source/RobotAPI/libraries/armem/client/Writer.cpp
+++ b/source/RobotAPI/libraries/armem/client/Writer.cpp
@@ -84,12 +84,12 @@ namespace armarx::armem::client
EntityUpdateResult Writer::commit(
const MemoryID& entityID,
const std::vector<aron::data::DictPtr>& instancesData,
- Time timeCreated)
+ Time referencedTime)
{
EntityUpdate update;
update.entityID = entityID;
update.instancesData = instancesData;
- update.timeCreated = timeCreated;
+ update.referencedTime = referencedTime;
return commit(update);
}
diff --git a/source/RobotAPI/libraries/armem/client/Writer.h b/source/RobotAPI/libraries/armem/client/Writer.h
index 1d898bf6e..6c4b223ce 100644
--- a/source/RobotAPI/libraries/armem/client/Writer.h
+++ b/source/RobotAPI/libraries/armem/client/Writer.h
@@ -49,7 +49,7 @@ namespace armarx::armem::client
EntityUpdateResult commit(
const MemoryID& entityID,
const std::vector<aron::data::DictPtr>& instancesData,
- Time timeCreated);
+ Time referencedTime);
// with bare-ice types
data::CommitResult commit(const data::Commit& commit);
diff --git a/source/RobotAPI/libraries/armem/core/Commit.cpp b/source/RobotAPI/libraries/armem/core/Commit.cpp
index 3c311d224..33752d844 100644
--- a/source/RobotAPI/libraries/armem/core/Commit.cpp
+++ b/source/RobotAPI/libraries/armem/core/Commit.cpp
@@ -14,7 +14,7 @@ namespace armarx::armem
{
return os << "Entity update: "
<< "\n- success: \t" << rhs.entityID
- << "\n- timestamp: \t" << toDateTimeMilliSeconds(rhs.timeCreated)
+ << "\n- timestamp: \t" << toDateTimeMilliSeconds(rhs.referencedTime)
<< "\n- #instances: \t" << rhs.instancesData.size()
<< "\n"
;
diff --git a/source/RobotAPI/libraries/armem/core/Commit.h b/source/RobotAPI/libraries/armem/core/Commit.h
index 8a1da2075..ae9efd877 100644
--- a/source/RobotAPI/libraries/armem/core/Commit.h
+++ b/source/RobotAPI/libraries/armem/core/Commit.h
@@ -36,7 +36,7 @@ namespace armarx::armem
* @brief Time when this entity update was created (e.g. time of image recording).
* This is the key of the entity's history.
*/
- Time timeCreated = Time::Invalid();
+ Time referencedTime = Time::Invalid();
// OPTIONAL
diff --git a/source/RobotAPI/libraries/armem/core/base/EntityBase.h b/source/RobotAPI/libraries/armem/core/base/EntityBase.h
index 9c9a8c88a..7b6972a93 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntityBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/EntityBase.h
@@ -552,11 +552,11 @@ namespace armarx::armem::base
EntitySnapshotT* snapshot;
- auto it = this->_container.find(update.timeCreated);
+ auto it = this->_container.find(update.referencedTime);
if (it == this->_container.end())
{
// Insert into history.
- snapshot = &addSnapshot(update.timeCreated);
+ snapshot = &addSnapshot(update.referencedTime);
// ret.removedSnapshots = this->truncate();
ret.entityUpdateType = UpdateType::InsertedNew;
}
diff --git a/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.cpp b/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.cpp
index 1cc2e9544..fc5357515 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.cpp
+++ b/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.cpp
@@ -5,9 +5,9 @@ namespace armarx::armem::base
{
bool EntityInstanceMetadata::operator==(const EntityInstanceMetadata& other) const
{
- return timeCreated == other.timeCreated
- && timeSent == other.timeSent
- && timeArrived == other.timeArrived
+ return referencedTime == other.referencedTime
+ && sentTime == other.sentTime
+ && arrivedTime == other.arrivedTime
&& std::abs(confidence - other.confidence) < 1e-6f;
}
}
@@ -16,9 +16,9 @@ namespace armarx::armem::base
std::ostream& armarx::armem::base::operator<<(std::ostream& os, const EntityInstanceMetadata& d)
{
os << "EntityInstanceMetadata: "
- << "\n- t_create = \t" << armem::toStringMicroSeconds(d.timeCreated) << " us"
- << "\n- t_sent = \t" << armem::toStringMicroSeconds(d.timeSent) << " us"
- << "\n- t_arrived = \t" << armem::toStringMicroSeconds(d.timeArrived) << " us"
+ << "\n- t_create = \t" << armem::toStringMicroSeconds(d.referencedTime) << " us"
+ << "\n- t_sent = \t" << armem::toStringMicroSeconds(d.sentTime) << " us"
+ << "\n- t_arrived = \t" << armem::toStringMicroSeconds(d.arrivedTime) << " us"
<< "\n- confidence = \t" << d.confidence << " us"
;
return os;
diff --git a/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h b/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h
index 02b2bcae4..92ca8dff0 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h
@@ -23,17 +23,17 @@ namespace armarx::armem::base
struct EntityInstanceMetadata
{
/// Time when this value was created.
- Time timeCreated;
+ Time referencedTime;
/// Time when this value was sent to the memory.
- Time timeSent;
+ Time sentTime;
/// Time when this value has arrived at the memory.
- Time timeArrived;
+ Time arrivedTime;
/// An optional confidence, may be used for things like decay.
float confidence = 1.0;
/// An optional value indicating the last access
- Time lastAccessed = Time::Invalid();
+ Time lastAccessedTime = Time::Invalid();
/// A counter how often the instance has been accessed
unsigned long accessed = 0;
diff --git a/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h b/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h
index c983dd8de..b7048a632 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h
@@ -223,7 +223,7 @@ namespace armarx::armem::base
void update(const EntityUpdate& update)
{
- detail::throwIfNotEqual(time(), update.timeCreated);
+ detail::throwIfNotEqual(time(), update.referencedTime);
this->_container.clear();
for (int index = 0; index < int(update.instancesData.size()); ++index)
diff --git a/source/RobotAPI/libraries/armem/core/base/ice_conversions.cpp b/source/RobotAPI/libraries/armem/core/base/ice_conversions.cpp
index 6ec40abd7..adc5ad57c 100644
--- a/source/RobotAPI/libraries/armem/core/base/ice_conversions.cpp
+++ b/source/RobotAPI/libraries/armem/core/base/ice_conversions.cpp
@@ -56,16 +56,16 @@ namespace armarx::armem
void base::toIce(data::EntityInstanceMetadata& ice, const EntityInstanceMetadata& metadata)
{
ice.confidence = metadata.confidence;
- toIce(ice.timeArrived, metadata.timeArrived);
- toIce(ice.timeCreated, metadata.timeCreated);
- toIce(ice.timeSent, metadata.timeSent);
+ toIce(ice.timeArrived, metadata.arrivedTime);
+ toIce(ice.referencedTime, metadata.referencedTime);
+ toIce(ice.timeSent, metadata.sentTime);
}
void base::fromIce(const data::EntityInstanceMetadata& ice, EntityInstanceMetadata& metadata)
{
metadata.confidence = ice.confidence;
- fromIce(ice.timeArrived, metadata.timeArrived);
- fromIce(ice.timeCreated, metadata.timeCreated);
- fromIce(ice.timeSent, metadata.timeSent);
+ fromIce(ice.timeArrived, metadata.arrivedTime);
+ fromIce(ice.referencedTime, metadata.referencedTime);
+ fromIce(ice.timeSent, metadata.sentTime);
}
diff --git a/source/RobotAPI/libraries/armem/core/ice_conversions.cpp b/source/RobotAPI/libraries/armem/core/ice_conversions.cpp
index dfd25e3ba..6fccee2f6 100644
--- a/source/RobotAPI/libraries/armem/core/ice_conversions.cpp
+++ b/source/RobotAPI/libraries/armem/core/ice_conversions.cpp
@@ -87,7 +87,7 @@ namespace armarx
std::transform(ice.instancesData.begin(), ice.instancesData.end(), std::back_inserter(update.instancesData),
aron::data::Dict::FromAronDictDTO);
- fromIce(ice.timeCreated, update.timeCreated);
+ fromIce(ice.referencedTime, update.referencedTime);
update.confidence = ice.confidence;
fromIce(ice.timeSent, update.timeSent);
@@ -102,7 +102,7 @@ namespace armarx
std::transform(update.instancesData.begin(), update.instancesData.end(), std::back_inserter(ice.instancesData),
aron::data::Dict::ToAronDictDTO);
- toIce(ice.timeCreated, update.timeCreated);
+ toIce(ice.referencedTime, update.referencedTime);
ice.confidence = update.confidence;
toIce(ice.timeSent, update.timeSent);
diff --git a/source/RobotAPI/libraries/armem/core/operations.cpp b/source/RobotAPI/libraries/armem/core/operations.cpp
index 51729c613..5ac621a9e 100644
--- a/source/RobotAPI/libraries/armem/core/operations.cpp
+++ b/source/RobotAPI/libraries/armem/core/operations.cpp
@@ -25,7 +25,7 @@ namespace armarx
{
EntityUpdate up;
up.entityID = snapshot.id().getEntityID();
- up.timeCreated = snapshot.time();
+ up.referencedTime = snapshot.time();
up.instancesData = getAronData(snapshot);
return up;
}
diff --git a/source/RobotAPI/libraries/armem/core/wm/aron_conversions.cpp b/source/RobotAPI/libraries/armem/core/wm/aron_conversions.cpp
index 6a23899d1..a3b13469b 100644
--- a/source/RobotAPI/libraries/armem/core/wm/aron_conversions.cpp
+++ b/source/RobotAPI/libraries/armem/core/wm/aron_conversions.cpp
@@ -22,14 +22,14 @@ void armarx::armem::from_aron(const aron::data::DictPtr& metadata, const aron::d
e.data() = data;
- auto timeCreated = aron::data::Long::DynamicCastAndCheck(metadata->getElement(DATA_WRAPPER_TIME_CREATED_FIELD));
- m.timeCreated = Time(Duration::MicroSeconds(timeCreated->toAronLongDTO()->value));
+ auto referencedTime = aron::data::Long::DynamicCastAndCheck(metadata->getElement(DATA_WRAPPER_TIME_CREATED_FIELD));
+ m.referencedTime = Time(Duration::MicroSeconds(referencedTime->toAronLongDTO()->value));
auto timeSent = aron::data::Long::DynamicCastAndCheck(metadata->getElement(DATA_WRAPPER_TIME_SENT_FIELD));
- m.timeSent = Time(Duration::MicroSeconds(timeSent->toAronLongDTO()->value));
+ m.sentTime = Time(Duration::MicroSeconds(timeSent->toAronLongDTO()->value));
auto timeArrived = aron::data::Long::DynamicCastAndCheck(metadata->getElement(DATA_WRAPPER_TIME_ARRIVED_FIELD));
- m.timeArrived = Time(Duration::MicroSeconds(timeArrived->toAronLongDTO()->value));
+ m.arrivedTime = Time(Duration::MicroSeconds(timeArrived->toAronLongDTO()->value));
auto confidence = aron::data::Double::DynamicCastAndCheck(metadata->getElement(DATA_WRAPPER_CONFIDENCE_FIELD));
m.confidence = static_cast<float>(confidence->toAronDoubleDTO()->value);
@@ -46,16 +46,16 @@ void armarx::armem::to_aron(aron::data::DictPtr& metadata, aron::data::DictPtr&
metadata->addElement(DATA_WRAPPER_TIME_STORED_FIELD, timeWrapped);
const wm::EntityInstanceMetadata& m = e.metadata();
- auto timeCreated = std::make_shared<aron::data::Long>(armarx::aron::Path(std::vector<std::string>{DATA_WRAPPER_TIME_CREATED_FIELD}));
- timeCreated->setValue(m.timeCreated.toMicroSecondsSinceEpoch());
- metadata->addElement(DATA_WRAPPER_TIME_CREATED_FIELD, timeCreated);
+ auto referencedTime = std::make_shared<aron::data::Long>(armarx::aron::Path(std::vector<std::string>{DATA_WRAPPER_TIME_CREATED_FIELD}));
+ referencedTime->setValue(m.referencedTime.toMicroSecondsSinceEpoch());
+ metadata->addElement(DATA_WRAPPER_TIME_CREATED_FIELD, referencedTime);
auto timeSent = std::make_shared<aron::data::Long>(armarx::aron::Path(std::vector<std::string>{DATA_WRAPPER_TIME_SENT_FIELD}));
- timeSent->setValue(m.timeSent.toMicroSecondsSinceEpoch());
+ timeSent->setValue(m.sentTime.toMicroSecondsSinceEpoch());
metadata->addElement(DATA_WRAPPER_TIME_SENT_FIELD, timeSent);
auto timeArrived = std::make_shared<aron::data::Long>(armarx::aron::Path(std::vector<std::string>{DATA_WRAPPER_TIME_ARRIVED_FIELD}));
- timeArrived->setValue(m.timeArrived.toMicroSecondsSinceEpoch());
+ timeArrived->setValue(m.arrivedTime.toMicroSecondsSinceEpoch());
metadata->addElement(DATA_WRAPPER_TIME_ARRIVED_FIELD, timeArrived);
auto confidence = std::make_shared<aron::data::Double>(armarx::aron::Path(std::vector<std::string>{DATA_WRAPPER_CONFIDENCE_FIELD}));
diff --git a/source/RobotAPI/libraries/armem/core/wm/memory_definitions.cpp b/source/RobotAPI/libraries/armem/core/wm/memory_definitions.cpp
index 0758020be..eaa3e3c20 100644
--- a/source/RobotAPI/libraries/armem/core/wm/memory_definitions.cpp
+++ b/source/RobotAPI/libraries/armem/core/wm/memory_definitions.cpp
@@ -37,9 +37,9 @@ namespace armarx::armem::wm
this->_metadata.confidence = update.confidence;
- this->_metadata.timeCreated = update.timeCreated;
- this->_metadata.timeSent = update.timeSent;
- this->_metadata.timeArrived = update.timeArrived;
+ this->_metadata.referencedTime = update.referencedTime;
+ this->_metadata.sentTime = update.timeSent;
+ this->_metadata.arrivedTime = update.timeArrived;
}
}
diff --git a/source/RobotAPI/libraries/armem/server/test/ArMemLTMTest.cpp b/source/RobotAPI/libraries/armem/server/test/ArMemLTMTest.cpp
index edaa7bb5c..fd326aa03 100644
--- a/source/RobotAPI/libraries/armem/server/test/ArMemLTMTest.cpp
+++ b/source/RobotAPI/libraries/armem/server/test/ArMemLTMTest.cpp
@@ -123,7 +123,7 @@ namespace ArMemLTMTest
}
update.entityID = armem::MemoryID::fromString(memoryName + "/TestCoreSegment/TestProvider/TestEntity");
update.instancesData = q;
- update.timeCreated = armem::Time::Now();
+ update.referencedTime = armem::Time::Now();
BOOST_CHECK_NO_THROW(providerSegment.update(update));
BOOST_CHECK_EQUAL(providerSegment.size(), 1);
}
diff --git a/source/RobotAPI/libraries/armem/server/test/ArMemMemoryTest.cpp b/source/RobotAPI/libraries/armem/server/test/ArMemMemoryTest.cpp
index 8c3052e7d..70a0a2839 100644
--- a/source/RobotAPI/libraries/armem/server/test/ArMemMemoryTest.cpp
+++ b/source/RobotAPI/libraries/armem/server/test/ArMemMemoryTest.cpp
@@ -653,7 +653,7 @@ struct CopyMoveCtorsOpsTest : public CopyMoveCtorsOpsTestBase
{
armem::EntityUpdate update;
update.entityID = armem::MemoryID("M", "C", "P", "E", armem::Time(armem::Duration::MicroSeconds(123000)), 0);
- update.timeCreated = update.entityID.timestamp;
+ update.referencedTime = update.entityID.timestamp;
update.instancesData.emplace_back();
in.update(update);
}
@@ -814,7 +814,7 @@ BOOST_AUTO_TEST_CASE(test_segment_setup)
std::make_shared<aron::data::Dict>(),
std::make_shared<aron::data::Dict>()
};
- update.timeCreated = armem::Time(armem::Duration::MilliSeconds(1000));
+ update.referencedTime = armem::Time(armem::Duration::MilliSeconds(1000));
BOOST_CHECK_NO_THROW(providerSegment.update(update));
BOOST_CHECK_EQUAL(providerSegment.size(), 1);
@@ -824,25 +824,25 @@ BOOST_AUTO_TEST_CASE(test_segment_setup)
wm::Entity& entity = providerSegment.getEntity("image");
BOOST_CHECK_EQUAL(entity.name(), "image");
BOOST_CHECK_EQUAL(entity.size(), 1);
- BOOST_CHECK(entity.hasSnapshot(update.timeCreated));
+ BOOST_CHECK(entity.hasSnapshot(update.referencedTime));
- wm::EntitySnapshot& entitySnapshot = entity.getSnapshot(update.timeCreated);
+ wm::EntitySnapshot& entitySnapshot = entity.getSnapshot(update.referencedTime);
BOOST_CHECK_EQUAL(entitySnapshot.size(), update.instancesData.size());
// Another update (on memory).
update.instancesData = { std::make_shared<aron::data::Dict>() };
- update.timeCreated = armem::Time(armem::Duration::MilliSeconds(2000));
+ update.referencedTime = armem::Time(armem::Duration::MilliSeconds(2000));
memory.update(update);
BOOST_CHECK_EQUAL(entity.size(), 2);
- BOOST_CHECK(entity.hasSnapshot(update.timeCreated));
- BOOST_CHECK_EQUAL(entity.getSnapshot(update.timeCreated).size(), update.instancesData.size());
+ BOOST_CHECK(entity.hasSnapshot(update.referencedTime));
+ BOOST_CHECK_EQUAL(entity.getSnapshot(update.referencedTime).size(), update.instancesData.size());
// A third update (on entity).
update.instancesData = { std::make_shared<aron::data::Dict>() };
- update.timeCreated = armem::Time(armem::Duration::MilliSeconds(3000));
+ update.referencedTime = armem::Time(armem::Duration::MilliSeconds(3000));
entity.update(update);
BOOST_CHECK_EQUAL(entity.size(), 3);
@@ -858,11 +858,11 @@ BOOST_AUTO_TEST_CASE(test_history_size_in_entity)
update.entityID.entityName = entity.name();
// With unlimited history.
- update.timeCreated = armem::Time(armem::Duration::MilliSeconds(1000));
+ update.referencedTime = armem::Time(armem::Duration::MilliSeconds(1000));
entity.update(update);
- update.timeCreated = armem::Time(armem::Duration::MilliSeconds(2000));
+ update.referencedTime = armem::Time(armem::Duration::MilliSeconds(2000));
entity.update(update);
- update.timeCreated = armem::Time(armem::Duration::MilliSeconds(3000));
+ update.referencedTime = armem::Time(armem::Duration::MilliSeconds(3000));
entity.update(update);
BOOST_CHECK_EQUAL(entity.size(), 3);
@@ -874,7 +874,7 @@ BOOST_AUTO_TEST_CASE(test_history_size_in_entity)
BOOST_CHECK(entity.hasSnapshot(armem::Time(armem::Duration::MilliSeconds(3000))));
- update.timeCreated = armem::Time(armem::Duration::MilliSeconds(4000));
+ update.referencedTime = armem::Time(armem::Duration::MilliSeconds(4000));
entity.update(update);
BOOST_CHECK_EQUAL(entity.size(), 2);
BOOST_CHECK(not entity.hasSnapshot(armem::Time(armem::Duration::MilliSeconds(2000))));
@@ -884,7 +884,7 @@ BOOST_AUTO_TEST_CASE(test_history_size_in_entity)
// Disable maximum history size.
entity.setMaxHistorySize(-1);
- update.timeCreated = armem::Time(armem::Duration::MilliSeconds(5000));
+ update.referencedTime = armem::Time(armem::Duration::MilliSeconds(5000));
entity.update(update);
BOOST_CHECK_EQUAL(entity.size(), 3);
BOOST_CHECK(entity.hasSnapshot(armem::Time(armem::Duration::MilliSeconds(3000))));
@@ -907,15 +907,15 @@ BOOST_AUTO_TEST_CASE(test_history_size_in_provider_segment)
{
update.entityID.entityName = name;
- update.timeCreated = armem::Time(armem::Duration::MilliSeconds(1000));
+ update.referencedTime = armem::Time(armem::Duration::MilliSeconds(1000));
providerSegment.update(update);
- update.timeCreated = armem::Time(armem::Duration::MilliSeconds(2000));
+ update.referencedTime = armem::Time(armem::Duration::MilliSeconds(2000));
providerSegment.update(update);
- update.timeCreated = armem::Time(armem::Duration::MilliSeconds(3000));
+ update.referencedTime = armem::Time(armem::Duration::MilliSeconds(3000));
providerSegment.update(update);
}
update.entityID.entityName = entityNames.back();
- update.timeCreated = armem::Time(armem::Duration::MilliSeconds(4000));
+ update.referencedTime = armem::Time(armem::Duration::MilliSeconds(4000));
providerSegment.update(update);
BOOST_CHECK_EQUAL(providerSegment.getEntity("A").size(), 3);
@@ -939,11 +939,11 @@ BOOST_AUTO_TEST_CASE(test_history_size_in_provider_segment)
providerSegment.setMaxHistorySize(2);
update.entityID.entityName = "C";
- update.timeCreated = armem::Time(armem::Duration::MilliSeconds(1000));
+ update.referencedTime = armem::Time(armem::Duration::MilliSeconds(1000));
providerSegment.update(update);
- update.timeCreated = armem::Time(armem::Duration::MilliSeconds(2000));
+ update.referencedTime = armem::Time(armem::Duration::MilliSeconds(2000));
providerSegment.update(update);
- update.timeCreated = armem::Time(armem::Duration::MilliSeconds(3000));
+ update.referencedTime = armem::Time(armem::Duration::MilliSeconds(3000));
providerSegment.update(update);
// Check correctly inherited history size.
@@ -958,7 +958,7 @@ BOOST_AUTO_TEST_CASE(test_history_size_in_provider_segment)
for (const std::string& name : entityNames)
{
update.entityID.entityName = name;
- update.timeCreated = armem::Time(armem::Duration::MilliSeconds(5000));
+ update.referencedTime = armem::Time(armem::Duration::MilliSeconds(5000));
providerSegment.update(update);
BOOST_CHECK_EQUAL(providerSegment.getEntity(name).getMaxHistorySize(), -1);
BOOST_CHECK_EQUAL(providerSegment.getEntity(name).size(), 3);
diff --git a/source/RobotAPI/libraries/armem/test/ArMemForEachTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemForEachTest.cpp
index f1b5b3623..bf97734a5 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemForEachTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemForEachTest.cpp
@@ -75,7 +75,7 @@ BOOST_AUTO_TEST_CASE(test_forEach)
EntityUpdate update;
update.entityID = eid;
- update.timeCreated = sid.timestamp;
+ update.referencedTime = sid.timestamp;
for (size_t i = 0; i <= s; ++i)
{
const MemoryID iid = sid.withInstanceIndex(int(i));
diff --git a/source/RobotAPI/libraries/armem_grasping/server/KnownGraspProviderSegment.cpp b/source/RobotAPI/libraries/armem_grasping/server/KnownGraspProviderSegment.cpp
index e5c40a12d..17adf356e 100644
--- a/source/RobotAPI/libraries/armem_grasping/server/KnownGraspProviderSegment.cpp
+++ b/source/RobotAPI/libraries/armem_grasping/server/KnownGraspProviderSegment.cpp
@@ -127,7 +127,7 @@ namespace armarx::armem::grasping::segment
{
EntityUpdate& update = commit.add();
update.entityID = providerID.withEntityName(info.id().str());
- update.entityID.timestamp = update.timeArrived = update.timeCreated = update.timeSent = now;
+ update.entityID.timestamp = update.timeArrived = update.referencedTime = update.timeSent = now;
update.instancesData =
{
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
index b9c789398..4fdda0074 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
+++ b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
@@ -391,7 +391,7 @@ namespace armarx::armem::gui
entityUpdate.entityID = memId;
entityUpdate.confidence = 1.0;
entityUpdate.instancesData = {aron};
- entityUpdate.timeCreated = now;
+ entityUpdate.referencedTime = now;
it->second.commit(comm);
}
}
diff --git a/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp b/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp
index e2d04e044..e95234373 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp
@@ -110,9 +110,9 @@ namespace armarx::armem::gui::instance
std::vector<std::string> items =
{
std::to_string(metadata.confidence),
- armem::toDateTimeMilliSeconds(metadata.timeCreated),
- armem::toDateTimeMilliSeconds(metadata.timeSent),
- armem::toDateTimeMilliSeconds(metadata.timeArrived)
+ armem::toDateTimeMilliSeconds(metadata.referencedTime),
+ armem::toDateTimeMilliSeconds(metadata.sentTime),
+ armem::toDateTimeMilliSeconds(metadata.arrivedTime)
};
ARMARX_CHECK_EQUAL(static_cast<size_t>(treeItemMetadata->childCount()), items.size());
int i = 0;
diff --git a/source/RobotAPI/libraries/armem_laser_scans/client/common/Writer.cpp b/source/RobotAPI/libraries/armem_laser_scans/client/common/Writer.cpp
index 08f456b16..9a7aa7e5a 100644
--- a/source/RobotAPI/libraries/armem_laser_scans/client/common/Writer.cpp
+++ b/source/RobotAPI/libraries/armem_laser_scans/client/common/Writer.cpp
@@ -83,7 +83,7 @@ namespace armarx::armem::laser_scans::client
dict->addElement("scan", toAron(laserScan));
update.instancesData = {dict};
- update.timeCreated = timestamp;
+ update.referencedTime = timestamp;
ARMARX_DEBUG << "Committing " << update << " at time " << timestamp;
armem::EntityUpdateResult updateResult = memoryWriter.commit(update);
diff --git a/source/RobotAPI/libraries/armem_motions/server/MotionSegment.cpp b/source/RobotAPI/libraries/armem_motions/server/MotionSegment.cpp
index 8e9621c5a..76c811b3f 100644
--- a/source/RobotAPI/libraries/armem_motions/server/MotionSegment.cpp
+++ b/source/RobotAPI/libraries/armem_motions/server/MotionSegment.cpp
@@ -76,9 +76,9 @@ namespace armarx::armem::server::motions::mdb::segment
auto& snapshot = entity.addSnapshot(op->createdDate);
armem::wm::EntityInstance& instance = snapshot.addInstance();
- instance.metadata().timeCreated = op->createdDate;
- instance.metadata().timeSent = Time::Now();
- instance.metadata().timeArrived = Time::Now();
+ instance.metadata().referencedTime = op->createdDate;
+ instance.metadata().sentTime = Time::Now();
+ instance.metadata().arrivedTime = Time::Now();
instance.metadata().confidence = 1.0;
instance.data() = op->toAron();
}
diff --git a/source/RobotAPI/libraries/armem_mps/server/MotionPrimitives/Segment.cpp b/source/RobotAPI/libraries/armem_mps/server/MotionPrimitives/Segment.cpp
index a45cd788f..23b685723 100644
--- a/source/RobotAPI/libraries/armem_mps/server/MotionPrimitives/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_mps/server/MotionPrimitives/Segment.cpp
@@ -87,9 +87,9 @@ namespace armarx::armem::server::motions::mps::segment
ss << "Found valid instance at: " << pathToInfoJson << ". The motionID is: ";
armem::wm::EntityInstance instance;
- instance.metadata().timeCreated = armem::Time::Now(); //op->createdDate;
- instance.metadata().timeSent = armem::Time::Now();
- instance.metadata().timeArrived = armem::Time::Now();
+ instance.metadata().referencedTime = armem::Time::Now(); //op->createdDate;
+ instance.metadata().sentTime = armem::Time::Now();
+ instance.metadata().arrivedTime = armem::Time::Now();
instance.metadata().confidence = 1.0;
if(taskspace)
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
index fbce08b63..80c3168c5 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
@@ -154,7 +154,7 @@ namespace armarx::armem::articulated_object
toAron(aronArticulatedObjectDescription, obj.description);
update.instancesData = {aronArticulatedObjectDescription.toAron()};
- update.timeCreated = timestamp;
+ update.referencedTime = timestamp;
ARMARX_DEBUG << "Committing " << update << " at time " << timestamp;
armem::EntityUpdateResult updateResult = memoryWriter.commit(update);
@@ -233,7 +233,7 @@ namespace armarx::armem::articulated_object
objectInstance.pose.objectID = cs;
update.instancesData = {objectInstance.toAron()};
- update.timeCreated = timestamp;
+ update.referencedTime = timestamp;
ARMARX_DEBUG << "Committing " << update << " at time " << timestamp;
armem::EntityUpdateResult updateResult = memoryWriter.commit(update);
diff --git a/source/RobotAPI/libraries/armem_objects/client/attachment/Writer.cpp b/source/RobotAPI/libraries/armem_objects/client/attachment/Writer.cpp
index 69f5806c2..9a59562ec 100644
--- a/source/RobotAPI/libraries/armem_objects/client/attachment/Writer.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/attachment/Writer.cpp
@@ -82,7 +82,7 @@ namespace armarx::armem::attachment
toAron(aronAttachment, attachment);
update.instancesData = {aronAttachment.toAron()};
- update.timeCreated = timestamp;
+ update.referencedTime = timestamp;
ARMARX_DEBUG << "Committing " << update << " at time " << timestamp;
armem::EntityUpdateResult updateResult = memoryWriter.commit(update);
@@ -126,7 +126,7 @@ namespace armarx::armem::attachment
toAron(aronAttachment, attachment);
update.instancesData = {aronAttachment.toAron()};
- update.timeCreated = timestamp;
+ update.referencedTime = timestamp;
ARMARX_DEBUG << "Committing " << update << " at time " << timestamp;
armem::EntityUpdateResult updateResult = memoryWriter.commit(update);
diff --git a/source/RobotAPI/libraries/armem_objects/client/instance/ObjectWriter.cpp b/source/RobotAPI/libraries/armem_objects/client/instance/ObjectWriter.cpp
index 84b1e4613..91eb015ab 100644
--- a/source/RobotAPI/libraries/armem_objects/client/instance/ObjectWriter.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/instance/ObjectWriter.cpp
@@ -64,7 +64,7 @@ namespace armarx::armem::obj::instance
e.entityID.coreSegmentName = properties.coreSegmentName;
e.entityID.providerSegmentName = provider;
e.entityID.entityName = inst.pose.objectID.dataset + "/" + inst.pose.objectID.className + "/" + inst.pose.objectID.instanceName;
- e.timeCreated = t;
+ e.referencedTime = t;
e.timeSent = armem::Time::Now();
e.instancesData = { inst.toAron() };
diff --git a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
index 4dcf32627..ad9b5f73e 100644
--- a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
@@ -95,7 +95,7 @@ namespace armarx::armem::server::obj::clazz
EntityUpdate& update = commit.add();
update.entityID = providerID.withEntityName(info.id().str());
- update.timeArrived = update.timeCreated = update.timeSent = now;
+ update.timeArrived = update.referencedTime = update.timeSent = now;
arondto::ObjectClass objectClass = objectClassFromInfo(info);
update.instancesData =
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
index c17ce6902..f8a6d67c7 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
@@ -336,7 +336,7 @@ namespace armarx::armem::server::obj::instance
update.entityID = providerID.withEntityName(pose.objectID.str());
update.timeArrived = now;
- update.timeCreated = pose.timestamp;
+ update.referencedTime = pose.timestamp;
update.confidence = pose.confidence;
arondto::ObjectInstance dto;
@@ -781,7 +781,7 @@ namespace armarx::armem::server::obj::instance
armem::Commit commit;
armem::EntityUpdate & update = commit.add();
update.entityID = objectEntity->id();
- update.timeCreated = now;
+ update.referencedTime = now;
{
arondto::ObjectInstance updated = data;
toAron(updated.pose.attachment, info);
@@ -889,7 +889,7 @@ namespace armarx::armem::server::obj::instance
armem::Commit commit;
armem::EntityUpdate & update = commit.add();
update.entityID = entity.id();
- update.timeCreated = now;
+ update.referencedTime = now;
{
arondto::ObjectInstance updated;
if (commitAttachedPose and data.pose.attachmentValid)
diff --git a/source/RobotAPI/libraries/armem_robot_state/client/common/RobotWriter.cpp b/source/RobotAPI/libraries/armem_robot_state/client/common/RobotWriter.cpp
index 579a33521..cfa84fb3f 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/common/RobotWriter.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/client/common/RobotWriter.cpp
@@ -85,7 +85,7 @@ namespace armarx::armem::robot_state
toAron(aronDescription, description);
update.instancesData = {aronDescription.toAron()};
- update.timeCreated = timestamp;
+ update.referencedTime = timestamp;
ARMARX_DEBUG << "Committing " << update << " at time " << timestamp;
armem::EntityUpdateResult updateResult = memoryWriter.commit(update);
@@ -129,7 +129,7 @@ namespace armarx::armem::robot_state
}
update.instancesData = {aronTransform.toAron()};
- update.timeCreated = timestamp;
+ update.referencedTime = timestamp;
ARMARX_DEBUG << "Committing " << update << " at time " << timestamp;
armem::EntityUpdateResult updateResult = memoryWriter.commit(update);
@@ -163,7 +163,7 @@ namespace armarx::armem::robot_state
aronProprioception.joints.position = jointMap;
update.instancesData = {aronProprioception.toAron()};
- update.timeCreated = timestamp;
+ update.referencedTime = timestamp;
ARMARX_DEBUG << "Committing " << update << " at time " << timestamp;
armem::EntityUpdateResult updateResult = memoryWriter.commit(update);
diff --git a/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformWriter.cpp b/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformWriter.cpp
index 932f55b0a..9f93ae531 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformWriter.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformWriter.cpp
@@ -98,7 +98,7 @@ namespace armarx::armem::client::robot_state::localization
armem::EntityUpdate update;
update.entityID = entityID;
- update.timeCreated = timestamp;
+ update.referencedTime = timestamp;
arondto::Transform aronTransform;
toAron(aronTransform, transform);
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp b/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
index af2381c78..8c196a889 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
@@ -58,7 +58,7 @@ namespace armarx::armem::server::robot_state::description
EntityUpdate update;
update.entityID = providerID.withEntityName("description");
- update.timeArrived = update.timeCreated = update.timeSent = now;
+ update.timeArrived = update.referencedTime = update.timeSent = now;
arondto::RobotDescription dto;
robot::toAron(dto, robotDescription);
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp b/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp
index 3fbf09793..522583f12 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp
@@ -187,7 +187,7 @@ namespace armarx::armem::server::robot_state::localization
EntityUpdate update;
update.entityID = providerID.withEntityName(transform.header.parentFrame + "," + transform.header.frame);
- update.timeArrived = update.timeCreated = update.timeSent = timestamp;
+ update.timeArrived = update.referencedTime = update.timeSent = timestamp;
arondto::Transform aronTransform;
toAron(aronTransform, transform);
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotStateWriter.cpp b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotStateWriter.cpp
index 847ec98c8..0c5ac1284 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotStateWriter.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotStateWriter.cpp
@@ -159,7 +159,7 @@ namespace armarx::armem::server::robot_state::proprioception
up.entityID = properties.robotUnitProviderID.withEntityName(
properties.robotUnitProviderID.providerSegmentName);
up.entityID.coreSegmentName =::armarx::armem::robot_state::constants::proprioceptionCoreSegment;
- up.timeCreated = data.timestamp;
+ up.referencedTime = data.timestamp;
up.instancesData = {data.proprioception};
}
@@ -169,7 +169,7 @@ namespace armarx::armem::server::robot_state::proprioception
up.entityID = properties.robotUnitProviderID.withEntityName(
properties.robotUnitProviderID.providerSegmentName);
up.entityID.coreSegmentName = ::armarx::armem::robot_state::constants::exteroceptionCoreSegment;
- up.timeCreated = data.timestamp;
+ up.referencedTime = data.timestamp;
up.instancesData = {data.exteroception};
}
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.cpp b/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.cpp
index ec84a4f91..df0f6da14 100644
--- a/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.cpp
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.cpp
@@ -49,7 +49,7 @@ namespace armarx::skills::segment
armem::Commit commit;
auto& entityUpdate = commit.add();
entityUpdate.confidence = 1.0;
- entityUpdate.timeCreated = armem::Time::Now();
+ entityUpdate.referencedTime = armem::Time::Now();
entityUpdate.instancesData = {skillDescription.toAron()};
entityUpdate.entityID = provId.withEntityName(skillDescription.skillName);
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.cpp b/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.cpp
index 51c72a4ca..1fa0989e8 100644
--- a/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.cpp
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.cpp
@@ -54,7 +54,7 @@ namespace armarx::skills::segment
armem::Commit comm;
auto& entityUpdate = comm.add();
entityUpdate.confidence = 1.0;
- entityUpdate.timeCreated = armem::Time::Now();
+ entityUpdate.referencedTime = armem::Time::Now();
entityUpdate.instancesData = { aron };
entityUpdate.entityID = commitId;
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp b/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp
index f8333282e..818f3d13b 100644
--- a/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp
@@ -66,7 +66,7 @@ namespace armarx::skills::segment
entityUpdate.entityID = skillExecutionMemID;
entityUpdate.instancesData = { aron };
entityUpdate.confidence = 1.0;
- entityUpdate.timeCreated = armem::Time::Now();
+ entityUpdate.referencedTime = armem::Time::Now();
}
{
@@ -79,7 +79,7 @@ namespace armarx::skills::segment
entityUpdate.entityID = skillExecutionMemID;
entityUpdate.instancesData = { aron };
entityUpdate.confidence = 1.0;
- entityUpdate.timeCreated = armem::Time::Now();
+ entityUpdate.referencedTime = armem::Time::Now();
}
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/StatechartListenerSegment.cpp b/source/RobotAPI/libraries/armem_skills/server/segment/StatechartListenerSegment.cpp
index 46629f7cd..b2c5a5347 100644
--- a/source/RobotAPI/libraries/armem_skills/server/segment/StatechartListenerSegment.cpp
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/StatechartListenerSegment.cpp
@@ -31,7 +31,7 @@ namespace armarx::skills::segment
armem::EntityUpdate update;
update.entityID = segmentPtr->id().withEntityName(entityName);
- update.timeCreated = transitionTime;
+ update.referencedTime = transitionTime;
skills::arondto::Statechart::Transition data;
armem::toAron(data, t);
update.instancesData.push_back(data.toAron());
diff --git a/source/RobotAPI/libraries/armem_system_state/server/CPUSegment.cpp b/source/RobotAPI/libraries/armem_system_state/server/CPUSegment.cpp
index fa392c615..9886fdbe2 100644
--- a/source/RobotAPI/libraries/armem_system_state/server/CPUSegment.cpp
+++ b/source/RobotAPI/libraries/armem_system_state/server/CPUSegment.cpp
@@ -63,7 +63,7 @@ namespace armarx::armem::server::systemstate::segment
EntityUpdate update;
update.entityID = providerId.withEntityName("CurrentCpuLoad");
update.confidence = 1.0;
- update.timeCreated = armem::Time::Now();
+ update.referencedTime = armem::Time::Now();
update.instancesData = { data };
segmentPtr->update(update);
diff --git a/source/RobotAPI/libraries/armem_system_state/server/RAMSegment.cpp b/source/RobotAPI/libraries/armem_system_state/server/RAMSegment.cpp
index f02b8f4fa..a201c4731 100644
--- a/source/RobotAPI/libraries/armem_system_state/server/RAMSegment.cpp
+++ b/source/RobotAPI/libraries/armem_system_state/server/RAMSegment.cpp
@@ -54,7 +54,7 @@ namespace armarx::armem::server::systemstate::segment
EntityUpdate update;
update.entityID = providerId.withEntityName("CurrentMemoryLoad");
update.confidence = 1.0;
- update.timeCreated = armem::Time::Now();
+ update.referencedTime = armem::Time::Now();
update.instancesData = { data };
segmentPtr->update(update);
diff --git a/source/RobotAPI/libraries/armem_vision/client/laser_scanner_features/Writer.cpp b/source/RobotAPI/libraries/armem_vision/client/laser_scanner_features/Writer.cpp
index 0b24561dd..8ae7ba437 100644
--- a/source/RobotAPI/libraries/armem_vision/client/laser_scanner_features/Writer.cpp
+++ b/source/RobotAPI/libraries/armem_vision/client/laser_scanner_features/Writer.cpp
@@ -91,7 +91,7 @@ namespace armarx::armem::vision::laser_scanner_features::client
ARMARX_TRACE;
update.instancesData = {dto.toAron()};
- update.timeCreated = timestamp;
+ update.referencedTime = timestamp;
ARMARX_DEBUG << "Committing " << update << " at time " << timestamp;
diff --git a/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.cpp b/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.cpp
index e781a2582..a68216255 100644
--- a/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.cpp
+++ b/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.cpp
@@ -41,7 +41,7 @@ namespace armarx::armem::vision::occupancy_grid::client
dict->addElement("grid", toAron(grid.grid));
update.instancesData = {dict};
- update.timeCreated = iceTimestamp;
+ update.referencedTime = iceTimestamp;
ARMARX_DEBUG << "Committing " << update << " at time " << iceTimestamp;
armem::EntityUpdateResult updateResult = memoryWriter().commit(update);
--
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