Move code to functions

source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.cpp

@@ -72,45 +72,10 @@ namespace armarx
         createRemoteGuiTab();
         RemoteGui_startRunningTask();
 
-        {
-            ARMARX_IMPORTANT << "Waiting for memory '" << memoryName << "'.";
-            armem::Time start = armem::Time::now();
-            armem::data::WaitForMemoryInput input;
-            input.name = memoryName;
-            armem::data::WaitForMemoryResult result = memoryNameSystem->waitForMemory(input);
-            if (result.success && result.proxy)
-            {
-                memory = result.proxy;
-                usingProxy(memory->ice_getIdentity().name);
-            }
-            ARMARX_IMPORTANT << "Got memory '" << memoryName << "'"
-                             << " (took " << armem::toStringMilliSeconds(armem::Time::now() - start) << ").";
-        }
+        waitForMemory();
         ARMARX_CHECK_NOT_NULL(memory);
 
-        if (true)
-        {
-            armem::data::AddSegmentInput input;
-            input.coreSegmentName = "ExampleModality";
-            input.providerSegmentName = "FancyMethodModality";
-
-            ARMARX_IMPORTANT
-                    << "Adding segment:"
-                    << "\n- core segment:     \t'" << input.coreSegmentName << "'"
-                    << "\n- provider segment: \t'" << input.providerSegmentName << "'"
-                    ;
-
-            armem::data::AddSegmentsResult results = memory->addSegments({input});
-            armem::data::AddSegmentResult& result = results.at(0);
-
-            ARMARX_INFO << "Output: "
-                        << "\n- success:      \t" << result.success
-                        << "\n- segmentID:    \t" << result.segmentID
-                        << "\n- errorMessage: \t" << result.errorMessage
-                        ;
-
-            providerID = armem::MemoryID::fromString(result.segmentID);
-        }
+        providerID = addProviderSegment();
 
         entityID = providerID;
         entityID.entityName = "example_entity";
@@ -143,46 +108,8 @@ namespace armarx
 
         armem::Writer writer(memory);
 
-
-        armem::MemoryID snapshotID;
-        {
-            armem::Commit commit;
-            armem::EntityUpdate& update = commit.updates.emplace_back();
-
-            update.entityID = entityID;
-            update.timeCreated = armem::Time::now();
-            update.instancesData = { new aron::data::AronData(), new aron::data::AronData() };
-
-            ARMARX_IMPORTANT
-                    << "Committing:"
-                    << "\n- entityID:     \t'" << update.entityID.str() << "'"
-                    ;
-            armem::CommitResult commitResult = writer.commit(commit);
-
-            ARMARX_CHECK_EQUAL(commitResult.results.size(), 1);
-            armem::EntityUpdateResult& result = commitResult.results.at(0);
-
-            ARMARX_INFO << result;
-
-            snapshotID = result.snapshotID;
-        }
-        {
-            armem::Commit commit;
-            for (int i = 0; i < 3; ++i)
-            {
-                armem::EntityUpdate& update = commit.updates.emplace_back();
-                update.entityID = entityID;
-                update.timeCreated = armem::Time::now() + armem::Time::seconds(i);
-                for (int j = 0; j < i; ++j)
-                {
-                    update.instancesData.push_back(new aron::data::AronData());
-                }
-            }
-            ARMARX_INFO << "Commiting " << commit.updates.size() << " more updates.";
-
-            armem::CommitResult commitResult = writer.commit(commit);
-            ARMARX_CHECK_EQUAL(commitResult.results.size(), commit.updates.size());
-        }
+        armem::MemoryID snapshotID = commitSingleSnapshot(writer, entityID);
+        commitMultipleSnapshots(writer, entityID, 3);
 
         if (true)
         {
@@ -314,6 +241,94 @@ namespace armarx
         // Fetch new data of example_entity and do something with it.
     }
 
+    void ArMemExampleClient::waitForMemory()
+    {
+        ARMARX_IMPORTANT << "Waiting for memory '" << memoryName << "'.";
+        armem::Time start = armem::Time::now();
+
+        armem::data::WaitForMemoryInput input;
+        input.name = memoryName;
+        armem::data::WaitForMemoryResult result = memoryNameSystem->waitForMemory(input);
+
+        if (result.success && result.proxy)
+        {
+            memory = result.proxy;
+            usingProxy(memory->ice_getIdentity().name);
+
+            ARMARX_IMPORTANT << "Got memory '" << memoryName << "'"
+                             << " (took " << armem::toStringMilliSeconds(armem::Time::now() - start) << ").";
+        }
+        else
+        {
+            ARMARX_ERROR << result.errorMessage;
+        }
+    }
+
+    armem::MemoryID ArMemExampleClient::addProviderSegment()
+    {
+        armem::data::AddSegmentInput input;
+        input.coreSegmentName = "ExampleModality";
+        input.providerSegmentName = "FancyMethodModality";
+
+        ARMARX_IMPORTANT
+                << "Adding segment:"
+                << "\n- core segment:     \t'" << input.coreSegmentName << "'"
+                << "\n- provider segment: \t'" << input.providerSegmentName << "'"
+                ;
+
+        armem::data::AddSegmentsResult results = memory->addSegments({input});
+        armem::data::AddSegmentResult& result = results.at(0);
+
+        ARMARX_INFO << "Output: "
+                    << "\n- success:      \t" << result.success
+                    << "\n- segmentID:    \t" << result.segmentID
+                    << "\n- errorMessage: \t" << result.errorMessage
+                    ;
+
+        return armem::MemoryID::fromString(result.segmentID);
+    }
+
+    armem::MemoryID ArMemExampleClient::commitSingleSnapshot(armem::Writer& writer, const armem::MemoryID& entityID)
+    {
+        armem::Commit commit;
+        armem::EntityUpdate& update = commit.updates.emplace_back();
+
+        update.entityID = entityID;
+        update.timeCreated = armem::Time::now();
+        update.instancesData = { new aron::data::AronData(), new aron::data::AronData() };
+
+        ARMARX_IMPORTANT
+                << "Committing:"
+                << "\n- entityID:     \t'" << update.entityID.str() << "'"
+                ;
+        armem::CommitResult commitResult = writer.commit(commit);
+
+        ARMARX_CHECK_EQUAL(commitResult.results.size(), 1);
+        armem::EntityUpdateResult& result = commitResult.results.at(0);
+
+        ARMARX_INFO << result;
+        return result.snapshotID;
+    }
+
+    void ArMemExampleClient::commitMultipleSnapshots(armem::Writer& writer, const armem::MemoryID& entityID, int num)
+    {
+        armem::Commit commit;
+        for (int i = 0; i < num; ++i)
+        {
+            armem::EntityUpdate& update = commit.updates.emplace_back();
+            update.entityID = entityID;
+            update.timeCreated = armem::Time::now() + armem::Time::seconds(i);
+            for (int j = 0; j < i; ++j)
+            {
+                update.instancesData.push_back(new aron::data::AronData());
+            }
+        }
+        ARMARX_INFO << "Commiting " << commit.updates.size() << " more updates.";
+
+        armem::CommitResult commitResult = writer.commit(commit);
+        ARMARX_CHECK_EQUAL(commitResult.results.size(), commit.updates.size());
+    }
+
 
     bool ArMemExampleClient::primitives(armem::Writer& writer)
     {

source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.h

@@ -109,6 +109,13 @@ namespace armarx
         void example_entityUpdated(const armem::MemoryID& id);
 
         // Examples
+
+        void waitForMemory();
+        armem::MemoryID addProviderSegment();
+
+        armem::MemoryID commitSingleSnapshot(armem::Writer& writer, const armem::MemoryID& entityID);
+        void commitMultipleSnapshots(armem::Writer& writer, const armem::MemoryID& entityID, int num = 3);
+
         bool queryLatestRawIce(const armem::MemoryID& entityID);
         bool querySnapshot(const armem::MemoryID& snapshotID);