diff --git a/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h b/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h
index b80ca2ccd5931c9c3f3f2c11c309fbd3c2fde442..609920d1e6e80054f4526fffe4e76eca2c4a43a5 100644
--- a/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h
@@ -22,21 +22,27 @@ namespace armarx::armem::base
using Base = detail::TypedEntityContainerBase<_ProviderSegmentT, typename _ProviderSegmentT::EntityT, _Derived>;
public:
+
+ using typename Base::DerivedT;
+ using typename Base::ContainerT;
+
using ProviderSegmentT = _ProviderSegmentT;
using EntityT = typename ProviderSegmentT::EntityT;
using EntitySnapshotT = typename EntityT::EntitySnapshotT;
using EntityInstanceT = typename EntitySnapshotT::EntityInstanceT;
+
+ public:
+
CoreSegmentBase& operator=(const CoreSegmentBase& other)
{
other._copySelf(*this);
return *this;
}
- using Base::id;
inline const std::string& name() const
{
- return id.coreSegmentName;
+ return this->id().coreSegmentName;
}
inline std::string& name()
{
@@ -44,10 +50,9 @@ namespace armarx::armem::base
}
- using Base::container;
inline const std::map<std::string, ProviderSegmentT>& providerSegments() const
{
- return container;
+ return _container;
}
inline std::map<std::string, ProviderSegmentT>& providerSegments()
{
@@ -57,7 +62,7 @@ namespace armarx::armem::base
bool hasProviderSegment(const std::string& name) const
{
- return container.count(name) > 0;
+ return _container.count(name) > 0;
}
ProviderSegmentT& getProviderSegment(const std::string& name)
@@ -67,8 +72,8 @@ namespace armarx::armem::base
const ProviderSegmentT& getProviderSegment(const std::string& name) const
{
- auto it = this->container.find(name);
- if (it != container.end())
+ auto it = this->_container.find(name);
+ if (it != _container.end())
{
return it->second;
}
@@ -89,8 +94,8 @@ namespace armarx::armem::base
{
_checkContainerName(update.entityID.coreSegmentName, this->name());
- auto it = this->container.find(update.entityID.providerSegmentName);
- if (it != container.end())
+ auto it = this->_container.find(update.entityID.providerSegmentName);
+ if (it != _container.end())
{
return it->second.update(update);
}
@@ -108,7 +113,7 @@ namespace armarx::armem::base
*/
ProviderSegmentT& addProviderSegment(const std::string& name, aron::typenavigator::ObjectNavigatorPtr providerSegmentType = nullptr)
{
- aron::typenavigator::ObjectNavigatorPtr type = providerSegmentType ? providerSegmentType : this->aronType;
+ aron::typenavigator::ObjectNavigatorPtr type = providerSegmentType ? providerSegmentType : this->aronType();
return addProviderSegment(ProviderSegmentT(name, type));
}
@@ -127,9 +132,9 @@ namespace armarx::armem::base
providerSegment.getLevelName(), providerSegment.name(), getLevelName(), this->getKeyString());
}
- auto it = container.emplace(providerSegment.name(), std::move(providerSegment)).first;
- it->second.id.setCoreSegmentID(id);
- it->second.setMaxHistorySize(maxHistorySize);
+ auto it = _container.emplace(providerSegment.name(), std::move(providerSegment)).first;
+ it->second.id().setCoreSegmentID(this->id());
+ it->second.setMaxHistorySize(_maxHistorySize);
return it->second;
}
@@ -142,21 +147,20 @@ namespace armarx::armem::base
void setMaxHistorySize(long maxSize) override
{
MaxHistorySize::setMaxHistorySize(maxSize);
- for (auto& [name, seg] : container)
+ for (auto& [name, seg] : _container)
{
seg.setMaxHistorySize(maxSize);
}
}
- using Base::size;
virtual bool equalsDeep(const CoreSegmentBase& other) const
{
//std::cout << "CoreSegment::equalsDeep" << std::endl;
- if (size() != other.size())
+ if (this->size() != other.size())
{
return false;
}
- for (const auto& [key, provider] : container)
+ for (const auto& [key, provider] : _container)
{
if (not other.hasProviderSegment(key))
{
@@ -180,7 +184,10 @@ namespace armarx::armem::base
return this->name();
}
- public:
+
+ protected:
+
+ using Base::_container;
};
diff --git a/source/RobotAPI/libraries/armem/core/base/EntityBase.h b/source/RobotAPI/libraries/armem/core/base/EntityBase.h
index 08e7dc5bce3da50a4d1f479c6a88b4c57f87f98e..fa884ee115624b437182f35df5744863f206ddb2 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntityBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/EntityBase.h
@@ -5,10 +5,13 @@
#include <SimoxUtility/algorithm/get_map_keys_values.h>
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
#include "../../core/Time.h"
#include "../../core/MemoryID.h"
#include "EntitySnapshotBase.h"
+#include "detail/MaxHistorySize.h"
#include "detail/MemoryContainerBase.h"
@@ -36,29 +39,37 @@ namespace armarx::armem::base
*/
template <class _EntitySnapshotT, class _Derived>
class EntityBase :
- virtual public detail::MemoryContainerBase<std::map<Time, _EntitySnapshotT>, _Derived>
+ virtual public detail::MemoryContainerBase<std::map<Time, _EntitySnapshotT>, _Derived>,
+ virtual public detail::MaxHistorySize
{
using Base = detail::MemoryContainerBase<std::map<Time, _EntitySnapshotT>, _Derived>;
public:
+
+ using typename Base::DerivedT;
+ using typename Base::ContainerT;
+
using EntitySnapshotT = _EntitySnapshotT;
using EntityInstanceT = typename EntitySnapshotT::EntityInstanceT;
+
+ public:
+
EntityBase& operator=(const EntityBase& other)
{
other._copySelf(*this);
return *this;
}
- using Base::size;
+
virtual bool equalsDeep(const EntityBase& other) const
{
//std::cout << "Entity::equalsDeep" << std::endl;
- if (size() != other.size())
+ if (this->size() != other.size())
{
return false;
}
- for (const auto& [key, snapshot] : container)
+ for (const auto& [key, snapshot] : _container)
{
if (not other.hasSnapshot(key))
{
@@ -73,10 +84,9 @@ namespace armarx::armem::base
}
- using Base::id;
inline const std::string& name() const
{
- return id.entityName;
+ return this->id().entityName;
}
inline std::string& name()
{
@@ -84,10 +94,9 @@ namespace armarx::armem::base
}
- using Base::container;
inline const std::map<Time, EntitySnapshotT>& history() const
{
- return container;
+ return _container;
}
inline std::map<Time, EntitySnapshotT>& history()
{
@@ -100,7 +109,7 @@ namespace armarx::armem::base
*/
bool hasSnapshot(Time time) const
{
- return container.count(time) > 0;
+ return _container.count(time) > 0;
}
/**
@@ -117,7 +126,7 @@ namespace armarx::armem::base
*/
std::vector<Time> getTimestamps() const
{
- return simox::alg::get_keys(container);
+ return simox::alg::get_keys(_container);
}
@@ -136,14 +145,14 @@ namespace armarx::armem::base
const EntitySnapshotT& getSnapshot(Time time) const
{
- auto it = container.find(time);
- if (it != container.end())
+ auto it = _container.find(time);
+ if (it != _container.end())
{
return it->second;
}
else
{
- throw error::MissingEntry("entity snapshot", toDateTimeMilliSeconds(time), getLevelName(), this->id.str());
+ throw error::MissingEntry("entity snapshot", toDateTimeMilliSeconds(time), getLevelName(), this->id().str());
}
}
@@ -183,12 +192,12 @@ namespace armarx::armem::base
virtual MemoryID update(const EntityUpdate& update)
{
checkEntityName(update.entityID.entityName);
- id = update.entityID;
+ this->id() = update.entityID;
EntitySnapshotT* snapshot;
- auto it = container.find(update.timeCreated);
- if (it == container.end())
+ auto it = _container.find(update.timeCreated);
+ if (it == _container.end())
{
// Insert into history.
snapshot = &addSnapshot(update.timeCreated);
@@ -201,7 +210,7 @@ namespace armarx::armem::base
// Update entry.
snapshot->update(update);
- return snapshot->id;
+ return snapshot->id();
}
/**
@@ -216,8 +225,8 @@ namespace armarx::armem::base
EntitySnapshotT& addSnapshot(EntitySnapshotT&& snapshot)
{
- auto it = container.emplace(snapshot.time(), std::move(snapshot)).first;
- it->second.id.setEntityID(id);
+ auto it = _container.emplace(snapshot.time(), std::move(snapshot)).first;
+ it->second.id().setEntityID(this->id());
return it->second;
}
@@ -232,15 +241,15 @@ namespace armarx::armem::base
*
* The current history is truncated if necessary.
*/
- void setMaxHistorySize(long maxSize)
+ void setMaxHistorySize(long maxSize) override
{
- this->maxHistorySize = maxSize;
+ MaxHistorySize::setMaxHistorySize(maxSize);
truncateHistoryToSize();
}
std::string getKeyString() const override
{
- return id.entityName;
+ return this->id().entityName;
}
std::string getLevelName() const override
{
@@ -261,28 +270,32 @@ namespace armarx::armem::base
return d;
}
+
protected:
- virtual void _copySelf(_Derived& other) const override
+
+ virtual void _copySelf(DerivedT& other) const override
{
Base::_copySelf(other);
}
- virtual void _copySelfEmpty(_Derived& other) const override
+ virtual void _copySelfEmpty(DerivedT& other) const override
{
Base::_copySelfEmpty(other);
}
+
private:
+
/// If maximum size is set, ensure `history`'s is not higher.
void truncateHistoryToSize()
{
- if (maxHistorySize >= 0)
+ if (_maxHistorySize >= 0)
{
- while (container.size() > size_t(maxHistorySize))
+ while (_container.size() > size_t(_maxHistorySize))
{
- container.erase(container.begin());
+ _container.erase(_container.begin());
}
- ARMARX_CHECK_LESS_EQUAL(container.size(), maxHistorySize);
+ ARMARX_CHECK_LESS_EQUAL(_container.size(), _maxHistorySize);
}
}
@@ -301,22 +314,18 @@ namespace armarx::armem::base
*/
const typename std::map<Time, EntitySnapshotT>::value_type& getLatestItem() const
{
- if (container.empty())
+ if (_container.empty())
{
throw armem::error::EntityHistoryEmpty(name(), "when getting the latest snapshot.");
}
- return *container.rbegin();
+ return *_container.rbegin();
}
- public:
- /**
- * @brief Maximum size of `history`
- *
- * If negative, the size of `history` is not limited.
- */
- long maxHistorySize = -1;
- // ToDo: Add max age;
- // ToDo in future: keep/remove predicate
+
+ protected:
+
+ using Base::_container;
+
};
}
diff --git a/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h b/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h
index 1b82abd4110ba59b57e305de0a0e43841d97622d..c8609ac6280dcab6edb4d5bba6a96b08741cb282 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h
@@ -11,7 +11,7 @@ namespace armarx::armem::base
/**
* @brief Data of a single entity instance.
*/
- template <class _Derived>
+ template <class _DerivedT>
class EntityInstanceBase :
virtual public detail::MemoryItem
{
@@ -20,25 +20,30 @@ namespace armarx::armem::base
public:
EntityInstanceBase& operator=(const EntityInstanceBase& other)
+ using DerivedT = _DerivedT;
+
+
+ public:
+
{
//other._copySelf(*this);
return *this;
}
- using Base::id;
+
inline int& index()
{
- return id.instanceIndex;
+ return id().instanceIndex;
}
inline int index() const
{
- return id.instanceIndex;
+ return id().instanceIndex;
}
// Copying
- virtual _Derived copy() const
+ virtual DerivedT copy() const
{
- _Derived d;
+ DerivedT d;
this->_copySelf(d);
return d;
}
@@ -50,7 +55,9 @@ namespace armarx::armem::base
*/
virtual void update(const EntityUpdate& update, int index) = 0;
- virtual bool equalsDeep(const _Derived& other) const = 0;
+
+ virtual bool equalsDeep(const DerivedT& other) const = 0;
+
std::string getLevelName() const override
{
@@ -65,7 +72,7 @@ namespace armarx::armem::base
protected:
- virtual void _copySelf(_Derived& other) const
+ virtual void _copySelf(DerivedT& other) const
{
Base::_copySelf(other);
}
diff --git a/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h b/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h
index 408423b725a79b65a32946fc40adb61399dbb606..094608e2927991f5593922887ec17e11fe6ce440 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h
@@ -22,24 +22,30 @@ namespace armarx::armem::base
using Base = detail::MemoryContainerBase<std::vector<_EntityInstanceT>, _Derived>;
public:
+
+ using typename Base::DerivedT;
+ using typename Base::ContainerT;
+
using EntityInstanceT = _EntityInstanceT;
+
+ public:
+
EntitySnapshotBase& operator=(const EntitySnapshotBase& other)
{
other._copySelf(*this);
return *this;
}
- using Base::size;
virtual bool equalsDeep(const EntitySnapshotBase& other) const
{
//std::cout << "EntitySnapshot::equalsDeep" << std::endl;
- if (size() != other.size())
+ if (this->size() != other.size())
{
return false;
}
int i = 0;
- for (const auto& instance : container)
+ for (const auto& instance : _container)
{
if (not instance.equalsDeep(other.getInstance(i)))
{
@@ -50,22 +56,20 @@ namespace armarx::armem::base
return true;
}
- using Base::id;
inline Time& time()
{
- return id.timestamp;
+ return this->id().timestamp;
}
inline const Time& time() const
{
- return id.timestamp;
+ return this->id().timestamp;
}
- using Base::container;
inline const std::vector<EntityInstanceT>& instances() const
{
- return container;
+ return _container;
}
inline std::vector<EntityInstanceT>& instances()
{
@@ -77,14 +81,14 @@ namespace armarx::armem::base
{
if (parentID)
{
- id = *parentID;
+ this->id() = *parentID;
}
time() = update.timeCreated;
- container.clear();
+ _container.clear();
for (int i = 0; i < int(update.instancesData.size()); ++i)
{
- EntityInstanceT& data = container.emplace_back(i, id);
+ EntityInstanceT& data = _container.emplace_back(i, this->id());
data.update(update, i);
}
}
@@ -93,7 +97,7 @@ namespace armarx::armem::base
bool hasInstance(int index) const
{
size_t si = size_t(index);
- return index >= 0 && si < container.size();
+ return index >= 0 && si < _container.size();
}
/**
@@ -111,8 +115,7 @@ namespace armarx::armem::base
{
if (hasInstance(index))
{
- size_t si = size_t(index);
- return container[si];
+ return _container[static_cast<size_t>(index)];
}
else
{
@@ -155,19 +158,19 @@ namespace armarx::armem::base
EntityInstanceT& addInstance(EntityInstanceT&& instance)
{
- if (instance.index() > 0 && (size_t) instance.index() < container.size())
+ if (instance.index() > 0 && static_cast<size_t>(instance.index()) < _container.size())
{
throw error::InvalidArgument(std::to_string(instance.index()), "EntitySnapshot::addInstance",
"Cannot add an EntityInstance because its index already exists.");
}
- if (instance.index() > 0 && (size_t) instance.index() > container.size())
+ if (instance.index() > 0 && static_cast<size_t>(instance.index()) > _container.size())
{
throw error::InvalidArgument(std::to_string(instance.index()), "EntitySnapshot::addInstance",
"Cannot add an EntityInstance because its index is too big.");
}
- int new_index = container.size();
- auto& it = container.emplace_back(std::move(instance));
+ int new_index = _container.size();
+ auto& it = _container.emplace_back(std::move(instance));
it.index() = new_index;
return it;
}
@@ -182,7 +185,11 @@ namespace armarx::armem::base
return "entity snapshot";
}
- public:
+
+ protected:
+
+ using Base::_container;
+
};
}
diff --git a/source/RobotAPI/libraries/armem/core/base/MemoryBase.h b/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
index 084e2ff9e3dfa465a2d6c1cc9b94c6a742122f84..0d4c8020910ac140e61df0540136f2bcb0094e43 100644
--- a/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
@@ -3,9 +3,12 @@
#include <map>
#include <string>
+#include <ArmarXCore/core/logging/Logging.h>
+
#include "CoreSegmentBase.h"
#include "detail/EntityContainerBase.h"
+
namespace armarx::armem::base
{
@@ -19,22 +22,29 @@ namespace armarx::armem::base
using Base = detail::EntityContainerBase<_CoreSegmentT, typename _CoreSegmentT::ProviderSegmentT::EntityT, _Derived>;
public:
+
+ using typename Base::DerivedT;
+ using typename Base::ContainerT;
+
using CoreSegmentT = _CoreSegmentT;
using ProviderSegmentT = typename CoreSegmentT::ProviderSegmentT;
using EntityT = typename ProviderSegmentT::EntityT;
using EntitySnapshotT = typename EntityT::EntitySnapshotT;
using EntityInstanceT = typename EntitySnapshotT::EntityInstanceT;
+
+ public:
+
MemoryBase& operator=(const MemoryBase& other)
{
other._copySelf(*this);
return *this;
}
- using Base::id;
+
inline const std::string& name() const
{
- return id.memoryName;
+ return this->id().memoryName;
}
inline std::string& name()
{
@@ -42,10 +52,9 @@ namespace armarx::armem::base
}
- using Base::container;
inline const std::map<std::string, CoreSegmentT>& coreSegments() const
{
- return container;
+ return _container;
}
inline std::map<std::string, CoreSegmentT>& coreSegments()
{
@@ -55,7 +64,7 @@ namespace armarx::armem::base
bool hasCoreSegment(const std::string& name) const
{
- return container.count(name) > 0;
+ return _container.count(name) > 0;
}
CoreSegmentT& getCoreSegment(const std::string& name)
@@ -65,8 +74,8 @@ namespace armarx::armem::base
const CoreSegmentT& getCoreSegment(const std::string& name) const
{
- auto it = this->container.find(name);
- if (it != container.end())
+ auto it = this->_container.find(name);
+ if (it != _container.end())
{
return it->second;
}
@@ -101,13 +110,13 @@ namespace armarx::armem::base
/// Move and insert a core segment.
CoreSegmentT& addCoreSegment(CoreSegmentT&& coreSegment)
{
- if (container.count(coreSegment.name()) > 0)
+ if (_container.count(coreSegment.name()) > 0)
{
throw armem::error::ContainerEntryAlreadyExists(coreSegment.getLevelName(), coreSegment.name(),
this->getLevelName(), this->name());
}
- auto it = container.emplace(coreSegment.name(), std::move(coreSegment)).first;
- it->second.id.setMemoryID(id);
+ auto it = _container.emplace(coreSegment.name(), std::move(coreSegment)).first;
+ it->second.id().setMemoryID(this->id());
return it->second;
}
@@ -137,8 +146,8 @@ namespace armarx::armem::base
{
_checkContainerName(update.entityID.memoryName, this->name());
- auto it = this->container.find(update.entityID.coreSegmentName);
- if (it != container.end())
+ auto it = _container.find(update.entityID.coreSegmentName);
+ if (it != _container.end())
{
return it->second.update(update);
}
@@ -148,15 +157,14 @@ namespace armarx::armem::base
}
}
- using Base::size;
virtual bool equalsDeep(const MemoryBase& other) const
{
//std::cout << "Memory::equalsDeep" << std::endl;
- if (size() != other.size())
+ if (this->size() != other.size())
{
return false;
}
- for (const auto& [key, core] : container)
+ for (const auto& [key, core] : _container)
{
if (not other.hasCoreSegment(key))
{
@@ -179,5 +187,11 @@ namespace armarx::armem::base
{
return this->name();
}
+
+
+ protected:
+
+ using Base::_container;
+
};
}
diff --git a/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h b/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h
index d3589d55230c890a26c28c6ba6a75ef2a0d49700..f6f760bc6976c165399cfeeb57f7ebd19cf0a91c 100644
--- a/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h
@@ -22,20 +22,27 @@ namespace armarx::armem::base
using Base = detail::TypedEntityContainerBase<_EntityT, _EntityT, _Derived>;
public:
+
+ using typename Base::DerivedT;
+ using typename Base::ContainerT;
+
using EntityT = _EntityT;
using EntitySnapshotT = typename EntityT::EntitySnapshotT;
using EntityInstanceT = typename EntitySnapshotT::EntityInstanceT;
+
+ public:
+
ProviderSegmentBase& operator=(const ProviderSegmentBase& other)
{
other._copySelf(*this);
return *this;
}
- using Base::id;
+
inline const std::string& name() const
{
- return id.providerSegmentName;
+ return this->id().providerSegmentName;
}
inline std::string& name()
{
@@ -43,10 +50,9 @@ namespace armarx::armem::base
}
- using Base::container;
inline const std::map<std::string, EntityT>& entities() const
{
- return container;
+ return _container;
}
inline std::map<std::string, EntityT>& entities()
{
@@ -56,7 +62,7 @@ namespace armarx::armem::base
bool hasEntity(const std::string& name) const
{
- return container.count(name) > 0;
+ return _container.count(name) > 0;
}
using Base::_checkContainerName;
@@ -73,8 +79,8 @@ namespace armarx::armem::base
const EntityT& getEntity(const std::string& name) const
{
- auto it = this->container.find(name);
- if (it != container.end())
+ auto it = this->_container.find(name);
+ if (it != _container.end())
{
return it->second;
}
@@ -94,12 +100,12 @@ namespace armarx::armem::base
_checkContainerName(update.entityID.providerSegmentName, this->name());
EntityT* entity;
- auto it = this->container.find(update.entityID.providerSegmentName);
- if (it == container.end())
+ auto it = this->_container.find(update.entityID.providerSegmentName);
+ if (it == _container.end())
{
// Add entity entry.
entity = &addEntity(update.entityID.entityName);
- entity->setMaxHistorySize(maxHistorySize);
+ entity->setMaxHistorySize(_maxHistorySize);
}
else
{
@@ -122,8 +128,8 @@ namespace armarx::armem::base
/// Move and insert an entity.
EntityT& addEntity(EntityT&& entity)
{
- auto it = container.emplace(entity.name(), std::move(entity)).first;
- it->second.id.setProviderSegmentID(id);
+ auto it = _container.emplace(entity.name(), std::move(entity)).first;
+ it->second.id().setProviderSegmentID(this->id());
return it->second;
}
@@ -136,22 +142,21 @@ namespace armarx::armem::base
void setMaxHistorySize(long maxSize) override
{
MaxHistorySize::setMaxHistorySize(maxSize);
- for (auto& [name, entity] : container)
+ for (auto& [name, entity] : _container)
{
entity.setMaxHistorySize(maxSize);
}
}
- using Base::size;
virtual bool equalsDeep(const ProviderSegmentBase& other) const
{
//std::cout << "ProviderSegment::equalsDeep" << std::endl;
- if (size() != other.size())
+ if (this->size() != other.size())
{
return false;
}
- for (const auto& [key, value] : container)
+ for (const auto& [key, value] : _container)
{
if (not other.hasEntity(key))
{
@@ -176,7 +181,10 @@ namespace armarx::armem::base
return this->name();
}
- public:
+
+ protected:
+
+ using Base::_container;
};
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/EntityContainerBase.h b/source/RobotAPI/libraries/armem/core/base/detail/EntityContainerBase.h
index 0f28deeefef83a48e1ebea520bce14b800afd050..ba4f8cf9b7d3d975a63eff763c49f546dcae6ac7 100644
--- a/source/RobotAPI/libraries/armem/core/base/detail/EntityContainerBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/detail/EntityContainerBase.h
@@ -24,10 +24,17 @@ namespace armarx::armem::base::detail
using Base = MemoryContainerBase<std::map<std::string, _ValueT>, _Derived>;
public:
- using Derived = _Derived;
- using EntitySnapshotT = typename _EntityT::EntitySnapshotT;
+
+ using DerivedT = _Derived;
+ using ValueT = _ValueT;
+
+ using EntityT = _EntityT;
+ using EntitySnapshotT = typename EntityT::EntitySnapshotT;
using EntityInstanceT = typename EntitySnapshotT::EntityInstanceT;
+
+ public:
+
EntityContainerBase& operator=(const EntityContainerBase& other)
{
other._copySelf(*this);
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/MaxHistorySize.cpp b/source/RobotAPI/libraries/armem/core/base/detail/MaxHistorySize.cpp
index 4fe12f7e2ec9038456d8701f4022f33387ea4cfa..2c3b0554c65523826db0a7709599ed8e5140e0a1 100644
--- a/source/RobotAPI/libraries/armem/core/base/detail/MaxHistorySize.cpp
+++ b/source/RobotAPI/libraries/armem/core/base/detail/MaxHistorySize.cpp
@@ -9,11 +9,11 @@ namespace armarx::armem::base::detail
void MaxHistorySize::setMaxHistorySize(long maxSize)
{
- this->maxHistorySize = maxSize;
+ this->_maxHistorySize = maxSize;
}
long MaxHistorySize::getMaxHistorySize() const
{
- return maxHistorySize;
+ return _maxHistorySize;
}
}
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/MaxHistorySize.h b/source/RobotAPI/libraries/armem/core/base/detail/MaxHistorySize.h
index edbc12fa6ba514513ee61c5c2e2cdb3148c0ad07..69539df5c4063b8d27cd751b79ee82eb90ff5b7e 100644
--- a/source/RobotAPI/libraries/armem/core/base/detail/MaxHistorySize.h
+++ b/source/RobotAPI/libraries/armem/core/base/detail/MaxHistorySize.h
@@ -23,9 +23,12 @@ namespace armarx::armem::base::detail
/**
* @brief Maximum size of entity histories.
+ *
+ * If negative, the size of `history` is not limited.
+ *
* @see Entity::maxHstorySize
*/
- long maxHistorySize = -1;
+ long _maxHistorySize = -1;
};
}
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/MemoryContainerBase.h b/source/RobotAPI/libraries/armem/core/base/detail/MemoryContainerBase.h
index e29be04a3fc7aae3fb4301280eb8fc358a2fa6ef..f75b15d117276b14c970110672c3bd327fb0c0f1 100644
--- a/source/RobotAPI/libraries/armem/core/base/detail/MemoryContainerBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/detail/MemoryContainerBase.h
@@ -1,8 +1,6 @@
#pragma once
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-#include "../../error.h"
+#include <RobotAPI/libraries/armem/core/error/ArMemError.h>
#include "MemoryItem.h"
@@ -14,79 +12,95 @@ namespace armarx::armem::base::detail
* @class Provides default implmentations of `MemoryContainer`, as well as
* iterators (which requires a template).
*/
- template <class _ContainerT, class _Derived>
+ template <class _ContainerT, class _DerivedT>
class MemoryContainerBase :
virtual public MemoryItem
{
using Base = MemoryItem;
public:
- using Derived = _Derived;
+
+ using DerivedT = _DerivedT;
using ContainerT = _ContainerT;
+
public:
+
MemoryContainerBase()
{}
- MemoryContainerBase(const MemoryContainerBase<ContainerT, Derived>& o) :
+ MemoryContainerBase(const MemoryContainerBase<ContainerT, DerivedT>& o) :
MemoryItem(o.id),
- container(o.container)
+ _container(o._container)
{}
+
MemoryContainerBase& operator=(const MemoryContainerBase& other)
{
other._copySelf(*this);
return *this;
}
+
// Container methods
virtual bool empty() const
{
- return container.empty();
+ return _container.empty();
}
virtual std::size_t size() const
{
- return container.size();
+ return _container.size();
}
virtual void clear()
{
- return container.clear();
+ return _container.clear();
}
typename ContainerT::const_iterator begin() const
{
- return container.begin();
+ return _container.begin();
}
typename ContainerT::iterator begin()
{
- return container.begin();
+ return _container.begin();
}
typename ContainerT::const_iterator end() const
{
- return container.end();
+ return _container.end();
}
typename ContainerT::iterator end()
{
- return container.end();
+ return _container.end();
+ }
+
+ const ContainerT& container() const
+ {
+ return _container;
+ }
+ ContainerT& container()
+ {
+ return _container;
}
// Copying
- virtual Derived copy() const
+ virtual DerivedT copy() const
{
- Derived d;
+ DerivedT d;
this->_copySelf(d);
return d;
}
/// Make a copy not containing any elements.
- virtual Derived copyEmpty() const
+ virtual DerivedT copyEmpty() const
{
- Derived d;
+ DerivedT d;
this->_copySelfEmpty(d);
return d;
}
+
protected:
+
/// @throw `armem::error::ContainerNameMismatch` Of `expectedName != actualName`.
void _checkContainerName(const std::string& expectedName, const std::string& actualName) const
{
@@ -96,19 +110,22 @@ namespace armarx::armem::base::detail
}
}
- virtual void _copySelf(Derived& other) const
+ virtual void _copySelf(DerivedT& other) const
{
Base::_copySelf(other);
- other.container = container;
+ other.container() = _container;
}
- virtual void _copySelfEmpty(Derived& other) const
+ virtual void _copySelfEmpty(DerivedT& other) const
{
Base::_copySelf(other);
}
- public:
- ContainerT container;
+
+ protected:
+
+ ContainerT _container;
+
};
}
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/MemoryItem.cpp b/source/RobotAPI/libraries/armem/core/base/detail/MemoryItem.cpp
index 602817fe5b587e971147f1eb9581d6279825da71..76cb4215475417ec15345067f5eab980bca96887 100644
--- a/source/RobotAPI/libraries/armem/core/base/detail/MemoryItem.cpp
+++ b/source/RobotAPI/libraries/armem/core/base/detail/MemoryItem.cpp
@@ -1 +1,36 @@
#include "MemoryItem.h"
+
+
+namespace armarx::armem::base::detail
+{
+
+ MemoryItem::MemoryItem()
+ {
+ }
+
+ MemoryItem::MemoryItem(const MemoryID& id) :
+ _id(id)
+ {
+ }
+
+ MemoryItem::MemoryItem(const MemoryItem& other) :
+ _id(other.id())
+ {}
+
+
+ MemoryItem::~MemoryItem()
+ {
+ }
+
+ MemoryItem& MemoryItem::operator=(const MemoryItem& other)
+ {
+ other._copySelf(*this);
+ return *this;
+ }
+
+ void MemoryItem::_copySelf(MemoryItem& other) const
+ {
+ other.id() = id();
+ }
+
+}
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/MemoryItem.h b/source/RobotAPI/libraries/armem/core/base/detail/MemoryItem.h
index 9749e275a8c2f56bf25eb5ec02852cee139e551c..7867f645e39b9c6fca6ba7a92def993bb2f3fc40 100644
--- a/source/RobotAPI/libraries/armem/core/base/detail/MemoryItem.h
+++ b/source/RobotAPI/libraries/armem/core/base/detail/MemoryItem.h
@@ -14,40 +14,46 @@ namespace armarx::armem::base::detail
class MemoryItem
{
public:
- MemoryItem()
- {
- }
- MemoryItem(const MemoryItem& other) :
- id(other.id)
- {}
+ MemoryItem();
+ MemoryItem(const MemoryID& id);
+ MemoryItem(const MemoryItem& other);
+
+ virtual ~MemoryItem();
+
+
+ MemoryItem& operator=(const MemoryItem& other);
- MemoryItem(const MemoryID& id) :
- id(id)
+
+ inline MemoryID& id()
{
+ return _id;
}
-
- MemoryItem& operator=(const MemoryItem& other)
+ inline const MemoryID& id() const
{
- other._copySelf(*this);
- return *this;
+ return _id;
}
+
// Introspection
+
/// Get a string version of `*this`' key.
virtual std::string getKeyString() const = 0;
/// Get a readable name of this level for messages, errors etc.
virtual std::string getLevelName() const = 0;
+
protected:
- virtual void _copySelf(MemoryItem& other) const
- {
- other.id = id;
- }
- public:
- MemoryID id;
+ /// Copy `*this` to `other`.
+ virtual void _copySelf(MemoryItem& other) const;
+
+
+ protected:
+
+ MemoryID _id;
+
};
}
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/TypedEntityContainerBase.h b/source/RobotAPI/libraries/armem/core/base/detail/TypedEntityContainerBase.h
index f4c511da0bf3b49375980d5afe4d98f03ef84384..81f21797dfd4ca8972efd736ba8660b5e48a68f8 100644
--- a/source/RobotAPI/libraries/armem/core/base/detail/TypedEntityContainerBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/detail/TypedEntityContainerBase.h
@@ -16,67 +16,79 @@ namespace armarx::armem::base::detail
{
using Base = EntityContainerBase<_ValueT, _EntityT, _Derived>;
+
public:
- using Derived = _Derived;
- using EntitySnapshotT = typename _EntityT::EntitySnapshotT;
- using EntityInstanceT = typename EntitySnapshotT::EntityInstanceT;
+
+ using typename Base::DerivedT;
+ using typename Base::ValueT;
+ using typename Base::EntityT;
+ using typename Base::EntitySnapshotT;
+ using typename Base::EntityInstanceT;
+
TypedEntityContainerBase(aron::typenavigator::ObjectNavigatorPtr aronType = nullptr) :
- aronType(aronType)
+ _aronType(aronType)
{}
- TypedEntityContainerBase(const TypedEntityContainerBase<_ValueT, _EntityT, _Derived>& other) :
+ TypedEntityContainerBase(const TypedEntityContainerBase<_ValueT, _EntityT, DerivedT>& other) :
MemoryItem(other),
- MemoryContainerBase<std::map<std::string, _ValueT>, _Derived>(other),
- aronType(other.aronType)
+ MemoryContainerBase<std::map<std::string, _ValueT>, DerivedT>(other),
+ _aronType(other._aronType)
{}
TypedEntityContainerBase(const MemoryID& id, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr) :
MemoryItem(id),
- aronType(aronType)
+ _aronType(aronType)
{}
+
TypedEntityContainerBase& operator=(const TypedEntityContainerBase& other)
{
other._copySelf(*this);
return *this;
}
+
bool hasAronType() const
{
- return aronType != nullptr;
+ return _aronType != nullptr;
}
-
- virtual _Derived copy() const override
+ aron::typenavigator::ObjectNavigatorPtr& aronType()
{
- _Derived d;
- this->_copySelf(d);
- return d;
+ return _aronType;
+ }
+ aron::typenavigator::ObjectNavigatorPtr aronType() const
+ {
+ return _aronType;
}
- virtual _Derived copyEmpty() const override
+ virtual DerivedT copyEmpty() const override
{
- _Derived d;
+ DerivedT d;
this->_copySelfEmpty(d);
return d;
}
+
protected:
- virtual void _copySelf(_Derived& other) const override
+
+ virtual void _copySelf(DerivedT& other) const override
{
Base::_copySelf(other);
- other.aronType = aronType;
+ other._aronType = _aronType;
}
- virtual void _copySelfEmpty(_Derived& other) const override
+ virtual void _copySelfEmpty(DerivedT& other) const override
{
Base::_copySelfEmpty(other);
- other.aronType = aronType;
+ other._aronType = _aronType;
}
- public:
+
+ protected:
+
/// The expected Aron type. May be nullptr, in which case no type information is available.
- aron::typenavigator::ObjectNavigatorPtr aronType;
+ aron::typenavigator::ObjectNavigatorPtr _aronType;
};
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.cpp
index 369dab76068c26474936b684df1dcc79311859e3..bc3104b74ea8c1f396dc6ce0aee5742cdafd7e94 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.cpp
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.cpp
@@ -54,15 +54,15 @@ namespace armarx::armem::d_ltm
std::filesystem::path CoreSegment::_fullPath(const std::filesystem::path& path) const
{
- return path / id.memoryName / id.coreSegmentName;
+ return path / id().memoryName / id().coreSegmentName;
}
wm::CoreSegment CoreSegment::convert() const
{
wm::CoreSegment m;
- for (const auto& [_, s] : container)
+ for (const auto& [_, s] : _container)
{
- m.addProviderSegment(s.convert(aronType));
+ m.addProviderSegment(s.convert(_aronType));
}
return m;
}
@@ -79,7 +79,7 @@ namespace armarx::armem::d_ltm
ARMARX_ERROR << "The entered path is leading to a file! Abort due to error.";
}
- container.clear();
+ _container.clear();
path = p_ptr;
if (!std::filesystem::exists(p))
@@ -93,7 +93,7 @@ namespace armarx::armem::d_ltm
if (d.is_directory())
{
std::string k = d.path().filename();
- auto wms = container.emplace(std::make_pair(k, id.withProviderSegmentName(k)));
+ auto wms = _container.emplace(std::make_pair(k, id().withProviderSegmentName(k)));
wms.first->second.reload(p_ptr);
}
@@ -110,16 +110,16 @@ namespace armarx::armem::d_ltm
std::filesystem::create_directories(_fullPath());
writeAronType(_fullPath());
- for (const auto& [k, s] : m.container)
+ for (const auto& [k, s] : m)
{
- if (const auto& it = container.find(k); it != container.end())
+ if (const auto& it = _container.find(k); it != _container.end())
{
it->second.append(s);
}
else
{
std::filesystem::create_directory(_fullPath() / k);
- auto wms = container.emplace(std::make_pair(k, id.withProviderSegmentName(k)));
+ auto wms = _container.emplace(std::make_pair(k, id().withProviderSegmentName(k)));
wms.first->second.path = path;
wms.first->second.append(s);
}
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/Entity.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/Entity.cpp
index 3847f0af9235f903f1a819e05b3bbccee1ecfa0e..77ff0d95f4cf7ac7b81ac933d478ce47ae1010a6 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/Entity.cpp
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/Entity.cpp
@@ -40,13 +40,13 @@ namespace armarx::armem::d_ltm
std::filesystem::path Entity::_fullPath(const std::filesystem::path& path) const
{
- return path / id.memoryName / id.coreSegmentName / id.providerSegmentName / id.entityName;
+ return path / id().memoryName / id().coreSegmentName / id().providerSegmentName / id().entityName;
}
wm::Entity Entity::convert(const aron::typenavigator::NavigatorPtr& expectedStructure) const
{
wm::Entity m;
- for (const auto& [_, s] : container)
+ for (const auto& [_, s] : _container)
{
m.addSnapshot(s.convert(expectedStructure));
}
@@ -65,7 +65,7 @@ namespace armarx::armem::d_ltm
ARMARX_ERROR << "The entered path is leading to a file! Abort due to error.";
}
- container.clear();
+ _container.clear();
path = p_ptr;
if (!std::filesystem::exists(p))
@@ -80,7 +80,7 @@ namespace armarx::armem::d_ltm
{
std::string k = d.path().filename();
armem::Time t = armem::Time::microSeconds(std::stol(k));
- auto wms = container.emplace(std::make_pair(t, id.withTimestamp(t)));
+ auto wms = _container.emplace(std::make_pair(t, id().withTimestamp(t)));
wms.first->second.reload(p_ptr);
}
}
@@ -90,16 +90,16 @@ namespace armarx::armem::d_ltm
void Entity::append(const wm::Entity& m)
{
std::filesystem::create_directories(_fullPath());
- for (const auto& [k, s] : m.container)
+ for (const auto& [k, s] : m.container())
{
- if (const auto& it = container.find(k); it != container.end())
+ if (const auto& it = _container.find(k); it != _container.end())
{
it->second.setTo(s);
}
else
{
std::filesystem::create_directory(_fullPath() / std::to_string(k.toMicroSeconds()));
- auto wms = container.emplace(std::make_pair(k, id.withTimestamp(k)));
+ auto wms = _container.emplace(std::make_pair(k, id().withTimestamp(k)));
wms.first->second.path = path;
wms.first->second.setTo(s);
}
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.cpp
index 1f855d1a4ad583ccbedfb4c97e24b8fdb527a388..98654d7a854b4247d515887ba3e9e4d5996b46d8 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.cpp
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.cpp
@@ -46,13 +46,15 @@ namespace armarx::armem::d_ltm
std::filesystem::path EntitySnapshot::_fullPath(const std::filesystem::path& path) const
{
- return path / id.memoryName / id.coreSegmentName / id.providerSegmentName / id.entityName / std::to_string(id.timestamp.toMicroSeconds());
+ return path / id().memoryName / id().coreSegmentName / id().providerSegmentName
+ / id().entityName
+ / std::to_string(id().timestamp.toMicroSeconds());
}
wm::EntitySnapshot EntitySnapshot::convert(const aron::typenavigator::NavigatorPtr& expectedStructure) const
{
wm::EntitySnapshot m;
- for (const auto& s : container)
+ for (const auto& s : _container)
{
m.addInstance(s.convert(expectedStructure));
}
@@ -72,7 +74,7 @@ namespace armarx::armem::d_ltm
}
else
{
- container.clear();
+ _container.clear();
path = p_ptr;
// todo
@@ -81,7 +83,7 @@ namespace armarx::armem::d_ltm
std::filesystem::path d = p / std::to_string(i);
if (std::filesystem::is_directory(d))
{
- auto wms = container.emplace_back(id.withInstanceIndex(i));
+ auto wms = _container.emplace_back(id().withInstanceIndex(i));
wms.reload(p_ptr);
}
else
@@ -97,14 +99,14 @@ namespace armarx::armem::d_ltm
std::filesystem::create_directories(_fullPath());
// We remove the contente here and reset it with new values
- container.clear();
+ _container.clear();
- unsigned int i = 0;
- for (const auto& s : m.container)
+ int i = 0;
+ for (const auto& s : m.instances())
{
std::filesystem::create_directory(_fullPath() / std::to_string(i));
- auto wms = container.emplace_back(id.withInstanceIndex(i++));
+ auto wms = _container.emplace_back(id().withInstanceIndex(i++));
wms.path = path;
wms.setTo(s);
}
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/Memory.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/Memory.cpp
index 4ef34ffd13af2559ca0691c4bdcbdd950e2636ce..70ed79acc064f4c0fb3a222c75bd90321c39f0e2 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/Memory.cpp
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/Memory.cpp
@@ -47,13 +47,13 @@ namespace armarx::armem::d_ltm
std::filesystem::path Memory::_fullPath(const std::filesystem::path& path) const
{
- return path / id.memoryName;
+ return path / id().memoryName;
}
wm::Memory Memory::convert() const
{
wm::Memory m;
- for (const auto& [_, s] : container)
+ for (const auto& [_, s] : _container)
{
m.addCoreSegment(s.convert());
}
@@ -67,7 +67,7 @@ namespace armarx::armem::d_ltm
ARMARX_ERROR << "The entered path is leading to a file! Abort due to error.";
}
- container.clear();
+ _container.clear();
path = std::make_shared<std::filesystem::path>(p.parent_path());
if (!std::filesystem::exists(p))
@@ -76,14 +76,14 @@ namespace armarx::armem::d_ltm
}
else
{
- id = MemoryID().withMemoryName(p.filename());
+ id() = MemoryID().withMemoryName(p.filename());
for (const auto& d : std::filesystem::directory_iterator(p))
{
if (d.is_directory())
{
std::string k = d.path().filename();
- auto wms = container.emplace(std::make_pair(k, id.withCoreSegmentName(k)));
+ auto wms = _container.emplace(std::make_pair(k, id().withCoreSegmentName(k)));
wms.first->second.reload(path);
}
}
@@ -93,9 +93,9 @@ namespace armarx::armem::d_ltm
void Memory::append(const wm::Memory& m)
{
std::filesystem::create_directories(_fullPath());
- for (const auto& [k, s] : m.container)
+ for (const auto& [k, s] : m.container())
{
- if (const auto& it = container.find(k); it != container.end())
+ if (const auto& it = _container.find(k); it != _container.end())
{
it->second.append(s);
}
@@ -103,7 +103,7 @@ namespace armarx::armem::d_ltm
{
std::filesystem::create_directory(_fullPath() / k);
- auto wms = container.emplace(std::make_pair(k, id.withCoreSegmentName(k)));
+ auto wms = _container.emplace(std::make_pair(k, id().withCoreSegmentName(k)));
wms.first->second.path = path;
wms.first->second.append(s);
}
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.cpp
index 60a8268ee4d0bb966510caa2960fd2f59506a117..ae84449bb7a55ccf5d7a525b5b27f50c34fb3815 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.cpp
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.cpp
@@ -54,17 +54,17 @@ namespace armarx::armem::d_ltm
std::filesystem::path ProviderSegment::_fullPath(const std::filesystem::path& path) const
{
- return path / id.memoryName / id.coreSegmentName / id.providerSegmentName;
+ return path / id().memoryName / id().coreSegmentName / id().providerSegmentName;
}
wm::ProviderSegment ProviderSegment::convert(const aron::typenavigator::NavigatorPtr& expectedStructure) const
{
wm::ProviderSegment m;
- for (const auto& [_, s] : container)
+ for (const auto& [_, s] : _container)
{
if (hasAronType())
{
- m.addEntity(s.convert(aronType));
+ m.addEntity(s.convert(_aronType));
}
else
{
@@ -86,7 +86,7 @@ namespace armarx::armem::d_ltm
ARMARX_ERROR << "The entered path is leading to a file! Abort due to error.";
}
- container.clear();
+ _container.clear();
path = p_ptr;
if (!std::filesystem::exists(p))
@@ -100,7 +100,7 @@ namespace armarx::armem::d_ltm
if (d.is_directory())
{
std::string k = d.path().filename();
- auto wms = container.emplace(std::make_pair(k, id.withEntityName(k)));
+ auto wms = _container.emplace(std::make_pair(k, id().withEntityName(k)));
wms.first->second.reload(p_ptr);
}
@@ -117,16 +117,16 @@ namespace armarx::armem::d_ltm
std::filesystem::create_directories(_fullPath());
writeAronType(_fullPath());
- for (const auto& [k, s] : m.container)
+ for (const auto& [k, s] : m.container())
{
- if (const auto& it = container.find(k); it != container.end())
+ if (const auto& it = _container.find(k); it != _container.end())
{
it->second.append(s);
}
else
{
std::filesystem::create_directory(_fullPath() / k);
- auto wms = container.emplace(std::make_pair(k, id.withEntityName(k)));
+ auto wms = _container.emplace(std::make_pair(k, id().withEntityName(k)));
wms.first->second.path = path;
wms.first->second.append(s);
}
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/detail/TypedEntityContainer.h b/source/RobotAPI/libraries/armem/core/diskmemory/detail/TypedEntityContainer.h
index f17bbc077f1c3d7ef7c49ddc4d9dddb843a184e2..9163b9482dc880a667f810e43039a1ac81d52f0a 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/detail/TypedEntityContainer.h
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/detail/TypedEntityContainer.h
@@ -66,7 +66,7 @@ namespace armarx::armem::d_ltm::detail
aron::typeIO::reader::NlohmannJSONReader typeReader(file_content);
aron::typeIO::writer::NavigatorWriter navWriter;
aron::typeIO::Converter::ReadAndConvert(typeReader, navWriter);
- aronType = aron::typenavigator::ObjectNavigator::DynamicCastAndCheck(navWriter.getResult());
+ this->aronType() = aron::typenavigator::ObjectNavigator::DynamicCastAndCheck(navWriter.getResult());
}
}
}
@@ -80,7 +80,7 @@ namespace armarx::armem::d_ltm::detail
ofs.open(d);
aron::typeIO::writer::NlohmannJSONWriter typeWriter;
- aron::typeIO::Visitor::VisitAndSetup(typeWriter, aronType);
+ aron::typeIO::Visitor::VisitAndSetup(typeWriter, this->aronType());
std::string new_file_full_content = typeWriter.getResult().dump(2);
ofs << new_file_full_content;
diff --git a/source/RobotAPI/libraries/armem/core/ice_conversions.cpp b/source/RobotAPI/libraries/armem/core/ice_conversions.cpp
index 0a9774020ba573f41a26f6be610e6464108ae194..d79acf1da2b86f94414205131173797e0354bc24 100644
--- a/source/RobotAPI/libraries/armem/core/ice_conversions.cpp
+++ b/source/RobotAPI/libraries/armem/core/ice_conversions.cpp
@@ -147,11 +147,11 @@ namespace armarx
void armem::detail::toIceItem(data::detail::MemoryItem& ice, const armem::base::detail::MemoryItem& item)
{
- toIce(ice.id, item.id);
+ toIce(ice.id, item.id());
}
void armem::detail::fromIceItem(const data::detail::MemoryItem& ice, armem::base::detail::MemoryItem& item)
{
- fromIce(ice.id, item.id);
+ fromIce(ice.id, item.id());
}
}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.cpp
index b98a0d5efb654739de535284d816dfebc4a0b5fe..6bebc718e499ed311d3090aacd3dd6b71bc5078f 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.cpp
@@ -46,7 +46,7 @@ namespace armarx::armem::ltm
wm::CoreSegment CoreSegment::convert() const
{
wm::CoreSegment m;
- for (const auto& [_, s] : container)
+ for (const auto& [_, s] : _container)
{
m.addProviderSegment(s.convert());
}
@@ -55,15 +55,15 @@ namespace armarx::armem::ltm
void CoreSegment::append(const wm::CoreSegment& m)
{
- for (const auto& [k, s] : m.container)
+ for (const auto& [k, s] : m.container())
{
- if (const auto& it = container.find(k); it != container.end())
+ if (const auto& it = _container.find(k); it != _container.end())
{
it->second.append(s);
}
else
{
- auto wms = container.emplace(std::make_pair(k, id.withCoreSegmentName(k)));
+ auto wms = _container.emplace(std::make_pair(k, id().withCoreSegmentName(k)));
wms.first->second.append(s);
}
}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.cpp
index c0de42c689c4844b50f5bb8858e776057471a484..30c578d82a61a556720cb7089d033dc9120a16c8 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.cpp
@@ -32,7 +32,7 @@ namespace armarx::armem::ltm
wm::Entity Entity::convert() const
{
wm::Entity m;
- for (const auto& [_, s] : container)
+ for (const auto& [_, s] : _container)
{
m.addSnapshot(s.convert());
}
@@ -41,15 +41,15 @@ namespace armarx::armem::ltm
void Entity::append(const wm::Entity& m)
{
- for (const auto& [k, s] : m.container)
+ for (const auto& [k, s] : m.container())
{
- if (const auto& it = container.find(k); it != container.end())
+ if (const auto& it = _container.find(k); it != _container.end())
{
it->second.setTo(s);
}
else
{
- auto wms = container.emplace(std::make_pair(k, id.withTimestamp(k)));
+ auto wms = _container.emplace(std::make_pair(k, id().withTimestamp(k)));
wms.first->second.setTo(s);
}
}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.cpp
index 44bbca24d11d42d5741759fa2487c1434ce6a3b9..424dd732d74b777bb96b786302dc1a49782b8ec5 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.cpp
@@ -41,7 +41,7 @@ namespace armarx::armem::ltm
bool EntityInstance::equalsDeep(const EntityInstance& other) const
{
- return id == other.id && _metadata == other.metadata();
+ return id() == other.id() && _metadata == other.metadata();
}
void EntityInstance::update(const EntityUpdate& update, int index)
@@ -77,6 +77,6 @@ namespace armarx::armem::ltm
void EntityInstance::setTo(const wm::EntityInstance& m)
{
- ARMARX_IMPORTANT << "Longtermmemory received an entity instance: " << m.id.str();
+ ARMARX_IMPORTANT << "Longtermmemory received an entity instance: " << m.id().str();
}
}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.cpp
index 0cf13f0210b1e9ee6499417770ef21d18550e7ee..9f3272eb9ba94c5751ea0b2d4f1c0893802eb0d6 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.cpp
@@ -38,7 +38,7 @@ namespace armarx::armem::ltm
wm::EntitySnapshot EntitySnapshot::convert() const
{
wm::EntitySnapshot m;
- for (const auto& s : container)
+ for (const auto& s : _container)
{
m.addInstance(s.convert());
}
@@ -48,12 +48,12 @@ namespace armarx::armem::ltm
void EntitySnapshot::setTo(const wm::EntitySnapshot& m)
{
// We remove the contente here and reset it with new values
- container.clear();
+ _container.clear();
- unsigned int i = 0;
- for (const auto& s : m.container)
+ int i = 0;
+ for (const auto& s : m.container())
{
- auto wms = container.emplace_back(id.withInstanceIndex(i++));
+ auto wms = _container.emplace_back(id().withInstanceIndex(i++));
wms.setTo(s);
}
}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.cpp
index 9b5779c5970495171b93fb2c667cefd444182054..9f216cb0338fc9ff8b7f47fa430acf99bf0cb92c 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.cpp
@@ -39,7 +39,7 @@ namespace armarx::armem::ltm
wm::Memory Memory::convert() const
{
wm::Memory m;
- for (const auto& [_, s] : container)
+ for (const auto& [_, s] : _container)
{
m.addCoreSegment(s.convert());
}
@@ -54,15 +54,15 @@ namespace armarx::armem::ltm
void Memory::append(const wm::Memory& m)
{
- for (const auto& [k, s] : m.container)
+ for (const auto& [k, s] : m.container())
{
- if (const auto& it = container.find(k); it != container.end())
+ if (const auto& it = _container.find(k); it != _container.end())
{
it->second.append(s);
}
else
{
- auto wms = container.emplace(std::make_pair(k, id.withCoreSegmentName(k)));
+ auto wms = _container.emplace(std::make_pair(k, id().withCoreSegmentName(k)));
wms.first->second.append(s);
}
}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.cpp
index e527b2af574cc4a29a0e615069acfffd6901bb19..dbdbdb1189fd2efdac397992b3cad480da77f863 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.cpp
@@ -46,7 +46,7 @@ namespace armarx::armem::ltm
wm::ProviderSegment ProviderSegment::convert() const
{
wm::ProviderSegment m;
- for (const auto& [_, s] : container)
+ for (const auto& [_, s] : _container)
{
m.addEntity(s.convert());
}
@@ -55,15 +55,15 @@ namespace armarx::armem::ltm
void ProviderSegment::append(const wm::ProviderSegment& m)
{
- for (const auto& [k, s] : m.container)
+ for (const auto& [k, s] : m.container())
{
- if (const auto& it = container.find(k); it != container.end())
+ if (const auto& it = _container.find(k); it != _container.end())
{
it->second.append(s);
}
else
{
- auto wms = container.emplace(std::make_pair(k, id.withEntityName(k)));
+ auto wms = _container.emplace(std::make_pair(k, id().withEntityName(k)));
wms.first->second.append(s);
}
}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.cpp
index 3c9fe036452c21992c82bce0d9ecad30d33c0491..4ef52fd749f9106d4ea1e9204fd0574392c18387 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.cpp
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.cpp
@@ -53,7 +53,7 @@ namespace armarx::armem::wm
void CoreSegment::_copySelfWithoutData(CoreSegment& o) const
{
detail::TypedEntityContainer<ProviderSegment, CoreSegment>::_copySelfWithoutData(o);
- for (const auto& [k, s] : o.container)
+ for (const auto& [k, s] : o)
{
o.addProviderSegment(s.copyWithoutData());
}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/Entity.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/Entity.cpp
index 75fddfd55094b7f007cf7a0e4775adbd16437dde..37b930656d8810ea0445c412d8992c23db2458aa 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/Entity.cpp
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/Entity.cpp
@@ -39,7 +39,7 @@ namespace armarx::armem::wm
void Entity::_copySelfWithoutData(Entity& o) const
{
detail::MemoryContainer<std::map<Time, EntitySnapshot>, Entity>::_copySelfWithoutData(o);
- for (const auto& [k, s] : o.container)
+ for (const auto& [k, s] : o)
{
o.addSnapshot(s.copyWithoutData());
}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.cpp
index ce62d0164e9adaefd6ea4d1ab3bc46d3c8038d9e..125dde02214783caa6abe9668b24b04dc407c42a 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.cpp
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.cpp
@@ -44,7 +44,9 @@ namespace armarx::armem::wm
bool EntityInstance::equalsDeep(const EntityInstance& other) const
{
- return id == other.id && _metadata == other.metadata() && _data->equalsDeep(other.data());
+ return id() == other.id()
+ && _metadata == other.metadata()
+ && _data->equalsDeep(other.data());
}
void EntityInstance::update(const EntityUpdate& update, int index)
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.cpp
index 124645de98c90eae526f5ee5f23c9e79027e6f52..c33dd71b23b3c2c16c4b95894af63b46485d8ca2 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.cpp
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.cpp
@@ -23,6 +23,10 @@ namespace armarx::armem::wm
{
}
+ EntitySnapshot::~EntitySnapshot()
+ {
+ }
+
EntitySnapshot::EntitySnapshot(const EntitySnapshot& other) :
base::detail::MemoryItem(other),
base::detail::MemoryContainerBase<std::vector<EntityInstance>, EntitySnapshot>(other)
@@ -45,7 +49,7 @@ namespace armarx::armem::wm
void EntitySnapshot::_copySelfWithoutData(EntitySnapshot& o) const
{
detail::MemoryContainer<std::vector<EntityInstance>, EntitySnapshot>::_copySelfWithoutData(o);
- for (const auto& s : o.container)
+ for (const auto& s : o)
{
o.addInstance(s.copyWithoutData());
}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.h b/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.h
index 5f18288ba698fd70eed0539532a9be3002967590..50332bf163f4b4595b0e53b64f3acf3497f3332c 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.h
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.h
@@ -19,10 +19,14 @@ namespace armarx::armem::wm
using Base = base::EntitySnapshotBase<EntityInstance, EntitySnapshot>;
public:
+
EntitySnapshot();
EntitySnapshot(Time time, const MemoryID& parentID = {});
EntitySnapshot(const MemoryID& id);
+ virtual ~EntitySnapshot() override;
+
+
/// Copy the instances from `other` to this.
EntitySnapshot(const EntitySnapshot& other);
@@ -31,7 +35,10 @@ namespace armarx::armem::wm
EntitySnapshot copyWithoutData() const override;
+
protected:
+
virtual void _copySelfWithoutData(EntitySnapshot& o) const override;
+
};
}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/Memory.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/Memory.cpp
index 706d26bcc3a94a8ddb0b0da6015abdc664857fb4..a5b1e4ab1346ed3b3d041320c4eade4d31176ced 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/Memory.cpp
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/Memory.cpp
@@ -46,7 +46,7 @@ namespace armarx::armem::wm
void Memory::_copySelfWithoutData(Memory& o) const
{
detail::EntityContainer<CoreSegment, Memory>::_copySelfWithoutData(o);
- for (const auto& [k, s] : o.container)
+ for (const auto& [k, s] : o)
{
o.addCoreSegment(s.copyWithoutData());
}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.cpp
index dbf436b65b078053a6405892b7f89082e89598ee..3b90c745c53a60c5d95feda1adc131c300d61beb 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.cpp
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.cpp
@@ -53,7 +53,7 @@ namespace armarx::armem::wm
void ProviderSegment::_copySelfWithoutData(ProviderSegment& o) const
{
detail::TypedEntityContainer<Entity, ProviderSegment>::_copySelfWithoutData(o);
- for (const auto& [k, s] : o.container)
+ for (const auto& [k, s] : o)
{
o.addEntity(s.copyWithoutData());
}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/ice_conversions.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/ice_conversions.cpp
index ad77c6dc16feb2f119051ef1b0d0cecc29c9b650..7dded894331809986a991351f0eb7c7675b11812 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/ice_conversions.cpp
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/ice_conversions.cpp
@@ -43,26 +43,26 @@ namespace armarx::armem
{
detail::toIceItem(ice, snapshot);
- toIce(ice.instances, snapshot.container);
+ toIce(ice.instances, snapshot.instances());
}
void fromIce(const data::EntitySnapshot& ice, wm::EntitySnapshot& snapshot)
{
detail::fromIceItem(ice, snapshot);
- fromIce(ice.instances, snapshot.container);
+ fromIce(ice.instances, snapshot.instances());
}
void toIce(data::Entity& ice, const wm::Entity& entity)
{
detail::toIceItem(ice, entity);
- toIce(ice.history, entity.container);
+ toIce(ice.history, entity.history());
}
void fromIce(const data::Entity& ice, wm::Entity& entity)
{
detail::fromIceItem(ice, entity);
- fromIce(ice.history, entity.container);
+ fromIce(ice.history, entity.history());
}
@@ -72,9 +72,9 @@ namespace armarx::armem
if (providerSegment.hasAronType())
{
- ice.aronType = providerSegment.aronType->getResult();
+ ice.aronType = providerSegment.aronType()->getResult();
}
- toIce(ice.entities, providerSegment.container);
+ toIce(ice.entities, providerSegment.entities());
}
void fromIce(const data::ProviderSegment& ice, wm::ProviderSegment& providerSegment)
{
@@ -82,9 +82,9 @@ namespace armarx::armem
if (ice.aronType)
{
- providerSegment.aronType = aron::typenavigator::ObjectNavigator::DynamicCastAndCheck(aron::typenavigator::Navigator::FromAronType(ice.aronType));
+ providerSegment.aronType() = aron::typenavigator::ObjectNavigator::DynamicCastAndCheck(aron::typenavigator::Navigator::FromAronType(ice.aronType));
}
- fromIce(ice.entities, providerSegment.container);
+ fromIce(ice.entities, providerSegment.entities());
}
void toIce(data::CoreSegment& ice, const wm::CoreSegment& coreSegment)
@@ -93,9 +93,9 @@ namespace armarx::armem
if (coreSegment.hasAronType())
{
- ice.aronType = coreSegment.aronType->getResult();
+ ice.aronType = coreSegment.aronType()->getResult();
}
- toIce(ice.providerSegments, coreSegment.container);
+ toIce(ice.providerSegments, coreSegment.providerSegments());
}
void fromIce(const data::CoreSegment& ice, wm::CoreSegment& coreSegment)
{
@@ -103,22 +103,22 @@ namespace armarx::armem
if (ice.aronType)
{
- coreSegment.aronType = aron::typenavigator::ObjectNavigator::DynamicCastAndCheck(aron::typenavigator::Navigator::FromAronType(ice.aronType));
+ coreSegment.aronType() = aron::typenavigator::ObjectNavigator::DynamicCastAndCheck(aron::typenavigator::Navigator::FromAronType(ice.aronType));
}
- fromIce(ice.providerSegments, coreSegment.container);
+ fromIce(ice.providerSegments, coreSegment.providerSegments());
}
void toIce(data::Memory& ice, const wm::Memory& memory)
{
detail::toIceItem(ice, memory);
- toIce(ice.coreSegments, memory.container);
+ toIce(ice.coreSegments, memory.coreSegments());
}
void fromIce(const data::Memory& ice, wm::Memory& memory)
{
detail::fromIceItem(ice, memory);
- fromIce(ice.coreSegments, memory.container);
+ fromIce(ice.coreSegments, memory.coreSegments());
}
}
diff --git a/source/RobotAPI/libraries/armem/test/ArMemIceConversionsTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemIceConversionsTest.cpp
index 1d016e78374082167a82730796e1950d09c158ac..36d8ac9cfa55816a086985f0de6f6f6c99155273 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemIceConversionsTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemIceConversionsTest.cpp
@@ -54,10 +54,10 @@ BOOST_AUTO_TEST_CASE(test_entity)
armem::data::EntityPtr ice;
armem::toIce(ice, entity);
- BOOST_CHECK_EQUAL(ice->id.memoryName, entity.id.memoryName);
- BOOST_CHECK_EQUAL(ice->id.coreSegmentName, entity.id.coreSegmentName);
- BOOST_CHECK_EQUAL(ice->id.providerSegmentName, entity.id.providerSegmentName);
- BOOST_CHECK_EQUAL(ice->id.entityName, entity.id.entityName);
+ BOOST_CHECK_EQUAL(ice->id().memoryName, entity.id.memoryName);
+ BOOST_CHECK_EQUAL(ice->id().coreSegmentName, entity.id.coreSegmentName);
+ BOOST_CHECK_EQUAL(ice->id().providerSegmentName, entity.id.providerSegmentName);
+ BOOST_CHECK_EQUAL(ice->id().entityName, entity.id.entityName);
BOOST_CHECK_EQUAL(ice->history.size(), entity.history().size());
diff --git a/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp
index b852295ff0e9957deabc8cbd901fd628f148b4ff..4cd548cff76136f2c08ebae4711a7d2de665cea9 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp
@@ -249,7 +249,7 @@ BOOST_AUTO_TEST_CASE(test_history_size_in_provider_segment)
providerSegment.update(update);
// Check correctly inherited history size.
- BOOST_CHECK_EQUAL(providerSegment.getEntity("C").maxHistorySize, 2);
+ BOOST_CHECK_EQUAL(providerSegment.getEntity("C").getMaxHistorySize(), 2);
// Check actual history size.
BOOST_CHECK_EQUAL(providerSegment.getEntity("C").history().size(), 2);