From f19c228698c2ecf489e64842f58cdf9a93f2871b Mon Sep 17 00:00:00 2001
From: "fabian.peller-konrad@kit.edu" <fabian.peller-konrad@kit.edu>
Date: Mon, 26 Apr 2021 18:22:01 +0200
Subject: [PATCH] renamed stuff, added namespaces to base classes, shortened
namespaces of memories, fixed robotsensormemory memory name
---
.../ArMemExample/config/ExampleMemory.cfg | 8 -
.../ExampleMemoryClient.cpp | 18 +-
.../ExampleMemoryClient/ExampleMemoryClient.h | 4 +-
.../ExampleMemory/test/ExampleMemoryTest.cpp | 6 +-
.../RobotSensorMemory/RobotSensorMemory.cpp | 6 +-
.../RobotSensorMemory/RobotSensorMemory.h | 3 +-
.../RobotAPI/libraries/armem/CMakeLists.txt | 210 +++++++++---------
.../RobotAPI/libraries/armem/client/Query.cpp | 2 +-
.../RobotAPI/libraries/armem/client/Query.h | 6 +-
.../RobotAPI/libraries/armem/client/Reader.h | 6 +-
.../RobotAPI/libraries/armem/client/Writer.h | 2 +-
.../armem/client/query/selectors.cpp | 2 +-
source/RobotAPI/libraries/armem/core.h | 15 +-
source/RobotAPI/libraries/armem/core/Commit.h | 1 -
.../{CoreSegment.cpp => CoreSegmentBase.cpp} | 0
.../base/{CoreSegment.h => CoreSegmentBase.h} | 22 +-
.../core/base/{Entity.cpp => EntityBase.cpp} | 0
.../core/base/{Entity.h => EntityBase.h} | 27 ++-
...ityInstance.cpp => EntityInstanceBase.cpp} | 0
...{EntityInstance.h => EntityInstanceBase.h} | 20 +-
...itySnapshot.cpp => EntitySnapshotBase.cpp} | 0
...{EntitySnapshot.h => EntitySnapshotBase.h} | 13 +-
.../core/base/{Memory.cpp => MemoryBase.cpp} | 0
.../core/base/{Memory.h => MemoryBase.h} | 22 +-
...derSegment.cpp => ProviderSegmentBase.cpp} | 0
...roviderSegment.h => ProviderSegmentBase.h} | 17 +-
.../core/base/detail/EntityContainer.cpp | 10 -
.../detail/EntityContainerBase.cpp} | 0
...ntityContainer.h => EntityContainerBase.h} | 31 +--
.../armem/core/base/detail/MaxHistorySize.cpp | 2 +-
.../armem/core/base/detail/MaxHistorySize.h | 2 +-
.../core/base/detail/MemoryContainer.cpp | 7 -
.../core/base/detail/MemoryContainerBase.cpp | 0
...emoryContainer.h => MemoryContainerBase.h} | 12 +-
.../armem/core/base/detail/MemoryItem.h | 2 +-
.../base/detail/TypedEntityContainerBase.cpp | 0
...Container.h => TypedEntityContainerBase.h} | 33 +--
.../armem/core/base/ice_conversions.cpp | 130 -----------
.../armem/core/base/ice_conversions.h | 35 ---
.../CoreSegment.cpp | 38 ++--
.../{diskMemory => diskmemory}/CoreSegment.h | 19 +-
.../{diskMemory => diskmemory}/Entity.cpp | 26 +--
.../core/{diskMemory => diskmemory}/Entity.h | 16 +-
.../EntityInstance.cpp | 32 +--
.../EntityInstance.h | 19 +-
.../EntitySnapshot.cpp | 22 +-
.../EntitySnapshot.h | 16 +-
.../{diskMemory => diskmemory}/Memory.cpp | 24 +-
.../core/{diskMemory => diskmemory}/Memory.h | 17 +-
.../ProviderSegment.cpp | 40 ++--
.../ProviderSegment.h | 19 +-
.../detail/TypedEntityContainer.h | 14 +-
.../libraries/armem/core/ice_conversions.cpp | 4 +-
.../libraries/armem/core/ice_conversions.h | 4 +-
.../armem/core/ice_conversions_templates.h | 39 ++--
.../CoreSegment.cpp | 26 +--
.../CoreSegment.h | 17 +-
.../Entity.cpp | 16 +-
.../Entity.h | 16 +-
.../EntityInstance.cpp | 10 +-
.../EntityInstance.h | 15 +-
.../EntitySnapshot.cpp | 12 +-
.../EntitySnapshot.h | 16 +-
.../Memory.cpp | 14 +-
.../Memory.h | 17 +-
.../ProviderSegment.cpp | 26 +--
.../ProviderSegment.h | 17 +-
.../mongodb/MongoDBConnectionManager.h | 4 +-
.../workingMemory/detail/MemoryContainer.cpp | 7 -
.../core/workingMemory/ice_conversions.h | 36 ---
.../CoreSegment.cpp | 20 +-
.../CoreSegment.h | 11 +-
.../Entity.cpp | 10 +-
.../{workingMemory => workingmemory}/Entity.h | 10 +-
.../EntityInstance.cpp | 6 +-
.../EntityInstance.h | 9 +-
.../EntitySnapshot.cpp | 6 +-
.../EntitySnapshot.h | 10 +-
.../Memory.cpp | 6 +-
.../{workingMemory => workingmemory}/Memory.h | 11 +-
.../ProviderSegment.cpp | 20 +-
.../ProviderSegment.h | 11 +-
.../workingmemory/detail/EntityContainer.cpp | 0
.../detail/EntityContainer.h | 10 +-
.../workingmemory/detail/MemoryContainer.cpp | 0
.../detail/MemoryContainer.h | 18 +-
.../detail/TypedEntityContainer.cpp | 0
.../detail/TypedEntityContainer.h | 10 +-
.../ice_conversions.cpp | 28 +--
.../core/workingmemory/ice_conversions.h | 36 +++
.../armem/server/ComponentPlugin.cpp | 2 +-
.../libraries/armem/server/ComponentPlugin.h | 8 +-
.../armem/server/MemoryRemoteGui.cpp | 14 +-
.../libraries/armem/server/MemoryRemoteGui.h | 14 +-
.../armem/server/MemoryToIceAdapter.cpp | 14 +-
.../armem/server/MemoryToIceAdapter.h | 10 +-
.../query_proc/base/BaseQueryProcessor.cpp | 13 --
.../base/BaseQueryProcessorBase.cpp | 0
...ryProcessor.h => BaseQueryProcessorBase.h} | 2 +-
.../base/CoreSegmentQueryProcessor.cpp | 14 --
.../base/CoreSegmentQueryProcessorBase.cpp | 0
...ssor.h => CoreSegmentQueryProcessorBase.h} | 11 +-
.../query_proc/base/EntityQueryProcessor.cpp | 13 --
.../base/EntityQueryProcessorBase.cpp | 0
...Processor.h => EntityQueryProcessorBase.h} | 8 +-
.../query_proc/base/MemoryQueryProcessor.cpp | 15 --
.../base/MemoryQueryProcessorBase.cpp | 0
...Processor.h => MemoryQueryProcessorBase.h} | 14 +-
.../base/ProviderSegmentQueryProcessor.cpp | 15 --
.../ProviderSegmentQueryProcessorBase.cpp | 0
....h => ProviderSegmentQueryProcessorBase.h} | 11 +-
.../longtermMemory/BaseQueryProcessor.cpp | 13 --
.../CoreSegmentQueryProcessor.cpp | 14 --
.../longtermMemory/EntityQueryProcessor.cpp | 13 --
.../longtermMemory/EntityQueryProcessor.h | 39 ----
.../longtermMemory/MemoryQueryProcessor.cpp | 15 --
.../ProviderSegmentQueryProcessor.cpp | 15 --
.../ProviderSegmentQueryProcessor.h | 38 ----
.../longtermmemory/BaseQueryProcessor.cpp | 0
.../BaseQueryProcessor.h | 10 +-
.../CoreSegmentQueryProcessor.cpp | 0
.../CoreSegmentQueryProcessor.h | 13 +-
.../longtermmemory/EntityQueryProcessor.cpp | 0
.../longtermmemory/EntityQueryProcessor.h | 39 ++++
.../longtermmemory/MemoryQueryProcessor.cpp | 0
.../MemoryQueryProcessor.h | 13 +-
.../ProviderSegmentQueryProcessor.cpp | 0
.../ProviderSegmentQueryProcessor.h | 37 +++
.../workingMemory/BaseQueryProcessor.cpp | 13 --
.../CoreSegmentQueryProcessor.cpp | 14 --
.../workingMemory/EntityQueryProcessor.cpp | 13 --
.../workingMemory/MemoryQueryProcessor.cpp | 15 --
.../ProviderSegmentQueryProcessor.cpp | 15 --
.../workingmemory/BaseQueryProcessor.cpp | 0
.../BaseQueryProcessor.h | 10 +-
.../CoreSegmentQueryProcessor.cpp | 0
.../CoreSegmentQueryProcessor.h | 15 +-
.../workingmemory/EntityQueryProcessor.cpp | 0
.../EntityQueryProcessor.h | 20 +-
.../workingmemory/MemoryQueryProcessor.cpp | 0
.../MemoryQueryProcessor.h | 19 +-
.../ProviderSegmentQueryProcessor.cpp | 0
.../ProviderSegmentQueryProcessor.h | 15 +-
.../armem/test/ArMemIceConversionsTest.cpp | 10 +-
.../libraries/armem/test/ArMemLTMTest.cpp | 12 +-
.../libraries/armem/test/ArMemMemoryTest.cpp | 16 +-
.../armem/test/ArMemQueryBuilderTest.cpp | 2 +-
.../libraries/armem/test/ArMemQueryTest.cpp | 42 ++--
source/RobotAPI/libraries/armem/util/util.h | 10 +-
.../libraries/armem_gui/MemoryViewer.cpp | 14 +-
.../libraries/armem_gui/MemoryViewer.h | 2 +-
.../armem_gui/instance/InstanceView.cpp | 8 +-
.../armem_gui/instance/InstanceView.h | 10 +-
.../libraries/armem_gui/memory/TreeWidget.cpp | 70 +++---
.../libraries/armem_gui/memory/TreeWidget.h | 44 ++--
.../TransformReader.cpp | 14 +-
.../TransformReader.h | 6 +-
.../TransformWriter.cpp | 6 +-
158 files changed, 972 insertions(+), 1384 deletions(-)
rename source/RobotAPI/libraries/armem/core/base/{CoreSegment.cpp => CoreSegmentBase.cpp} (100%)
rename source/RobotAPI/libraries/armem/core/base/{CoreSegment.h => CoreSegmentBase.h} (89%)
rename source/RobotAPI/libraries/armem/core/base/{Entity.cpp => EntityBase.cpp} (100%)
rename source/RobotAPI/libraries/armem/core/base/{Entity.h => EntityBase.h} (93%)
rename source/RobotAPI/libraries/armem/core/base/{EntityInstance.cpp => EntityInstanceBase.cpp} (100%)
rename source/RobotAPI/libraries/armem/core/base/{EntityInstance.h => EntityInstanceBase.h} (72%)
rename source/RobotAPI/libraries/armem/core/base/{EntitySnapshot.cpp => EntitySnapshotBase.cpp} (100%)
rename source/RobotAPI/libraries/armem/core/base/{EntitySnapshot.h => EntitySnapshotBase.h} (95%)
rename source/RobotAPI/libraries/armem/core/base/{Memory.cpp => MemoryBase.cpp} (100%)
rename source/RobotAPI/libraries/armem/core/base/{Memory.h => MemoryBase.h} (89%)
rename source/RobotAPI/libraries/armem/core/base/{ProviderSegment.cpp => ProviderSegmentBase.cpp} (100%)
rename source/RobotAPI/libraries/armem/core/base/{ProviderSegment.h => ProviderSegmentBase.h} (92%)
delete mode 100644 source/RobotAPI/libraries/armem/core/base/detail/EntityContainer.cpp
rename source/RobotAPI/libraries/armem/core/{workingMemory/detail/EntityContainer.cpp => base/detail/EntityContainerBase.cpp} (100%)
rename source/RobotAPI/libraries/armem/core/base/detail/{EntityContainer.h => EntityContainerBase.h} (74%)
delete mode 100644 source/RobotAPI/libraries/armem/core/base/detail/MemoryContainer.cpp
create mode 100644 source/RobotAPI/libraries/armem/core/base/detail/MemoryContainerBase.cpp
rename source/RobotAPI/libraries/armem/core/base/detail/{MemoryContainer.h => MemoryContainerBase.h} (90%)
create mode 100644 source/RobotAPI/libraries/armem/core/base/detail/TypedEntityContainerBase.cpp
rename source/RobotAPI/libraries/armem/core/base/detail/{TypedEntityContainer.h => TypedEntityContainerBase.h} (66%)
delete mode 100644 source/RobotAPI/libraries/armem/core/base/ice_conversions.cpp
delete mode 100644 source/RobotAPI/libraries/armem/core/base/ice_conversions.h
rename source/RobotAPI/libraries/armem/core/{diskMemory => diskmemory}/CoreSegment.cpp (69%)
rename source/RobotAPI/libraries/armem/core/{diskMemory => diskmemory}/CoreSegment.h (68%)
rename source/RobotAPI/libraries/armem/core/{diskMemory => diskmemory}/Entity.cpp (78%)
rename source/RobotAPI/libraries/armem/core/{diskMemory => diskmemory}/Entity.h (77%)
rename source/RobotAPI/libraries/armem/core/{diskMemory => diskmemory}/EntityInstance.cpp (88%)
rename source/RobotAPI/libraries/armem/core/{diskMemory => diskmemory}/EntityInstance.h (75%)
rename source/RobotAPI/libraries/armem/core/{diskMemory => diskmemory}/EntitySnapshot.cpp (81%)
rename source/RobotAPI/libraries/armem/core/{diskMemory => diskmemory}/EntitySnapshot.h (64%)
rename source/RobotAPI/libraries/armem/core/{diskMemory => diskmemory}/Memory.cpp (81%)
rename source/RobotAPI/libraries/armem/core/{diskMemory => diskmemory}/Memory.h (66%)
rename source/RobotAPI/libraries/armem/core/{diskMemory => diskmemory}/ProviderSegment.cpp (69%)
rename source/RobotAPI/libraries/armem/core/{diskMemory => diskmemory}/ProviderSegment.h (66%)
rename source/RobotAPI/libraries/armem/core/{diskMemory => diskmemory}/detail/TypedEntityContainer.h (90%)
rename source/RobotAPI/libraries/armem/core/{longtermMemory => longtermmemory}/CoreSegment.cpp (55%)
rename source/RobotAPI/libraries/armem/core/{longtermMemory => longtermmemory}/CoreSegment.h (63%)
rename source/RobotAPI/libraries/armem/core/{longtermMemory => longtermmemory}/Entity.cpp (66%)
rename source/RobotAPI/libraries/armem/core/{longtermMemory => longtermmemory}/Entity.h (75%)
rename source/RobotAPI/libraries/armem/core/{longtermMemory => longtermmemory}/EntityInstance.cpp (89%)
rename source/RobotAPI/libraries/armem/core/{longtermMemory => longtermmemory}/EntityInstance.h (84%)
rename source/RobotAPI/libraries/armem/core/{longtermMemory => longtermmemory}/EntitySnapshot.cpp (74%)
rename source/RobotAPI/libraries/armem/core/{longtermMemory => longtermmemory}/EntitySnapshot.h (57%)
rename source/RobotAPI/libraries/armem/core/{longtermMemory => longtermmemory}/Memory.cpp (76%)
rename source/RobotAPI/libraries/armem/core/{longtermMemory => longtermmemory}/Memory.h (63%)
rename source/RobotAPI/libraries/armem/core/{longtermMemory => longtermmemory}/ProviderSegment.cpp (55%)
rename source/RobotAPI/libraries/armem/core/{longtermMemory => longtermmemory}/ProviderSegment.h (64%)
rename source/RobotAPI/libraries/armem/core/{longtermMemory => longtermmemory}/mongodb/MongoDBConnectionManager.h (94%)
delete mode 100644 source/RobotAPI/libraries/armem/core/workingMemory/detail/MemoryContainer.cpp
delete mode 100644 source/RobotAPI/libraries/armem/core/workingMemory/ice_conversions.h
rename source/RobotAPI/libraries/armem/core/{workingMemory => workingmemory}/CoreSegment.cpp (57%)
rename source/RobotAPI/libraries/armem/core/{workingMemory => workingmemory}/CoreSegment.h (78%)
rename source/RobotAPI/libraries/armem/core/{workingMemory => workingmemory}/Entity.cpp (71%)
rename source/RobotAPI/libraries/armem/core/{workingMemory => workingmemory}/Entity.h (85%)
rename source/RobotAPI/libraries/armem/core/{workingMemory => workingmemory}/EntityInstance.cpp (95%)
rename source/RobotAPI/libraries/armem/core/{workingMemory => workingmemory}/EntityInstance.h (92%)
rename source/RobotAPI/libraries/armem/core/{workingMemory => workingmemory}/EntitySnapshot.cpp (84%)
rename source/RobotAPI/libraries/armem/core/{workingMemory => workingmemory}/EntitySnapshot.h (74%)
rename source/RobotAPI/libraries/armem/core/{workingMemory => workingmemory}/Memory.cpp (85%)
rename source/RobotAPI/libraries/armem/core/{workingMemory => workingmemory}/Memory.h (73%)
rename source/RobotAPI/libraries/armem/core/{workingMemory => workingmemory}/ProviderSegment.cpp (58%)
rename source/RobotAPI/libraries/armem/core/{workingMemory => workingmemory}/ProviderSegment.h (79%)
create mode 100644 source/RobotAPI/libraries/armem/core/workingmemory/detail/EntityContainer.cpp
rename source/RobotAPI/libraries/armem/core/{workingMemory => workingmemory}/detail/EntityContainer.h (68%)
create mode 100644 source/RobotAPI/libraries/armem/core/workingmemory/detail/MemoryContainer.cpp
rename source/RobotAPI/libraries/armem/core/{workingMemory => workingmemory}/detail/MemoryContainer.h (55%)
create mode 100644 source/RobotAPI/libraries/armem/core/workingmemory/detail/TypedEntityContainer.cpp
rename source/RobotAPI/libraries/armem/core/{workingMemory => workingmemory}/detail/TypedEntityContainer.h (58%)
rename source/RobotAPI/libraries/armem/core/{workingMemory => workingmemory}/ice_conversions.cpp (69%)
create mode 100644 source/RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h
delete mode 100644 source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessor.cpp
create mode 100644 source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.cpp
rename source/RobotAPI/libraries/armem/server/query_proc/base/{BaseQueryProcessor.h => BaseQueryProcessorBase.h} (96%)
delete mode 100644 source/RobotAPI/libraries/armem/server/query_proc/base/CoreSegmentQueryProcessor.cpp
create mode 100644 source/RobotAPI/libraries/armem/server/query_proc/base/CoreSegmentQueryProcessorBase.cpp
rename source/RobotAPI/libraries/armem/server/query_proc/base/{CoreSegmentQueryProcessor.h => CoreSegmentQueryProcessorBase.h} (91%)
delete mode 100644 source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessor.cpp
create mode 100644 source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.cpp
rename source/RobotAPI/libraries/armem/server/query_proc/base/{EntityQueryProcessor.h => EntityQueryProcessorBase.h} (96%)
delete mode 100644 source/RobotAPI/libraries/armem/server/query_proc/base/MemoryQueryProcessor.cpp
create mode 100644 source/RobotAPI/libraries/armem/server/query_proc/base/MemoryQueryProcessorBase.cpp
rename source/RobotAPI/libraries/armem/server/query_proc/base/{MemoryQueryProcessor.h => MemoryQueryProcessorBase.h} (85%)
delete mode 100644 source/RobotAPI/libraries/armem/server/query_proc/base/ProviderSegmentQueryProcessor.cpp
create mode 100644 source/RobotAPI/libraries/armem/server/query_proc/base/ProviderSegmentQueryProcessorBase.cpp
rename source/RobotAPI/libraries/armem/server/query_proc/base/{ProviderSegmentQueryProcessor.h => ProviderSegmentQueryProcessorBase.h} (91%)
delete mode 100644 source/RobotAPI/libraries/armem/server/query_proc/longtermMemory/BaseQueryProcessor.cpp
delete mode 100644 source/RobotAPI/libraries/armem/server/query_proc/longtermMemory/CoreSegmentQueryProcessor.cpp
delete mode 100644 source/RobotAPI/libraries/armem/server/query_proc/longtermMemory/EntityQueryProcessor.cpp
delete mode 100644 source/RobotAPI/libraries/armem/server/query_proc/longtermMemory/EntityQueryProcessor.h
delete mode 100644 source/RobotAPI/libraries/armem/server/query_proc/longtermMemory/MemoryQueryProcessor.cpp
delete mode 100644 source/RobotAPI/libraries/armem/server/query_proc/longtermMemory/ProviderSegmentQueryProcessor.cpp
delete mode 100644 source/RobotAPI/libraries/armem/server/query_proc/longtermMemory/ProviderSegmentQueryProcessor.h
create mode 100644 source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/BaseQueryProcessor.cpp
rename source/RobotAPI/libraries/armem/server/query_proc/{longtermMemory => longtermmemory}/BaseQueryProcessor.h (55%)
create mode 100644 source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/CoreSegmentQueryProcessor.cpp
rename source/RobotAPI/libraries/armem/server/query_proc/{longtermMemory => longtermmemory}/CoreSegmentQueryProcessor.h (52%)
create mode 100644 source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/EntityQueryProcessor.cpp
create mode 100644 source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/EntityQueryProcessor.h
create mode 100644 source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/MemoryQueryProcessor.cpp
rename source/RobotAPI/libraries/armem/server/query_proc/{longtermMemory => longtermmemory}/MemoryQueryProcessor.h (52%)
create mode 100644 source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/ProviderSegmentQueryProcessor.cpp
create mode 100644 source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/ProviderSegmentQueryProcessor.h
delete mode 100644 source/RobotAPI/libraries/armem/server/query_proc/workingMemory/BaseQueryProcessor.cpp
delete mode 100644 source/RobotAPI/libraries/armem/server/query_proc/workingMemory/CoreSegmentQueryProcessor.cpp
delete mode 100644 source/RobotAPI/libraries/armem/server/query_proc/workingMemory/EntityQueryProcessor.cpp
delete mode 100644 source/RobotAPI/libraries/armem/server/query_proc/workingMemory/MemoryQueryProcessor.cpp
delete mode 100644 source/RobotAPI/libraries/armem/server/query_proc/workingMemory/ProviderSegmentQueryProcessor.cpp
create mode 100644 source/RobotAPI/libraries/armem/server/query_proc/workingmemory/BaseQueryProcessor.cpp
rename source/RobotAPI/libraries/armem/server/query_proc/{workingMemory => workingmemory}/BaseQueryProcessor.h (61%)
create mode 100644 source/RobotAPI/libraries/armem/server/query_proc/workingmemory/CoreSegmentQueryProcessor.cpp
rename source/RobotAPI/libraries/armem/server/query_proc/{workingMemory => workingmemory}/CoreSegmentQueryProcessor.h (57%)
create mode 100644 source/RobotAPI/libraries/armem/server/query_proc/workingmemory/EntityQueryProcessor.cpp
rename source/RobotAPI/libraries/armem/server/query_proc/{workingMemory => workingmemory}/EntityQueryProcessor.h (52%)
create mode 100644 source/RobotAPI/libraries/armem/server/query_proc/workingmemory/MemoryQueryProcessor.cpp
rename source/RobotAPI/libraries/armem/server/query_proc/{workingMemory => workingmemory}/MemoryQueryProcessor.h (62%)
create mode 100644 source/RobotAPI/libraries/armem/server/query_proc/workingmemory/ProviderSegmentQueryProcessor.cpp
rename source/RobotAPI/libraries/armem/server/query_proc/{workingMemory => workingmemory}/ProviderSegmentQueryProcessor.h (55%)
diff --git a/scenarios/ArMemExample/config/ExampleMemory.cfg b/scenarios/ArMemExample/config/ExampleMemory.cfg
index e59a680a2..d0a545f7a 100644
--- a/scenarios/ArMemExample/config/ExampleMemory.cfg
+++ b/scenarios/ArMemExample/config/ExampleMemory.cfg
@@ -84,14 +84,6 @@ ArmarX.ArMemExampleMemory.tpc.pub.MemoryListener = MemoryUpdates
# ArmarX.EnableProfiling = false
-# ArmarX.ExampleMemory.:
-# Attributes:
-# - Default: ""
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ExampleMemory. = ""
-
-
# ArmarX.ExampleMemory.EnableProfiling: enable profiler which is used for logging performance events
# Attributes:
# - Default: false
diff --git a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
index a8d5f925e..5ed005e7a 100644
--- a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
+++ b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
@@ -30,7 +30,7 @@
#include <RobotAPI/libraries/armem/server/MemoryRemoteGui.h>
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/client/query/query_fns.h>
-#include <RobotAPI/libraries/armem/core/workingMemory/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
#include <RobotAPI/components/armem/server/ExampleMemory/aron/ExampleData.aron.generated.h>
@@ -221,19 +221,19 @@ namespace armarx
if (qResult.success)
{
- armem::workingmemory::Memory& memory = qResult.memory;
+ armem::wm::Memory& memory = qResult.memory;
ARMARX_CHECK_EQUAL(memory.coreSegments().size(), 1);
- armem::workingmemory::CoreSegment& coreSeg = memory.coreSegments().begin()->second;
+ armem::wm::CoreSegment& coreSeg = memory.coreSegments().begin()->second;
ARMARX_CHECK_EQUAL(coreSeg.providerSegments().size(), 1);
- armem::workingmemory::ProviderSegment& provSeg = coreSeg.providerSegments().begin()->second;
+ armem::wm::ProviderSegment& provSeg = coreSeg.providerSegments().begin()->second;
ARMARX_CHECK_EQUAL(provSeg.entities().size(), 1);
- armem::workingmemory::Entity& entity = provSeg.entities().begin()->second;
+ armem::wm::Entity& entity = provSeg.entities().begin()->second;
ARMARX_CHECK_GREATER_EQUAL(entity.history().size(), 1);
- armem::workingmemory::EntitySnapshot& snapshot = entity.history().begin()->second;
+ armem::wm::EntitySnapshot& snapshot = entity.history().begin()->second;
ARMARX_INFO << "Result: "
<< "\n- memory: \t" << memory.name()
@@ -245,7 +245,7 @@ namespace armarx
;
ARMARX_IMPORTANT << "Getting entity via ID";
- const armem::workingmemory::Entity& e = memory.getEntity(entityID);
+ const armem::wm::Entity& e = memory.getEntity(entityID);
ARMARX_INFO << "Result: "
<< "\n- entity: \t" << e.name()
<< "\n- snapshot: \t" << e.getLatestSnapshot().time()
@@ -282,8 +282,8 @@ namespace armarx
if (qResult.success)
{
- armem::workingmemory::Memory memory = std::move(qResult.memory);
- const armem::workingmemory::EntitySnapshot& entitySnapshot = memory.getEntity(snapshotID).getLatestSnapshot();
+ armem::wm::Memory memory = std::move(qResult.memory);
+ const armem::wm::EntitySnapshot& entitySnapshot = memory.getEntity(snapshotID).getLatestSnapshot();
ARMARX_INFO << "Result snapshot: "
<< "\n- time: \t" << entitySnapshot.time()
diff --git a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.h b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.h
index ba4f67a4b..e2e975c4a 100644
--- a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.h
+++ b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.h
@@ -34,7 +34,7 @@
#include <RobotAPI/interface/armem/server/MemoryInterface.h>
#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
#include <RobotAPI/libraries/armem/client/ComponentPlugin.h>
-#include <RobotAPI/libraries/armem/core/workingMemory/Memory.h>
+#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
namespace armarx
@@ -124,7 +124,7 @@ namespace armarx
{
std::atomic_bool rebuild = false;
- std::optional<armem::workingmemory::Memory> queryResult;
+ std::optional<armem::wm::Memory> queryResult;
RemoteGui::Client::GroupBox queryResultGroup;
};
RemoteGuiTab tab;
diff --git a/source/RobotAPI/components/armem/server/ExampleMemory/test/ExampleMemoryTest.cpp b/source/RobotAPI/components/armem/server/ExampleMemory/test/ExampleMemoryTest.cpp
index 01ff68729..bb1988874 100644
--- a/source/RobotAPI/components/armem/server/ExampleMemory/test/ExampleMemoryTest.cpp
+++ b/source/RobotAPI/components/armem/server/ExampleMemory/test/ExampleMemoryTest.cpp
@@ -51,9 +51,9 @@ BOOST_AUTO_TEST_CASE(test_ExampleData_type)
BOOST_CHECK_EQUAL(type->childrenSize(), 15);
- armem::workingmemory::Memory memory;
- armem::workingmemory::CoreSegment& core = memory.addCoreSegment("ExampleData", type);
- armem::workingmemory::ProviderSegment& prov = core.addProviderSegment("Provider");
+ armem::wm::Memory memory;
+ armem::wm::CoreSegment& core = memory.addCoreSegment("ExampleData", type);
+ armem::wm::ProviderSegment& prov = core.addProviderSegment("Provider");
BOOST_CHECK_EQUAL(core.aronType, prov.aronType);
}
diff --git a/source/RobotAPI/components/armem/server/RobotSensorMemory/RobotSensorMemory.cpp b/source/RobotAPI/components/armem/server/RobotSensorMemory/RobotSensorMemory.cpp
index cc09275e7..2293364c6 100644
--- a/source/RobotAPI/components/armem/server/RobotSensorMemory/RobotSensorMemory.cpp
+++ b/source/RobotAPI/components/armem/server/RobotSensorMemory/RobotSensorMemory.cpp
@@ -71,7 +71,7 @@ namespace armarx
robotStateComponentMemoryBatchSize = std::max((unsigned int) 1, robotStateComponentMemoryBatchSize);
robotStateComponentPollFrequency = std::clamp(robotStateComponentPollFrequency, 1, ROBOT_STATE_COMPONENT_MAXIMUM_FREQUENCY);
- workingmemory.name() = memoryName;
+ workingmemory.name() = workingMemoryName;
}
@@ -136,7 +136,7 @@ namespace armarx
ARMARX_ERROR << "Could not add segment " << robotUnitCoreSegmentName << "/" << robotUnitProviderSegmentName << ". The error message is: " << result.errorMessage;
}
- robotUnitProviderID.memoryName = memoryName;
+ robotUnitProviderID.memoryName = workingMemoryName;
robotUnitProviderID.coreSegmentName = robotUnitCoreSegmentName;
robotUnitProviderID.providerSegmentName = robotUnitProviderSegmentName;
}
@@ -395,7 +395,7 @@ namespace armarx
ARMARX_ERROR << "Could not add segment " << robotStateComponentCoreSegmentName << "/" << robotStateComponentProviderSegmentName << ". The error message is: " << result.errorMessage;
}
- robotStateComponentProviderID.memoryName = memoryName;
+ robotStateComponentProviderID.memoryName = workingMemoryName;
robotStateComponentProviderID.coreSegmentName = robotStateComponentCoreSegmentName;
robotStateComponentProviderID.providerSegmentName = robotStateComponentProviderSegmentName;
}
diff --git a/source/RobotAPI/components/armem/server/RobotSensorMemory/RobotSensorMemory.h b/source/RobotAPI/components/armem/server/RobotSensorMemory/RobotSensorMemory.h
index 6b6ea32c9..b16ee1296 100644
--- a/source/RobotAPI/components/armem/server/RobotSensorMemory/RobotSensorMemory.h
+++ b/source/RobotAPI/components/armem/server/RobotSensorMemory/RobotSensorMemory.h
@@ -104,7 +104,7 @@ namespace armarx
void stopRobotStateComponentPoll();
private:
- std::string memoryName = "RobotSensorMemory";
+ std::string workingMemoryName = "RobotStateMemory";
bool addCoreSegmentOnUsage = false;
mutable std::recursive_mutex startStopMutex;
@@ -114,6 +114,7 @@ namespace armarx
std::string robotUnitProviderSegmentName = "RobotUnit"; // get robot name?
armem::data::MemoryID robotUnitProviderID;
+ // TODO: Remove the whole connection to the RSC since this memory will replace it?
std::string robotStateComponentCoreSegmentName = "Localization";
std::string robotStateComponentProviderSegmentName = "RobotStateComponent"; // get robot name?
armem::data::MemoryID robotStateComponentProviderID;
diff --git a/source/RobotAPI/libraries/armem/CMakeLists.txt b/source/RobotAPI/libraries/armem/CMakeLists.txt
index 0462bbd67..9e8250ffc 100644
--- a/source/RobotAPI/libraries/armem/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem/CMakeLists.txt
@@ -25,37 +25,42 @@ set(LIB_FILES
core/base/detail/MemoryItem.cpp
core/base/detail/MaxHistorySize.cpp
- core/base/detail/MemoryContainer.cpp
- core/base/detail/EntityContainer.cpp
-
- core/base/CoreSegment.cpp
- core/base/Entity.cpp
- core/base/EntityInstance.cpp
- core/base/EntitySnapshot.cpp
- core/base/Memory.cpp
- core/base/ProviderSegment.cpp
-
- core/workingMemory/ice_conversions.cpp
- core/workingMemory/CoreSegment.cpp
- core/workingMemory/Entity.cpp
- core/workingMemory/EntityInstance.cpp
- core/workingMemory/EntitySnapshot.cpp
- core/workingMemory/Memory.cpp
- core/workingMemory/ProviderSegment.cpp
-
- core/longtermMemory/CoreSegment.cpp
- core/longtermMemory/Entity.cpp
- core/longtermMemory/EntityInstance.cpp
- core/longtermMemory/EntitySnapshot.cpp
- core/longtermMemory/Memory.cpp
- core/longtermMemory/ProviderSegment.cpp
-
- core/diskMemory/CoreSegment.cpp
- core/diskMemory/Entity.cpp
- core/diskMemory/EntityInstance.cpp
- core/diskMemory/EntitySnapshot.cpp
- core/diskMemory/Memory.cpp
- core/diskMemory/ProviderSegment.cpp
+ core/base/detail/MemoryContainerBase.cpp
+ core/base/detail/EntityContainerBase.cpp
+ core/base/detail/TypedEntityContainerBase.cpp
+
+ core/base/CoreSegmentBase.cpp
+ core/base/EntityBase.cpp
+ core/base/EntityInstanceBase.cpp
+ core/base/EntitySnapshotBase.cpp
+ core/base/MemoryBase.cpp
+ core/base/ProviderSegmentBase.cpp
+
+ core/workingmemory/ice_conversions.cpp
+ core/workingmemory/detail/MemoryContainer.cpp
+ core/workingmemory/detail/EntityContainer.cpp
+ core/workingmemory/detail/TypedEntityContainer.cpp
+ core/workingmemory/CoreSegment.cpp
+ core/workingmemory/Entity.cpp
+ core/workingmemory/EntityInstance.cpp
+ core/workingmemory/EntitySnapshot.cpp
+ core/workingmemory/Memory.cpp
+ core/workingmemory/ProviderSegment.cpp
+ core/workingmemory/ice_conversions.cpp
+
+ core/longtermmemory/CoreSegment.cpp
+ core/longtermmemory/Entity.cpp
+ core/longtermmemory/EntityInstance.cpp
+ core/longtermmemory/EntitySnapshot.cpp
+ core/longtermmemory/Memory.cpp
+ core/longtermmemory/ProviderSegment.cpp
+
+ core/diskmemory/CoreSegment.cpp
+ core/diskmemory/Entity.cpp
+ core/diskmemory/EntityInstance.cpp
+ core/diskmemory/EntitySnapshot.cpp
+ core/diskmemory/Memory.cpp
+ core/diskmemory/ProviderSegment.cpp
core/error/ArMemError.cpp
@@ -74,23 +79,23 @@ set(LIB_FILES
server/MemoryRemoteGui.cpp
server/RemoteGuiAronDataVisitor.cpp
- server/query_proc/base/BaseQueryProcessor.cpp
- server/query_proc/base/EntityQueryProcessor.cpp
- server/query_proc/base/ProviderSegmentQueryProcessor.cpp
- server/query_proc/base/CoreSegmentQueryProcessor.cpp
- server/query_proc/base/MemoryQueryProcessor.cpp
+ server/query_proc/base/BaseQueryProcessorBase.cpp
+ server/query_proc/base/EntityQueryProcessorBase.cpp
+ server/query_proc/base/ProviderSegmentQueryProcessorBase.cpp
+ server/query_proc/base/CoreSegmentQueryProcessorBase.cpp
+ server/query_proc/base/MemoryQueryProcessorBase.cpp
- server/query_proc/workingMemory/BaseQueryProcessor.cpp
- server/query_proc/workingMemory/EntityQueryProcessor.cpp
- server/query_proc/workingMemory/ProviderSegmentQueryProcessor.cpp
- server/query_proc/workingMemory/CoreSegmentQueryProcessor.cpp
- server/query_proc/workingMemory/MemoryQueryProcessor.cpp
+ server/query_proc/workingmemory/BaseQueryProcessor.cpp
+ server/query_proc/workingmemory/EntityQueryProcessor.cpp
+ server/query_proc/workingmemory/ProviderSegmentQueryProcessor.cpp
+ server/query_proc/workingmemory/CoreSegmentQueryProcessor.cpp
+ server/query_proc/workingmemory/MemoryQueryProcessor.cpp
- server/query_proc/longtermMemory/BaseQueryProcessor.cpp
- server/query_proc/longtermMemory/EntityQueryProcessor.cpp
- server/query_proc/longtermMemory/ProviderSegmentQueryProcessor.cpp
- server/query_proc/longtermMemory/CoreSegmentQueryProcessor.cpp
- server/query_proc/longtermMemory/MemoryQueryProcessor.cpp
+ server/query_proc/longtermmemory/BaseQueryProcessor.cpp
+ server/query_proc/longtermmemory/EntityQueryProcessor.cpp
+ server/query_proc/longtermmemory/ProviderSegmentQueryProcessor.cpp
+ server/query_proc/longtermmemory/CoreSegmentQueryProcessor.cpp
+ server/query_proc/longtermmemory/MemoryQueryProcessor.cpp
mns/MemoryNameSystem.cpp
mns/ClientPlugin.cpp
@@ -106,51 +111,52 @@ set(LIB_HEADERS
core/MemoryID.h
core/SuccessHeader.h
core/Time.h
- core/ice_conversions.h
- core/ice_conversions_templates.h
core/error.h
core/error/ArMemError.h
core/base/detail/MemoryItem.h
core/base/detail/MaxHistorySize.h
- core/base/detail/MemoryContainer.h
- core/base/detail/EntityContainer.h
- core/base/detail/TypedEntityContainer.h
-
- core/base/CoreSegment.h
- core/base/Entity.h
- core/base/EntityInstance.h
- core/base/EntitySnapshot.h
- core/base/Memory.h
- core/base/ProviderSegment.h
-
- core/workingMemory/detail/MemoryContainer.h
- core/workingMemory/detail/EntityContainer.h
- core/workingMemory/detail/TypedEntityContainer.h
- core/workingMemory/ice_conversions.h
- core/workingMemory/CoreSegment.h
- core/workingMemory/Entity.h
- core/workingMemory/EntityInstance.h
- core/workingMemory/EntitySnapshot.h
- core/workingMemory/Memory.h
- core/workingMemory/ProviderSegment.h
-
- core/longtermMemory/CoreSegment.h
- core/longtermMemory/Entity.h
- core/longtermMemory/EntityInstance.h
- core/longtermMemory/EntitySnapshot.h
- core/longtermMemory/Memory.h
- core/longtermMemory/ProviderSegment.h
- core/longtermMemory/mongodb/MongoDBConnectionManager.h
-
- core/diskMemory/detail/TypedEntityContainer.h
- core/diskMemory/CoreSegment.h
- core/diskMemory/Entity.h
- core/diskMemory/EntityInstance.h
- core/diskMemory/EntitySnapshot.h
- core/diskMemory/Memory.h
- core/diskMemory/ProviderSegment.h
+ core/base/detail/MemoryContainerBase.h
+ core/base/detail/EntityContainerBase.h
+ core/base/detail/TypedEntityContainerBase.h
+
+ core/base/CoreSegmentBase.h
+ core/base/EntityBase.h
+ core/base/EntityInstanceBase.h
+ core/base/EntitySnapshotBase.h
+ core/base/MemoryBase.h
+ core/base/ProviderSegmentBase.h
+
+ core/workingmemory/detail/MemoryContainer.h
+ core/workingmemory/detail/EntityContainer.h
+ core/workingmemory/detail/TypedEntityContainer.h
+ core/workingmemory/CoreSegment.h
+ core/workingmemory/Entity.h
+ core/workingmemory/EntityInstance.h
+ core/workingmemory/EntitySnapshot.h
+ core/workingmemory/Memory.h
+ core/workingmemory/ProviderSegment.h
+ core/workingmemory/ice_conversions.h
+
+ core/longtermmemory/CoreSegment.h
+ core/longtermmemory/Entity.h
+ core/longtermmemory/EntityInstance.h
+ core/longtermmemory/EntitySnapshot.h
+ core/longtermmemory/Memory.h
+ core/longtermmemory/ProviderSegment.h
+ core/longtermmemory/mongodb/MongoDBConnectionManager.h
+
+ core/diskmemory/detail/TypedEntityContainer.h
+ core/diskmemory/CoreSegment.h
+ core/diskmemory/Entity.h
+ core/diskmemory/EntityInstance.h
+ core/diskmemory/EntitySnapshot.h
+ core/diskmemory/Memory.h
+ core/diskmemory/ProviderSegment.h
+
+ core/ice_conversions.h
+ core/ice_conversions_templates.h
client.h
client/ComponentPlugin.h
@@ -173,23 +179,23 @@ set(LIB_HEADERS
server/RemoteGuiAronDataVisitor.h
server/query_proc.h
- server/query_proc/base/BaseQueryProcessor.h
- server/query_proc/base/EntityQueryProcessor.h
- server/query_proc/base/ProviderSegmentQueryProcessor.h
- server/query_proc/base/CoreSegmentQueryProcessor.h
- server/query_proc/base/MemoryQueryProcessor.h
-
- server/query_proc/workingMemory/BaseQueryProcessor.h
- server/query_proc/workingMemory/EntityQueryProcessor.h
- server/query_proc/workingMemory/ProviderSegmentQueryProcessor.h
- server/query_proc/workingMemory/CoreSegmentQueryProcessor.h
- server/query_proc/workingMemory/MemoryQueryProcessor.h
-
- server/query_proc/longtermMemory/BaseQueryProcessor.h
- server/query_proc/longtermMemory/EntityQueryProcessor.h
- server/query_proc/longtermMemory/ProviderSegmentQueryProcessor.h
- server/query_proc/longtermMemory/CoreSegmentQueryProcessor.h
- server/query_proc/longtermMemory/MemoryQueryProcessor.h
+ server/query_proc/base/BaseQueryProcessorBase.h
+ server/query_proc/base/EntityQueryProcessorBase.h
+ server/query_proc/base/ProviderSegmentQueryProcessorBase.h
+ server/query_proc/base/CoreSegmentQueryProcessorBase.h
+ server/query_proc/base/MemoryQueryProcessorBase.h
+
+ server/query_proc/workingmemory/BaseQueryProcessor.h
+ server/query_proc/workingmemory/EntityQueryProcessor.h
+ server/query_proc/workingmemory/ProviderSegmentQueryProcessor.h
+ server/query_proc/workingmemory/CoreSegmentQueryProcessor.h
+ server/query_proc/workingmemory/MemoryQueryProcessor.h
+
+ server/query_proc/longtermmemory/BaseQueryProcessor.h
+ server/query_proc/longtermmemory/EntityQueryProcessor.h
+ server/query_proc/longtermmemory/ProviderSegmentQueryProcessor.h
+ server/query_proc/longtermmemory/CoreSegmentQueryProcessor.h
+ server/query_proc/longtermmemory/MemoryQueryProcessor.h
mns.h
mns/MemoryNameSystem.h
diff --git a/source/RobotAPI/libraries/armem/client/Query.cpp b/source/RobotAPI/libraries/armem/client/Query.cpp
index 9830e11c4..1777839f2 100644
--- a/source/RobotAPI/libraries/armem/client/Query.cpp
+++ b/source/RobotAPI/libraries/armem/client/Query.cpp
@@ -1,6 +1,6 @@
#include "Query.h"
-#include <RobotAPI/libraries/armem/core/workingMemory/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
namespace armarx::armem::client
{
diff --git a/source/RobotAPI/libraries/armem/client/Query.h b/source/RobotAPI/libraries/armem/client/Query.h
index 5c0fb0f2b..b22c88001 100644
--- a/source/RobotAPI/libraries/armem/client/Query.h
+++ b/source/RobotAPI/libraries/armem/client/Query.h
@@ -3,10 +3,10 @@
// RobotAPI
#include <RobotAPI/interface/armem/query.h>
-#include <RobotAPI/libraries/armem/core/workingMemory/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
#include <RobotAPI/libraries/armem/core/SuccessHeader.h>
#include <RobotAPI/libraries/armem/core/DataMode.h>
-#include <RobotAPI/libraries/armem/core/workingMemory/Memory.h>
+#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
namespace armarx::armem::client
@@ -31,7 +31,7 @@ namespace armarx::armem::client
*/
struct QueryResult : public detail::SuccessHeader
{
- workingmemory::Memory memory;
+ wm::Memory memory;
static QueryResult fromIce(const armem::query::data::Result& ice);
diff --git a/source/RobotAPI/libraries/armem/client/Reader.h b/source/RobotAPI/libraries/armem/client/Reader.h
index 17076216a..cf0adbb45 100644
--- a/source/RobotAPI/libraries/armem/client/Reader.h
+++ b/source/RobotAPI/libraries/armem/client/Reader.h
@@ -10,9 +10,9 @@
#include <RobotAPI/interface/armem/server/ReadingMemoryInterface.h>
#include <RobotAPI/interface/armem/server/StoringMemoryInterface.h>
#include <RobotAPI/interface/armem/client/MemoryListenerInterface.h>
-#include <RobotAPI/libraries/armem/core/workingMemory/ice_conversions.h>
-#include <RobotAPI/libraries/armem/core/workingMemory/Memory.h>
-#include <RobotAPI/libraries/armem/core/longtermMemory/Memory.h>
+#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
+#include <RobotAPI/libraries/armem/core/longtermmemory/Memory.h>
#include "Query.h"
diff --git a/source/RobotAPI/libraries/armem/client/Writer.h b/source/RobotAPI/libraries/armem/client/Writer.h
index 7a7160fcb..9c6e8851e 100644
--- a/source/RobotAPI/libraries/armem/client/Writer.h
+++ b/source/RobotAPI/libraries/armem/client/Writer.h
@@ -2,7 +2,7 @@
#include <RobotAPI/interface/armem/server/WritingMemoryInterface.h>
-#include <RobotAPI/libraries/armem/core/workingMemory/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
namespace armarx::armem::client
diff --git a/source/RobotAPI/libraries/armem/client/query/selectors.cpp b/source/RobotAPI/libraries/armem/client/query/selectors.cpp
index 838357071..f2bae7128 100644
--- a/source/RobotAPI/libraries/armem/client/query/selectors.cpp
+++ b/source/RobotAPI/libraries/armem/client/query/selectors.cpp
@@ -1,6 +1,6 @@
#include "selectors.h"
-#include <RobotAPI/libraries/armem/core/workingMemory/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
namespace dq = ::armarx::armem::query::data;
diff --git a/source/RobotAPI/libraries/armem/core.h b/source/RobotAPI/libraries/armem/core.h
index e4825918b..c8ddee31c 100644
--- a/source/RobotAPI/libraries/armem/core.h
+++ b/source/RobotAPI/libraries/armem/core.h
@@ -1,19 +1,18 @@
#pragma once
#include "core/error.h"
-#include "core/ice_conversions.h"
#include "core/Commit.h"
#include "core/DataMode.h"
#include "core/MemoryID.h"
#include "core/Time.h"
-#include "core/workingMemory/Memory.h"
-#include "core/workingMemory/CoreSegment.h"
-#include "core/workingMemory/ProviderSegment.h"
-#include "core/workingMemory/Entity.h"
-#include "core/workingMemory/EntitySnapshot.h"
-#include "core/workingMemory/EntityInstance.h"
-#include "core/workingMemory/ice_conversions.h"
+#include "core/workingmemory/Memory.h"
+#include "core/workingmemory/CoreSegment.h"
+#include "core/workingmemory/ProviderSegment.h"
+#include "core/workingmemory/Entity.h"
+#include "core/workingmemory/EntitySnapshot.h"
+#include "core/workingmemory/EntityInstance.h"
+#include "core/workingmemory/ice_conversions.h"
namespace armarx::armem
diff --git a/source/RobotAPI/libraries/armem/core/Commit.h b/source/RobotAPI/libraries/armem/core/Commit.h
index 6a25f7a7c..ff3215ab7 100644
--- a/source/RobotAPI/libraries/armem/core/Commit.h
+++ b/source/RobotAPI/libraries/armem/core/Commit.h
@@ -10,7 +10,6 @@
namespace armarx::armem
{
-
/**
* @brief An update of an entity for a specific point in time.
*/
diff --git a/source/RobotAPI/libraries/armem/core/base/CoreSegment.cpp b/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.cpp
similarity index 100%
rename from source/RobotAPI/libraries/armem/core/base/CoreSegment.cpp
rename to source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.cpp
diff --git a/source/RobotAPI/libraries/armem/core/base/CoreSegment.h b/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h
similarity index 89%
rename from source/RobotAPI/libraries/armem/core/base/CoreSegment.h
rename to source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h
index f0f02976d..8e99598c1 100644
--- a/source/RobotAPI/libraries/armem/core/base/CoreSegment.h
+++ b/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h
@@ -3,27 +3,29 @@
#include <map>
#include <string>
-#include "ProviderSegment.h"
-#include "detail/TypedEntityContainer.h"
+#include "ProviderSegmentBase.h"
#include "detail/MaxHistorySize.h"
+#include "detail/TypedEntityContainerBase.h"
-namespace armarx::armem
+namespace armarx::armem::base
{
/**
* @brief Data of a core segment containing multiple provider segments.
*/
- template <class _ProviderSegmentT, class Derived>
+ template <class _ProviderSegmentT, class _Derived>
class CoreSegmentBase :
- virtual public detail::TypedEntityContainerBase<_ProviderSegmentT, typename _ProviderSegmentT::EntityT, Derived>,
- virtual public armarx::armem::detail::MaxHistorySize
+ virtual public detail::TypedEntityContainerBase<_ProviderSegmentT, typename _ProviderSegmentT::EntityT, _Derived>,
+ virtual public detail::MaxHistorySize
{
- using Base = detail::TypedEntityContainerBase<_ProviderSegmentT, typename _ProviderSegmentT::EntityT, Derived>;
-
- using _EntityT = typename _ProviderSegmentT::EntityT;
+ using Base = detail::TypedEntityContainerBase<_ProviderSegmentT, typename _ProviderSegmentT::EntityT, _Derived>;
public:
+ using ProviderSegmentT = _ProviderSegmentT;
+ using EntityT = typename ProviderSegmentT::EntityT;
+ using EntitySnapshotT = typename EntityT::EntitySnapshotT;
+ using EntityInstanceT = typename EntitySnapshotT::EntityInstanceT;
CoreSegmentBase& operator=(const CoreSegmentBase& other)
{
@@ -77,7 +79,7 @@ namespace armarx::armem
}
using Base::_checkContainerName;
- const _EntityT& getEntity(const MemoryID& id) const override
+ const EntityT& getEntity(const MemoryID& id) const override
{
_checkContainerName(id.coreSegmentName, this->getKeyString());
return getProviderSegment(id.providerSegmentName).getEntity(id);
diff --git a/source/RobotAPI/libraries/armem/core/base/Entity.cpp b/source/RobotAPI/libraries/armem/core/base/EntityBase.cpp
similarity index 100%
rename from source/RobotAPI/libraries/armem/core/base/Entity.cpp
rename to source/RobotAPI/libraries/armem/core/base/EntityBase.cpp
diff --git a/source/RobotAPI/libraries/armem/core/base/Entity.h b/source/RobotAPI/libraries/armem/core/base/EntityBase.h
similarity index 93%
rename from source/RobotAPI/libraries/armem/core/base/Entity.h
rename to source/RobotAPI/libraries/armem/core/base/EntityBase.h
index f52944ccc..2f7788696 100644
--- a/source/RobotAPI/libraries/armem/core/base/Entity.h
+++ b/source/RobotAPI/libraries/armem/core/base/EntityBase.h
@@ -8,11 +8,11 @@
#include "../../core/Time.h"
#include "../../core/MemoryID.h"
-#include "EntitySnapshot.h"
-#include "detail/MemoryContainer.h"
+#include "EntitySnapshotBase.h"
+#include "detail/MemoryContainerBase.h"
-namespace armarx::armem
+namespace armarx::armem::base
{
/**
@@ -34,13 +34,16 @@ namespace armarx::armem
* (potentially variable) number of instances (`EntityInstance`),
* each containing a single `AronData` object of a specific `AronType`.
*/
- template <class _EntitySnapshotT, class Derived>
+ 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>
{
- using Base = detail::MemoryContainerBase<std::map<Time, _EntitySnapshotT>, Derived>;
+ using Base = detail::MemoryContainerBase<std::map<Time, _EntitySnapshotT>, _Derived>;
public:
+ using EntitySnapshotT = _EntitySnapshotT;
+ using EntityInstanceT = typename EntitySnapshotT::EntityInstanceT;
+
EntityBase& operator=(const EntityBase& other)
{
other._copySelf(*this);
@@ -244,27 +247,27 @@ namespace armarx::armem
return "entity";
}
- virtual Derived copy() const override
+ virtual _Derived copy() const override
{
- Derived d;
+ _Derived d;
this->_copySelf(d);
return d;
}
- virtual Derived copyEmpty() const override
+ virtual _Derived copyEmpty() const override
{
- Derived d;
+ _Derived d;
this->_copySelfEmpty(d);
return d;
}
protected:
- virtual void _copySelf(Derived& other) const override
+ virtual void _copySelf(_Derived& other) const override
{
Base::_copySelf(other);
}
- virtual void _copySelfEmpty(Derived& other) const override
+ virtual void _copySelfEmpty(_Derived& other) const override
{
Base::_copySelfEmpty(other);
}
diff --git a/source/RobotAPI/libraries/armem/core/base/EntityInstance.cpp b/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.cpp
similarity index 100%
rename from source/RobotAPI/libraries/armem/core/base/EntityInstance.cpp
rename to source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.cpp
diff --git a/source/RobotAPI/libraries/armem/core/base/EntityInstance.h b/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h
similarity index 72%
rename from source/RobotAPI/libraries/armem/core/base/EntityInstance.h
rename to source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h
index 32f6bdbbd..872521f2a 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntityInstance.h
+++ b/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h
@@ -1,27 +1,23 @@
#pragma once
-#include <RobotAPI/interface/aron.h>
-#include <RobotAPI/libraries/aron/core/navigator/data/container/Dict.h>
-
#include "../../core/Time.h"
#include "../Commit.h"
#include "detail/MemoryItem.h"
-namespace armarx::armem
+namespace armarx::armem::base
{
/**
* @brief Data of a single entity instance.
*/
- template <class Derived>
+ template <class _Derived>
class EntityInstanceBase :
- virtual public armarx::armem::detail::MemoryItem
+ virtual public detail::MemoryItem
{
- using Base = armarx::armem::detail::MemoryItem;
+ using Base = detail::MemoryItem;
public:
-
EntityInstanceBase& operator=(const EntityInstanceBase& other)
{
//other._copySelf(*this);
@@ -39,9 +35,9 @@ namespace armarx::armem
}
// Copying
- virtual Derived copy() const
+ virtual _Derived copy() const
{
- Derived d;
+ _Derived d;
this->_copySelf(d);
return d;
}
@@ -53,7 +49,7 @@ namespace armarx::armem
*/
virtual void update(const EntityUpdate& update, int index) = 0;
- virtual bool equalsDeep(const Derived& other) const = 0;
+ virtual bool equalsDeep(const _Derived& other) const = 0;
std::string getLevelName() const override
{
@@ -66,7 +62,7 @@ namespace armarx::armem
}
protected:
- virtual void _copySelf(Derived& other) const
+ virtual void _copySelf(_Derived& other) const
{
Base::_copySelf(other);
}
diff --git a/source/RobotAPI/libraries/armem/core/base/EntitySnapshot.cpp b/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.cpp
similarity index 100%
rename from source/RobotAPI/libraries/armem/core/base/EntitySnapshot.cpp
rename to source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.cpp
diff --git a/source/RobotAPI/libraries/armem/core/base/EntitySnapshot.h b/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h
similarity index 95%
rename from source/RobotAPI/libraries/armem/core/base/EntitySnapshot.h
rename to source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h
index 341b1e448..1f74f36d0 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntitySnapshot.h
+++ b/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h
@@ -6,22 +6,23 @@
#include "../MemoryID.h"
#include "../Time.h"
-#include "EntityInstance.h"
-#include "detail/MemoryContainer.h"
+#include "EntityInstanceBase.h"
+#include "detail/MemoryContainerBase.h"
-namespace armarx::armem
+namespace armarx::armem::base
{
/**
* @brief Data of an entity at one point in time.
*/
- template <class _EntityInstanceT, class Derived>
+ template <class _EntityInstanceT, class _Derived>
class EntitySnapshotBase :
- virtual public detail::MemoryContainerBase<std::vector<_EntityInstanceT>, Derived>
+ virtual public detail::MemoryContainerBase<std::vector<_EntityInstanceT>, _Derived>
{
- using Base = detail::MemoryContainerBase<std::vector<_EntityInstanceT>, Derived>;
+ using Base = detail::MemoryContainerBase<std::vector<_EntityInstanceT>, _Derived>;
public:
+ using EntityInstanceT = _EntityInstanceT;
EntitySnapshotBase& operator=(const EntitySnapshotBase& other)
{
diff --git a/source/RobotAPI/libraries/armem/core/base/Memory.cpp b/source/RobotAPI/libraries/armem/core/base/MemoryBase.cpp
similarity index 100%
rename from source/RobotAPI/libraries/armem/core/base/Memory.cpp
rename to source/RobotAPI/libraries/armem/core/base/MemoryBase.cpp
diff --git a/source/RobotAPI/libraries/armem/core/base/Memory.h b/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
similarity index 89%
rename from source/RobotAPI/libraries/armem/core/base/Memory.h
rename to source/RobotAPI/libraries/armem/core/base/MemoryBase.h
index 99e820796..bb7d5a8b9 100644
--- a/source/RobotAPI/libraries/armem/core/base/Memory.h
+++ b/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
@@ -3,24 +3,28 @@
#include <map>
#include <string>
-#include "CoreSegment.h"
-#include "detail/EntityContainer.h"
+#include "CoreSegmentBase.h"
+#include "detail/EntityContainerBase.h"
-namespace armarx::armem
+namespace armarx::armem::base
{
/**
* @brief Data of a memory consisting of multiple core segments.
*/
- template <class _CoreSegmentT, class Derived>
+ template <class _CoreSegmentT, class _Derived>
class MemoryBase :
- virtual public detail::EntityContainerBase<_CoreSegmentT, typename _CoreSegmentT::ProviderSegmentT::EntityT, Derived>
+ virtual public detail::EntityContainerBase<_CoreSegmentT, typename _CoreSegmentT::ProviderSegmentT::EntityT, _Derived>
{
- using Base = detail::EntityContainerBase<_CoreSegmentT, typename _CoreSegmentT::ProviderSegmentT::EntityT, Derived>;
-
- using _EntityT = typename _CoreSegmentT::ProviderSegmentT::EntityT;
+ using Base = detail::EntityContainerBase<_CoreSegmentT, typename _CoreSegmentT::ProviderSegmentT::EntityT, _Derived>;
public:
+ using CoreSegmentT = _CoreSegmentT;
+ using ProviderSegmentT = typename CoreSegmentT::ProviderSegmentT;
+ using EntityT = typename ProviderSegmentT::EntityT;
+ using EntitySnapshotT = typename EntityT::EntitySnapshotT;
+ using EntityInstanceT = typename EntitySnapshotT::EntityInstanceT;
+
MemoryBase& operator=(const MemoryBase& other)
{
other._copySelf(*this);
@@ -73,7 +77,7 @@ namespace armarx::armem
}
using Base::_checkContainerName;
- const _EntityT& getEntity(const MemoryID& id) const override
+ const EntityT& getEntity(const MemoryID& id) const override
{
_checkContainerName(id.memoryName, this->name());
return getCoreSegment(id.coreSegmentName).getEntity(id);
diff --git a/source/RobotAPI/libraries/armem/core/base/ProviderSegment.cpp b/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.cpp
similarity index 100%
rename from source/RobotAPI/libraries/armem/core/base/ProviderSegment.cpp
rename to source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.cpp
diff --git a/source/RobotAPI/libraries/armem/core/base/ProviderSegment.h b/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h
similarity index 92%
rename from source/RobotAPI/libraries/armem/core/base/ProviderSegment.h
rename to source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h
index e2e789c5f..25ed0e585 100644
--- a/source/RobotAPI/libraries/armem/core/base/ProviderSegment.h
+++ b/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h
@@ -3,25 +3,28 @@
#include <map>
#include <string>
-#include "Entity.h"
-#include "detail/TypedEntityContainer.h"
+#include "EntityBase.h"
+#include "detail/TypedEntityContainerBase.h"
#include "detail/MaxHistorySize.h"
-namespace armarx::armem
+namespace armarx::armem::base
{
/**
* @brief Data of a provider segment containing multiple entities.
*/
- template <class _EntityT, class Derived>
+ template <class _EntityT, class _Derived>
class ProviderSegmentBase :
- virtual public detail::TypedEntityContainerBase<_EntityT, _EntityT, Derived>,
- virtual public armarx::armem::detail::MaxHistorySize
+ virtual public detail::TypedEntityContainerBase<_EntityT, _EntityT, _Derived>,
+ virtual public detail::MaxHistorySize
{
- using Base = detail::TypedEntityContainerBase<_EntityT, _EntityT, Derived>;
+ using Base = detail::TypedEntityContainerBase<_EntityT, _EntityT, _Derived>;
public:
+ using EntityT = _EntityT;
+ using EntitySnapshotT = typename EntityT::EntitySnapshotT;
+ using EntityInstanceT = typename EntitySnapshotT::EntityInstanceT;
ProviderSegmentBase& operator=(const ProviderSegmentBase& other)
{
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/EntityContainer.cpp b/source/RobotAPI/libraries/armem/core/base/detail/EntityContainer.cpp
deleted file mode 100644
index 43ade411e..000000000
--- a/source/RobotAPI/libraries/armem/core/base/detail/EntityContainer.cpp
+++ /dev/null
@@ -1,10 +0,0 @@
-#include "EntityContainer.h"
-
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-
-namespace armarx::armem::detail
-{
-
-
-}
diff --git a/source/RobotAPI/libraries/armem/core/workingMemory/detail/EntityContainer.cpp b/source/RobotAPI/libraries/armem/core/base/detail/EntityContainerBase.cpp
similarity index 100%
rename from source/RobotAPI/libraries/armem/core/workingMemory/detail/EntityContainer.cpp
rename to source/RobotAPI/libraries/armem/core/base/detail/EntityContainerBase.cpp
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/EntityContainer.h b/source/RobotAPI/libraries/armem/core/base/detail/EntityContainerBase.h
similarity index 74%
rename from source/RobotAPI/libraries/armem/core/base/detail/EntityContainer.h
rename to source/RobotAPI/libraries/armem/core/base/detail/EntityContainerBase.h
index fd2c66107..0f28deeef 100644
--- a/source/RobotAPI/libraries/armem/core/base/detail/EntityContainer.h
+++ b/source/RobotAPI/libraries/armem/core/base/detail/EntityContainerBase.h
@@ -3,13 +3,13 @@
#include "../../Commit.h"
#include "../../error/ArMemError.h"
-#include "MemoryContainer.h"
+#include "MemoryContainerBase.h"
-#include "../Entity.h"
-#include "../EntitySnapshot.h"
+#include "../EntityBase.h"
+#include "../EntitySnapshotBase.h"
-namespace armarx::armem::detail
+namespace armarx::armem::base::detail
{
/**
@@ -17,16 +17,17 @@ namespace armarx::armem::detail
*
* Can be updated by multiple entity updates.
*/
- template <class _ValueT, class _EntityT, class Derived>
+ template <class _ValueT, class _EntityT, class _Derived>
class EntityContainerBase :
- virtual public MemoryContainerBase<std::map<std::string, _ValueT>, Derived>
+ virtual public MemoryContainerBase<std::map<std::string, _ValueT>, _Derived>
{
- using Base = MemoryContainerBase<std::map<std::string, _ValueT>, Derived>;
-
- using _EntitySnapshotT = typename _EntityT::EntitySnapshotT;
- using _EntityInstanceT = typename _EntitySnapshotT::EntityInstanceT;
+ using Base = MemoryContainerBase<std::map<std::string, _ValueT>, _Derived>;
public:
+ using Derived = _Derived;
+ using EntitySnapshotT = typename _EntityT::EntitySnapshotT;
+ using EntityInstanceT = typename EntitySnapshotT::EntityInstanceT;
+
EntityContainerBase& operator=(const EntityContainerBase& other)
{
other._copySelf(*this);
@@ -76,12 +77,12 @@ namespace armarx::armem::detail
* @return The entity snapshot.
* @throw An exception deriving from `armem::error::ArMemError` if the snapshot is missing.
*/
- virtual _EntitySnapshotT& getEntitySnapshot(const MemoryID& id)
+ virtual EntitySnapshotT& getEntitySnapshot(const MemoryID& id)
{
- return const_cast<_EntitySnapshotT&>(const_cast<const EntityContainerBase*>(this)->getEntitySnapshot(id));
+ return const_cast<EntitySnapshotT&>(const_cast<const EntityContainerBase*>(this)->getEntitySnapshot(id));
}
- virtual const _EntitySnapshotT& getEntitySnapshot(const MemoryID& id) const
+ virtual const EntitySnapshotT& getEntitySnapshot(const MemoryID& id) const
{
const _EntityT& entity = getEntity(id);
@@ -95,12 +96,12 @@ namespace armarx::armem::detail
}
}
- virtual _EntityInstanceT& getEntityInstance(const MemoryID& id)
+ virtual EntityInstanceT& getEntityInstance(const MemoryID& id)
{
return getEntitySnapshot(id).getInstance(id);
}
- virtual const _EntityInstanceT& getEntityInstance(const MemoryID& id) const
+ virtual const EntityInstanceT& getEntityInstance(const MemoryID& id) const
{
return getEntitySnapshot(id).getInstance(id);
}
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/MaxHistorySize.cpp b/source/RobotAPI/libraries/armem/core/base/detail/MaxHistorySize.cpp
index cdd34e3be..4fe12f7e2 100644
--- a/source/RobotAPI/libraries/armem/core/base/detail/MaxHistorySize.cpp
+++ b/source/RobotAPI/libraries/armem/core/base/detail/MaxHistorySize.cpp
@@ -1,7 +1,7 @@
#include "MaxHistorySize.h"
-namespace armarx::armem::detail
+namespace armarx::armem::base::detail
{
MaxHistorySize::~MaxHistorySize()
{
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/MaxHistorySize.h b/source/RobotAPI/libraries/armem/core/base/detail/MaxHistorySize.h
index d96e73296..edbc12fa6 100644
--- a/source/RobotAPI/libraries/armem/core/base/detail/MaxHistorySize.h
+++ b/source/RobotAPI/libraries/armem/core/base/detail/MaxHistorySize.h
@@ -2,7 +2,7 @@
-namespace armarx::armem::detail
+namespace armarx::armem::base::detail
{
class MaxHistorySize
{
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/MemoryContainer.cpp b/source/RobotAPI/libraries/armem/core/base/detail/MemoryContainer.cpp
deleted file mode 100644
index 9fd73048f..000000000
--- a/source/RobotAPI/libraries/armem/core/base/detail/MemoryContainer.cpp
+++ /dev/null
@@ -1,7 +0,0 @@
-#include "MemoryContainer.h"
-
-
-namespace armarx::armem::detail
-{
-
-}
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/MemoryContainerBase.cpp b/source/RobotAPI/libraries/armem/core/base/detail/MemoryContainerBase.cpp
new file mode 100644
index 000000000..e69de29bb
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/MemoryContainer.h b/source/RobotAPI/libraries/armem/core/base/detail/MemoryContainerBase.h
similarity index 90%
rename from source/RobotAPI/libraries/armem/core/base/detail/MemoryContainer.h
rename to source/RobotAPI/libraries/armem/core/base/detail/MemoryContainerBase.h
index c8454892d..e29be04a3 100644
--- a/source/RobotAPI/libraries/armem/core/base/detail/MemoryContainer.h
+++ b/source/RobotAPI/libraries/armem/core/base/detail/MemoryContainerBase.h
@@ -7,28 +7,26 @@
#include "MemoryItem.h"
-namespace armarx::armem::detail
+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 _Derived>
class MemoryContainerBase :
- virtual public armarx::armem::detail::MemoryItem
+ virtual public MemoryItem
{
- using Base = armarx::armem::detail::MemoryItem;
+ using Base = MemoryItem;
public:
+ using Derived = _Derived;
using ContainerT = _ContainerT;
public:
MemoryContainerBase()
{}
- /*MemoryContainerBase(const MemoryID& id) :
- Base(id)
- {}*/
MemoryContainerBase(const MemoryContainerBase<ContainerT, Derived>& o) :
MemoryItem(o.id),
container(o.container)
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/MemoryItem.h b/source/RobotAPI/libraries/armem/core/base/detail/MemoryItem.h
index e60f42dc1..9749e275a 100644
--- a/source/RobotAPI/libraries/armem/core/base/detail/MemoryItem.h
+++ b/source/RobotAPI/libraries/armem/core/base/detail/MemoryItem.h
@@ -5,7 +5,7 @@
#include "../../MemoryID.h"
-namespace armarx::armem::detail
+namespace armarx::armem::base::detail
{
/**
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/TypedEntityContainerBase.cpp b/source/RobotAPI/libraries/armem/core/base/detail/TypedEntityContainerBase.cpp
new file mode 100644
index 000000000..e69de29bb
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/TypedEntityContainer.h b/source/RobotAPI/libraries/armem/core/base/detail/TypedEntityContainerBase.h
similarity index 66%
rename from source/RobotAPI/libraries/armem/core/base/detail/TypedEntityContainer.h
rename to source/RobotAPI/libraries/armem/core/base/detail/TypedEntityContainerBase.h
index 3c067aca8..f4c511da0 100644
--- a/source/RobotAPI/libraries/armem/core/base/detail/TypedEntityContainer.h
+++ b/source/RobotAPI/libraries/armem/core/base/detail/TypedEntityContainerBase.h
@@ -1,32 +1,33 @@
#pragma once
-#include "EntityContainer.h"
+#include "EntityContainerBase.h"
#include <RobotAPI/libraries/aron/core/navigator/type/container/Object.h>
-namespace armarx::armem::detail
+namespace armarx::armem::base::detail
{
/**
* @brief An entity container with a specific (Aron) type.
*/
- template <class _ValueT, class _EntityT, class Derived>
+ template <class _ValueT, class _EntityT, class _Derived>
class TypedEntityContainerBase :
- virtual public EntityContainerBase<_ValueT, _EntityT, Derived>
+ virtual public EntityContainerBase<_ValueT, _EntityT, _Derived>
{
- using Base = EntityContainerBase<_ValueT, _EntityT, Derived>;
-
- using _EntitySnapshotT = typename _EntityT::EntitySnapshotT;
- using _EntityInstanceT = typename _EntitySnapshotT::EntityInstanceT;
+ using Base = EntityContainerBase<_ValueT, _EntityT, _Derived>;
public:
+ using Derived = _Derived;
+ using EntitySnapshotT = typename _EntityT::EntitySnapshotT;
+ using EntityInstanceT = typename EntitySnapshotT::EntityInstanceT;
+
TypedEntityContainerBase(aron::typenavigator::ObjectNavigatorPtr aronType = nullptr) :
aronType(aronType)
{}
- TypedEntityContainerBase(const TypedEntityContainerBase<_ValueT, _EntityT, Derived>& other) :
+ TypedEntityContainerBase(const TypedEntityContainerBase<_ValueT, _EntityT, _Derived>& other) :
MemoryItem(other),
- MemoryContainerBase<std::map<std::string, _ValueT>, Derived>(other),
+ MemoryContainerBase<std::map<std::string, _ValueT>, _Derived>(other),
aronType(other.aronType)
{}
@@ -46,28 +47,28 @@ namespace armarx::armem::detail
return aronType != nullptr;
}
- virtual Derived copy() const override
+ virtual _Derived copy() const override
{
- Derived d;
+ _Derived d;
this->_copySelf(d);
return d;
}
- virtual Derived copyEmpty() const override
+ virtual _Derived copyEmpty() const override
{
- Derived d;
+ _Derived d;
this->_copySelfEmpty(d);
return d;
}
protected:
- virtual void _copySelf(Derived& other) const override
+ virtual void _copySelf(_Derived& other) const override
{
Base::_copySelf(other);
other.aronType = aronType;
}
- virtual void _copySelfEmpty(Derived& other) const override
+ virtual void _copySelfEmpty(_Derived& other) const override
{
Base::_copySelfEmpty(other);
other.aronType = aronType;
diff --git a/source/RobotAPI/libraries/armem/core/base/ice_conversions.cpp b/source/RobotAPI/libraries/armem/core/base/ice_conversions.cpp
deleted file mode 100644
index 6de4d6e59..000000000
--- a/source/RobotAPI/libraries/armem/core/base/ice_conversions.cpp
+++ /dev/null
@@ -1,130 +0,0 @@
-#include "ice_conversions.h"
-
-using namespace armarx::armem::workingmemory;
-
-namespace armarx
-{
- void armem::toIce(data::EntityInstanceMetadata& ice, const EntityInstanceMetadata& metadata)
- {
- ice.confidence = metadata.confidence;
- toIce(ice.timeArrivedMicroSeconds, metadata.timeArrived);
- toIce(ice.timeCreatedMicroSeconds, metadata.timeCreated);
- toIce(ice.timeSentMicroSeconds, metadata.timeSent);
- }
- void armem::fromIce(const data::EntityInstanceMetadata& ice, EntityInstanceMetadata& metadata)
- {
- metadata.confidence = ice.confidence;
- fromIce(ice.timeArrivedMicroSeconds, metadata.timeArrived);
- fromIce(ice.timeCreatedMicroSeconds, metadata.timeCreated);
- fromIce(ice.timeSentMicroSeconds, metadata.timeSent);
- }
-
- void armem::toIce(data::EntityInstance& ice, const EntityInstance& data)
- {
- detail::toIceItem(ice, data);
-
- if (data.data())
- {
- ice.data = data.data()->toAronDictPtr();
- }
- toIce(ice.metadata, data.metadata());
- }
- void armem::fromIce(const data::EntityInstance& ice, EntityInstance& data)
- {
- detail::fromIceItem(ice, data);
-
- if (ice.data)
- {
- data.setData(aron::datanavigator::DictNavigator::FromAronDictPtr(ice.data));
- }
- fromIce(ice.metadata, data.metadata());
- }
-
-
- void armem::toIce(data::EntitySnapshot& ice, const EntitySnapshot& snapshot)
- {
- detail::toIceItem(ice, snapshot);
-
- toIce(ice.instances, snapshot.instances);
- }
- void armem::fromIce(const data::EntitySnapshot& ice, EntitySnapshot& snapshot)
- {
- detail::fromIceItem(ice, snapshot);
-
- fromIce(ice.instances, snapshot.instances);
- }
-
- void armem::toIce(data::Entity& ice, const Entity& entity)
- {
- detail::toIceItem(ice, entity);
-
- toIce(ice.history, entity.history);
- }
- void armem::fromIce(const data::Entity& ice, Entity& entity)
- {
- detail::fromIceItem(ice, entity);
-
- fromIce(ice.history, entity.history);
- }
-
-
- void armem::toIce(data::ProviderSegment& ice, const ProviderSegment& providerSegment)
- {
- detail::toIceItem(ice, providerSegment);
-
- if (providerSegment.hasAronType())
- {
- ice.aronType = providerSegment.aronType()->getResult();
- }
- toIce(ice.entities, providerSegment.entities);
- }
- void armem::fromIce(const data::ProviderSegment& ice, ProviderSegment& providerSegment)
- {
- detail::fromIceItem(ice, providerSegment);
-
- if (ice.aronType)
- {
- providerSegment.aronType() = aron::typenavigator::ObjectNavigator::DynamicCastAndCheck(
- aron::typenavigator::Navigator::FromAronType(ice.aronType)
- );
- }
- fromIce(ice.entities, providerSegment.entities);
- }
-
- void armem::toIce(data::CoreSegment& ice, const CoreSegment& coreSegment)
- {
- detail::toIceItem(ice, coreSegment);
-
- if (coreSegment.hasAronType())
- {
- ice.aronType = coreSegment.aronType()->getResult();
- }
- toIce(ice.providerSegments, coreSegment.providerSegments);
- }
- void armem::fromIce(const data::CoreSegment& ice, CoreSegment& coreSegment)
- {
- detail::fromIceItem(ice, coreSegment);
-
- if (ice.aronType)
- {
- coreSegment.aronType() = aron::typenavigator::ObjectNavigator::DynamicCastAndCheck(
- aron::typenavigator::Navigator::FromAronType(ice.aronType)
- );
- }
- fromIce(ice.providerSegments, coreSegment.providerSegments);
- }
-
- void armem::toIce(data::Memory& ice, const Memory& memory)
- {
- detail::toIceItem(ice, memory);
-
- toIce(ice.coreSegments, memory.coreSegments);
- }
- void armem::fromIce(const data::Memory& ice, Memory& memory)
- {
- detail::fromIceItem(ice, memory);
-
- fromIce(ice.coreSegments, memory.coreSegments);
- }
-
-}
diff --git a/source/RobotAPI/libraries/armem/core/base/ice_conversions.h b/source/RobotAPI/libraries/armem/core/base/ice_conversions.h
deleted file mode 100644
index e5996b001..000000000
--- a/source/RobotAPI/libraries/armem/core/base/ice_conversions.h
+++ /dev/null
@@ -1,35 +0,0 @@
-#pragma once
-
-#include <RobotAPI/interface/armem/commit.h>
-#include <RobotAPI/interface/armem/memory.h>
-
-#include "../ice_conversions.h"
-
-#include "Memory.h"
-
-
-namespace armarx::armem
-{
- void toIce(data::EntityInstanceMetadata& ice, const workingmemory::EntityInstanceMetadata& metadata);
- void fromIce(const data::EntityInstanceMetadata& ice, workingmemory::EntityInstanceMetadata& metadata);
-
- void toIce(data::EntityInstance& ice, const workingmemory::EntityInstance& data);
- void fromIce(const data::EntityInstance& ice, workingmemory::EntityInstance& data);
-
-
- void toIce(data::EntitySnapshot& ice, const workingmemory::EntitySnapshot& snapshot);
- void fromIce(const data::EntitySnapshot& ice, workingmemory::EntitySnapshot& snapshot);
-
- void toIce(data::Entity& ice, const workingmemory::Entity& entity);
- void fromIce(const data::Entity& ice, workingmemory::Entity& entity);
-
-
- void toIce(data::ProviderSegment& ice, const workingmemory::ProviderSegment& providerSegment);
- void fromIce(const data::ProviderSegment& ice, workingmemory::ProviderSegment& providerSegment);
-
- void toIce(data::CoreSegment& ice, const workingmemory::CoreSegment& coreSegment);
- void fromIce(const data::CoreSegment& ice, workingmemory::CoreSegment& coreSegment);
-
- void toIce(data::Memory& ice, const workingmemory::Memory& memory);
- void fromIce(const data::Memory& ice, workingmemory::Memory& memory);
-}
diff --git a/source/RobotAPI/libraries/armem/core/diskMemory/CoreSegment.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.cpp
similarity index 69%
rename from source/RobotAPI/libraries/armem/core/diskMemory/CoreSegment.cpp
rename to source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.cpp
index e8be60e6c..369dab760 100644
--- a/source/RobotAPI/libraries/armem/core/diskMemory/CoreSegment.cpp
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.cpp
@@ -5,7 +5,7 @@
#include "error.h"
-namespace armarx::armem::diskMemory
+namespace armarx::armem::d_ltm
{
CoreSegment::CoreSegment()
@@ -13,27 +13,27 @@ namespace armarx::armem::diskMemory
}
CoreSegment::CoreSegment(const std::string& name, aron::typenavigator::ObjectNavigatorPtr aronType) :
- armarx::armem::detail::MemoryItem(MemoryID().withCoreSegmentName(name)),
- armarx::armem::detail::TypedEntityContainerBase<ProviderSegment, Entity, CoreSegment>(MemoryID().withCoreSegmentName(name), aronType)
+ base::detail::MemoryItem(MemoryID().withCoreSegmentName(name)),
+ base::detail::TypedEntityContainerBase<ProviderSegment, Entity, CoreSegment>(MemoryID().withCoreSegmentName(name), aronType)
{
}
CoreSegment::CoreSegment(const std::string& name, const MemoryID& parentID, aron::typenavigator::ObjectNavigatorPtr aronType) :
- armarx::armem::detail::MemoryItem(MemoryID().withCoreSegmentName(name)),
- armarx::armem::detail::TypedEntityContainerBase<ProviderSegment, Entity, CoreSegment>(parentID.withCoreSegmentName(name), aronType)
+ base::detail::MemoryItem(MemoryID().withCoreSegmentName(name)),
+ base::detail::TypedEntityContainerBase<ProviderSegment, Entity, CoreSegment>(parentID.withCoreSegmentName(name), aronType)
{
}
CoreSegment::CoreSegment(const MemoryID& id, aron::typenavigator::ObjectNavigatorPtr aronType) :
- armarx::armem::detail::MemoryItem(id),
- armarx::armem::detail::TypedEntityContainerBase<ProviderSegment, Entity, CoreSegment>(id, aronType)
+ base::detail::MemoryItem(id),
+ base::detail::TypedEntityContainerBase<ProviderSegment, Entity, CoreSegment>(id, aronType)
{
}
CoreSegment::CoreSegment(const CoreSegment& other) :
- armarx::armem::detail::MemoryItem(other),
- MemoryContainerBase<std::map<std::string, ProviderSegment>, CoreSegment>(other),
- armarx::armem::detail::TypedEntityContainerBase<ProviderSegment, Entity, CoreSegment>(other)
+ base::detail::MemoryItem(other),
+ base::detail::MemoryContainerBase<std::map<std::string, ProviderSegment>, CoreSegment>(other),
+ base::detail::TypedEntityContainerBase<ProviderSegment, Entity, CoreSegment>(other)
{
}
@@ -45,7 +45,7 @@ namespace armarx::armem::diskMemory
std::filesystem::path CoreSegment::_fullPath() const
{
- if(path)
+ if (path)
{
return _fullPath(*path);
}
@@ -57,9 +57,9 @@ namespace armarx::armem::diskMemory
return path / id.memoryName / id.coreSegmentName;
}
- workingmemory::CoreSegment CoreSegment::convert() const
+ wm::CoreSegment CoreSegment::convert() const
{
- workingmemory::CoreSegment m;
+ wm::CoreSegment m;
for (const auto& [_, s] : container)
{
m.addProviderSegment(s.convert(aronType));
@@ -69,12 +69,12 @@ namespace armarx::armem::diskMemory
void CoreSegment::reload(const std::shared_ptr<std::filesystem::path>& p_ptr)
{
- if(!p_ptr)
+ if (!p_ptr)
{
ARMARX_WARNING << "The entered is NULL.";
}
std::filesystem::path p = _fullPath(*p_ptr);
- if(std::filesystem::is_regular_file(p))
+ if (std::filesystem::is_regular_file(p))
{
ARMARX_ERROR << "The entered path is leading to a file! Abort due to error.";
}
@@ -82,7 +82,7 @@ namespace armarx::armem::diskMemory
container.clear();
path = p_ptr;
- if(!std::filesystem::exists(p))
+ if (!std::filesystem::exists(p))
{
ARMARX_INFO << "The entered path does not exist. Assuming an empty container.";
}
@@ -90,14 +90,14 @@ namespace armarx::armem::diskMemory
{
for (const auto& d : std::filesystem::directory_iterator(p))
{
- if(d.is_directory())
+ if (d.is_directory())
{
std::string k = d.path().filename();
auto wms = container.emplace(std::make_pair(k, id.withProviderSegmentName(k)));
wms.first->second.reload(p_ptr);
}
- if(d.is_regular_file())
+ if (d.is_regular_file())
{
readAronType(d.path());
}
@@ -105,7 +105,7 @@ namespace armarx::armem::diskMemory
}
}
- void CoreSegment::append(const workingmemory::CoreSegment& m)
+ void CoreSegment::append(const wm::CoreSegment& m)
{
std::filesystem::create_directories(_fullPath());
writeAronType(_fullPath());
diff --git a/source/RobotAPI/libraries/armem/core/diskMemory/CoreSegment.h b/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.h
similarity index 68%
rename from source/RobotAPI/libraries/armem/core/diskMemory/CoreSegment.h
rename to source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.h
index d5a8314d2..f26c01c67 100644
--- a/source/RobotAPI/libraries/armem/core/diskMemory/CoreSegment.h
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.h
@@ -2,28 +2,27 @@
#include <filesystem>
-#include "../base/CoreSegment.h"
+#include "../base/CoreSegmentBase.h"
#include "detail/TypedEntityContainer.h"
#include "ProviderSegment.h"
-#include "../workingMemory/CoreSegment.h"
+#include "../workingmemory/CoreSegment.h"
-namespace armarx::armem::diskMemory
+namespace armarx::armem::d_ltm
{
/**
* @brief Data of a core segment containing multiple provider segments.
*/
class CoreSegment :
- virtual public CoreSegmentBase<ProviderSegment, CoreSegment>,
- virtual public detail::TypedEntityContainer<ProviderSegment, CoreSegment>
+ virtual public base::CoreSegmentBase<ProviderSegment, CoreSegment>,
+ virtual public detail::TypedEntityContainer<ProviderSegment, CoreSegment>
{
- public:
- using Base = CoreSegmentBase<ProviderSegment, CoreSegment>;
- using ProviderSegmentT = ProviderSegment;
+ using Base = base::CoreSegmentBase<ProviderSegment, CoreSegment>;
+ public:
CoreSegment();
CoreSegment(const std::string& name, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr);
CoreSegment(const std::string& name, const MemoryID& parentID, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr);
@@ -33,11 +32,11 @@ namespace armarx::armem::diskMemory
CoreSegment& operator=(const CoreSegment& other);
// Conversion
- workingmemory::CoreSegment convert() const;
+ wm::CoreSegment convert() const;
// Filesystem connection
void reload(const std::shared_ptr<std::filesystem::path>&);
- void append(const workingmemory::CoreSegment&);
+ void append(const wm::CoreSegment&);
private:
std::filesystem::path _fullPath() const;
diff --git a/source/RobotAPI/libraries/armem/core/diskMemory/Entity.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/Entity.cpp
similarity index 78%
rename from source/RobotAPI/libraries/armem/core/diskMemory/Entity.cpp
rename to source/RobotAPI/libraries/armem/core/diskmemory/Entity.cpp
index c2c8982a8..3847f0af9 100644
--- a/source/RobotAPI/libraries/armem/core/diskMemory/Entity.cpp
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/Entity.cpp
@@ -1,6 +1,6 @@
#include "Entity.h"
-namespace armarx::armem::diskMemory
+namespace armarx::armem::d_ltm
{
Entity::Entity()
@@ -8,18 +8,18 @@ namespace armarx::armem::diskMemory
}
Entity::Entity(const std::string& name, const MemoryID& parentID) :
- armarx::armem::detail::MemoryItem(parentID.withEntityName(name))
+ base::detail::MemoryItem(parentID.withEntityName(name))
{
}
Entity::Entity(const MemoryID& id) :
- armarx::armem::detail::MemoryItem(id)
+ base::detail::MemoryItem(id)
{
}
Entity::Entity(const Entity& other) :
- armarx::armem::detail::MemoryItem(other),
- armarx::armem::detail::MemoryContainerBase<std::map<Time, EntitySnapshot>, Entity>(other)
+ base::detail::MemoryItem(other),
+ base::detail::MemoryContainerBase<std::map<Time, EntitySnapshot>, Entity>(other)
{
}
@@ -31,7 +31,7 @@ namespace armarx::armem::diskMemory
std::filesystem::path Entity::_fullPath() const
{
- if(path)
+ if (path)
{
return _fullPath(*path);
}
@@ -43,9 +43,9 @@ namespace armarx::armem::diskMemory
return path / id.memoryName / id.coreSegmentName / id.providerSegmentName / id.entityName;
}
- workingmemory::Entity Entity::convert(const aron::typenavigator::NavigatorPtr& expectedStructure) const
+ wm::Entity Entity::convert(const aron::typenavigator::NavigatorPtr& expectedStructure) const
{
- workingmemory::Entity m;
+ wm::Entity m;
for (const auto& [_, s] : container)
{
m.addSnapshot(s.convert(expectedStructure));
@@ -55,12 +55,12 @@ namespace armarx::armem::diskMemory
void Entity::reload(const std::shared_ptr<std::filesystem::path>& p_ptr)
{
- if(!p_ptr)
+ if (!p_ptr)
{
ARMARX_WARNING << "The entered is NULL.";
}
std::filesystem::path p = _fullPath(*p_ptr);
- if(std::filesystem::is_regular_file(p))
+ if (std::filesystem::is_regular_file(p))
{
ARMARX_ERROR << "The entered path is leading to a file! Abort due to error.";
}
@@ -68,7 +68,7 @@ namespace armarx::armem::diskMemory
container.clear();
path = p_ptr;
- if(!std::filesystem::exists(p))
+ if (!std::filesystem::exists(p))
{
ARMARX_INFO << "The entered path does not exist. Assuming an empty container.";
}
@@ -76,7 +76,7 @@ namespace armarx::armem::diskMemory
{
for (const auto& d : std::filesystem::directory_iterator(p))
{
- if(d.is_directory())
+ if (d.is_directory())
{
std::string k = d.path().filename();
armem::Time t = armem::Time::microSeconds(std::stol(k));
@@ -87,7 +87,7 @@ namespace armarx::armem::diskMemory
}
}
- void Entity::append(const workingmemory::Entity& m)
+ void Entity::append(const wm::Entity& m)
{
std::filesystem::create_directories(_fullPath());
for (const auto& [k, s] : m.container)
diff --git a/source/RobotAPI/libraries/armem/core/diskMemory/Entity.h b/source/RobotAPI/libraries/armem/core/diskmemory/Entity.h
similarity index 77%
rename from source/RobotAPI/libraries/armem/core/diskMemory/Entity.h
rename to source/RobotAPI/libraries/armem/core/diskmemory/Entity.h
index 391eefb05..756f3eb69 100644
--- a/source/RobotAPI/libraries/armem/core/diskMemory/Entity.h
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/Entity.h
@@ -2,14 +2,14 @@
#include <filesystem>
-#include "../base/Entity.h"
+#include "../base/EntityBase.h"
#include "EntitySnapshot.h"
-#include "../workingMemory/Entity.h"
+#include "../workingmemory/Entity.h"
-namespace armarx::armem::diskMemory
+namespace armarx::armem::d_ltm
{
/**
* @brief An entity over a period of time.
@@ -31,13 +31,11 @@ namespace armarx::armem::diskMemory
* each containing a single `AronData` object of a specific `AronType`.
*/
class Entity :
- virtual public EntityBase<EntitySnapshot, Entity>
+ virtual public base::EntityBase<EntitySnapshot, Entity>
{
+ using Base = base::EntityBase<EntitySnapshot, Entity>;
public:
- using Base = EntityBase<EntitySnapshot, Entity>;
- using EntitySnapshotT = EntitySnapshot;
-
Entity();
Entity(const std::string& name, const MemoryID& parentID = {});
Entity(const MemoryID& id);
@@ -48,11 +46,11 @@ namespace armarx::armem::diskMemory
Entity& operator=(const Entity& other);
// Conversion
- workingmemory::Entity convert(const aron::typenavigator::NavigatorPtr& expectedStructure) const;
+ wm::Entity convert(const aron::typenavigator::NavigatorPtr& expectedStructure) const;
// Filesystem connection
void reload(const std::shared_ptr<std::filesystem::path>&);
- void append(const workingmemory::Entity&);
+ void append(const wm::Entity&);
private:
std::filesystem::path _fullPath() const;
diff --git a/source/RobotAPI/libraries/armem/core/diskMemory/EntityInstance.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.cpp
similarity index 88%
rename from source/RobotAPI/libraries/armem/core/diskMemory/EntityInstance.cpp
rename to source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.cpp
index dc131b44b..43831ad04 100644
--- a/source/RobotAPI/libraries/armem/core/diskMemory/EntityInstance.cpp
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.cpp
@@ -11,14 +11,14 @@
#include <RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReader.h>
#include <RobotAPI/libraries/aron/core/io/dataIO/writer/nlohmannJSON/NlohmannJSONWriter.h>
-namespace armarx::armem::diskMemory
+namespace armarx::armem::d_ltm
{
EntityInstance::EntityInstance()
{
}
EntityInstance::EntityInstance(const EntityInstance& other) :
- MemoryItem(other.id)
+ base::detail::MemoryItem(other.id)
{
}
@@ -28,7 +28,7 @@ namespace armarx::armem::diskMemory
}
EntityInstance::EntityInstance(const MemoryID& id) :
- MemoryItem(id)
+ base::detail::MemoryItem(id)
{
}
@@ -64,7 +64,7 @@ namespace armarx::armem::diskMemory
std::filesystem::path EntityInstance::_fullPath() const
{
- if(path)
+ if (path)
{
return _fullPath(*path);
}
@@ -76,12 +76,12 @@ namespace armarx::armem::diskMemory
return path / id.memoryName / id.coreSegmentName / id.providerSegmentName / id.entityName / std::to_string(id.timestamp.toMicroSeconds()) / std::to_string(id.instanceIndex);
}
- workingmemory::EntityInstance EntityInstance::convert(const aron::typenavigator::NavigatorPtr& expectedStructure) const
+ wm::EntityInstance EntityInstance::convert(const aron::typenavigator::NavigatorPtr& expectedStructure) const
{
std::filesystem::path p = _fullPath();
std::filesystem::path d = p / (std::string(DATA_FILENAME) + ".json");
- if(std::filesystem::is_regular_file(d))
+ if (std::filesystem::is_regular_file(d))
{
std::ifstream ifs(d);
std::string file_content((std::istreambuf_iterator<char>(ifs)), (std::istreambuf_iterator<char>()));
@@ -101,12 +101,12 @@ namespace armarx::armem::diskMemory
void EntityInstance::reload(const std::shared_ptr<std::filesystem::path>& p_ptr)
{
- if(!p_ptr)
+ if (!p_ptr)
{
ARMARX_WARNING << "The entered is NULL.";
}
std::filesystem::path p = _fullPath(*p_ptr);
- if(!std::filesystem::is_directory(p))
+ if (!std::filesystem::is_directory(p))
{
ARMARX_ERROR << "The entered path is not leading to a file! This is an error since if the folder for an EntityInstance exists there must be a data file in it (containing at least the metadata).";
}
@@ -116,14 +116,14 @@ namespace armarx::armem::diskMemory
}
}
- void EntityInstance::setTo(const workingmemory::EntityInstance& m)
+ void EntityInstance::setTo(const wm::EntityInstance& m)
{
std::filesystem::path p = _fullPath();
std::filesystem::create_directories(p);
std::filesystem::path d = p / (std::string(DATA_FILENAME) + ".json");
- if(std::filesystem::is_regular_file(d))
+ if (std::filesystem::is_regular_file(d))
{
std::filesystem::remove(d);
}
@@ -141,10 +141,10 @@ namespace armarx::armem::diskMemory
}
- workingmemory::EntityInstance EntityInstance::unwrapData(const aron::datanavigator::DictNavigatorPtr& dataWrapped) const
+ wm::EntityInstance EntityInstance::unwrapData(const aron::datanavigator::DictNavigatorPtr& dataWrapped) const
{
- workingmemory::EntityInstance e(id);
- workingmemory::EntityInstanceMetadata& metadata = e.metadata();
+ wm::EntityInstance e(id);
+ wm::EntityInstanceMetadata& metadata = e.metadata();
if (dataWrapped->hasElement(DATA_WRAPPER_DATA_FIELD))
{
@@ -167,10 +167,10 @@ namespace armarx::armem::diskMemory
return e;
}
- aron::datanavigator::DictNavigatorPtr EntityInstance::wrapData(const workingmemory::EntityInstance& e) const
+ aron::datanavigator::DictNavigatorPtr EntityInstance::wrapData(const wm::EntityInstance& e) const
{
auto dataWrapped = std::make_shared<aron::datanavigator::DictNavigator>();
- if(e.data())
+ if (e.data())
{
dataWrapped->addElement(DATA_WRAPPER_DATA_FIELD, e.data());
}
@@ -179,7 +179,7 @@ namespace armarx::armem::diskMemory
timeWrapped->setValue(Time::now().toMicroSeconds());
dataWrapped->addElement(DATA_WRAPPER_TIME_STORED_FIELD, timeWrapped);
- const workingmemory::EntityInstanceMetadata& metadata = e.metadata();
+ const wm::EntityInstanceMetadata& metadata = e.metadata();
auto timeCreated = std::make_shared<aron::datanavigator::LongNavigator>();
timeCreated->setValue(metadata.timeCreated.toMicroSeconds());
dataWrapped->addElement(DATA_WRAPPER_TIME_CREATED_FIELD, timeCreated);
diff --git a/source/RobotAPI/libraries/armem/core/diskMemory/EntityInstance.h b/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.h
similarity index 75%
rename from source/RobotAPI/libraries/armem/core/diskMemory/EntityInstance.h
rename to source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.h
index 6eb97bd13..8e7a0fed1 100644
--- a/source/RobotAPI/libraries/armem/core/diskMemory/EntityInstance.h
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.h
@@ -2,22 +2,21 @@
#include <filesystem>
-#include "../base/EntityInstance.h"
+#include "../base/EntityInstanceBase.h"
-#include "../workingMemory/EntityInstance.h"
+#include "../workingmemory/EntityInstance.h"
-namespace armarx::armem::diskMemory
+namespace armarx::armem::d_ltm
{
/**
* @brief Data of a single entity instance.
*/
class EntityInstance :
- virtual public EntityInstanceBase<EntityInstance>
+ virtual public base::EntityInstanceBase<EntityInstance>
{
+ using Base = base::EntityInstanceBase<EntityInstance>;
public:
- using Base = EntityInstanceBase<EntityInstance>;
-
EntityInstance();
EntityInstance(const EntityInstance&);
EntityInstance(int index, const MemoryID& parentID = {});
@@ -37,11 +36,11 @@ namespace armarx::armem::diskMemory
virtual EntityInstance copy() const override;
// Conversion
- workingmemory::EntityInstance convert(const aron::typenavigator::NavigatorPtr& expectedStructure) const;
+ wm::EntityInstance convert(const aron::typenavigator::NavigatorPtr& expectedStructure) const;
// Filesystem connection
void reload(const std::shared_ptr<std::filesystem::path>&);
- void setTo(const workingmemory::EntityInstance&);
+ void setTo(const wm::EntityInstance&);
protected:
virtual void _copySelf(EntityInstance& other) const override;
@@ -50,8 +49,8 @@ namespace armarx::armem::diskMemory
std::filesystem::path _fullPath() const;
std::filesystem::path _fullPath(const std::filesystem::path&) const;
- workingmemory::EntityInstance unwrapData(const aron::datanavigator::DictNavigatorPtr&) const;
- aron::datanavigator::DictNavigatorPtr wrapData(const workingmemory::EntityInstance&) const;
+ wm::EntityInstance unwrapData(const aron::datanavigator::DictNavigatorPtr&) const;
+ aron::datanavigator::DictNavigatorPtr wrapData(const wm::EntityInstance&) const;
public:
std::shared_ptr<std::filesystem::path> path;
diff --git a/source/RobotAPI/libraries/armem/core/diskMemory/EntitySnapshot.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.cpp
similarity index 81%
rename from source/RobotAPI/libraries/armem/core/diskMemory/EntitySnapshot.cpp
rename to source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.cpp
index 05e4bd68c..1f855d1a4 100644
--- a/source/RobotAPI/libraries/armem/core/diskMemory/EntitySnapshot.cpp
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.cpp
@@ -5,7 +5,7 @@
#include "error.h"
-namespace armarx::armem::diskMemory
+namespace armarx::armem::d_ltm
{
@@ -19,13 +19,13 @@ namespace armarx::armem::diskMemory
}
EntitySnapshot::EntitySnapshot(const MemoryID& id) :
- MemoryItem(id)
+ base::detail::MemoryItem(id)
{
}
EntitySnapshot::EntitySnapshot(const EntitySnapshot& other) :
- armarx::armem::detail::MemoryItem(other),
- armarx::armem::detail::MemoryContainerBase<std::vector<EntityInstance>, EntitySnapshot>(other)
+ base::detail::MemoryItem(other),
+ base::detail::MemoryContainerBase<std::vector<EntityInstance>, EntitySnapshot>(other)
{
}
@@ -37,7 +37,7 @@ namespace armarx::armem::diskMemory
std::filesystem::path EntitySnapshot::_fullPath() const
{
- if(path)
+ if (path)
{
return _fullPath(*path);
}
@@ -49,9 +49,9 @@ namespace armarx::armem::diskMemory
return path / id.memoryName / id.coreSegmentName / id.providerSegmentName / id.entityName / std::to_string(id.timestamp.toMicroSeconds());
}
- workingmemory::EntitySnapshot EntitySnapshot::convert(const aron::typenavigator::NavigatorPtr& expectedStructure) const
+ wm::EntitySnapshot EntitySnapshot::convert(const aron::typenavigator::NavigatorPtr& expectedStructure) const
{
- workingmemory::EntitySnapshot m;
+ wm::EntitySnapshot m;
for (const auto& s : container)
{
m.addInstance(s.convert(expectedStructure));
@@ -61,12 +61,12 @@ namespace armarx::armem::diskMemory
void EntitySnapshot::reload(const std::shared_ptr<std::filesystem::path>& p_ptr)
{
- if(!p_ptr)
+ if (!p_ptr)
{
ARMARX_WARNING << "The entered is NULL.";
}
std::filesystem::path p = _fullPath(*p_ptr);
- if(!std::filesystem::is_directory(p))
+ if (!std::filesystem::is_directory(p))
{
ARMARX_ERROR << "The entered path is not leading to a directory! Every EntitySnapshot must at least contain one EntityInstance.";
}
@@ -79,7 +79,7 @@ namespace armarx::armem::diskMemory
for (int i = 0; i < 1000; ++i)
{
std::filesystem::path d = p / std::to_string(i);
- if(std::filesystem::is_directory(d))
+ if (std::filesystem::is_directory(d))
{
auto wms = container.emplace_back(id.withInstanceIndex(i));
wms.reload(p_ptr);
@@ -92,7 +92,7 @@ namespace armarx::armem::diskMemory
}
}
- void EntitySnapshot::setTo(const workingmemory::EntitySnapshot& m)
+ void EntitySnapshot::setTo(const wm::EntitySnapshot& m)
{
std::filesystem::create_directories(_fullPath());
diff --git a/source/RobotAPI/libraries/armem/core/diskMemory/EntitySnapshot.h b/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.h
similarity index 64%
rename from source/RobotAPI/libraries/armem/core/diskMemory/EntitySnapshot.h
rename to source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.h
index d286ce8f5..5c3cf02ff 100644
--- a/source/RobotAPI/libraries/armem/core/diskMemory/EntitySnapshot.h
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.h
@@ -2,27 +2,25 @@
#include <filesystem>
-#include "../base/EntitySnapshot.h"
+#include "../base/EntitySnapshotBase.h"
#include "EntityInstance.h"
-#include "../workingMemory/EntitySnapshot.h"
+#include "../workingmemory/EntitySnapshot.h"
-namespace armarx::armem::diskMemory
+namespace armarx::armem::d_ltm
{
/**
* @brief Data of an entity at one point in time.
*/
class EntitySnapshot :
- virtual public EntitySnapshotBase<EntityInstance, EntitySnapshot>
+ virtual public base::EntitySnapshotBase<EntityInstance, EntitySnapshot>
{
+ using Base = base::EntitySnapshotBase<EntityInstance, EntitySnapshot>;
public:
- using Base = EntitySnapshotBase<EntityInstance, EntitySnapshot>;
- using EntityInstanceT = EntityInstance;
-
EntitySnapshot();
EntitySnapshot(Time time, const MemoryID& parentID = {});
EntitySnapshot(const MemoryID& id);
@@ -35,10 +33,10 @@ namespace armarx::armem::diskMemory
// Conversion
void reload(const std::shared_ptr<std::filesystem::path>&);
- workingmemory::EntitySnapshot convert(const aron::typenavigator::NavigatorPtr& expectedStructure) const;
+ wm::EntitySnapshot convert(const aron::typenavigator::NavigatorPtr& expectedStructure) const;
// MongoDB connection
- void setTo(const workingmemory::EntitySnapshot&);
+ void setTo(const wm::EntitySnapshot&);
private:
std::filesystem::path _fullPath() const;
diff --git a/source/RobotAPI/libraries/armem/core/diskMemory/Memory.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/Memory.cpp
similarity index 81%
rename from source/RobotAPI/libraries/armem/core/diskMemory/Memory.cpp
rename to source/RobotAPI/libraries/armem/core/diskmemory/Memory.cpp
index 0b99f1460..4ef34ffd1 100644
--- a/source/RobotAPI/libraries/armem/core/diskMemory/Memory.cpp
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/Memory.cpp
@@ -6,7 +6,7 @@
#include "error.h"
-namespace armarx::armem::diskMemory
+namespace armarx::armem::d_ltm
{
Memory::Memory()
@@ -14,18 +14,18 @@ namespace armarx::armem::diskMemory
}
Memory::Memory(const std::string& name) :
- armarx::armem::detail::MemoryItem(MemoryID().withMemoryName(name))
+ base::detail::MemoryItem(MemoryID().withMemoryName(name))
{
}
Memory::Memory(const MemoryID& id) :
- MemoryItem(id)
+ base::detail::MemoryItem(id)
{
}
Memory::Memory(const Memory& other) :
- armarx::armem::detail::MemoryItem(other),
- MemoryContainerBase<std::map<std::string, CoreSegment>, Memory>(other)
+ base::detail::MemoryItem(other),
+ base::detail::MemoryContainerBase<std::map<std::string, CoreSegment>, Memory>(other)
{
*this = other;
}
@@ -38,7 +38,7 @@ namespace armarx::armem::diskMemory
std::filesystem::path Memory::_fullPath() const
{
- if(path)
+ if (path)
{
return _fullPath(*path);
}
@@ -50,9 +50,9 @@ namespace armarx::armem::diskMemory
return path / id.memoryName;
}
- workingmemory::Memory Memory::convert() const
+ wm::Memory Memory::convert() const
{
- workingmemory::Memory m;
+ wm::Memory m;
for (const auto& [_, s] : container)
{
m.addCoreSegment(s.convert());
@@ -62,7 +62,7 @@ namespace armarx::armem::diskMemory
void Memory::reload(const std::filesystem::path& p)
{
- if(std::filesystem::is_regular_file(p))
+ if (std::filesystem::is_regular_file(p))
{
ARMARX_ERROR << "The entered path is leading to a file! Abort due to error.";
}
@@ -70,7 +70,7 @@ namespace armarx::armem::diskMemory
container.clear();
path = std::make_shared<std::filesystem::path>(p.parent_path());
- if(!std::filesystem::exists(p))
+ if (!std::filesystem::exists(p))
{
ARMARX_INFO << "The entered path does not exist. Assuming an empty container.";
}
@@ -80,7 +80,7 @@ namespace armarx::armem::diskMemory
for (const auto& d : std::filesystem::directory_iterator(p))
{
- if(d.is_directory())
+ if (d.is_directory())
{
std::string k = d.path().filename();
auto wms = container.emplace(std::make_pair(k, id.withCoreSegmentName(k)));
@@ -90,7 +90,7 @@ namespace armarx::armem::diskMemory
}
}
- void Memory::append(const workingmemory::Memory& m)
+ void Memory::append(const wm::Memory& m)
{
std::filesystem::create_directories(_fullPath());
for (const auto& [k, s] : m.container)
diff --git a/source/RobotAPI/libraries/armem/core/diskMemory/Memory.h b/source/RobotAPI/libraries/armem/core/diskmemory/Memory.h
similarity index 66%
rename from source/RobotAPI/libraries/armem/core/diskMemory/Memory.h
rename to source/RobotAPI/libraries/armem/core/diskmemory/Memory.h
index a32b1dcc1..32bd30fa6 100644
--- a/source/RobotAPI/libraries/armem/core/diskMemory/Memory.h
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/Memory.h
@@ -2,25 +2,24 @@
#include <filesystem>
-#include "../base/Memory.h"
+#include "../base/MemoryBase.h"
#include "CoreSegment.h"
-#include "../workingMemory/Memory.h"
+#include "../workingmemory/Memory.h"
-namespace armarx::armem::diskMemory
+namespace armarx::armem::d_ltm
{
/**
* @brief Data of a memory consisting of multiple core segments.
*/
class Memory :
- virtual public MemoryBase<CoreSegment, Memory>
+ virtual public base::MemoryBase<CoreSegment, Memory>
{
- public:
- using Base = MemoryBase<CoreSegment, Memory>;
- using CoreSegmentT = CoreSegment;
+ using Base = base::MemoryBase<CoreSegment, Memory>;
+ public:
Memory();
Memory(const std::string& name);
Memory(const MemoryID& id);
@@ -29,11 +28,11 @@ namespace armarx::armem::diskMemory
Memory& operator=(const Memory& other);
// Conversion
- workingmemory::Memory convert() const;
+ wm::Memory convert() const;
// Filesystem connection
void reload(const std::filesystem::path&);
- void append(const workingmemory::Memory&);
+ void append(const wm::Memory&);
private:
std::filesystem::path _fullPath() const;
diff --git a/source/RobotAPI/libraries/armem/core/diskMemory/ProviderSegment.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.cpp
similarity index 69%
rename from source/RobotAPI/libraries/armem/core/diskMemory/ProviderSegment.cpp
rename to source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.cpp
index 0afa005a8..60a8268ee 100644
--- a/source/RobotAPI/libraries/armem/core/diskMemory/ProviderSegment.cpp
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.cpp
@@ -5,7 +5,7 @@
#include "error.h"
-namespace armarx::armem::diskMemory
+namespace armarx::armem::d_ltm
{
ProviderSegment::ProviderSegment()
@@ -13,27 +13,27 @@ namespace armarx::armem::diskMemory
}
ProviderSegment::ProviderSegment(const std::string& name, aron::typenavigator::ObjectNavigatorPtr aronType) :
- armarx::armem::detail::MemoryItem(MemoryID().withProviderSegmentName(name)),
- armarx::armem::detail::TypedEntityContainerBase<Entity, Entity, ProviderSegment>(MemoryID().withProviderSegmentName(name), aronType)
+ base::detail::MemoryItem(MemoryID().withProviderSegmentName(name)),
+ base::detail::TypedEntityContainerBase<Entity, Entity, ProviderSegment>(MemoryID().withProviderSegmentName(name), aronType)
{
}
ProviderSegment::ProviderSegment(const std::string& name, const MemoryID parentID, aron::typenavigator::ObjectNavigatorPtr aronType) :
- armarx::armem::detail::MemoryItem(parentID.withProviderSegmentName(name)),
- armarx::armem::detail::TypedEntityContainerBase<Entity, Entity, ProviderSegment>(parentID.withProviderSegmentName(name), aronType)
+ base::detail::MemoryItem(parentID.withProviderSegmentName(name)),
+ base::detail::TypedEntityContainerBase<Entity, Entity, ProviderSegment>(parentID.withProviderSegmentName(name), aronType)
{
}
ProviderSegment::ProviderSegment(const MemoryID id, aron::typenavigator::ObjectNavigatorPtr aronType) :
- armarx::armem::detail::MemoryItem(id),
- armarx::armem::detail::TypedEntityContainerBase<Entity, Entity, ProviderSegment>(id, aronType)
+ base::detail::MemoryItem(id),
+ base::detail::TypedEntityContainerBase<Entity, Entity, ProviderSegment>(id, aronType)
{
}
ProviderSegment::ProviderSegment(const ProviderSegment& other) :
- armarx::armem::detail::MemoryItem(other),
- MemoryContainerBase<std::map<std::string, Entity>, ProviderSegment>(other),
- armarx::armem::detail::TypedEntityContainerBase<Entity, Entity, ProviderSegment>(other)
+ base::detail::MemoryItem(other),
+ base::detail::MemoryContainerBase<std::map<std::string, Entity>, ProviderSegment>(other),
+ base::detail::TypedEntityContainerBase<Entity, Entity, ProviderSegment>(other)
{
}
@@ -45,7 +45,7 @@ namespace armarx::armem::diskMemory
std::filesystem::path ProviderSegment::_fullPath() const
{
- if(path)
+ if (path)
{
return _fullPath(*path);
}
@@ -57,12 +57,12 @@ namespace armarx::armem::diskMemory
return path / id.memoryName / id.coreSegmentName / id.providerSegmentName;
}
- workingmemory::ProviderSegment ProviderSegment::convert(const aron::typenavigator::NavigatorPtr& expectedStructure) const
+ wm::ProviderSegment ProviderSegment::convert(const aron::typenavigator::NavigatorPtr& expectedStructure) const
{
- workingmemory::ProviderSegment m;
+ wm::ProviderSegment m;
for (const auto& [_, s] : container)
{
- if(hasAronType())
+ if (hasAronType())
{
m.addEntity(s.convert(aronType));
}
@@ -76,12 +76,12 @@ namespace armarx::armem::diskMemory
void ProviderSegment::reload(const std::shared_ptr<std::filesystem::path>& p_ptr)
{
- if(!p_ptr)
+ if (!p_ptr)
{
ARMARX_WARNING << "The entered is NULL.";
}
std::filesystem::path p = _fullPath(*p_ptr);
- if(std::filesystem::is_regular_file(p))
+ if (std::filesystem::is_regular_file(p))
{
ARMARX_ERROR << "The entered path is leading to a file! Abort due to error.";
}
@@ -89,7 +89,7 @@ namespace armarx::armem::diskMemory
container.clear();
path = p_ptr;
- if(!std::filesystem::exists(p))
+ if (!std::filesystem::exists(p))
{
ARMARX_INFO << "The entered path does not exist. Assuming an empty container.";
}
@@ -97,14 +97,14 @@ namespace armarx::armem::diskMemory
{
for (const auto& d : std::filesystem::directory_iterator(p))
{
- if(d.is_directory())
+ if (d.is_directory())
{
std::string k = d.path().filename();
auto wms = container.emplace(std::make_pair(k, id.withEntityName(k)));
wms.first->second.reload(p_ptr);
}
- if(d.is_regular_file())
+ if (d.is_regular_file())
{
readAronType(d.path());
}
@@ -112,7 +112,7 @@ namespace armarx::armem::diskMemory
}
}
- void ProviderSegment::append(const workingmemory::ProviderSegment& m)
+ void ProviderSegment::append(const wm::ProviderSegment& m)
{
std::filesystem::create_directories(_fullPath());
writeAronType(_fullPath());
diff --git a/source/RobotAPI/libraries/armem/core/diskMemory/ProviderSegment.h b/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.h
similarity index 66%
rename from source/RobotAPI/libraries/armem/core/diskMemory/ProviderSegment.h
rename to source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.h
index 2a2033d74..c3a5f1dfd 100644
--- a/source/RobotAPI/libraries/armem/core/diskMemory/ProviderSegment.h
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.h
@@ -2,28 +2,27 @@
#include <filesystem>
-#include "../base/ProviderSegment.h"
+#include "../base/ProviderSegmentBase.h"
#include "detail/TypedEntityContainer.h"
#include "Entity.h"
-#include "../workingMemory/ProviderSegment.h"
+#include "../workingmemory/ProviderSegment.h"
-namespace armarx::armem::diskMemory
+namespace armarx::armem::d_ltm
{
/**
* @brief Data of a provider segment containing multiple entities.
*/
class ProviderSegment :
- virtual public ProviderSegmentBase<Entity, ProviderSegment>,
- virtual public detail::TypedEntityContainer<Entity, ProviderSegment>
+ virtual public base::ProviderSegmentBase<Entity, ProviderSegment>,
+ virtual public detail::TypedEntityContainer<Entity, ProviderSegment>
{
- public:
- using Base = ProviderSegmentBase<Entity, ProviderSegment>;
- using EntityT = Entity;
+ using Base = base::ProviderSegmentBase<Entity, ProviderSegment>;
+ public:
ProviderSegment();
ProviderSegment(const std::string& name, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr);
ProviderSegment(const std::string& name, const MemoryID parentID, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr);
@@ -33,11 +32,11 @@ namespace armarx::armem::diskMemory
ProviderSegment& operator=(const ProviderSegment& other);
// Conversion
- workingmemory::ProviderSegment convert(const aron::typenavigator::NavigatorPtr& expectedStructure) const;
+ wm::ProviderSegment convert(const aron::typenavigator::NavigatorPtr& expectedStructure) const;
// Filesystem connection
void reload(const std::shared_ptr<std::filesystem::path>&);
- void append(const workingmemory::ProviderSegment&);
+ void append(const wm::ProviderSegment&);
private:
std::filesystem::path _fullPath() const;
diff --git a/source/RobotAPI/libraries/armem/core/diskMemory/detail/TypedEntityContainer.h b/source/RobotAPI/libraries/armem/core/diskmemory/detail/TypedEntityContainer.h
similarity index 90%
rename from source/RobotAPI/libraries/armem/core/diskMemory/detail/TypedEntityContainer.h
rename to source/RobotAPI/libraries/armem/core/diskmemory/detail/TypedEntityContainer.h
index 205cffa96..f17bbc077 100644
--- a/source/RobotAPI/libraries/armem/core/diskMemory/detail/TypedEntityContainer.h
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/detail/TypedEntityContainer.h
@@ -3,7 +3,7 @@
#include <iostream>
#include <fstream>
-#include "../../base/detail/TypedEntityContainer.h"
+#include "../../base/detail/TypedEntityContainerBase.h"
#include "../Entity.h"
#include <RobotAPI/libraries/aron/core/navigator/type/container/Object.h>
@@ -13,7 +13,7 @@
#include <RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.h>
#include <RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.h>
-namespace armarx::armem::diskMemory::detail
+namespace armarx::armem::d_ltm::detail
{
/**
@@ -21,9 +21,9 @@ namespace armarx::armem::diskMemory::detail
*/
template <class _ValueT, class Derived>
class TypedEntityContainer :
- virtual public armarx::armem::detail::TypedEntityContainerBase<_ValueT, Entity, Derived>
+ virtual public base::detail::TypedEntityContainerBase<_ValueT, Entity, Derived>
{
- using Base = armarx::armem::detail::TypedEntityContainerBase<_ValueT, Entity, Derived>;
+ using Base = base::detail::TypedEntityContainerBase<_ValueT, Entity, Derived>;
public:
TypedEntityContainer& operator=(const TypedEntityContainer& other)
@@ -56,9 +56,9 @@ namespace armarx::armem::diskMemory::detail
using Base::aronType;
void readAronType(const std::filesystem::path& d)
{
- if(std::filesystem::is_regular_file(d))
+ if (std::filesystem::is_regular_file(d))
{
- if(d.filename() == (std::string(TYPE_FILENAME) + ".json"))
+ if (d.filename() == (std::string(TYPE_FILENAME) + ".json"))
{
std::ifstream ifs(d);
std::string file_content((std::istreambuf_iterator<char>(ifs)), (std::istreambuf_iterator<char>()));
@@ -74,7 +74,7 @@ namespace armarx::armem::diskMemory::detail
using Base::hasAronType;
void writeAronType(const std::filesystem::path& d)
{
- if(hasAronType())
+ if (hasAronType())
{
std::ofstream ofs;
ofs.open(d);
diff --git a/source/RobotAPI/libraries/armem/core/ice_conversions.cpp b/source/RobotAPI/libraries/armem/core/ice_conversions.cpp
index 32c881951..0a9774020 100644
--- a/source/RobotAPI/libraries/armem/core/ice_conversions.cpp
+++ b/source/RobotAPI/libraries/armem/core/ice_conversions.cpp
@@ -145,12 +145,12 @@ namespace armarx
}
- void armem::detail::toIceItem(data::detail::MemoryItem& ice, const MemoryItem& item)
+ void armem::detail::toIceItem(data::detail::MemoryItem& ice, const armem::base::detail::MemoryItem& item)
{
toIce(ice.id, item.id);
}
- void armem::detail::fromIceItem(const data::detail::MemoryItem& ice, MemoryItem& item)
+ void armem::detail::fromIceItem(const data::detail::MemoryItem& ice, armem::base::detail::MemoryItem& item)
{
fromIce(ice.id, item.id);
}
diff --git a/source/RobotAPI/libraries/armem/core/ice_conversions.h b/source/RobotAPI/libraries/armem/core/ice_conversions.h
index 6aa4ac524..874684cac 100644
--- a/source/RobotAPI/libraries/armem/core/ice_conversions.h
+++ b/source/RobotAPI/libraries/armem/core/ice_conversions.h
@@ -54,8 +54,8 @@ namespace armarx::armem
namespace detail
{
- void toIceItem(data::detail::MemoryItem& ice, const MemoryItem& item);
- void fromIceItem(const data::detail::MemoryItem& ice, MemoryItem& item);
+ void toIceItem(data::detail::MemoryItem& ice, const armem::base::detail::MemoryItem& item);
+ void fromIceItem(const data::detail::MemoryItem& ice, armem::base::detail::MemoryItem& item);
}
}
diff --git a/source/RobotAPI/libraries/armem/core/ice_conversions_templates.h b/source/RobotAPI/libraries/armem/core/ice_conversions_templates.h
index dc5c3fff5..1001fd1f9 100644
--- a/source/RobotAPI/libraries/armem/core/ice_conversions_templates.h
+++ b/source/RobotAPI/libraries/armem/core/ice_conversions_templates.h
@@ -22,12 +22,29 @@ namespace armarx::armem
}
- // General return version
+ // Ice Handle
+ template <class IceT, class CppT>
+ void toIce(::IceInternal::Handle<IceT>& ice, const CppT& cpp)
+ {
+ ice = new IceT();
+ toIce(*ice, cpp);
+ }
+ template <class IceT, class CppT>
+ void fromIce(const ::IceInternal::Handle<IceT>& ice, CppT& cpp)
+ {
+ if (ice)
+ {
+ fromIce(*ice, cpp);
+ }
+ }
+
+
+ // General return version
template <class IceT, class CppT>
IceT toIce(const CppT& cpp)
{
- IceT ice = {};
+ IceT ice;
toIce(ice, cpp);
return ice;
}
@@ -57,24 +74,6 @@ namespace armarx::armem
}
- // Ice Handle
-
- template <class IceT, class CppT>
- void toIce(::IceInternal::Handle<IceT>& ice, const CppT& cpp)
- {
- ice = new IceT();
- toIce(*ice, cpp);
- }
- template <class IceT, class CppT>
- void fromIce(const ::IceInternal::Handle<IceT>& ice, CppT& cpp)
- {
- if (ice)
- {
- fromIce(*ice, cpp);
- }
- }
-
-
// Ice Handle <-> std::unique_ptr
template <class IceT, class CppT>
diff --git a/source/RobotAPI/libraries/armem/core/longtermMemory/CoreSegment.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.cpp
similarity index 55%
rename from source/RobotAPI/libraries/armem/core/longtermMemory/CoreSegment.cpp
rename to source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.cpp
index 5491d6f9a..b98a0d5ef 100644
--- a/source/RobotAPI/libraries/armem/core/longtermMemory/CoreSegment.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.cpp
@@ -5,7 +5,7 @@
#include "error.h"
-namespace armarx::armem::longtermmemory
+namespace armarx::armem::ltm
{
CoreSegment::CoreSegment()
@@ -13,27 +13,27 @@ namespace armarx::armem::longtermmemory
}
CoreSegment::CoreSegment(const std::string& name, aron::typenavigator::ObjectNavigatorPtr aronType) :
- armarx::armem::detail::MemoryItem(MemoryID().withCoreSegmentName(name)),
- armarx::armem::detail::TypedEntityContainerBase<ProviderSegment, Entity, CoreSegment>(MemoryID().withCoreSegmentName(name), aronType)
+ base::detail::MemoryItem(MemoryID().withCoreSegmentName(name)),
+ base::detail::TypedEntityContainerBase<ProviderSegment, Entity, CoreSegment>(MemoryID().withCoreSegmentName(name), aronType)
{
}
CoreSegment::CoreSegment(const std::string& name, const MemoryID& parentID, aron::typenavigator::ObjectNavigatorPtr aronType) :
- armarx::armem::detail::MemoryItem(MemoryID().withCoreSegmentName(name)),
- armarx::armem::detail::TypedEntityContainerBase<ProviderSegment, Entity, CoreSegment>(parentID.withCoreSegmentName(name), aronType)
+ base::detail::MemoryItem(MemoryID().withCoreSegmentName(name)),
+ base::detail::TypedEntityContainerBase<ProviderSegment, Entity, CoreSegment>(parentID.withCoreSegmentName(name), aronType)
{
}
CoreSegment::CoreSegment(const MemoryID& id, aron::typenavigator::ObjectNavigatorPtr aronType) :
- armarx::armem::detail::MemoryItem(id),
- armarx::armem::detail::TypedEntityContainerBase<ProviderSegment, Entity, CoreSegment>(id, aronType)
+ base::detail::MemoryItem(id),
+ base::detail::TypedEntityContainerBase<ProviderSegment, Entity, CoreSegment>(id, aronType)
{
}
CoreSegment::CoreSegment(const CoreSegment& other) :
- armarx::armem::detail::MemoryItem(other),
- MemoryContainerBase<std::map<std::string, ProviderSegment>, CoreSegment>(other),
- armarx::armem::detail::TypedEntityContainerBase<ProviderSegment, Entity, CoreSegment>(other)
+ base::detail::MemoryItem(other),
+ base::detail::MemoryContainerBase<std::map<std::string, ProviderSegment>, CoreSegment>(other),
+ base::detail::TypedEntityContainerBase<ProviderSegment, Entity, CoreSegment>(other)
{
}
@@ -43,9 +43,9 @@ namespace armarx::armem::longtermmemory
return *this;
}
- workingmemory::CoreSegment CoreSegment::convert() const
+ wm::CoreSegment CoreSegment::convert() const
{
- workingmemory::CoreSegment m;
+ wm::CoreSegment m;
for (const auto& [_, s] : container)
{
m.addProviderSegment(s.convert());
@@ -53,7 +53,7 @@ namespace armarx::armem::longtermmemory
return m;
}
- void CoreSegment::append(const workingmemory::CoreSegment& m)
+ void CoreSegment::append(const wm::CoreSegment& m)
{
for (const auto& [k, s] : m.container)
{
diff --git a/source/RobotAPI/libraries/armem/core/longtermMemory/CoreSegment.h b/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.h
similarity index 63%
rename from source/RobotAPI/libraries/armem/core/longtermMemory/CoreSegment.h
rename to source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.h
index ed8b60c67..59bb7830d 100644
--- a/source/RobotAPI/libraries/armem/core/longtermMemory/CoreSegment.h
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.h
@@ -1,25 +1,24 @@
#pragma once
-#include "../base/CoreSegment.h"
+#include "../base/CoreSegmentBase.h"
#include "ProviderSegment.h"
-#include "../workingMemory/CoreSegment.h"
+#include "../workingmemory/CoreSegment.h"
-namespace armarx::armem::longtermmemory
+namespace armarx::armem::ltm
{
/**
* @brief Data of a core segment containing multiple provider segments.
*/
class CoreSegment :
- virtual public CoreSegmentBase<ProviderSegment, CoreSegment>
+ virtual public base::CoreSegmentBase<ProviderSegment, CoreSegment>
{
- public:
- using Base = CoreSegmentBase<ProviderSegment, CoreSegment>;
- using ProviderSegmentT = ProviderSegment;
+ using Base = base::CoreSegmentBase<ProviderSegment, CoreSegment>;
+ public:
CoreSegment();
CoreSegment(const std::string& name, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr);
CoreSegment(const std::string& name, const MemoryID& parentID, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr);
@@ -29,10 +28,10 @@ namespace armarx::armem::longtermmemory
CoreSegment& operator=(const CoreSegment& other);
// Conversion
- workingmemory::CoreSegment convert() const;
+ wm::CoreSegment convert() const;
// MongoDB connection
- void append(const workingmemory::CoreSegment&);
+ void append(const wm::CoreSegment&);
};
}
diff --git a/source/RobotAPI/libraries/armem/core/longtermMemory/Entity.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.cpp
similarity index 66%
rename from source/RobotAPI/libraries/armem/core/longtermMemory/Entity.cpp
rename to source/RobotAPI/libraries/armem/core/longtermmemory/Entity.cpp
index f6c73743e..c0de42c68 100644
--- a/source/RobotAPI/libraries/armem/core/longtermMemory/Entity.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.cpp
@@ -1,6 +1,6 @@
#include "Entity.h"
-namespace armarx::armem::longtermmemory
+namespace armarx::armem::ltm
{
Entity::Entity()
@@ -8,18 +8,18 @@ namespace armarx::armem::longtermmemory
}
Entity::Entity(const std::string& name, const MemoryID& parentID) :
- armarx::armem::detail::MemoryItem(parentID.withEntityName(name))
+ base::detail::MemoryItem(parentID.withEntityName(name))
{
}
Entity::Entity(const MemoryID& id) :
- armarx::armem::detail::MemoryItem(id)
+ base::detail::MemoryItem(id)
{
}
Entity::Entity(const Entity& other) :
- armarx::armem::detail::MemoryItem(other),
- armarx::armem::detail::MemoryContainerBase<std::map<Time, EntitySnapshot>, Entity>(other)
+ base::detail::MemoryItem(other),
+ base::detail::MemoryContainerBase<std::map<Time, EntitySnapshot>, Entity>(other)
{
}
@@ -29,9 +29,9 @@ namespace armarx::armem::longtermmemory
return *this;
}
- workingmemory::Entity Entity::convert() const
+ wm::Entity Entity::convert() const
{
- workingmemory::Entity m;
+ wm::Entity m;
for (const auto& [_, s] : container)
{
m.addSnapshot(s.convert());
@@ -39,7 +39,7 @@ namespace armarx::armem::longtermmemory
return m;
}
- void Entity::append(const workingmemory::Entity& m)
+ void Entity::append(const wm::Entity& m)
{
for (const auto& [k, s] : m.container)
{
diff --git a/source/RobotAPI/libraries/armem/core/longtermMemory/Entity.h b/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.h
similarity index 75%
rename from source/RobotAPI/libraries/armem/core/longtermMemory/Entity.h
rename to source/RobotAPI/libraries/armem/core/longtermmemory/Entity.h
index edc46900e..79d81340e 100644
--- a/source/RobotAPI/libraries/armem/core/longtermMemory/Entity.h
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.h
@@ -1,13 +1,13 @@
#pragma once
-#include "../base/Entity.h"
+#include "../base/EntityBase.h"
#include "EntitySnapshot.h"
-#include "../workingMemory/Entity.h"
+#include "../workingmemory/Entity.h"
-namespace armarx::armem::longtermmemory
+namespace armarx::armem::ltm
{
/**
* @brief An entity over a period of time.
@@ -29,13 +29,11 @@ namespace armarx::armem::longtermmemory
* each containing a single `AronData` object of a specific `AronType`.
*/
class Entity :
- virtual public EntityBase<EntitySnapshot, Entity>
+ virtual public base::EntityBase<EntitySnapshot, Entity>
{
+ using Base = base::EntityBase<EntitySnapshot, Entity>;
public:
- using Base = EntityBase<EntitySnapshot, Entity>;
- using EntitySnapshotT = EntitySnapshot;
-
Entity();
Entity(const std::string& name, const MemoryID& parentID = {});
Entity(const MemoryID& id);
@@ -46,10 +44,10 @@ namespace armarx::armem::longtermmemory
Entity& operator=(const Entity& other);
// Conversion
- workingmemory::Entity convert() const;
+ wm::Entity convert() const;
// MongoDB connection
- void append(const workingmemory::Entity&);
+ void append(const wm::Entity&);
};
}
diff --git a/source/RobotAPI/libraries/armem/core/longtermMemory/EntityInstance.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.cpp
similarity index 89%
rename from source/RobotAPI/libraries/armem/core/longtermMemory/EntityInstance.cpp
rename to source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.cpp
index d4770ded9..44bbca24d 100644
--- a/source/RobotAPI/libraries/armem/core/longtermMemory/EntityInstance.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.cpp
@@ -2,7 +2,7 @@
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-namespace armarx::armem::longtermmemory
+namespace armarx::armem::ltm
{
bool EntityInstanceMetadata::operator==(const EntityInstanceMetadata& other) const
@@ -29,7 +29,7 @@ namespace armarx::armem::longtermmemory
}
EntityInstance::EntityInstance(const MemoryID& id) :
- MemoryItem(id)
+ base::detail::MemoryItem(id)
{
}
@@ -69,13 +69,13 @@ namespace armarx::armem::longtermmemory
other._metadata = _metadata;
}
- workingmemory::EntityInstance EntityInstance::convert() const
+ wm::EntityInstance EntityInstance::convert() const
{
- workingmemory::EntityInstance m;
+ wm::EntityInstance m;
return m;
}
- void EntityInstance::setTo(const workingmemory::EntityInstance& m)
+ void EntityInstance::setTo(const wm::EntityInstance& m)
{
ARMARX_IMPORTANT << "Longtermmemory received an entity instance: " << m.id.str();
}
diff --git a/source/RobotAPI/libraries/armem/core/longtermMemory/EntityInstance.h b/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.h
similarity index 84%
rename from source/RobotAPI/libraries/armem/core/longtermMemory/EntityInstance.h
rename to source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.h
index 76e594567..ee94fbfbb 100644
--- a/source/RobotAPI/libraries/armem/core/longtermMemory/EntityInstance.h
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.h
@@ -1,10 +1,10 @@
#pragma once
-#include "../base/EntityInstance.h"
+#include "../base/EntityInstanceBase.h"
-#include "../workingMemory/EntityInstance.h"
+#include "../workingmemory/EntityInstance.h"
-namespace armarx::armem::longtermmemory
+namespace armarx::armem::ltm
{
/**
@@ -34,12 +34,11 @@ namespace armarx::armem::longtermmemory
* @brief Data of a single entity instance.
*/
class EntityInstance :
- virtual public EntityInstanceBase<EntityInstance>
+ virtual public base::EntityInstanceBase<EntityInstance>
{
+ using Base = base::EntityInstanceBase<EntityInstance>;
public:
- using Base = EntityInstanceBase<EntityInstance>;
-
EntityInstance();
EntityInstance(const EntityInstance&);
EntityInstance(int index, const MemoryID& parentID = {});
@@ -69,10 +68,10 @@ namespace armarx::armem::longtermmemory
virtual EntityInstance copy() const override;
// Conversion
- workingmemory::EntityInstance convert() const;
+ wm::EntityInstance convert() const;
// MongoDB connection
- void setTo(const workingmemory::EntityInstance&);
+ void setTo(const wm::EntityInstance&);
protected:
virtual void _copySelf(EntityInstance& other) const override;
diff --git a/source/RobotAPI/libraries/armem/core/longtermMemory/EntitySnapshot.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.cpp
similarity index 74%
rename from source/RobotAPI/libraries/armem/core/longtermMemory/EntitySnapshot.cpp
rename to source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.cpp
index 0338e6577..0cf13f021 100644
--- a/source/RobotAPI/libraries/armem/core/longtermMemory/EntitySnapshot.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.cpp
@@ -5,7 +5,7 @@
#include "error.h"
-namespace armarx::armem::longtermmemory
+namespace armarx::armem::ltm
{
@@ -24,8 +24,8 @@ namespace armarx::armem::longtermmemory
}
EntitySnapshot::EntitySnapshot(const EntitySnapshot& other) :
- armarx::armem::detail::MemoryItem(other),
- armarx::armem::detail::MemoryContainerBase<std::vector<EntityInstance>, EntitySnapshot>(other)
+ base::detail::MemoryItem(other),
+ base::detail::MemoryContainerBase<std::vector<EntityInstance>, EntitySnapshot>(other)
{
}
@@ -35,9 +35,9 @@ namespace armarx::armem::longtermmemory
return *this;
}
- workingmemory::EntitySnapshot EntitySnapshot::convert() const
+ wm::EntitySnapshot EntitySnapshot::convert() const
{
- workingmemory::EntitySnapshot m;
+ wm::EntitySnapshot m;
for (const auto& s : container)
{
m.addInstance(s.convert());
@@ -45,7 +45,7 @@ namespace armarx::armem::longtermmemory
return m;
}
- void EntitySnapshot::setTo(const workingmemory::EntitySnapshot& m)
+ void EntitySnapshot::setTo(const wm::EntitySnapshot& m)
{
// We remove the contente here and reset it with new values
container.clear();
diff --git a/source/RobotAPI/libraries/armem/core/longtermMemory/EntitySnapshot.h b/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.h
similarity index 57%
rename from source/RobotAPI/libraries/armem/core/longtermMemory/EntitySnapshot.h
rename to source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.h
index 16dc077f3..b8c3f491d 100644
--- a/source/RobotAPI/libraries/armem/core/longtermMemory/EntitySnapshot.h
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.h
@@ -1,26 +1,24 @@
#pragma once
-#include "../base/EntitySnapshot.h"
+#include "../base/EntitySnapshotBase.h"
#include "EntityInstance.h"
-#include "../workingMemory/EntitySnapshot.h"
+#include "../workingmemory/EntitySnapshot.h"
-namespace armarx::armem::longtermmemory
+namespace armarx::armem::ltm
{
/**
* @brief Data of an entity at one point in time.
*/
class EntitySnapshot :
- virtual public EntitySnapshotBase<EntityInstance, EntitySnapshot>
+ virtual public base::EntitySnapshotBase<EntityInstance, EntitySnapshot>
{
+ using Base = base::EntitySnapshotBase<EntityInstance, EntitySnapshot>;
public:
- using Base = EntitySnapshotBase<EntityInstance, EntitySnapshot>;
- using EntityInstanceT = EntityInstance;
-
EntitySnapshot();
EntitySnapshot(Time time, const MemoryID& parentID = {});
EntitySnapshot(const MemoryID& id);
@@ -32,9 +30,9 @@ namespace armarx::armem::longtermmemory
EntitySnapshot& operator=(const EntitySnapshot& other);
// Conversion
- workingmemory::EntitySnapshot convert() const;
+ wm::EntitySnapshot convert() const;
// MongoDB connection
- void setTo(const workingmemory::EntitySnapshot&);
+ void setTo(const wm::EntitySnapshot&);
};
}
diff --git a/source/RobotAPI/libraries/armem/core/longtermMemory/Memory.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.cpp
similarity index 76%
rename from source/RobotAPI/libraries/armem/core/longtermMemory/Memory.cpp
rename to source/RobotAPI/libraries/armem/core/longtermmemory/Memory.cpp
index 2aa247f12..9b5779c59 100644
--- a/source/RobotAPI/libraries/armem/core/longtermMemory/Memory.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.cpp
@@ -6,7 +6,7 @@
#include "error.h"
-namespace armarx::armem::longtermmemory
+namespace armarx::armem::ltm
{
Memory::Memory()
@@ -14,7 +14,7 @@ namespace armarx::armem::longtermmemory
}
Memory::Memory(const std::string& name) :
- armarx::armem::detail::MemoryItem(MemoryID().withMemoryName(name))
+ base::detail::MemoryItem(MemoryID().withMemoryName(name))
{
}
@@ -24,8 +24,8 @@ namespace armarx::armem::longtermmemory
}
Memory::Memory(const Memory& other) :
- armarx::armem::detail::MemoryItem(other),
- MemoryContainerBase<std::map<std::string, CoreSegment>, Memory>(other)
+ base::detail::MemoryItem(other),
+ base::detail::MemoryContainerBase<std::map<std::string, CoreSegment>, Memory>(other)
{
*this = other;
}
@@ -36,9 +36,9 @@ namespace armarx::armem::longtermmemory
return *this;
}
- workingmemory::Memory Memory::convert() const
+ wm::Memory Memory::convert() const
{
- workingmemory::Memory m;
+ wm::Memory m;
for (const auto& [_, s] : container)
{
m.addCoreSegment(s.convert());
@@ -52,7 +52,7 @@ namespace armarx::armem::longtermmemory
std::cout << "Setting connection to: " << settings.uniqueString() << std::endl;
}
- void Memory::append(const workingmemory::Memory& m)
+ void Memory::append(const wm::Memory& m)
{
for (const auto& [k, s] : m.container)
{
diff --git a/source/RobotAPI/libraries/armem/core/longtermMemory/Memory.h b/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.h
similarity index 63%
rename from source/RobotAPI/libraries/armem/core/longtermMemory/Memory.h
rename to source/RobotAPI/libraries/armem/core/longtermmemory/Memory.h
index ab7c8b90f..1085de776 100644
--- a/source/RobotAPI/libraries/armem/core/longtermMemory/Memory.h
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.h
@@ -1,24 +1,23 @@
#pragma once
-#include "../base/Memory.h"
+#include "../base/MemoryBase.h"
#include "CoreSegment.h"
-#include "../workingMemory/Memory.h"
+#include "../workingmemory/Memory.h"
#include "mongodb/MongoDBConnectionManager.h"
-namespace armarx::armem::longtermmemory
+namespace armarx::armem::ltm
{
/**
* @brief Data of a memory consisting of multiple core segments.
*/
class Memory :
- virtual public MemoryBase<CoreSegment, Memory>
+ virtual public base::MemoryBase<CoreSegment, Memory>
{
- public:
- using Base = MemoryBase<CoreSegment, Memory>;
- using CoreSegmentT = CoreSegment;
+ using Base = base::MemoryBase<CoreSegment, Memory>;
+ public:
Memory();
Memory(const std::string& name);
Memory(const MemoryID& id);
@@ -28,11 +27,11 @@ namespace armarx::armem::longtermmemory
// Conversion
- workingmemory::Memory convert() const;
+ wm::Memory convert() const;
// MongoDB connection
void reload(const MongoDBConnectionManager::MongoDBSettings&);
- void append(const workingmemory::Memory&);
+ void append(const wm::Memory&);
public:
diff --git a/source/RobotAPI/libraries/armem/core/longtermMemory/ProviderSegment.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.cpp
similarity index 55%
rename from source/RobotAPI/libraries/armem/core/longtermMemory/ProviderSegment.cpp
rename to source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.cpp
index cd00c797c..e527b2af5 100644
--- a/source/RobotAPI/libraries/armem/core/longtermMemory/ProviderSegment.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.cpp
@@ -5,7 +5,7 @@
#include "error.h"
-namespace armarx::armem::longtermmemory
+namespace armarx::armem::ltm
{
ProviderSegment::ProviderSegment()
@@ -13,27 +13,27 @@ namespace armarx::armem::longtermmemory
}
ProviderSegment::ProviderSegment(const std::string& name, aron::typenavigator::ObjectNavigatorPtr aronType) :
- armarx::armem::detail::MemoryItem(MemoryID().withProviderSegmentName(name)),
- armarx::armem::detail::TypedEntityContainerBase<Entity, Entity, ProviderSegment>(MemoryID().withProviderSegmentName(name), aronType)
+ base::detail::MemoryItem(MemoryID().withProviderSegmentName(name)),
+ base::detail::TypedEntityContainerBase<Entity, Entity, ProviderSegment>(MemoryID().withProviderSegmentName(name), aronType)
{
}
ProviderSegment::ProviderSegment(const std::string& name, const MemoryID parentID, aron::typenavigator::ObjectNavigatorPtr aronType) :
- armarx::armem::detail::MemoryItem(parentID.withProviderSegmentName(name)),
- armarx::armem::detail::TypedEntityContainerBase<Entity, Entity, ProviderSegment>(parentID.withProviderSegmentName(name), aronType)
+ base::detail::MemoryItem(parentID.withProviderSegmentName(name)),
+ base::detail::TypedEntityContainerBase<Entity, Entity, ProviderSegment>(parentID.withProviderSegmentName(name), aronType)
{
}
ProviderSegment::ProviderSegment(const MemoryID id, aron::typenavigator::ObjectNavigatorPtr aronType) :
- armarx::armem::detail::MemoryItem(id),
- armarx::armem::detail::TypedEntityContainerBase<Entity, Entity, ProviderSegment>(id, aronType)
+ base::detail::MemoryItem(id),
+ base::detail::TypedEntityContainerBase<Entity, Entity, ProviderSegment>(id, aronType)
{
}
ProviderSegment::ProviderSegment(const ProviderSegment& other) :
- armarx::armem::detail::MemoryItem(other),
- MemoryContainerBase<std::map<std::string, Entity>, ProviderSegment>(other),
- armarx::armem::detail::TypedEntityContainerBase<Entity, Entity, ProviderSegment>(other)
+ base::detail::MemoryItem(other),
+ base::detail::MemoryContainerBase<std::map<std::string, Entity>, ProviderSegment>(other),
+ base::detail::TypedEntityContainerBase<Entity, Entity, ProviderSegment>(other)
{
}
@@ -43,9 +43,9 @@ namespace armarx::armem::longtermmemory
return *this;
}
- workingmemory::ProviderSegment ProviderSegment::convert() const
+ wm::ProviderSegment ProviderSegment::convert() const
{
- workingmemory::ProviderSegment m;
+ wm::ProviderSegment m;
for (const auto& [_, s] : container)
{
m.addEntity(s.convert());
@@ -53,7 +53,7 @@ namespace armarx::armem::longtermmemory
return m;
}
- void ProviderSegment::append(const workingmemory::ProviderSegment& m)
+ void ProviderSegment::append(const wm::ProviderSegment& m)
{
for (const auto& [k, s] : m.container)
{
diff --git a/source/RobotAPI/libraries/armem/core/longtermMemory/ProviderSegment.h b/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.h
similarity index 64%
rename from source/RobotAPI/libraries/armem/core/longtermMemory/ProviderSegment.h
rename to source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.h
index 0ccff9600..5ac77dad6 100644
--- a/source/RobotAPI/libraries/armem/core/longtermMemory/ProviderSegment.h
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.h
@@ -1,25 +1,24 @@
#pragma once
-#include "../base/ProviderSegment.h"
+#include "../base/ProviderSegmentBase.h"
#include "Entity.h"
-#include "../workingMemory/ProviderSegment.h"
+#include "../workingmemory/ProviderSegment.h"
-namespace armarx::armem::longtermmemory
+namespace armarx::armem::ltm
{
/**
* @brief Data of a provider segment containing multiple entities.
*/
class ProviderSegment :
- virtual public ProviderSegmentBase<Entity, ProviderSegment>
+ virtual public base::ProviderSegmentBase<Entity, ProviderSegment>
{
- public:
- using Base = ProviderSegmentBase<Entity, ProviderSegment>;
- using EntityT = Entity;
+ using Base = base::ProviderSegmentBase<Entity, ProviderSegment>;
+ public:
ProviderSegment();
ProviderSegment(const std::string& name, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr);
ProviderSegment(const std::string& name, const MemoryID parentID, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr);
@@ -29,10 +28,10 @@ namespace armarx::armem::longtermmemory
ProviderSegment& operator=(const ProviderSegment& other);
// Conversion
- workingmemory::ProviderSegment convert() const;
+ wm::ProviderSegment convert() const;
// MongoDB connection
- void append(const workingmemory::ProviderSegment&);
+ void append(const wm::ProviderSegment&);
};
}
diff --git a/source/RobotAPI/libraries/armem/core/longtermMemory/mongodb/MongoDBConnectionManager.h b/source/RobotAPI/libraries/armem/core/longtermmemory/mongodb/MongoDBConnectionManager.h
similarity index 94%
rename from source/RobotAPI/libraries/armem/core/longtermMemory/mongodb/MongoDBConnectionManager.h
rename to source/RobotAPI/libraries/armem/core/longtermmemory/mongodb/MongoDBConnectionManager.h
index 799b59d86..02c25965f 100644
--- a/source/RobotAPI/libraries/armem/core/longtermMemory/mongodb/MongoDBConnectionManager.h
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/mongodb/MongoDBConnectionManager.h
@@ -5,7 +5,7 @@
#include <map>
#include <memory>
-namespace armarx::armem::longtermmemory
+namespace armarx::armem::ltm
{
/**
@@ -36,7 +36,7 @@ namespace armarx::armem::longtermmemory
{
const auto str_rep = settings.uniqueString();
const auto& it = Connections.find(str_rep);
- if(it == Connections.end())
+ if (it == Connections.end())
{
auto con = Connections.emplace(str_rep, 0);
return con.first->second;
diff --git a/source/RobotAPI/libraries/armem/core/workingMemory/detail/MemoryContainer.cpp b/source/RobotAPI/libraries/armem/core/workingMemory/detail/MemoryContainer.cpp
deleted file mode 100644
index 9fd73048f..000000000
--- a/source/RobotAPI/libraries/armem/core/workingMemory/detail/MemoryContainer.cpp
+++ /dev/null
@@ -1,7 +0,0 @@
-#include "MemoryContainer.h"
-
-
-namespace armarx::armem::detail
-{
-
-}
diff --git a/source/RobotAPI/libraries/armem/core/workingMemory/ice_conversions.h b/source/RobotAPI/libraries/armem/core/workingMemory/ice_conversions.h
deleted file mode 100644
index a48fe734b..000000000
--- a/source/RobotAPI/libraries/armem/core/workingMemory/ice_conversions.h
+++ /dev/null
@@ -1,36 +0,0 @@
-#pragma once
-
-#include <RobotAPI/interface/armem/commit.h>
-#include <RobotAPI/interface/armem/memory.h>
-
-#include "Memory.h"
-
-
-namespace armarx::armem
-{
- void toIce(data::EntityInstanceMetadata& ice, const workingmemory::EntityInstanceMetadata& metadata);
- void fromIce(const data::EntityInstanceMetadata& ice, workingmemory::EntityInstanceMetadata& metadata);
-
- void toIce(data::EntityInstance& ice, const workingmemory::EntityInstance& data);
- void fromIce(const data::EntityInstance& ice, workingmemory::EntityInstance& data);
-
-
- void toIce(data::EntitySnapshot& ice, const workingmemory::EntitySnapshot& snapshot);
- void fromIce(const data::EntitySnapshot& ice, workingmemory::EntitySnapshot& snapshot);
-
- void toIce(data::Entity& ice, const workingmemory::Entity& entity);
- void fromIce(const data::Entity& ice, workingmemory::Entity& entity);
-
-
- void toIce(data::ProviderSegment& ice, const workingmemory::ProviderSegment& providerSegment);
- void fromIce(const data::ProviderSegment& ice, workingmemory::ProviderSegment& providerSegment);
-
- void toIce(data::CoreSegment& ice, const workingmemory::CoreSegment& coreSegment);
- void fromIce(const data::CoreSegment& ice, workingmemory::CoreSegment& coreSegment);
-
- void toIce(data::Memory& ice, const workingmemory::Memory& memory);
- void fromIce(const data::Memory& ice, workingmemory::Memory& memory);
-}
-
-// Must be included after the prototypes. Otherwise the compiler cannot find the correct methods in ice_coversion_templates.h
-#include "../ice_conversions.h"
diff --git a/source/RobotAPI/libraries/armem/core/workingMemory/CoreSegment.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.cpp
similarity index 57%
rename from source/RobotAPI/libraries/armem/core/workingMemory/CoreSegment.cpp
rename to source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.cpp
index 447dad9c5..3c9fe0364 100644
--- a/source/RobotAPI/libraries/armem/core/workingMemory/CoreSegment.cpp
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.cpp
@@ -5,7 +5,7 @@
#include "error.h"
-namespace armarx::armem::workingmemory
+namespace armarx::armem::wm
{
CoreSegment::CoreSegment()
@@ -13,27 +13,27 @@ namespace armarx::armem::workingmemory
}
CoreSegment::CoreSegment(const std::string& name, aron::typenavigator::ObjectNavigatorPtr aronType) :
- armarx::armem::detail::MemoryItem(MemoryID().withCoreSegmentName(name)),
- armarx::armem::detail::TypedEntityContainerBase<ProviderSegment, Entity, CoreSegment>(MemoryID().withCoreSegmentName(name), aronType)
+ base::detail::MemoryItem(MemoryID().withCoreSegmentName(name)),
+ base::detail::TypedEntityContainerBase<ProviderSegment, Entity, CoreSegment>(MemoryID().withCoreSegmentName(name), aronType)
{
}
CoreSegment::CoreSegment(const std::string& name, const MemoryID& parentID, aron::typenavigator::ObjectNavigatorPtr aronType) :
- armarx::armem::detail::MemoryItem(MemoryID().withCoreSegmentName(name)),
- armarx::armem::detail::TypedEntityContainerBase<ProviderSegment, Entity, CoreSegment>(parentID.withCoreSegmentName(name), aronType)
+ base::detail::MemoryItem(MemoryID().withCoreSegmentName(name)),
+ base::detail::TypedEntityContainerBase<ProviderSegment, Entity, CoreSegment>(parentID.withCoreSegmentName(name), aronType)
{
}
CoreSegment::CoreSegment(const MemoryID& id, aron::typenavigator::ObjectNavigatorPtr aronType) :
- armarx::armem::detail::MemoryItem(id),
- armarx::armem::detail::TypedEntityContainerBase<ProviderSegment, Entity, CoreSegment>(id, aronType)
+ base::detail::MemoryItem(id),
+ base::detail::TypedEntityContainerBase<ProviderSegment, Entity, CoreSegment>(id, aronType)
{
}
CoreSegment::CoreSegment(const CoreSegment& other) :
- armarx::armem::detail::MemoryItem(other),
- MemoryContainerBase<std::map<std::string, ProviderSegment>, CoreSegment>(other),
- armarx::armem::detail::TypedEntityContainerBase<ProviderSegment, Entity, CoreSegment>(other)
+ base::detail::MemoryItem(other),
+ base::detail::MemoryContainerBase<std::map<std::string, ProviderSegment>, CoreSegment>(other),
+ base::detail::TypedEntityContainerBase<ProviderSegment, Entity, CoreSegment>(other)
{
}
diff --git a/source/RobotAPI/libraries/armem/core/workingMemory/CoreSegment.h b/source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.h
similarity index 78%
rename from source/RobotAPI/libraries/armem/core/workingMemory/CoreSegment.h
rename to source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.h
index 3dcd65d9e..d727b408b 100644
--- a/source/RobotAPI/libraries/armem/core/workingMemory/CoreSegment.h
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.h
@@ -1,25 +1,24 @@
#pragma once
-#include "../base/CoreSegment.h"
+#include "../base/CoreSegmentBase.h"
#include "ProviderSegment.h"
#include "detail/TypedEntityContainer.h"
-namespace armarx::armem::workingmemory
+namespace armarx::armem::wm
{
/**
* @brief Data of a core segment containing multiple provider segments.
*/
class CoreSegment :
- virtual public CoreSegmentBase<ProviderSegment, CoreSegment>,
+ virtual public base::CoreSegmentBase<ProviderSegment, CoreSegment>,
virtual public detail::TypedEntityContainer<ProviderSegment, CoreSegment>
{
- public:
- using Base = CoreSegmentBase<ProviderSegment, CoreSegment>;
- using ProviderSegmentT = ProviderSegment;
+ using Base = base::CoreSegmentBase<ProviderSegment, CoreSegment>;
+ public:
CoreSegment();
CoreSegment(const std::string& name, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr);
CoreSegment(const std::string& name, const MemoryID& parentID, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr);
diff --git a/source/RobotAPI/libraries/armem/core/workingMemory/Entity.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/Entity.cpp
similarity index 71%
rename from source/RobotAPI/libraries/armem/core/workingMemory/Entity.cpp
rename to source/RobotAPI/libraries/armem/core/workingmemory/Entity.cpp
index 4880da0ea..75fddfd55 100644
--- a/source/RobotAPI/libraries/armem/core/workingMemory/Entity.cpp
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/Entity.cpp
@@ -1,6 +1,6 @@
#include "Entity.h"
-namespace armarx::armem::workingmemory
+namespace armarx::armem::wm
{
Entity::Entity()
@@ -8,18 +8,18 @@ namespace armarx::armem::workingmemory
}
Entity::Entity(const std::string& name, const MemoryID& parentID) :
- armarx::armem::detail::MemoryItem(parentID.withEntityName(name))
+ base::detail::MemoryItem(parentID.withEntityName(name))
{
}
Entity::Entity(const MemoryID& id) :
- armarx::armem::detail::MemoryItem(id)
+ base::detail::MemoryItem(id)
{
}
Entity::Entity(const Entity& other) :
- armarx::armem::detail::MemoryItem(other),
- armarx::armem::detail::MemoryContainerBase<std::map<Time, EntitySnapshot>, Entity>(other)
+ base::detail::MemoryItem(other),
+ base::detail::MemoryContainerBase<std::map<Time, EntitySnapshot>, Entity>(other)
{
}
diff --git a/source/RobotAPI/libraries/armem/core/workingMemory/Entity.h b/source/RobotAPI/libraries/armem/core/workingmemory/Entity.h
similarity index 85%
rename from source/RobotAPI/libraries/armem/core/workingMemory/Entity.h
rename to source/RobotAPI/libraries/armem/core/workingmemory/Entity.h
index e1054a7e8..9d213e92f 100644
--- a/source/RobotAPI/libraries/armem/core/workingMemory/Entity.h
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/Entity.h
@@ -1,12 +1,12 @@
#pragma once
-#include "../base/Entity.h"
+#include "../base/EntityBase.h"
#include "EntitySnapshot.h"
#include "detail/MemoryContainer.h"
-namespace armarx::armem::workingmemory
+namespace armarx::armem::wm
{
/**
* @brief An entity over a period of time.
@@ -28,14 +28,12 @@ namespace armarx::armem::workingmemory
* each containing a single `AronData` object of a specific `AronType`.
*/
class Entity :
- virtual public EntityBase<EntitySnapshot, Entity>,
+ virtual public base::EntityBase<EntitySnapshot, Entity>,
virtual public detail::MemoryContainer<std::map<Time, EntitySnapshot>, Entity>
{
+ using Base = base::EntityBase<EntitySnapshot, Entity>;
public:
- using Base = EntityBase<EntitySnapshot, Entity>;
- using EntitySnapshotT = EntitySnapshot;
-
Entity();
Entity(const std::string& name, const MemoryID& parentID = {});
Entity(const MemoryID& id);
diff --git a/source/RobotAPI/libraries/armem/core/workingMemory/EntityInstance.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.cpp
similarity index 95%
rename from source/RobotAPI/libraries/armem/core/workingMemory/EntityInstance.cpp
rename to source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.cpp
index cffa83499..ce62d0164 100644
--- a/source/RobotAPI/libraries/armem/core/workingMemory/EntityInstance.cpp
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.cpp
@@ -3,7 +3,7 @@
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-namespace armarx::armem::workingmemory
+namespace armarx::armem::wm
{
bool EntityInstanceMetadata::operator==(const EntityInstanceMetadata& other) const
@@ -19,7 +19,7 @@ namespace armarx::armem::workingmemory
}
EntityInstance::EntityInstance(const EntityInstance& other) :
- MemoryItem(other.id),
+ base::detail::MemoryItem(other.id),
_metadata(other._metadata),
_data(other._data)
{
@@ -31,7 +31,7 @@ namespace armarx::armem::workingmemory
}
EntityInstance::EntityInstance(const MemoryID& id) :
- MemoryItem(id)
+ base::detail::MemoryItem(id)
{
}
diff --git a/source/RobotAPI/libraries/armem/core/workingMemory/EntityInstance.h b/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h
similarity index 92%
rename from source/RobotAPI/libraries/armem/core/workingMemory/EntityInstance.h
rename to source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h
index 589290441..cbfe38200 100644
--- a/source/RobotAPI/libraries/armem/core/workingMemory/EntityInstance.h
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h
@@ -1,8 +1,8 @@
#pragma once
-#include "../base/EntityInstance.h"
+#include "../base/EntityInstanceBase.h"
-namespace armarx::armem::workingmemory
+namespace armarx::armem::wm
{
/**
@@ -32,12 +32,11 @@ namespace armarx::armem::workingmemory
* @brief Data of a single entity instance.
*/
class EntityInstance :
- virtual public EntityInstanceBase<EntityInstance>
+ virtual public base::EntityInstanceBase<EntityInstance>
{
+ using Base = base::EntityInstanceBase<EntityInstance>;
public:
- using Base = EntityInstanceBase<EntityInstance>;
-
EntityInstance();
EntityInstance(const EntityInstance&);
EntityInstance(int index, const MemoryID& parentID = {});
diff --git a/source/RobotAPI/libraries/armem/core/workingMemory/EntitySnapshot.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.cpp
similarity index 84%
rename from source/RobotAPI/libraries/armem/core/workingMemory/EntitySnapshot.cpp
rename to source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.cpp
index be3f08204..124645de9 100644
--- a/source/RobotAPI/libraries/armem/core/workingMemory/EntitySnapshot.cpp
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.cpp
@@ -5,7 +5,7 @@
#include "error.h"
-namespace armarx::armem::workingmemory
+namespace armarx::armem::wm
{
@@ -24,8 +24,8 @@ namespace armarx::armem::workingmemory
}
EntitySnapshot::EntitySnapshot(const EntitySnapshot& other) :
- armarx::armem::detail::MemoryItem(other),
- armarx::armem::detail::MemoryContainerBase<std::vector<EntityInstance>, EntitySnapshot>(other)
+ base::detail::MemoryItem(other),
+ base::detail::MemoryContainerBase<std::vector<EntityInstance>, EntitySnapshot>(other)
{
}
diff --git a/source/RobotAPI/libraries/armem/core/workingMemory/EntitySnapshot.h b/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.h
similarity index 74%
rename from source/RobotAPI/libraries/armem/core/workingMemory/EntitySnapshot.h
rename to source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.h
index 7f88288ea..5f18288ba 100644
--- a/source/RobotAPI/libraries/armem/core/workingMemory/EntitySnapshot.h
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.h
@@ -1,26 +1,24 @@
#pragma once
-#include "../base/EntitySnapshot.h"
+#include "../base/EntitySnapshotBase.h"
#include "EntityInstance.h"
#include "detail/MemoryContainer.h"
-namespace armarx::armem::workingmemory
+namespace armarx::armem::wm
{
/**
* @brief Data of an entity at one point in time.
*/
class EntitySnapshot :
- virtual public EntitySnapshotBase<EntityInstance, EntitySnapshot>,
+ virtual public base::EntitySnapshotBase<EntityInstance, EntitySnapshot>,
virtual public detail::MemoryContainer<std::vector<EntityInstance>, EntitySnapshot>
{
+ using Base = base::EntitySnapshotBase<EntityInstance, EntitySnapshot>;
public:
- using Base = EntitySnapshotBase<EntityInstance, EntitySnapshot>;
- using EntityInstanceT = EntityInstance;
-
EntitySnapshot();
EntitySnapshot(Time time, const MemoryID& parentID = {});
EntitySnapshot(const MemoryID& id);
diff --git a/source/RobotAPI/libraries/armem/core/workingMemory/Memory.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/Memory.cpp
similarity index 85%
rename from source/RobotAPI/libraries/armem/core/workingMemory/Memory.cpp
rename to source/RobotAPI/libraries/armem/core/workingmemory/Memory.cpp
index 31e380522..706d26bcc 100644
--- a/source/RobotAPI/libraries/armem/core/workingMemory/Memory.cpp
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/Memory.cpp
@@ -6,7 +6,7 @@
#include "error.h"
-namespace armarx::armem::workingmemory
+namespace armarx::armem::wm
{
Memory::Memory()
@@ -14,7 +14,7 @@ namespace armarx::armem::workingmemory
}
Memory::Memory(const std::string& name) :
- armarx::armem::detail::MemoryItem(MemoryID().withMemoryName(name))
+ base::detail::MemoryItem(MemoryID().withMemoryName(name))
{
}
@@ -24,7 +24,7 @@ namespace armarx::armem::workingmemory
}
Memory::Memory(const Memory& other) :
- armarx::armem::detail::MemoryItem(other),
+ base::detail::MemoryItem(other),
MemoryContainerBase<std::map<std::string, CoreSegment>, Memory>(other)
{
*this = other;
diff --git a/source/RobotAPI/libraries/armem/core/workingMemory/Memory.h b/source/RobotAPI/libraries/armem/core/workingmemory/Memory.h
similarity index 73%
rename from source/RobotAPI/libraries/armem/core/workingMemory/Memory.h
rename to source/RobotAPI/libraries/armem/core/workingmemory/Memory.h
index 7ec0f660f..d747ded5e 100644
--- a/source/RobotAPI/libraries/armem/core/workingMemory/Memory.h
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/Memory.h
@@ -1,24 +1,23 @@
#pragma once
-#include "../base/Memory.h"
+#include "../base/MemoryBase.h"
#include "CoreSegment.h"
#include "detail/EntityContainer.h"
-namespace armarx::armem::workingmemory
+namespace armarx::armem::wm
{
/**
* @brief Data of a memory consisting of multiple core segments.
*/
class Memory :
- virtual public MemoryBase<CoreSegment, Memory>,
+ virtual public base::MemoryBase<CoreSegment, Memory>,
virtual public detail::EntityContainer<CoreSegment, Memory>
{
- public:
- using Base = MemoryBase<CoreSegment, Memory>;
- using CoreSegmentT = CoreSegment;
+ using Base = base::MemoryBase<CoreSegment, Memory>;
+ public:
Memory();
Memory(const std::string& name);
Memory(const MemoryID& id);
diff --git a/source/RobotAPI/libraries/armem/core/workingMemory/ProviderSegment.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.cpp
similarity index 58%
rename from source/RobotAPI/libraries/armem/core/workingMemory/ProviderSegment.cpp
rename to source/RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.cpp
index 652edf3ce..dbf436b65 100644
--- a/source/RobotAPI/libraries/armem/core/workingMemory/ProviderSegment.cpp
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.cpp
@@ -5,7 +5,7 @@
#include "error.h"
-namespace armarx::armem::workingmemory
+namespace armarx::armem::wm
{
ProviderSegment::ProviderSegment()
@@ -13,27 +13,27 @@ namespace armarx::armem::workingmemory
}
ProviderSegment::ProviderSegment(const std::string& name, aron::typenavigator::ObjectNavigatorPtr aronType) :
- armarx::armem::detail::MemoryItem(MemoryID().withProviderSegmentName(name)),
- armarx::armem::detail::TypedEntityContainerBase<Entity, Entity, ProviderSegment>(MemoryID().withProviderSegmentName(name), aronType)
+ base::detail::MemoryItem(MemoryID().withProviderSegmentName(name)),
+ base::detail::TypedEntityContainerBase<Entity, Entity, ProviderSegment>(MemoryID().withProviderSegmentName(name), aronType)
{
}
ProviderSegment::ProviderSegment(const std::string& name, const MemoryID parentID, aron::typenavigator::ObjectNavigatorPtr aronType) :
- armarx::armem::detail::MemoryItem(parentID.withProviderSegmentName(name)),
- armarx::armem::detail::TypedEntityContainerBase<Entity, Entity, ProviderSegment>(parentID.withProviderSegmentName(name), aronType)
+ base::detail::MemoryItem(parentID.withProviderSegmentName(name)),
+ base::detail::TypedEntityContainerBase<Entity, Entity, ProviderSegment>(parentID.withProviderSegmentName(name), aronType)
{
}
ProviderSegment::ProviderSegment(const MemoryID id, aron::typenavigator::ObjectNavigatorPtr aronType) :
- armarx::armem::detail::MemoryItem(id),
- armarx::armem::detail::TypedEntityContainerBase<Entity, Entity, ProviderSegment>(id, aronType)
+ base::detail::MemoryItem(id),
+ base::detail::TypedEntityContainerBase<Entity, Entity, ProviderSegment>(id, aronType)
{
}
ProviderSegment::ProviderSegment(const ProviderSegment& other) :
- armarx::armem::detail::MemoryItem(other),
- MemoryContainerBase<std::map<std::string, Entity>, ProviderSegment>(other),
- armarx::armem::detail::TypedEntityContainerBase<Entity, Entity, ProviderSegment>(other)
+ base::detail::MemoryItem(other),
+ base::detail::MemoryContainerBase<std::map<std::string, Entity>, ProviderSegment>(other),
+ base::detail::TypedEntityContainerBase<Entity, Entity, ProviderSegment>(other)
{
}
diff --git a/source/RobotAPI/libraries/armem/core/workingMemory/ProviderSegment.h b/source/RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.h
similarity index 79%
rename from source/RobotAPI/libraries/armem/core/workingMemory/ProviderSegment.h
rename to source/RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.h
index 4596041a2..542ec3dc5 100644
--- a/source/RobotAPI/libraries/armem/core/workingMemory/ProviderSegment.h
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.h
@@ -1,25 +1,24 @@
#pragma once
-#include "../base/ProviderSegment.h"
+#include "../base/ProviderSegmentBase.h"
#include "Entity.h"
#include "detail/TypedEntityContainer.h"
-namespace armarx::armem::workingmemory
+namespace armarx::armem::wm
{
/**
* @brief Data of a provider segment containing multiple entities.
*/
class ProviderSegment :
- virtual public ProviderSegmentBase<Entity, ProviderSegment>,
+ virtual public base::ProviderSegmentBase<Entity, ProviderSegment>,
virtual public detail::TypedEntityContainer<Entity, ProviderSegment>
{
- public:
- using Base = ProviderSegmentBase<Entity, ProviderSegment>;
- using EntityT = Entity;
+ using Base = base::ProviderSegmentBase<Entity, ProviderSegment>;
+ public:
ProviderSegment();
ProviderSegment(const std::string& name, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr);
ProviderSegment(const std::string& name, const MemoryID parentID, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr);
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/detail/EntityContainer.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/detail/EntityContainer.cpp
new file mode 100644
index 000000000..e69de29bb
diff --git a/source/RobotAPI/libraries/armem/core/workingMemory/detail/EntityContainer.h b/source/RobotAPI/libraries/armem/core/workingmemory/detail/EntityContainer.h
similarity index 68%
rename from source/RobotAPI/libraries/armem/core/workingMemory/detail/EntityContainer.h
rename to source/RobotAPI/libraries/armem/core/workingmemory/detail/EntityContainer.h
index 05c491b21..431d13624 100644
--- a/source/RobotAPI/libraries/armem/core/workingMemory/detail/EntityContainer.h
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/detail/EntityContainer.h
@@ -1,6 +1,6 @@
#pragma once
-#include "../../base/detail/EntityContainer.h"
+#include "../../base/detail/EntityContainerBase.h"
#include "MemoryContainer.h"
#include "../Entity.h"
@@ -8,7 +8,7 @@
#include "../EntityInstance.h"
-namespace armarx::armem::workingmemory::detail
+namespace armarx::armem::wm::detail
{
/**
@@ -16,10 +16,10 @@ namespace armarx::armem::workingmemory::detail
*
* Can be updated by multiple entity updates.
*/
- template <class _ValueT, class Derived>
+ template <class _ValueT, class _Derived>
class EntityContainer :
- virtual public armarx::armem::detail::EntityContainerBase<_ValueT, Entity, Derived>,
- virtual public MemoryContainer<std::map<std::string, _ValueT>, Derived>
+ virtual public base::detail::EntityContainerBase<_ValueT, Entity, _Derived>,
+ virtual public MemoryContainer<std::map<std::string, _ValueT>, _Derived>
{
public:
EntityContainer& operator=(const EntityContainer& other)
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/detail/MemoryContainer.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/detail/MemoryContainer.cpp
new file mode 100644
index 000000000..e69de29bb
diff --git a/source/RobotAPI/libraries/armem/core/workingMemory/detail/MemoryContainer.h b/source/RobotAPI/libraries/armem/core/workingmemory/detail/MemoryContainer.h
similarity index 55%
rename from source/RobotAPI/libraries/armem/core/workingMemory/detail/MemoryContainer.h
rename to source/RobotAPI/libraries/armem/core/workingmemory/detail/MemoryContainer.h
index c3633b651..a915c8714 100644
--- a/source/RobotAPI/libraries/armem/core/workingMemory/detail/MemoryContainer.h
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/detail/MemoryContainer.h
@@ -4,20 +4,22 @@
#include "../../error.h"
-#include "../../base/detail/MemoryContainer.h"
+#include "../../base/detail/MemoryContainerBase.h"
-namespace armarx::armem::workingmemory::detail
+namespace armarx::armem::wm::detail
{
/**
* @class Provides default implmentations of `MemoryContainer`, as well as
* iterators (which requires a template).
*/
- template <class _ContainerT, class Derived>
+ template <class _ContainerT, class _Derived>
class MemoryContainer :
- virtual public armarx::armem::detail::MemoryContainerBase<_ContainerT, Derived>
+ virtual public base::detail::MemoryContainerBase<_ContainerT, _Derived>
{
+ using Base = base::detail::MemoryContainerBase<_ContainerT, _Derived>;
+
public:
MemoryContainer& operator=(const MemoryContainer& other)
{
@@ -26,17 +28,17 @@ namespace armarx::armem::workingmemory::detail
}
// Copying
- virtual Derived copyWithoutData() const
+ virtual _Derived copyWithoutData() const
{
- Derived t;
+ _Derived t;
_copySelfWithoutData(t);
return t;
}
protected:
- virtual void _copySelfWithoutData(Derived& o) const
+ virtual void _copySelfWithoutData(_Derived& o) const
{
- armarx::armem::detail::MemoryContainerBase<_ContainerT, Derived>::_copySelfEmpty(o);
+ Base::_copySelfEmpty(o);
}
};
}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/detail/TypedEntityContainer.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/detail/TypedEntityContainer.cpp
new file mode 100644
index 000000000..e69de29bb
diff --git a/source/RobotAPI/libraries/armem/core/workingMemory/detail/TypedEntityContainer.h b/source/RobotAPI/libraries/armem/core/workingmemory/detail/TypedEntityContainer.h
similarity index 58%
rename from source/RobotAPI/libraries/armem/core/workingMemory/detail/TypedEntityContainer.h
rename to source/RobotAPI/libraries/armem/core/workingmemory/detail/TypedEntityContainer.h
index ebcb1f62d..f90925ff1 100644
--- a/source/RobotAPI/libraries/armem/core/workingMemory/detail/TypedEntityContainer.h
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/detail/TypedEntityContainer.h
@@ -1,20 +1,20 @@
#pragma once
-#include "../../base/detail/TypedEntityContainer.h"
+#include "../../base/detail/TypedEntityContainerBase.h"
#include "EntityContainer.h"
#include <RobotAPI/libraries/aron/core/navigator/type/container/Object.h>
-namespace armarx::armem::workingmemory::detail
+namespace armarx::armem::wm::detail
{
/**
* @brief An entity container with a specific (Aron) type.
*/
- template <class _ValueT, class Derived>
+ template <class _ValueT, class _Derived>
class TypedEntityContainer :
- virtual public armarx::armem::detail::TypedEntityContainerBase<_ValueT, Entity, Derived>,
- virtual public EntityContainer<_ValueT, Derived>
+ virtual public base::detail::TypedEntityContainerBase<_ValueT, Entity, _Derived>,
+ virtual public EntityContainer<_ValueT, _Derived>
{
public:
TypedEntityContainer& operator=(const TypedEntityContainer& other)
diff --git a/source/RobotAPI/libraries/armem/core/workingMemory/ice_conversions.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/ice_conversions.cpp
similarity index 69%
rename from source/RobotAPI/libraries/armem/core/workingMemory/ice_conversions.cpp
rename to source/RobotAPI/libraries/armem/core/workingmemory/ice_conversions.cpp
index f218de383..ad77c6dc1 100644
--- a/source/RobotAPI/libraries/armem/core/workingMemory/ice_conversions.cpp
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/ice_conversions.cpp
@@ -2,14 +2,14 @@
namespace armarx::armem
{
- void toIce(data::EntityInstanceMetadata& ice, const workingmemory::EntityInstanceMetadata& metadata)
+ void toIce(armarx::armem::data::EntityInstanceMetadata& ice, const armarx::armem::wm::EntityInstanceMetadata& metadata)
{
ice.confidence = metadata.confidence;
toIce(ice.timeArrivedMicroSeconds, metadata.timeArrived);
toIce(ice.timeCreatedMicroSeconds, metadata.timeCreated);
toIce(ice.timeSentMicroSeconds, metadata.timeSent);
}
- void fromIce(const data::EntityInstanceMetadata& ice, workingmemory::EntityInstanceMetadata& metadata)
+ void fromIce(const armarx::armem::data::EntityInstanceMetadata& ice, armarx::armem::wm::EntityInstanceMetadata& metadata)
{
metadata.confidence = ice.confidence;
fromIce(ice.timeArrivedMicroSeconds, metadata.timeArrived);
@@ -17,7 +17,7 @@ namespace armarx::armem
fromIce(ice.timeSentMicroSeconds, metadata.timeSent);
}
- void toIce(data::EntityInstance& ice, const workingmemory::EntityInstance& data)
+ void toIce(data::EntityInstance& ice, const wm::EntityInstance& data)
{
detail::toIceItem(ice, data);
@@ -27,7 +27,7 @@ namespace armarx::armem
}
toIce(ice.metadata, data.metadata());
}
- void fromIce(const data::EntityInstance& ice, workingmemory::EntityInstance& data)
+ void fromIce(const data::EntityInstance& ice, wm::EntityInstance& data)
{
detail::fromIceItem(ice, data);
@@ -39,26 +39,26 @@ namespace armarx::armem
}
- void toIce(data::EntitySnapshot& ice, const workingmemory::EntitySnapshot& snapshot)
+ void toIce(data::EntitySnapshot& ice, const wm::EntitySnapshot& snapshot)
{
detail::toIceItem(ice, snapshot);
toIce(ice.instances, snapshot.container);
}
- void fromIce(const data::EntitySnapshot& ice, workingmemory::EntitySnapshot& snapshot)
+ void fromIce(const data::EntitySnapshot& ice, wm::EntitySnapshot& snapshot)
{
detail::fromIceItem(ice, snapshot);
fromIce(ice.instances, snapshot.container);
}
- void toIce(data::Entity& ice, const workingmemory::Entity& entity)
+ void toIce(data::Entity& ice, const wm::Entity& entity)
{
detail::toIceItem(ice, entity);
toIce(ice.history, entity.container);
}
- void fromIce(const data::Entity& ice, workingmemory::Entity& entity)
+ void fromIce(const data::Entity& ice, wm::Entity& entity)
{
detail::fromIceItem(ice, entity);
@@ -66,7 +66,7 @@ namespace armarx::armem
}
- void toIce(data::ProviderSegment& ice, const workingmemory::ProviderSegment& providerSegment)
+ void toIce(data::ProviderSegment& ice, const wm::ProviderSegment& providerSegment)
{
detail::toIceItem(ice, providerSegment);
@@ -76,7 +76,7 @@ namespace armarx::armem
}
toIce(ice.entities, providerSegment.container);
}
- void fromIce(const data::ProviderSegment& ice, workingmemory::ProviderSegment& providerSegment)
+ void fromIce(const data::ProviderSegment& ice, wm::ProviderSegment& providerSegment)
{
detail::fromIceItem(ice, providerSegment);
@@ -87,7 +87,7 @@ namespace armarx::armem
fromIce(ice.entities, providerSegment.container);
}
- void toIce(data::CoreSegment& ice, const workingmemory::CoreSegment& coreSegment)
+ void toIce(data::CoreSegment& ice, const wm::CoreSegment& coreSegment)
{
detail::toIceItem(ice, coreSegment);
@@ -97,7 +97,7 @@ namespace armarx::armem
}
toIce(ice.providerSegments, coreSegment.container);
}
- void fromIce(const data::CoreSegment& ice, workingmemory::CoreSegment& coreSegment)
+ void fromIce(const data::CoreSegment& ice, wm::CoreSegment& coreSegment)
{
detail::fromIceItem(ice, coreSegment);
@@ -108,13 +108,13 @@ namespace armarx::armem
fromIce(ice.providerSegments, coreSegment.container);
}
- void toIce(data::Memory& ice, const workingmemory::Memory& memory)
+ void toIce(data::Memory& ice, const wm::Memory& memory)
{
detail::toIceItem(ice, memory);
toIce(ice.coreSegments, memory.container);
}
- void fromIce(const data::Memory& ice, workingmemory::Memory& memory)
+ void fromIce(const data::Memory& ice, wm::Memory& memory)
{
detail::fromIceItem(ice, memory);
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h b/source/RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h
new file mode 100644
index 000000000..4d14e6b0d
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h
@@ -0,0 +1,36 @@
+#pragma once
+
+#include <RobotAPI/interface/armem/commit.h>
+#include <RobotAPI/interface/armem/memory.h>
+
+#include "Memory.h"
+
+
+namespace armarx::armem
+{
+ void toIce(data::EntityInstanceMetadata& ice, const wm::EntityInstanceMetadata& metadata);
+ void fromIce(const data::EntityInstanceMetadata& ice, wm::EntityInstanceMetadata& metadata);
+
+ void toIce(data::EntityInstance& ice, const wm::EntityInstance& data);
+ void fromIce(const data::EntityInstance& ice, wm::EntityInstance& data);
+
+
+ void toIce(data::EntitySnapshot& ice, const wm::EntitySnapshot& snapshot);
+ void fromIce(const data::EntitySnapshot& ice, wm::EntitySnapshot& snapshot);
+
+ void toIce(data::Entity& ice, const wm::Entity& entity);
+ void fromIce(const data::Entity& ice, wm::Entity& entity);
+
+
+ void toIce(data::ProviderSegment& ice, const wm::ProviderSegment& providerSegment);
+ void fromIce(const data::ProviderSegment& ice, wm::ProviderSegment& providerSegment);
+
+ void toIce(data::CoreSegment& ice, const wm::CoreSegment& coreSegment);
+ void fromIce(const data::CoreSegment& ice, wm::CoreSegment& coreSegment);
+
+ void toIce(data::Memory& ice, const wm::Memory& memory);
+ void fromIce(const data::Memory& ice, wm::Memory& memory);
+}
+
+// Must be included after the prototypes. Otherwise the compiler cannot find the correct methods in ice_coversion_templates.h
+#include "../ice_conversions.h"
diff --git a/source/RobotAPI/libraries/armem/server/ComponentPlugin.cpp b/source/RobotAPI/libraries/armem/server/ComponentPlugin.cpp
index 2c12bbb49..c5aff2156 100644
--- a/source/RobotAPI/libraries/armem/server/ComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/armem/server/ComponentPlugin.cpp
@@ -36,7 +36,7 @@ namespace armarx::armem::server::plugins
parent.iceMemory.setMemoryListener(memoryListener);
// establishing connection to ltm and mongodb
- longtermmemory::MongoDBConnectionManager::MongoDBSettings settings;
+ ltm::MongoDBConnectionManager::MongoDBSettings settings;
settings.host = longTermMemoryDatabaseHost;
settings.user = longTermMemoryDatabaseUser;
settings.password = longTermMemoryDatabasePassword;
diff --git a/source/RobotAPI/libraries/armem/server/ComponentPlugin.h b/source/RobotAPI/libraries/armem/server/ComponentPlugin.h
index 0aa7c6b3b..c051995c4 100644
--- a/source/RobotAPI/libraries/armem/server/ComponentPlugin.h
+++ b/source/RobotAPI/libraries/armem/server/ComponentPlugin.h
@@ -8,8 +8,8 @@
#include <RobotAPI/interface/armem/client/MemoryListenerInterface.h>
#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
-#include "../core/workingMemory/Memory.h"
-#include "../core/longtermMemory/Memory.h"
+#include "../core/workingmemory/Memory.h"
+#include "../core/longtermmemory/Memory.h"
#include "../mns/ClientPlugin.h"
#include "MemoryToIceAdapter.h"
@@ -96,10 +96,10 @@ namespace armarx::armem::server
public:
/// The actual memory.
- workingmemory::Memory workingmemory;
+ wm::Memory workingmemory;
std::mutex workingmemoryMutex;
- longtermmemory::Memory longtermmemory;
+ ltm::Memory longtermmemory;
std::mutex longtermmemoryMutex;
/// property defaults
diff --git a/source/RobotAPI/libraries/armem/server/MemoryRemoteGui.cpp b/source/RobotAPI/libraries/armem/server/MemoryRemoteGui.cpp
index 870bba1c5..9ab34efd9 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryRemoteGui.cpp
+++ b/source/RobotAPI/libraries/armem/server/MemoryRemoteGui.cpp
@@ -13,7 +13,7 @@
namespace armarx::armem::server
{
- MemoryRemoteGui::GroupBox MemoryRemoteGui::makeGroupBox(const workingmemory::Memory& memory) const
+ MemoryRemoteGui::GroupBox MemoryRemoteGui::makeGroupBox(const wm::Memory& memory) const
{
GroupBox group;
group.setLabel(makeGroupLabel("Memory", memory.name(), memory.coreSegments().size()));
@@ -32,7 +32,7 @@ namespace armarx::armem::server
- MemoryRemoteGui::GroupBox MemoryRemoteGui::makeGroupBox(const workingmemory::CoreSegment& coreSegment) const
+ MemoryRemoteGui::GroupBox MemoryRemoteGui::makeGroupBox(const wm::CoreSegment& coreSegment) const
{
GroupBox group;
group.setLabel(makeGroupLabel("Core Segment", coreSegment.name(), coreSegment.providerSegments().size()));
@@ -51,7 +51,7 @@ namespace armarx::armem::server
- MemoryRemoteGui::GroupBox MemoryRemoteGui::makeGroupBox(const workingmemory::ProviderSegment& providerSegment) const
+ MemoryRemoteGui::GroupBox MemoryRemoteGui::makeGroupBox(const wm::ProviderSegment& providerSegment) const
{
GroupBox group;
group.setLabel(makeGroupLabel("Provider Segment", providerSegment.name(), providerSegment.entities().size()));
@@ -70,7 +70,7 @@ namespace armarx::armem::server
- MemoryRemoteGui::GroupBox MemoryRemoteGui::makeGroupBox(const workingmemory::Entity& entity) const
+ MemoryRemoteGui::GroupBox MemoryRemoteGui::makeGroupBox(const wm::Entity& entity) const
{
GroupBox group;
group.setLabel(makeGroupLabel("Entity", entity.name(), entity.history().size()));
@@ -110,7 +110,7 @@ namespace armarx::armem::server
- MemoryRemoteGui::GroupBox MemoryRemoteGui::makeGroupBox(const workingmemory::EntitySnapshot& snapshot) const
+ MemoryRemoteGui::GroupBox MemoryRemoteGui::makeGroupBox(const wm::EntitySnapshot& snapshot) const
{
GroupBox group;
group.setLabel(makeGroupLabel("t", armem::toDateTimeMilliSeconds(snapshot.time()),
@@ -120,7 +120,7 @@ namespace armarx::armem::server
{
group.addChild(Label(makeNoItemsMessage("instances")));
}
- for (const workingmemory::EntityInstance& instance : snapshot.instances())
+ for (const wm::EntityInstance& instance : snapshot.instances())
{
group.addChild(makeGroupBox(instance));
}
@@ -129,7 +129,7 @@ namespace armarx::armem::server
return group;
}
- MemoryRemoteGui::GroupBox MemoryRemoteGui::makeGroupBox(const workingmemory::EntityInstance& instance) const
+ MemoryRemoteGui::GroupBox MemoryRemoteGui::makeGroupBox(const wm::EntityInstance& instance) const
{
GroupBox group;
diff --git a/source/RobotAPI/libraries/armem/server/MemoryRemoteGui.h b/source/RobotAPI/libraries/armem/server/MemoryRemoteGui.h
index 59ebb3128..f4a7fad95 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryRemoteGui.h
+++ b/source/RobotAPI/libraries/armem/server/MemoryRemoteGui.h
@@ -2,7 +2,7 @@
#include <ArmarXGui/libraries/RemoteGui/Client/Widgets.h>
-#include "../core/workingMemory/Memory.h"
+#include "../core/workingmemory/Memory.h"
namespace armarx::armem::server
@@ -17,12 +17,12 @@ namespace armarx::armem::server
using GroupBox = armarx::RemoteGui::Client::GroupBox;
using Label = armarx::RemoteGui::Client::Label;
- GroupBox makeGroupBox(const workingmemory::Memory& memory) const;
- GroupBox makeGroupBox(const workingmemory::CoreSegment& coreSegment) const;
- GroupBox makeGroupBox(const workingmemory::ProviderSegment& providerSegment) const;
- GroupBox makeGroupBox(const workingmemory::Entity& entity) const;
- GroupBox makeGroupBox(const workingmemory::EntitySnapshot& entitySnapshot) const;
- GroupBox makeGroupBox(const workingmemory::EntityInstance& instance) const;
+ GroupBox makeGroupBox(const wm::Memory& memory) const;
+ GroupBox makeGroupBox(const wm::CoreSegment& coreSegment) const;
+ GroupBox makeGroupBox(const wm::ProviderSegment& providerSegment) const;
+ GroupBox makeGroupBox(const wm::Entity& entity) const;
+ GroupBox makeGroupBox(const wm::EntitySnapshot& entitySnapshot) const;
+ GroupBox makeGroupBox(const wm::EntityInstance& instance) const;
std::string makeGroupLabel(const std::string& term, const std::string& name, size_t size,
diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
index 1b944deb1..68904e536 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
@@ -3,8 +3,8 @@
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include "../error.h"
-#include "../core/workingMemory/ice_conversions.h"
-#include "query_proc/workingMemory/MemoryQueryProcessor.h"
+#include "../core/workingmemory/ice_conversions.h"
+#include "query_proc/workingmemory/MemoryQueryProcessor.h"
//#include "../core/io/diskWriter/NlohmannJSON/NlohmannJSONDiskWriter.h"
//#include "../core/io/diskReader/NlohmannJSON/NlohmannJSONDiskReader.h"
@@ -12,7 +12,7 @@
namespace armarx::armem::server
{
- MemoryToIceAdapter::MemoryToIceAdapter(workingmemory::Memory* workingmemory, longtermmemory::Memory* longtermmemory) : workingmemory(workingmemory), longtermmemory(longtermmemory)
+ MemoryToIceAdapter::MemoryToIceAdapter(wm::Memory* workingmemory, ltm::Memory* longtermmemory) : workingmemory(workingmemory), longtermmemory(longtermmemory)
{
}
@@ -33,7 +33,7 @@ namespace armarx::armem::server
data::AddSegmentResult output;
- armem::workingmemory::CoreSegment* coreSegment = nullptr;
+ armem::wm::CoreSegment* coreSegment = nullptr;
try
{
coreSegment = &workingmemory->getCoreSegment(input.coreSegmentName);
@@ -64,7 +64,7 @@ namespace armarx::armem::server
// This is ok.
if (input.clearWhenExists)
{
- workingmemory::ProviderSegment& provider = coreSegment->getProviderSegment(input.providerSegmentName);
+ wm::ProviderSegment& provider = coreSegment->getProviderSegment(input.providerSegmentName);
provider.clear();
}
}
@@ -163,7 +163,7 @@ namespace armarx::armem::server
{
ARMARX_CHECK_NOT_NULL(workingmemory);
- armem::workingmemory::query_proc::MemoryQueryProcessor processor(
+ armem::wm::query_proc::MemoryQueryProcessor processor(
input.withData ? armem::DataMode::WithData
: armem::DataMode::NoData);
return processor.process(input, *workingmemory);
@@ -189,7 +189,7 @@ namespace armarx::armem::server
armem::query::data::Result queryResult = this->query(input.query);
if (queryResult.success)
{
- workingmemory::Memory m;
+ wm::Memory m;
fromIce(queryResult.memory, m);
longtermmemory->append(m);
}
diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h
index b0d1ac098..0e2250387 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h
@@ -3,8 +3,8 @@
#include <RobotAPI/interface/armem/server/MemoryInterface.h>
#include <RobotAPI/interface/armem/client/MemoryListenerInterface.h>
-#include "../core/workingMemory/Memory.h"
-#include "../core/longtermMemory/Memory.h"
+#include "../core/workingmemory/Memory.h"
+#include "../core/longtermmemory/Memory.h"
namespace armarx::armem::server
@@ -22,7 +22,7 @@ namespace armarx::armem::server
public:
/// Construct an MemoryToIceAdapter from an existing Memory.
- MemoryToIceAdapter(workingmemory::Memory* workingmemory = nullptr, longtermmemory::Memory* longtermmemory = nullptr);
+ MemoryToIceAdapter(wm::Memory* workingmemory = nullptr, ltm::Memory* longtermmemory = nullptr);
void setMemoryListener(client::MemoryListenerInterfacePrx memoryListener);
@@ -50,8 +50,8 @@ namespace armarx::armem::server
public:
- workingmemory::Memory* workingmemory;
- longtermmemory::Memory* longtermmemory;
+ wm::Memory* workingmemory;
+ ltm::Memory* longtermmemory;
client::MemoryListenerInterfacePrx memoryListener;
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessor.cpp
deleted file mode 100644
index 5bb5942e8..000000000
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessor.cpp
+++ /dev/null
@@ -1,13 +0,0 @@
-#include "BaseQueryProcessor.h"
-
-#include <ArmarXCore/core/logging/Logging.h>
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-#include <RobotAPI/libraries/armem/core/error.h>
-#include <RobotAPI/libraries/armem/core/workingMemory/ice_conversions.h>
-
-
-namespace armarx::armem::query_proc
-{
-
-}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.cpp b/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.cpp
new file mode 100644
index 000000000..e69de29bb
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.h
similarity index 96%
rename from source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessor.h
rename to source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.h
index 77526c56a..3ea2b0bdd 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.h
@@ -5,7 +5,7 @@
#include <RobotAPI/libraries/armem/core/DataMode.h>
-namespace armarx::armem::query_proc
+namespace armarx::armem::base::query_proc
{
/**
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/CoreSegmentQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/base/CoreSegmentQueryProcessor.cpp
deleted file mode 100644
index 474ed5e5c..000000000
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/CoreSegmentQueryProcessor.cpp
+++ /dev/null
@@ -1,14 +0,0 @@
-#include "CoreSegmentQueryProcessor.h"
-
-#include <regex>
-
-#include <ArmarXCore/core/logging/Logging.h>
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-#include <RobotAPI/libraries/armem/core/workingMemory/ice_conversions.h>
-#include <RobotAPI/libraries/armem/core/error.h>
-
-
-namespace armarx::armem::query_proc
-{
-}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/CoreSegmentQueryProcessorBase.cpp b/source/RobotAPI/libraries/armem/server/query_proc/base/CoreSegmentQueryProcessorBase.cpp
new file mode 100644
index 000000000..e69de29bb
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/CoreSegmentQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/base/CoreSegmentQueryProcessorBase.h
similarity index 91%
rename from source/RobotAPI/libraries/armem/server/query_proc/base/CoreSegmentQueryProcessor.h
rename to source/RobotAPI/libraries/armem/server/query_proc/base/CoreSegmentQueryProcessorBase.h
index 04b7f3ff3..f8ab8c113 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/CoreSegmentQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/CoreSegmentQueryProcessorBase.h
@@ -2,8 +2,8 @@
#include <RobotAPI/interface/armem/query.h>
-#include "BaseQueryProcessor.h"
-#include "ProviderSegmentQueryProcessor.h"
+#include "BaseQueryProcessorBase.h"
+#include "ProviderSegmentQueryProcessorBase.h"
#include <regex>
@@ -14,7 +14,7 @@
-namespace armarx::armem::query_proc
+namespace armarx::armem::base::query_proc
{
/**
@@ -25,9 +25,12 @@ namespace armarx::armem::query_proc
virtual public BaseQueryProcessorBase<_CoreSegmentT, armem::query::data::CoreSegmentQuery>
{
using Base = BaseQueryProcessorBase<_CoreSegmentT, armem::query::data::CoreSegmentQuery>;
- using ProviderSegmentT = typename _CoreSegmentT::ProviderSegmentT;
public:
+ using CoreSegmentT = _CoreSegmentT;
+ using ProviderSegmentT = typename _CoreSegmentT::ProviderSegmentT;
+ using EntityT = typename ProviderSegmentT::EntityT;
+ using EntitySnapshotT = typename EntityT::EntitySnapshotT;
using Base::process;
void process(_CoreSegmentT& result,
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessor.cpp
deleted file mode 100644
index 25f477bf0..000000000
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessor.cpp
+++ /dev/null
@@ -1,13 +0,0 @@
-#include "EntityQueryProcessor.h"
-
-#include <ArmarXCore/core/logging/Logging.h>
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-#include <RobotAPI/libraries/armem/core/error.h>
-#include <RobotAPI/libraries/armem/core/workingMemory/ice_conversions.h>
-
-
-namespace armarx::armem::query_proc
-{
-
-}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.cpp b/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.cpp
new file mode 100644
index 000000000..e69de29bb
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.h
similarity index 96%
rename from source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessor.h
rename to source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.h
index 4558dbfad..447bd259a 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.h
@@ -2,7 +2,7 @@
#include <RobotAPI/interface/armem/query.h>
-#include "BaseQueryProcessor.h"
+#include "BaseQueryProcessorBase.h"
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
@@ -11,7 +11,7 @@
#include <RobotAPI/libraries/armem/core/ice_conversions.h>
-namespace armarx::armem::query_proc
+namespace armarx::armem::base::query_proc
{
/**
@@ -22,9 +22,11 @@ namespace armarx::armem::query_proc
virtual public BaseQueryProcessorBase<_EntityT, armem::query::data::EntityQuery>
{
using Base = BaseQueryProcessorBase<_EntityT, armem::query::data::EntityQuery>;
- using EntitySnapshotT = typename _EntityT::EntitySnapshotT;
public:
+ using EntityT = _EntityT;
+ using EntitySnapshotT = typename EntityT::EntitySnapshotT;
+
using Base::process;
void process(_EntityT& result,
const armem::query::data::EntityQuery& query,
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/MemoryQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/base/MemoryQueryProcessor.cpp
deleted file mode 100644
index c1caf0c27..000000000
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/MemoryQueryProcessor.cpp
+++ /dev/null
@@ -1,15 +0,0 @@
-#include "MemoryQueryProcessor.h"
-
-#include <regex>
-
-#include <ArmarXCore/core/logging/Logging.h>
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-#include <RobotAPI/libraries/armem/core/error.h>
-#include <RobotAPI/libraries/armem/core/workingMemory/ice_conversions.h>
-
-
-namespace armarx::armem::query_proc
-{
-
-}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/MemoryQueryProcessorBase.cpp b/source/RobotAPI/libraries/armem/server/query_proc/base/MemoryQueryProcessorBase.cpp
new file mode 100644
index 000000000..e69de29bb
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/MemoryQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/base/MemoryQueryProcessorBase.h
similarity index 85%
rename from source/RobotAPI/libraries/armem/server/query_proc/base/MemoryQueryProcessor.h
rename to source/RobotAPI/libraries/armem/server/query_proc/base/MemoryQueryProcessorBase.h
index d9937eed3..c50086b55 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/MemoryQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/MemoryQueryProcessorBase.h
@@ -4,8 +4,8 @@
#include <RobotAPI/interface/armem/query.h>
-#include "BaseQueryProcessor.h"
-#include "CoreSegmentQueryProcessor.h"
+#include "BaseQueryProcessorBase.h"
+#include "CoreSegmentQueryProcessorBase.h"
#include <ArmarXCore/core/logging/Logging.h>
@@ -14,19 +14,23 @@
#include <RobotAPI/libraries/armem/core/error.h>
-namespace armarx::armem::query_proc
+namespace armarx::armem::base::query_proc
{
/**
* @brief Handles memory queries.
*/
template <class _MemoryT>
class MemoryQueryProcessorBase :
- virtual public BaseQueryProcessorBase<_MemoryT, armem::query::data::MemoryQuery>
+ virtual public BaseQueryProcessorBase<_MemoryT, armem::query::data::MemoryQuery>
{
using Base = BaseQueryProcessorBase<_MemoryT, armem::query::data::MemoryQuery>;
- using CoreSegmentT = typename _MemoryT::CoreSegmentT;
public:
+ using MemoryT = _MemoryT;
+ using CoreSegmentT = typename MemoryT::CoreSegmentT;
+ using ProviderSegmentT = typename CoreSegmentT::ProviderSegmentT;
+ using EntityT = typename ProviderSegmentT::EntityT;
+ using EntitySnapshotT = typename EntityT::EntitySnapshotT;
void process(_MemoryT& result,
const armem::query::data::MemoryQuery& query,
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/ProviderSegmentQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/base/ProviderSegmentQueryProcessor.cpp
deleted file mode 100644
index d07f30836..000000000
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/ProviderSegmentQueryProcessor.cpp
+++ /dev/null
@@ -1,15 +0,0 @@
-#include "ProviderSegmentQueryProcessor.h"
-
-#include <regex>
-
-#include <ArmarXCore/core/logging/Logging.h>
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-#include <RobotAPI/libraries/armem/core/error.h>
-#include <RobotAPI/libraries/armem/core/workingMemory/ice_conversions.h>
-
-
-namespace armarx::armem::query_proc
-{
-
-}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/ProviderSegmentQueryProcessorBase.cpp b/source/RobotAPI/libraries/armem/server/query_proc/base/ProviderSegmentQueryProcessorBase.cpp
new file mode 100644
index 000000000..e69de29bb
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/ProviderSegmentQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/base/ProviderSegmentQueryProcessorBase.h
similarity index 91%
rename from source/RobotAPI/libraries/armem/server/query_proc/base/ProviderSegmentQueryProcessor.h
rename to source/RobotAPI/libraries/armem/server/query_proc/base/ProviderSegmentQueryProcessorBase.h
index ff586eb47..b3b7da7ff 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/ProviderSegmentQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/ProviderSegmentQueryProcessorBase.h
@@ -2,8 +2,8 @@
#include <RobotAPI/interface/armem/query.h>
-#include "BaseQueryProcessor.h"
-#include "EntityQueryProcessor.h"
+#include "BaseQueryProcessorBase.h"
+#include "EntityQueryProcessorBase.h"
#include <regex>
@@ -13,7 +13,7 @@
#include <RobotAPI/libraries/armem/core/error.h>
-namespace armarx::armem::query_proc
+namespace armarx::armem::base::query_proc
{
/**
@@ -24,9 +24,12 @@ namespace armarx::armem::query_proc
virtual public BaseQueryProcessorBase<_ProviderSegmentT, armem::query::data::ProviderSegmentQuery>
{
using Base = BaseQueryProcessorBase<_ProviderSegmentT, armem::query::data::ProviderSegmentQuery>;
- using EntityT = typename _ProviderSegmentT::EntityT;
public:
+ using ProviderSegmentT = _ProviderSegmentT;
+ using EntityT = typename ProviderSegmentT::EntityT;
+ using EntitySnapshotT = typename EntityT::EntitySnapshotT;
+
using Base::process;
void process(_ProviderSegmentT& result,
const armem::query::data::ProviderSegmentQuery& query,
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/longtermMemory/BaseQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/longtermMemory/BaseQueryProcessor.cpp
deleted file mode 100644
index 5bb5942e8..000000000
--- a/source/RobotAPI/libraries/armem/server/query_proc/longtermMemory/BaseQueryProcessor.cpp
+++ /dev/null
@@ -1,13 +0,0 @@
-#include "BaseQueryProcessor.h"
-
-#include <ArmarXCore/core/logging/Logging.h>
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-#include <RobotAPI/libraries/armem/core/error.h>
-#include <RobotAPI/libraries/armem/core/workingMemory/ice_conversions.h>
-
-
-namespace armarx::armem::query_proc
-{
-
-}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/longtermMemory/CoreSegmentQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/longtermMemory/CoreSegmentQueryProcessor.cpp
deleted file mode 100644
index 474ed5e5c..000000000
--- a/source/RobotAPI/libraries/armem/server/query_proc/longtermMemory/CoreSegmentQueryProcessor.cpp
+++ /dev/null
@@ -1,14 +0,0 @@
-#include "CoreSegmentQueryProcessor.h"
-
-#include <regex>
-
-#include <ArmarXCore/core/logging/Logging.h>
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-#include <RobotAPI/libraries/armem/core/workingMemory/ice_conversions.h>
-#include <RobotAPI/libraries/armem/core/error.h>
-
-
-namespace armarx::armem::query_proc
-{
-}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/longtermMemory/EntityQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/longtermMemory/EntityQueryProcessor.cpp
deleted file mode 100644
index 25f477bf0..000000000
--- a/source/RobotAPI/libraries/armem/server/query_proc/longtermMemory/EntityQueryProcessor.cpp
+++ /dev/null
@@ -1,13 +0,0 @@
-#include "EntityQueryProcessor.h"
-
-#include <ArmarXCore/core/logging/Logging.h>
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-#include <RobotAPI/libraries/armem/core/error.h>
-#include <RobotAPI/libraries/armem/core/workingMemory/ice_conversions.h>
-
-
-namespace armarx::armem::query_proc
-{
-
-}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/longtermMemory/EntityQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/longtermMemory/EntityQueryProcessor.h
deleted file mode 100644
index d7306cb30..000000000
--- a/source/RobotAPI/libraries/armem/server/query_proc/longtermMemory/EntityQueryProcessor.h
+++ /dev/null
@@ -1,39 +0,0 @@
-#pragma once
-
-#include "BaseQueryProcessor.h"
-#include "../base/EntityQueryProcessor.h"
-
-#include "../../../core/longtermMemory/Entity.h"
-
-#include "EntityQueryProcessor.h"
-
-namespace armarx::armem::longtermmemory::query_proc
-{
- /**
- * @brief Handles memory queries.
- */
- class EntityQueryProcessor :
- virtual public BaseQueryProcessor<longtermmemory::Entity, armem::query::data::EntityQuery>,
- virtual public armarx::armem::query_proc::EntityQueryProcessorBase<longtermmemory::Entity>
- {
- using Base = BaseQueryProcessor<longtermmemory::Entity, armem::query::data::EntityQuery>;
-
- public:
- EntityQueryProcessor() :
- Base()
- {}
-
- private:
- void addResultSnapshot(longtermmemory::Entity& result, longtermmemory::Entity::ContainerT::const_iterator it) const override
- {
- addResultSnapshot(result, it->second);
- }
-
- void addResultSnapshot(longtermmemory::Entity& result, const longtermmemory::EntitySnapshot& snapshot) const override
- {
- result.addSnapshot(snapshot.copy());
- }
-
- };
-
-}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/longtermMemory/MemoryQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/longtermMemory/MemoryQueryProcessor.cpp
deleted file mode 100644
index c1caf0c27..000000000
--- a/source/RobotAPI/libraries/armem/server/query_proc/longtermMemory/MemoryQueryProcessor.cpp
+++ /dev/null
@@ -1,15 +0,0 @@
-#include "MemoryQueryProcessor.h"
-
-#include <regex>
-
-#include <ArmarXCore/core/logging/Logging.h>
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-#include <RobotAPI/libraries/armem/core/error.h>
-#include <RobotAPI/libraries/armem/core/workingMemory/ice_conversions.h>
-
-
-namespace armarx::armem::query_proc
-{
-
-}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/longtermMemory/ProviderSegmentQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/longtermMemory/ProviderSegmentQueryProcessor.cpp
deleted file mode 100644
index d07f30836..000000000
--- a/source/RobotAPI/libraries/armem/server/query_proc/longtermMemory/ProviderSegmentQueryProcessor.cpp
+++ /dev/null
@@ -1,15 +0,0 @@
-#include "ProviderSegmentQueryProcessor.h"
-
-#include <regex>
-
-#include <ArmarXCore/core/logging/Logging.h>
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-#include <RobotAPI/libraries/armem/core/error.h>
-#include <RobotAPI/libraries/armem/core/workingMemory/ice_conversions.h>
-
-
-namespace armarx::armem::query_proc
-{
-
-}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/longtermMemory/ProviderSegmentQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/longtermMemory/ProviderSegmentQueryProcessor.h
deleted file mode 100644
index 57cb91c41..000000000
--- a/source/RobotAPI/libraries/armem/server/query_proc/longtermMemory/ProviderSegmentQueryProcessor.h
+++ /dev/null
@@ -1,38 +0,0 @@
-#pragma once
-
-#include "BaseQueryProcessor.h"
-#include "../base/ProviderSegmentQueryProcessor.h"
-
-#include "../../../core/longtermMemory/ProviderSegment.h"
-
-#include "EntityQueryProcessor.h"
-
-namespace armarx::armem::longtermmemory::query_proc
-{
- /**
- * @brief Handles memory queries.
- */
- class ProviderSegmentQueryProcessor :
- virtual public BaseQueryProcessor<longtermmemory::ProviderSegment, armem::query::data::ProviderSegmentQuery>,
- virtual public armarx::armem::query_proc::ProviderSegmentQueryProcessorBase<longtermmemory::ProviderSegment>
- {
- using Base = BaseQueryProcessor<longtermmemory::ProviderSegment, armem::query::data::ProviderSegmentQuery>;
- using EntityT = longtermmemory::ProviderSegment::EntityT;
-
- public:
- ProviderSegmentQueryProcessor() :
- Base()
- {}
-
- protected:
- virtual EntityT entityProcessorProcess(const armem::query::data::EntityQuerySeq& q, const EntityT& s) const override
- {
- return entityProcessor.process(q, s);
- }
-
- private:
- EntityQueryProcessor entityProcessor;
-
- };
-
-}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/BaseQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/BaseQueryProcessor.cpp
new file mode 100644
index 000000000..e69de29bb
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/longtermMemory/BaseQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/BaseQueryProcessor.h
similarity index 55%
rename from source/RobotAPI/libraries/armem/server/query_proc/longtermMemory/BaseQueryProcessor.h
rename to source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/BaseQueryProcessor.h
index c129b8545..458128e53 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/longtermMemory/BaseQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/BaseQueryProcessor.h
@@ -3,21 +3,21 @@
#include <RobotAPI/interface/armem/query.h>
#include <RobotAPI/libraries/armem/core/DataMode.h>
-#include "../base/BaseQueryProcessor.h"
+#include "../base/BaseQueryProcessorBase.h"
-namespace armarx::armem::longtermmemory::query_proc
+namespace armarx::armem::ltm::query_proc
{
/**
* @brief Base class for memory query processors.
*/
template <class DataT, class QueryT>
class BaseQueryProcessor :
- virtual public armarx::armem::query_proc::BaseQueryProcessorBase<DataT, QueryT>
+ virtual public base::query_proc::BaseQueryProcessorBase<DataT, QueryT>
{
- public:
- using Base = armarx::armem::query_proc::BaseQueryProcessorBase<DataT, QueryT>;
+ using Base = base::query_proc::BaseQueryProcessorBase<DataT, QueryT>;
+ public:
BaseQueryProcessor()
{}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/CoreSegmentQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/CoreSegmentQueryProcessor.cpp
new file mode 100644
index 000000000..e69de29bb
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/longtermMemory/CoreSegmentQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/CoreSegmentQueryProcessor.h
similarity index 52%
rename from source/RobotAPI/libraries/armem/server/query_proc/longtermMemory/CoreSegmentQueryProcessor.h
rename to source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/CoreSegmentQueryProcessor.h
index 17c07c312..dc379f1d8 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/longtermMemory/CoreSegmentQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/CoreSegmentQueryProcessor.h
@@ -1,24 +1,23 @@
#pragma once
#include "BaseQueryProcessor.h"
-#include "../base/CoreSegmentQueryProcessor.h"
+#include "../base/CoreSegmentQueryProcessorBase.h"
-#include "../../../core/longtermMemory/CoreSegment.h"
+#include "../../../core/longtermmemory/CoreSegment.h"
#include "ProviderSegmentQueryProcessor.h"
-namespace armarx::armem::longtermmemory::query_proc
+namespace armarx::armem::ltm::query_proc
{
/**
* @brief Handles memory queries.
*/
class CoreSegmentQueryProcessor :
- virtual public BaseQueryProcessor<longtermmemory::CoreSegment, armem::query::data::CoreSegmentQuery>,
- virtual public armarx::armem::query_proc::CoreSegmentQueryProcessorBase<longtermmemory::CoreSegment>
+ virtual public BaseQueryProcessor<ltm::CoreSegment, armem::query::data::CoreSegmentQuery>,
+ virtual public base::query_proc::CoreSegmentQueryProcessorBase<ltm::CoreSegment>
{
- using Base = BaseQueryProcessor<longtermmemory::CoreSegment, armem::query::data::CoreSegmentQuery>;
- using ProviderSegmentT = typename longtermmemory::CoreSegment::ProviderSegmentT;
+ using Base = BaseQueryProcessor<ltm::CoreSegment, armem::query::data::CoreSegmentQuery>;
public:
CoreSegmentQueryProcessor() :
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/EntityQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/EntityQueryProcessor.cpp
new file mode 100644
index 000000000..e69de29bb
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/EntityQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/EntityQueryProcessor.h
new file mode 100644
index 000000000..5ec4c5dde
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/EntityQueryProcessor.h
@@ -0,0 +1,39 @@
+#pragma once
+
+#include "BaseQueryProcessor.h"
+#include "../base/EntityQueryProcessorBase.h"
+
+#include "../../../core/longtermmemory/Entity.h"
+
+#include "EntityQueryProcessor.h"
+
+namespace armarx::armem::ltm::query_proc
+{
+ /**
+ * @brief Handles memory queries.
+ */
+ class EntityQueryProcessor :
+ virtual public BaseQueryProcessor<ltm::Entity, armem::query::data::EntityQuery>,
+ virtual public base::query_proc::EntityQueryProcessorBase<ltm::Entity>
+ {
+ using Base = BaseQueryProcessor<ltm::Entity, armem::query::data::EntityQuery>;
+
+ public:
+ EntityQueryProcessor() :
+ Base()
+ {}
+
+ private:
+ void addResultSnapshot(ltm::Entity& result, ltm::Entity::ContainerT::const_iterator it) const override
+ {
+ addResultSnapshot(result, it->second);
+ }
+
+ void addResultSnapshot(ltm::Entity& result, const ltm::EntitySnapshot& snapshot) const override
+ {
+ result.addSnapshot(snapshot.copy());
+ }
+
+ };
+
+}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/MemoryQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/MemoryQueryProcessor.cpp
new file mode 100644
index 000000000..e69de29bb
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/longtermMemory/MemoryQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/MemoryQueryProcessor.h
similarity index 52%
rename from source/RobotAPI/libraries/armem/server/query_proc/longtermMemory/MemoryQueryProcessor.h
rename to source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/MemoryQueryProcessor.h
index 6e70fb7b0..a51294172 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/longtermMemory/MemoryQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/MemoryQueryProcessor.h
@@ -1,23 +1,22 @@
#pragma once
#include "BaseQueryProcessor.h"
-#include "../base/MemoryQueryProcessor.h"
+#include "../base/MemoryQueryProcessorBase.h"
-#include "../../../core/longtermMemory/Memory.h"
+#include "../../../core/longtermmemory/Memory.h"
#include "CoreSegmentQueryProcessor.h"
-namespace armarx::armem::longtermmemory::query_proc
+namespace armarx::armem::ltm::query_proc
{
/**
* @brief Handles memory queries.
*/
class MemoryQueryProcessor :
- virtual public BaseQueryProcessor<longtermmemory::Memory, armem::query::data::MemoryQuery>,
- virtual public armarx::armem::query_proc::MemoryQueryProcessorBase<longtermmemory::Memory>
+ virtual public BaseQueryProcessor<ltm::Memory, armem::query::data::MemoryQuery>,
+ virtual public base::query_proc::MemoryQueryProcessorBase<ltm::Memory>
{
- using Base = BaseQueryProcessor<longtermmemory::Memory, armem::query::data::MemoryQuery>;
- using CoreSegmentT = typename longtermmemory::Memory::CoreSegmentT;
+ using Base = BaseQueryProcessor<ltm::Memory, armem::query::data::MemoryQuery>;
public:
MemoryQueryProcessor() :
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/ProviderSegmentQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/ProviderSegmentQueryProcessor.cpp
new file mode 100644
index 000000000..e69de29bb
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/ProviderSegmentQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/ProviderSegmentQueryProcessor.h
new file mode 100644
index 000000000..e0c6db9e3
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/ProviderSegmentQueryProcessor.h
@@ -0,0 +1,37 @@
+#pragma once
+
+#include "BaseQueryProcessor.h"
+#include "../base/ProviderSegmentQueryProcessorBase.h"
+
+#include "../../../core/longtermmemory/ProviderSegment.h"
+
+#include "EntityQueryProcessor.h"
+
+namespace armarx::armem::ltm::query_proc
+{
+ /**
+ * @brief Handles memory queries.
+ */
+ class ProviderSegmentQueryProcessor :
+ virtual public BaseQueryProcessor<ltm::ProviderSegment, armem::query::data::ProviderSegmentQuery>,
+ virtual public base::query_proc::ProviderSegmentQueryProcessorBase<ltm::ProviderSegment>
+ {
+ using Base = BaseQueryProcessor<ltm::ProviderSegment, armem::query::data::ProviderSegmentQuery>;
+
+ public:
+ ProviderSegmentQueryProcessor() :
+ Base()
+ {}
+
+ protected:
+ virtual EntityT entityProcessorProcess(const armem::query::data::EntityQuerySeq& q, const EntityT& s) const override
+ {
+ return entityProcessor.process(q, s);
+ }
+
+ private:
+ EntityQueryProcessor entityProcessor;
+
+ };
+
+}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingMemory/BaseQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/workingMemory/BaseQueryProcessor.cpp
deleted file mode 100644
index 5bb5942e8..000000000
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingMemory/BaseQueryProcessor.cpp
+++ /dev/null
@@ -1,13 +0,0 @@
-#include "BaseQueryProcessor.h"
-
-#include <ArmarXCore/core/logging/Logging.h>
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-#include <RobotAPI/libraries/armem/core/error.h>
-#include <RobotAPI/libraries/armem/core/workingMemory/ice_conversions.h>
-
-
-namespace armarx::armem::query_proc
-{
-
-}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingMemory/CoreSegmentQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/workingMemory/CoreSegmentQueryProcessor.cpp
deleted file mode 100644
index 474ed5e5c..000000000
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingMemory/CoreSegmentQueryProcessor.cpp
+++ /dev/null
@@ -1,14 +0,0 @@
-#include "CoreSegmentQueryProcessor.h"
-
-#include <regex>
-
-#include <ArmarXCore/core/logging/Logging.h>
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-#include <RobotAPI/libraries/armem/core/workingMemory/ice_conversions.h>
-#include <RobotAPI/libraries/armem/core/error.h>
-
-
-namespace armarx::armem::query_proc
-{
-}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingMemory/EntityQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/workingMemory/EntityQueryProcessor.cpp
deleted file mode 100644
index 25f477bf0..000000000
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingMemory/EntityQueryProcessor.cpp
+++ /dev/null
@@ -1,13 +0,0 @@
-#include "EntityQueryProcessor.h"
-
-#include <ArmarXCore/core/logging/Logging.h>
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-#include <RobotAPI/libraries/armem/core/error.h>
-#include <RobotAPI/libraries/armem/core/workingMemory/ice_conversions.h>
-
-
-namespace armarx::armem::query_proc
-{
-
-}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingMemory/MemoryQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/workingMemory/MemoryQueryProcessor.cpp
deleted file mode 100644
index c1caf0c27..000000000
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingMemory/MemoryQueryProcessor.cpp
+++ /dev/null
@@ -1,15 +0,0 @@
-#include "MemoryQueryProcessor.h"
-
-#include <regex>
-
-#include <ArmarXCore/core/logging/Logging.h>
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-#include <RobotAPI/libraries/armem/core/error.h>
-#include <RobotAPI/libraries/armem/core/workingMemory/ice_conversions.h>
-
-
-namespace armarx::armem::query_proc
-{
-
-}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingMemory/ProviderSegmentQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/workingMemory/ProviderSegmentQueryProcessor.cpp
deleted file mode 100644
index d07f30836..000000000
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingMemory/ProviderSegmentQueryProcessor.cpp
+++ /dev/null
@@ -1,15 +0,0 @@
-#include "ProviderSegmentQueryProcessor.h"
-
-#include <regex>
-
-#include <ArmarXCore/core/logging/Logging.h>
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-#include <RobotAPI/libraries/armem/core/error.h>
-#include <RobotAPI/libraries/armem/core/workingMemory/ice_conversions.h>
-
-
-namespace armarx::armem::query_proc
-{
-
-}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/BaseQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/BaseQueryProcessor.cpp
new file mode 100644
index 000000000..e69de29bb
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingMemory/BaseQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/BaseQueryProcessor.h
similarity index 61%
rename from source/RobotAPI/libraries/armem/server/query_proc/workingMemory/BaseQueryProcessor.h
rename to source/RobotAPI/libraries/armem/server/query_proc/workingmemory/BaseQueryProcessor.h
index dee5d621c..f2645b475 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingMemory/BaseQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/BaseQueryProcessor.h
@@ -3,21 +3,21 @@
#include <RobotAPI/interface/armem/query.h>
#include <RobotAPI/libraries/armem/core/DataMode.h>
-#include "../base/BaseQueryProcessor.h"
+#include "../base/BaseQueryProcessorBase.h"
-namespace armarx::armem::workingmemory::query_proc
+namespace armarx::armem::wm::query_proc
{
/**
* @brief Base class for memory query processors.
*/
template <class DataT, class QueryT>
class BaseQueryProcessor :
- virtual public armarx::armem::query_proc::BaseQueryProcessorBase<DataT, QueryT>
+ virtual public base::query_proc::BaseQueryProcessorBase<DataT, QueryT>
{
- public:
- using Base = armarx::armem::query_proc::BaseQueryProcessorBase<DataT, QueryT>;
+ using Base = base::query_proc::BaseQueryProcessorBase<DataT, QueryT>;
+ public:
BaseQueryProcessor(DataMode dataMode = DataMode::WithData) :
dataMode(dataMode)
{}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/CoreSegmentQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/CoreSegmentQueryProcessor.cpp
new file mode 100644
index 000000000..e69de29bb
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingMemory/CoreSegmentQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/CoreSegmentQueryProcessor.h
similarity index 57%
rename from source/RobotAPI/libraries/armem/server/query_proc/workingMemory/CoreSegmentQueryProcessor.h
rename to source/RobotAPI/libraries/armem/server/query_proc/workingmemory/CoreSegmentQueryProcessor.h
index 6cc1dea86..160ccd18d 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingMemory/CoreSegmentQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/CoreSegmentQueryProcessor.h
@@ -1,24 +1,23 @@
#pragma once
#include "BaseQueryProcessor.h"
-#include "../base/CoreSegmentQueryProcessor.h"
+#include "../base/CoreSegmentQueryProcessorBase.h"
-#include <RobotAPI/libraries/armem/core/workingMemory/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
#include "ProviderSegmentQueryProcessor.h"
-namespace armarx::armem::workingmemory::query_proc
+namespace armarx::armem::wm::query_proc
{
/**
* @brief Handles memory queries.
*/
class CoreSegmentQueryProcessor :
- virtual public BaseQueryProcessor<workingmemory::CoreSegment, armem::query::data::CoreSegmentQuery>,
- virtual public armarx::armem::query_proc::CoreSegmentQueryProcessorBase<workingmemory::CoreSegment>
+ virtual public BaseQueryProcessor<wm::CoreSegment, armem::query::data::CoreSegmentQuery>,
+ virtual public base::query_proc::CoreSegmentQueryProcessorBase<wm::CoreSegment>
{
- using Base = BaseQueryProcessor<workingmemory::CoreSegment, armem::query::data::CoreSegmentQuery>;
- using ProviderSegmentT = typename workingmemory::CoreSegment::ProviderSegmentT;
+ using Base = BaseQueryProcessor<wm::CoreSegment, armem::query::data::CoreSegmentQuery>;
public:
CoreSegmentQueryProcessor(DataMode dataMode = DataMode::WithData) :
@@ -26,7 +25,7 @@ namespace armarx::armem::workingmemory::query_proc
{}
using Base::process;
- data::CoreSegment processToIce(const armem::query::data::CoreSegmentQuery& query, const workingmemory::CoreSegment& coreSegment) const
+ data::CoreSegment processToIce(const armem::query::data::CoreSegmentQuery& query, const wm::CoreSegment& coreSegment) const
{
return toIce<data::CoreSegment>(process(query, coreSegment));
}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/EntityQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/EntityQueryProcessor.cpp
new file mode 100644
index 000000000..e69de29bb
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingMemory/EntityQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/EntityQueryProcessor.h
similarity index 52%
rename from source/RobotAPI/libraries/armem/server/query_proc/workingMemory/EntityQueryProcessor.h
rename to source/RobotAPI/libraries/armem/server/query_proc/workingmemory/EntityQueryProcessor.h
index eaf0c84af..62e24dd46 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingMemory/EntityQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/EntityQueryProcessor.h
@@ -1,40 +1,40 @@
#pragma once
-#include "BaseQueryProcessor.h"
-#include "../base/EntityQueryProcessor.h"
+#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
-#include <RobotAPI/libraries/armem/core/workingMemory/ice_conversions.h>
+#include "BaseQueryProcessor.h"
+#include "../base/EntityQueryProcessorBase.h"
#include "EntityQueryProcessor.h"
-namespace armarx::armem::workingmemory::query_proc
+namespace armarx::armem::wm::query_proc
{
/**
* @brief Handles memory queries.
*/
class EntityQueryProcessor :
- virtual public BaseQueryProcessor<workingmemory::Entity, armem::query::data::EntityQuery>,
- virtual public armarx::armem::query_proc::EntityQueryProcessorBase<workingmemory::Entity>
+ virtual public BaseQueryProcessor<wm::Entity, armem::query::data::EntityQuery>,
+ virtual public base::query_proc::EntityQueryProcessorBase<wm::Entity>
{
- using Base = BaseQueryProcessor<workingmemory::Entity, armem::query::data::EntityQuery>;
+ using Base = BaseQueryProcessor<wm::Entity, armem::query::data::EntityQuery>;
public:
EntityQueryProcessor(DataMode dataMode = DataMode::WithData) :
Base(dataMode)
{}
- data::Entity processToIce(const armem::query::data::EntityQuery& query, const workingmemory::Entity& entity) const
+ data::Entity processToIce(const armem::query::data::EntityQuery& query, const wm::Entity& entity) const
{
return toIce<data::Entity>(process(query, entity));
}
private:
- void addResultSnapshot(workingmemory::Entity& result, workingmemory::Entity::ContainerT::const_iterator it) const override
+ void addResultSnapshot(wm::Entity& result, wm::Entity::ContainerT::const_iterator it) const override
{
addResultSnapshot(result, it->second);
}
- void addResultSnapshot(workingmemory::Entity& result, const workingmemory::EntitySnapshot& snapshot) const override
+ void addResultSnapshot(wm::Entity& result, const wm::EntitySnapshot& snapshot) const override
{
bool withData = (dataMode == DataMode::WithData);
if (withData)
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/MemoryQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/MemoryQueryProcessor.cpp
new file mode 100644
index 000000000..e69de29bb
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingMemory/MemoryQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/MemoryQueryProcessor.h
similarity index 62%
rename from source/RobotAPI/libraries/armem/server/query_proc/workingMemory/MemoryQueryProcessor.h
rename to source/RobotAPI/libraries/armem/server/query_proc/workingmemory/MemoryQueryProcessor.h
index 26a589619..dc82f403e 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingMemory/MemoryQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/MemoryQueryProcessor.h
@@ -1,23 +1,22 @@
#pragma once
#include "BaseQueryProcessor.h"
-#include "../base/MemoryQueryProcessor.h"
+#include "../base/MemoryQueryProcessorBase.h"
-#include <RobotAPI/libraries/armem/core/workingMemory/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
#include "CoreSegmentQueryProcessor.h"
-namespace armarx::armem::workingmemory::query_proc
+namespace armarx::armem::wm::query_proc
{
/**
* @brief Handles memory queries.
*/
class MemoryQueryProcessor :
- virtual public BaseQueryProcessor<workingmemory::Memory, armem::query::data::MemoryQuery>,
- virtual public armarx::armem::query_proc::MemoryQueryProcessorBase<workingmemory::Memory>
+ virtual public BaseQueryProcessor<wm::Memory, armem::query::data::MemoryQuery>,
+ virtual public base::query_proc::MemoryQueryProcessorBase<wm::Memory>
{
- using Base = BaseQueryProcessor<workingmemory::Memory, armem::query::data::MemoryQuery>;
- using CoreSegmentT = typename workingmemory::Memory::CoreSegmentT;
+ using Base = BaseQueryProcessor<wm::Memory, armem::query::data::MemoryQuery>;
public:
MemoryQueryProcessor(DataMode dataMode = DataMode::WithData) :
@@ -25,7 +24,7 @@ namespace armarx::armem::workingmemory::query_proc
{}
armem::query::data::Result process(const armem::query::data::Input& input,
- const workingmemory::Memory& memory) const
+ const wm::Memory& memory) const
{
armem::query::data::Result result;
result.memory = processToIce(input.memoryQueries, memory);
@@ -35,13 +34,13 @@ namespace armarx::armem::workingmemory::query_proc
using Base::process;
data::MemoryPtr processToIce(const armem::query::data::MemoryQuery& query,
- const workingmemory::Memory& memory) const
+ const wm::Memory& memory) const
{
return toIce<data::MemoryPtr>(process(query, memory));
}
data::MemoryPtr processToIce(const armem::query::data::MemoryQuerySeq& queries,
- const workingmemory::Memory& memory) const
+ const wm::Memory& memory) const
{
return toIce<data::MemoryPtr>(process(queries, memory));
}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/ProviderSegmentQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/ProviderSegmentQueryProcessor.cpp
new file mode 100644
index 000000000..e69de29bb
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingMemory/ProviderSegmentQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/ProviderSegmentQueryProcessor.h
similarity index 55%
rename from source/RobotAPI/libraries/armem/server/query_proc/workingMemory/ProviderSegmentQueryProcessor.h
rename to source/RobotAPI/libraries/armem/server/query_proc/workingmemory/ProviderSegmentQueryProcessor.h
index abaa868f9..4f88a1709 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingMemory/ProviderSegmentQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/ProviderSegmentQueryProcessor.h
@@ -1,23 +1,22 @@
#pragma once
#include "BaseQueryProcessor.h"
-#include "../base/ProviderSegmentQueryProcessor.h"
+#include "../base/ProviderSegmentQueryProcessorBase.h"
-#include <RobotAPI/libraries/armem/core/workingMemory/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
#include "EntityQueryProcessor.h"
-namespace armarx::armem::workingmemory::query_proc
+namespace armarx::armem::wm::query_proc
{
/**
* @brief Handles memory queries.
*/
class ProviderSegmentQueryProcessor :
- virtual public BaseQueryProcessor<workingmemory::ProviderSegment, armem::query::data::ProviderSegmentQuery>,
- virtual public armarx::armem::query_proc::ProviderSegmentQueryProcessorBase<workingmemory::ProviderSegment>
+ virtual public BaseQueryProcessor<wm::ProviderSegment, armem::query::data::ProviderSegmentQuery>,
+ virtual public base::query_proc::ProviderSegmentQueryProcessorBase<wm::ProviderSegment>
{
- using Base = BaseQueryProcessor<workingmemory::ProviderSegment, armem::query::data::ProviderSegmentQuery>;
- using EntityT = workingmemory::ProviderSegment::EntityT;
+ using Base = BaseQueryProcessor<wm::ProviderSegment, armem::query::data::ProviderSegmentQuery>;
public:
ProviderSegmentQueryProcessor(DataMode dataMode = DataMode::WithData) :
@@ -25,7 +24,7 @@ namespace armarx::armem::workingmemory::query_proc
{}
using Base::process;
- data::ProviderSegment processToIce(const armem::query::data::ProviderSegmentQuery& query, const workingmemory::ProviderSegment& providerSegment) const
+ data::ProviderSegment processToIce(const armem::query::data::ProviderSegmentQuery& query, const wm::ProviderSegment& providerSegment) const
{
return toIce<data::ProviderSegment>(process(query, providerSegment));
}
diff --git a/source/RobotAPI/libraries/armem/test/ArMemIceConversionsTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemIceConversionsTest.cpp
index 171e40614..1d016e783 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemIceConversionsTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemIceConversionsTest.cpp
@@ -25,9 +25,7 @@
#define ARMARX_BOOST_TEST
#include <RobotAPI/Test.h>
-#include "../core/ice_conversions_templates.h"
-#include "../core/ice_conversions.h"
-#include "../core/workingMemory/ice_conversions.h"
+#include "../core/workingmemory/ice_conversions.h"
#include <iostream>
@@ -40,11 +38,11 @@ namespace aron = armarx::aron;
BOOST_AUTO_TEST_CASE(test_entity)
{
- armem::workingmemory::Entity entity("entity");
+ armem::wm::Entity entity("entity");
std::vector<armem::Time> expectedTimestamps;
- armem::workingmemory::EntitySnapshot snapshot;
+ armem::wm::EntitySnapshot snapshot;
snapshot.time() = armem::Time::milliSeconds(100);
expectedTimestamps.push_back(snapshot.time());
entity.addSnapshot(snapshot);
@@ -63,7 +61,7 @@ BOOST_AUTO_TEST_CASE(test_entity)
BOOST_CHECK_EQUAL(ice->history.size(), entity.history().size());
- armem::workingmemory::Entity entityOut;
+ armem::wm::Entity entityOut;
armem::fromIce(ice, entityOut);
BOOST_CHECK_EQUAL(entityOut.history().size(), entity.history().size());
diff --git a/source/RobotAPI/libraries/armem/test/ArMemLTMTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemLTMTest.cpp
index 1370c0649..f6271553e 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemLTMTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemLTMTest.cpp
@@ -25,7 +25,7 @@
#define ARMARX_BOOST_TEST
#include <RobotAPI/Test.h>
-#include "../core/workingMemory/Memory.h"
+#include "../core/workingmemory/Memory.h"
#include "../core/error.h"
#include <RobotAPI/libraries/aron/core/navigator/data/AllNavigators.h>
@@ -34,7 +34,7 @@
#include <RobotAPI/libraries/aron/core/Debug.h>
-#include "../core/longtermMemory/Memory.h"
+#include "../core/longtermmemory/Memory.h"
//#include "../core/io/diskWriter/NlohmannJSON/NlohmannJSONDiskWriter.h"
@@ -82,7 +82,7 @@ namespace ArMemLTMTest
}
- static armem::workingmemory::Memory setupMemoryWithType(
+ static armem::wm::Memory setupMemoryWithType(
const std::string& memoryName,
const aron::typenavigator::ObjectNavigatorPtr& t1,
const aron::typenavigator::ObjectNavigatorPtr& t2,
@@ -91,14 +91,14 @@ namespace ArMemLTMTest
{
aron::Randomizer r;
- armem::workingmemory::Memory memory(memoryName);
+ armem::wm::Memory memory(memoryName);
BOOST_CHECK_EQUAL(memory.name(), memoryName);
- armem::workingmemory::CoreSegment& coreSegment = memory.addCoreSegment("TestCoreSegment");
+ armem::wm::CoreSegment& coreSegment = memory.addCoreSegment("TestCoreSegment");
BOOST_CHECK_EQUAL(coreSegment.name(), "TestCoreSegment");
BOOST_CHECK(memory.hasCoreSegment(coreSegment.name()));
- armem::workingmemory::ProviderSegment& providerSegment = coreSegment.addProviderSegment("TestProvider");
+ armem::wm::ProviderSegment& providerSegment = coreSegment.addProviderSegment("TestProvider");
BOOST_CHECK_EQUAL(providerSegment.name(), "TestProvider");
BOOST_CHECK(coreSegment.hasProviderSegment(providerSegment.name()));
diff --git a/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp
index 11bb8af09..b852295ff 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp
@@ -26,7 +26,7 @@
#include <RobotAPI/Test.h>
-#include "../core/workingMemory/Memory.h"
+#include "../core/workingmemory/Memory.h"
#include "../core/error.h"
@@ -80,7 +80,7 @@ BOOST_AUTO_TEST_CASE(test_segment_setup)
{
armem::EntityUpdate update;
- armem::workingmemory::Memory memory("Memory");
+ armem::wm::Memory memory("Memory");
BOOST_CHECK_EQUAL(memory.name(), "Memory");
{
update.entityID = armem::MemoryID::fromString("OtherMemory/SomeSegment");
@@ -89,7 +89,7 @@ BOOST_AUTO_TEST_CASE(test_segment_setup)
BOOST_CHECK_THROW(memory.update(update), armem::error::MissingEntry);
}
- armem::workingmemory::CoreSegment& coreSegment = memory.addCoreSegment("ImageRGB");
+ armem::wm::CoreSegment& coreSegment = memory.addCoreSegment("ImageRGB");
BOOST_CHECK_EQUAL(coreSegment.name(), "ImageRGB");
BOOST_CHECK(memory.hasCoreSegment(coreSegment.name()));
{
@@ -99,7 +99,7 @@ BOOST_AUTO_TEST_CASE(test_segment_setup)
BOOST_CHECK_THROW(coreSegment.update(update), armem::error::MissingEntry);
}
- armem::workingmemory::ProviderSegment& providerSegment = coreSegment.addProviderSegment("SomeRGBImageProvider");
+ armem::wm::ProviderSegment& providerSegment = coreSegment.addProviderSegment("SomeRGBImageProvider");
BOOST_CHECK_EQUAL(providerSegment.name(), "SomeRGBImageProvider");
BOOST_CHECK(coreSegment.hasProviderSegment(providerSegment.name()));
{
@@ -123,12 +123,12 @@ BOOST_AUTO_TEST_CASE(test_segment_setup)
BOOST_CHECK(providerSegment.hasEntity("image"));
BOOST_CHECK(!providerSegment.hasEntity("other_image"));
- armem::workingmemory::Entity& entity = providerSegment.getEntity("image");
+ armem::wm::Entity& entity = providerSegment.getEntity("image");
BOOST_CHECK_EQUAL(entity.name(), "image");
BOOST_CHECK_EQUAL(entity.history().size(), 1);
BOOST_CHECK_EQUAL(entity.history().count(update.timeCreated), 1);
- armem::workingmemory::EntitySnapshot& entitySnapshot = entity.history().at(update.timeCreated);
+ armem::wm::EntitySnapshot& entitySnapshot = entity.history().at(update.timeCreated);
BOOST_CHECK_EQUAL(entitySnapshot.instances().size(), update.instancesData.size());
@@ -154,7 +154,7 @@ BOOST_AUTO_TEST_CASE(test_segment_setup)
BOOST_AUTO_TEST_CASE(test_history_size_in_entity)
{
- armem::workingmemory::Entity entity("entity");
+ armem::wm::Entity entity("entity");
armem::EntityUpdate update;
update.entityID.entityName = entity.name();
@@ -197,7 +197,7 @@ BOOST_AUTO_TEST_CASE(test_history_size_in_entity)
BOOST_AUTO_TEST_CASE(test_history_size_in_provider_segment)
{
- armem::workingmemory::ProviderSegment providerSegment("SomeRGBImageProvider");
+ armem::wm::ProviderSegment providerSegment("SomeRGBImageProvider");
armem::EntityUpdate update;
update.entityID.providerSegmentName = providerSegment.name();
diff --git a/source/RobotAPI/libraries/armem/test/ArMemQueryBuilderTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemQueryBuilderTest.cpp
index c9dea813f..535735b09 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemQueryBuilderTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemQueryBuilderTest.cpp
@@ -27,7 +27,7 @@
#include <RobotAPI/Test.h>
#include "../client/query/Builder.h"
#include "../client/query/query_fns.h"
-#include "../core/workingMemory/ice_conversions.h"
+#include "../core/workingmemory/ice_conversions.h"
#include <iostream>
diff --git a/source/RobotAPI/libraries/armem/test/ArMemQueryTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemQueryTest.cpp
index 4f0f297dd..42d357b00 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemQueryTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemQueryTest.cpp
@@ -25,7 +25,7 @@
#define ARMARX_BOOST_TEST
#include <RobotAPI/Test.h>
-#include "../server/query_proc/workingMemory/EntityQueryProcessor.h"
+#include "../server/query_proc/workingmemory/EntityQueryProcessor.h"
#include "../error.h"
@@ -38,7 +38,7 @@
namespace armem = armarx::armem;
namespace aron = armarx::aron;
namespace query = armarx::armem::query::data;
-using EntityQueryProcessor = armarx::armem::workingmemory::query_proc::EntityQueryProcessor;
+using EntityQueryProcessor = armarx::armem::wm::query_proc::EntityQueryProcessor;
namespace ArMemQueryTest
@@ -50,19 +50,19 @@ namespace ArMemQueryTest
struct Fixture
{
- armem::workingmemory::Entity entity;
+ armem::wm::Entity entity;
- armem::workingmemory::query_proc::EntityQueryProcessor processor;
+ armem::wm::query_proc::EntityQueryProcessor processor;
query::EntityQueryPtr entityQuery;
- std::vector<armem::workingmemory::Entity> results;
+ std::vector<armem::wm::Entity> results;
Fixture()
{
- entity = armem::workingmemory::Entity("entity");
+ entity = armem::wm::Entity("entity");
- armem::workingmemory::EntitySnapshot snapshot;
+ armem::wm::EntitySnapshot snapshot;
snapshot.time() = armem::Time::microSeconds(1000);
entity.addSnapshot(snapshot);
snapshot.time() = armem::Time::microSeconds(2000);
@@ -119,7 +119,7 @@ BOOST_AUTO_TEST_CASE(test_entity_Single_latest)
addResults(query::entity::Single());
BOOST_REQUIRE_GT(results.size(), 0);
- for (const armem::workingmemory::Entity& result : results)
+ for (const armem::wm::Entity& result : results)
{
BOOST_CHECK_EQUAL(result.name(), entity.name());
BOOST_CHECK_EQUAL(result.size(), 1);
@@ -134,7 +134,7 @@ BOOST_AUTO_TEST_CASE(test_entity_Single_existing)
addResults(query::entity::Single { 3000 });
BOOST_REQUIRE_GT(results.size(), 0);
- for (const armem::workingmemory::Entity& result : results)
+ for (const armem::wm::Entity& result : results)
{
BOOST_CHECK_EQUAL(result.name(), entity.name());
BOOST_CHECK_EQUAL(result.size(), 1);
@@ -148,7 +148,7 @@ BOOST_AUTO_TEST_CASE(test_entity_Single_non_existing)
addResults(query::entity::Single { 3500 });
BOOST_REQUIRE_GT(results.size(), 0);
- for (const armem::workingmemory::Entity& result : results)
+ for (const armem::wm::Entity& result : results)
{
BOOST_CHECK_EQUAL(result.name(), entity.name());
BOOST_CHECK_EQUAL(result.size(), 0);
@@ -161,7 +161,7 @@ BOOST_AUTO_TEST_CASE(test_entity_All)
addResults(query::entity::All());
BOOST_REQUIRE_GT(results.size(), 0);
- for (const armem::workingmemory::Entity& result : results)
+ for (const armem::wm::Entity& result : results)
{
BOOST_CHECK_EQUAL(result.name(), entity.name());
BOOST_CHECK_EQUAL(result.size(), entity.size());
@@ -182,7 +182,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_slice)
addResults(query::entity::TimeRange{ 1500, 3500 });
BOOST_REQUIRE_GT(results.size(), 0);
- for (const armem::workingmemory::Entity& result : results)
+ for (const armem::wm::Entity& result : results)
{
BOOST_CHECK_EQUAL(result.name(), entity.name());
@@ -203,7 +203,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_exact)
addResults(query::entity::TimeRange{ 2000, 4000 });
BOOST_REQUIRE_GT(results.size(), 0);
- for (const armem::workingmemory::Entity& result : results)
+ for (const armem::wm::Entity& result : results)
{
BOOST_CHECK_EQUAL(result.name(), entity.name());
@@ -224,7 +224,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_all)
addResults(query::entity::TimeRange{ -1, -1 });
BOOST_REQUIRE_GT(results.size(), 0);
- for (const armem::workingmemory::Entity& result : results)
+ for (const armem::wm::Entity& result : results)
{
BOOST_CHECK_EQUAL(result.name(), entity.name());
@@ -243,7 +243,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_empty)
addResults(query::entity::TimeRange{ 6000, 1000 });
BOOST_REQUIRE_GT(results.size(), 0);
- for (const armem::workingmemory::Entity& result : results)
+ for (const armem::wm::Entity& result : results)
{
BOOST_CHECK_EQUAL(result.name(), entity.name());
@@ -257,7 +257,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_from_start)
addResults(query::entity::TimeRange{ -1, 2500 });
BOOST_REQUIRE_GT(results.size(), 0);
- for (const armem::workingmemory::Entity& result : results)
+ for (const armem::wm::Entity& result : results)
{
BOOST_CHECK_EQUAL(result.name(), entity.name());
@@ -278,7 +278,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_to_end)
addResults(query::entity::TimeRange{ 2500, -1 });
BOOST_REQUIRE_GT(results.size(), 0);
- for (const armem::workingmemory::Entity& result : results)
+ for (const armem::wm::Entity& result : results)
{
BOOST_CHECK_EQUAL(result.name(), entity.name());
@@ -332,7 +332,7 @@ BOOST_AUTO_TEST_CASE(test_entity_IndexRange_all_default)
addResults(query::entity::IndexRange(0, -1));
BOOST_REQUIRE_GT(results.size(), 0);
- for (const armem::workingmemory::Entity& result : results)
+ for (const armem::wm::Entity& result : results)
{
BOOST_CHECK_EQUAL(result.name(), entity.name());
@@ -355,7 +355,7 @@ BOOST_AUTO_TEST_CASE(test_entity_IndexRange_slice)
addResults(query::entity::IndexRange{ -4, -2 });
BOOST_REQUIRE_GT(results.size(), 0);
- for (const armem::workingmemory::Entity& result : results)
+ for (const armem::wm::Entity& result : results)
{
BOOST_CHECK_EQUAL(result.name(), entity.name());
@@ -383,7 +383,7 @@ BOOST_AUTO_TEST_CASE(test_entity_IndexRange_empty_range)
BOOST_REQUIRE_GT(results.size(), 0);
- for (const armem::workingmemory::Entity& result : results)
+ for (const armem::wm::Entity& result : results)
{
BOOST_CHECK_EQUAL(result.name(), entity.name());
@@ -405,7 +405,7 @@ BOOST_AUTO_TEST_CASE(test_entity_IndexRange_empty_entity)
BOOST_REQUIRE_GT(results.size(), 0);
- for (const armem::workingmemory::Entity& result : results)
+ for (const armem::wm::Entity& result : results)
{
BOOST_CHECK_EQUAL(result.name(), entity.name());
BOOST_CHECK_EQUAL(result.size(), 0);
diff --git a/source/RobotAPI/libraries/armem/util/util.h b/source/RobotAPI/libraries/armem/util/util.h
index 675ac16e4..91a31651c 100644
--- a/source/RobotAPI/libraries/armem/util/util.h
+++ b/source/RobotAPI/libraries/armem/util/util.h
@@ -26,8 +26,8 @@
#include <vector>
#include <optional>
-#include <RobotAPI/libraries/armem/core/workingMemory/Entity.h>
-#include <RobotAPI/libraries/armem/core/workingMemory/EntityInstance.h>
+#include <RobotAPI/libraries/armem/core/workingmemory/Entity.h>
+#include <RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h>
#include <RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/AronCppClass.h>
namespace armarx::armem
@@ -41,7 +41,7 @@ namespace armarx::armem
* @return std::optional<AronClass>
*/
template <typename AronClass>
- std::optional<AronClass> tryCast(const workingmemory::EntityInstance& item)
+ std::optional<AronClass> tryCast(const wm::EntityInstance& item)
{
static_assert(std::is_base_of<armarx::aron::cppcodegenerator::AronCppClass,
AronClass>::value);
@@ -67,7 +67,7 @@ namespace armarx::armem
*/
template <typename AronClass>
std::vector<AronClass>
- allOfType(const std::map<std::string, workingmemory::Entity>& entities)
+ allOfType(const std::map<std::string, wm::Entity>& entities)
{
static_assert(std::is_base_of<armarx::aron::cppcodegenerator::AronCppClass,
AronClass>::value);
@@ -113,7 +113,7 @@ namespace armarx::armem
* @return vector of "pred"-transformed elements that can be cast to AronClass
*/
template <typename AronClass>
- auto transformAllOfType(const std::map<std::string, workingmemory::Entity>& entities,
+ auto transformAllOfType(const std::map<std::string, wm::Entity>& entities,
auto pred) -> std::vector<decltype(pred(AronClass()))>
{
static_assert(std::is_base_of<armarx::aron::cppcodegenerator::AronCppClass,
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
index 698b1ced4..694e98f08 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
+++ b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
@@ -1,9 +1,9 @@
#include "MemoryViewer.h"
-#include <RobotAPI/libraries/armem/core/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
#include <RobotAPI/libraries/armem_gui/gui_utils.h>
-#include <RobotAPI/libraries/armem/core/diskMemory/Memory.h>
+#include <RobotAPI/libraries/armem/core/diskmemory/Memory.h>
#include <ArmarXGui/libraries/SimpleConfigDialog/SimpleConfigDialog.h>
@@ -155,7 +155,7 @@ namespace armarx::armem::gui
armem::client::QueryInput input = memoryGroup->queryWidget()->queryInput();
armem::client::QueryResult result = reader.query(input);
- armem::diskMemory::Memory dMem(name);
+ armem::d_ltm::Memory dMem(name);
ARMARX_IMPORTANT << "RELOAD";
dMem.reload(p / name);
ARMARX_IMPORTANT << "APPEND";
@@ -234,7 +234,7 @@ namespace armarx::armem::gui
return;
}
- const std::optional<armem::workingmemory::Memory>& data = memoryData.at(selectedID.memoryName);
+ const std::optional<armem::wm::Memory>& data = memoryData.at(selectedID.memoryName);
if (data)
{
@@ -243,10 +243,10 @@ namespace armarx::armem::gui
return;
}
armem::MemoryID id = selectedID;
- const armem::workingmemory::EntitySnapshot* snapshot = nullptr;
+ const armem::wm::EntitySnapshot* snapshot = nullptr;
if (!id.hasTimestamp())
{
- const armem::workingmemory::Entity& entity = data->getEntity(id);
+ const armem::wm::Entity& entity = data->getEntity(id);
if (entity.empty())
{
return;
@@ -284,7 +284,7 @@ namespace armarx::armem::gui
void MemoryViewer::updateMemoryTree()
{
- std::map<std::string, const armem::workingmemory::Memory*> convMap;
+ std::map<std::string, const armem::wm::Memory*> convMap;
for (auto& [name, data] : memoryData)
{
if (data.has_value())
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryViewer.h b/source/RobotAPI/libraries/armem_gui/MemoryViewer.h
index 7bcd788a0..c2c2e6f4c 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryViewer.h
+++ b/source/RobotAPI/libraries/armem_gui/MemoryViewer.h
@@ -104,7 +104,7 @@ namespace armarx::armem::gui
armem::mns::MemoryNameSystemInterfacePrx mns;
std::map<std::string, armem::client::Reader> memoryReaders;
- std::map<std::string, std::optional<armem::workingmemory::Memory>> memoryData;
+ std::map<std::string, std::optional<armem::wm::Memory>> memoryData;
QLayout* ltmControlWidgetLayout;
armem::gui::LTMControlWidget* ltmControlWidget;
diff --git a/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp b/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp
index ceaab2cd4..809201265 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp
@@ -89,10 +89,10 @@ namespace armarx::armem::gui::instance
}
- void InstanceView::update(const MemoryID& id, const workingmemory::Memory& memory)
+ void InstanceView::update(const MemoryID& id, const wm::Memory& memory)
{
aron::typenavigator::ObjectNavigatorPtr aronType = nullptr;
- const armem::workingmemory::EntityInstance* instance = nullptr;
+ const armem::wm::EntityInstance* instance = nullptr;
try
{
instance = &memory.getEntityInstance(id);
@@ -113,7 +113,7 @@ namespace armarx::armem::gui::instance
}
- void InstanceView::update(const workingmemory::EntityInstance& instance, aron::typenavigator::ObjectNavigatorPtr aronType)
+ void InstanceView::update(const wm::EntityInstance& instance, aron::typenavigator::ObjectNavigatorPtr aronType)
{
currentInstance = instance;
currentAronType = aronType;
@@ -168,7 +168,7 @@ namespace armarx::armem::gui::instance
treeItemData->setExpanded(true);
}
- void InstanceView::updateMetaData(const workingmemory::EntityInstanceMetadata& metadata)
+ void InstanceView::updateMetaData(const wm::EntityInstanceMetadata& metadata)
{
std::vector<std::string> items =
{
diff --git a/source/RobotAPI/libraries/armem_gui/instance/InstanceView.h b/source/RobotAPI/libraries/armem_gui/instance/InstanceView.h
index ce81a17a1..0b0a0ee26 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/InstanceView.h
+++ b/source/RobotAPI/libraries/armem_gui/instance/InstanceView.h
@@ -6,7 +6,7 @@
#include <RobotAPI/libraries/aron/core/navigator/type/container/Object.h>
-#include <RobotAPI/libraries/armem/core/workingMemory/Memory.h>
+#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
class QGroupBox;
@@ -34,8 +34,8 @@ namespace armarx::armem::gui::instance
void setStatusLabel(QLabel* statusLabel);
void setUseTypeInfo(bool enable);
- void update(const MemoryID& id, const workingmemory::Memory& memory);
- void update(const workingmemory::EntityInstance& instance, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr);
+ void update(const MemoryID& id, const wm::Memory& memory);
+ void update(const wm::EntityInstance& instance, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr);
void update();
@@ -56,7 +56,7 @@ namespace armarx::armem::gui::instance
void updateInstanceID(const MemoryID& id);
void updateData(const aron::datanavigator::DictNavigatorPtr& data, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr);
- void updateMetaData(const workingmemory::EntityInstanceMetadata& metadata);
+ void updateMetaData(const wm::EntityInstanceMetadata& metadata);
void updateImageView(const aron::datanavigator::DictNavigatorPtr& data);
void showErrorMessage(const std::string& message);
@@ -71,7 +71,7 @@ namespace armarx::armem::gui::instance
TYPE = 2,
};
- std::optional<workingmemory::EntityInstance> currentInstance;
+ std::optional<wm::EntityInstance> currentInstance;
aron::typenavigator::ObjectNavigatorPtr currentAronType = nullptr;
bool useTypeInfo = true;
diff --git a/source/RobotAPI/libraries/armem_gui/memory/TreeWidget.cpp b/source/RobotAPI/libraries/armem_gui/memory/TreeWidget.cpp
index cb3dc4671..20f0a2f1a 100644
--- a/source/RobotAPI/libraries/armem_gui/memory/TreeWidget.cpp
+++ b/source/RobotAPI/libraries/armem_gui/memory/TreeWidget.cpp
@@ -50,11 +50,11 @@ namespace armarx::armem::gui::memory
void TreeWidget::initBuilders()
{
workingmemoryBuilder.setExpand(true);
- workingmemoryBuilder.setMakeItemFn([this](const std::string & name, const workingmemory::Memory * memory)
+ workingmemoryBuilder.setMakeItemFn([this](const std::string & name, const wm::Memory * memory)
{
return makeItem(name, *memory);
});
- workingmemoryBuilder.setUpdateItemFn([this](const std::string&, const workingmemory::Memory * memory, QTreeWidgetItem * memoryItem)
+ workingmemoryBuilder.setUpdateItemFn([this](const std::string&, const wm::Memory * memory, QTreeWidgetItem * memoryItem)
{
updateContainerItem(*memory, memoryItem);
if (memoryItem)
@@ -66,11 +66,11 @@ namespace armarx::armem::gui::memory
workingmemoryCoreSegmentBuilder.setExpand(true);
- workingmemoryCoreSegmentBuilder.setMakeItemFn([this](const std::string & name, const workingmemory::CoreSegment & coreSeg)
+ workingmemoryCoreSegmentBuilder.setMakeItemFn([this](const std::string & name, const wm::CoreSegment & coreSeg)
{
return makeItem(name, coreSeg);
});
- workingmemoryCoreSegmentBuilder.setUpdateItemFn([this](const std::string&, const workingmemory::CoreSegment & coreSeg, QTreeWidgetItem * coreSegItem)
+ workingmemoryCoreSegmentBuilder.setUpdateItemFn([this](const std::string&, const wm::CoreSegment & coreSeg, QTreeWidgetItem * coreSegItem)
{
updateTypedContainerItem(coreSeg, coreSegItem);
updateChildren(coreSeg, coreSegItem);
@@ -78,11 +78,11 @@ namespace armarx::armem::gui::memory
});
workingmemoryProvSegmentBuilder.setExpand(true);
- workingmemoryProvSegmentBuilder.setMakeItemFn([this](const std::string & name, const workingmemory::ProviderSegment & provSeg)
+ workingmemoryProvSegmentBuilder.setMakeItemFn([this](const std::string & name, const wm::ProviderSegment & provSeg)
{
return makeItem(name, provSeg);
});
- workingmemoryProvSegmentBuilder.setUpdateItemFn([this](const std::string&, const workingmemory::ProviderSegment & provSeg, QTreeWidgetItem * provSegItem)
+ workingmemoryProvSegmentBuilder.setUpdateItemFn([this](const std::string&, const wm::ProviderSegment & provSeg, QTreeWidgetItem * provSegItem)
{
updateTypedContainerItem(provSeg, provSegItem);
updateChildren(provSeg, provSegItem);
@@ -90,18 +90,18 @@ namespace armarx::armem::gui::memory
});
// entityBuilder.setExpand(true);
- workingmemoryEntityBuilder.setMakeItemFn([this](const std::string & name, const workingmemory::Entity & entity)
+ workingmemoryEntityBuilder.setMakeItemFn([this](const std::string & name, const wm::Entity & entity)
{
return makeItem(name, entity);
});
- workingmemoryEntityBuilder.setUpdateItemFn([this](const std::string&, const workingmemory::Entity & entity, QTreeWidgetItem * entityItem)
+ workingmemoryEntityBuilder.setUpdateItemFn([this](const std::string&, const wm::Entity & entity, QTreeWidgetItem * entityItem)
{
updateContainerItem(entity, entityItem);
updateChildren(entity, entityItem);
return true;
});
- workingmemorySnapshotBuilder.setMakeItemFn([this](const armem::Time & time, const workingmemory::EntitySnapshot & snapshot)
+ workingmemorySnapshotBuilder.setMakeItemFn([this](const armem::Time & time, const wm::EntitySnapshot & snapshot)
{
QTreeWidgetItem* item = makeItem(toDateTimeMilliSeconds(time), snapshot);
item->setData(int(Columns::KEY), Qt::ItemDataRole::UserRole, QVariant(static_cast<qlonglong>(snapshot.time().toMicroSeconds())));
@@ -109,27 +109,27 @@ namespace armarx::armem::gui::memory
});
workingmemorySnapshotBuilder.setCompareFn([](const auto & pair, QTreeWidgetItem * item)
{
- const workingmemory::EntitySnapshot& snapshot = pair.second;
+ const wm::EntitySnapshot& snapshot = pair.second;
return armarx::detail::compare(static_cast<qlonglong>(snapshot.time().toMicroSeconds()),
item->data(int(Columns::KEY), Qt::ItemDataRole::UserRole).toLongLong());
});
- workingmemorySnapshotBuilder.setUpdateItemFn([this](const armem::Time&, const workingmemory::EntitySnapshot & snapshot, QTreeWidgetItem * snapshotItem)
+ workingmemorySnapshotBuilder.setUpdateItemFn([this](const armem::Time&, const wm::EntitySnapshot & snapshot, QTreeWidgetItem * snapshotItem)
{
updateContainerItem(snapshot, snapshotItem);
updateChildren(snapshot, snapshotItem);
return true;
});
- workingmemoryInstanceBuilder.setMakeItemFn([this](const workingmemory::EntityInstance & instance)
+ workingmemoryInstanceBuilder.setMakeItemFn([this](const wm::EntityInstance & instance)
{
QTreeWidgetItem* item = makeItem("", instance);
return item;
});
- workingmemoryInstanceBuilder.setCompareFn([](const workingmemory::EntityInstance & lhs, QTreeWidgetItem * rhsItem)
+ workingmemoryInstanceBuilder.setCompareFn([](const wm::EntityInstance & lhs, QTreeWidgetItem * rhsItem)
{
return armarx::detail::compare(lhs.index(), rhsItem->text(0).toInt());
});
- workingmemoryInstanceBuilder.setUpdateItemFn([this](const workingmemory::EntityInstance & instance, QTreeWidgetItem * instanceItem)
+ workingmemoryInstanceBuilder.setUpdateItemFn([this](const wm::EntityInstance & instance, QTreeWidgetItem * instanceItem)
{
updateItemItem(instance, instanceItem);
updateChildren(instance, instanceItem);
@@ -139,7 +139,7 @@ namespace armarx::armem::gui::memory
}
- void TreeWidget::update(const armem::workingmemory::Memory& memory)
+ void TreeWidget::update(const armem::wm::Memory& memory)
{
// Removing elements during the update can create unwanted signals triggering selection handling.
handleSelections = false;
@@ -148,7 +148,7 @@ namespace armarx::armem::gui::memory
emit updated();
}
- void TreeWidget::update(const std::map<std::string, const armem::workingmemory::Memory*>& memories)
+ void TreeWidget::update(const std::map<std::string, const armem::wm::Memory*>& memories)
{
handleSelections = false;
updateChildren(memories, this);
@@ -181,27 +181,27 @@ namespace armarx::armem::gui::memory
_selectedID = id;
const std::string levelName = item->data(int(Columns::LEVEL), Qt::UserRole).toString().toStdString();
- if (levelName == workingmemory::Memory().getLevelName())
+ if (levelName == wm::Memory().getLevelName())
{
emit memorySelected(*_selectedID);
}
- else if (levelName == workingmemory::CoreSegment().getLevelName())
+ else if (levelName == wm::CoreSegment().getLevelName())
{
emit coreSegmentSelected(*_selectedID);
}
- else if (levelName == workingmemory::ProviderSegment().getLevelName())
+ else if (levelName == wm::ProviderSegment().getLevelName())
{
emit providerSegmentSelected(*_selectedID);
}
- else if (levelName == workingmemory::Entity().getLevelName())
+ else if (levelName == wm::Entity().getLevelName())
{
emit entitySelected(*_selectedID);
}
- else if (levelName == workingmemory::EntitySnapshot().getLevelName())
+ else if (levelName == wm::EntitySnapshot().getLevelName())
{
emit snapshotSelected(*_selectedID);
}
- else if (levelName == workingmemory::EntityInstance().getLevelName())
+ else if (levelName == wm::EntityInstance().getLevelName())
{
emit instanceSelected(*_selectedID);
}
@@ -212,48 +212,48 @@ namespace armarx::armem::gui::memory
}
- void TreeWidget::updateChildren(const armem::workingmemory::Memory& memory, QTreeWidget* tree)
+ void TreeWidget::updateChildren(const armem::wm::Memory& memory, QTreeWidget* tree)
{
- updateChildren(std::map<std::string, const armem::workingmemory::Memory*> {{memory.name(), &memory}}, tree);
+ updateChildren(std::map<std::string, const armem::wm::Memory*> {{memory.name(), &memory}}, tree);
}
- void TreeWidget::updateChildren(const std::map<std::string, const armem::workingmemory::Memory*>& memories, QTreeWidget* tree)
+ void TreeWidget::updateChildren(const std::map<std::string, const armem::wm::Memory*>& memories, QTreeWidget* tree)
{
workingmemoryBuilder.updateTree(tree, memories);
}
- void TreeWidget::updateChildren(const armem::workingmemory::Memory& memory, QTreeWidgetItem* memoryItem)
+ void TreeWidget::updateChildren(const armem::wm::Memory& memory, QTreeWidgetItem* memoryItem)
{
workingmemoryCoreSegmentBuilder.updateTree(memoryItem, memory.coreSegments());
}
- void TreeWidget::updateChildren(const armem::workingmemory::CoreSegment& coreSeg, QTreeWidgetItem* coreSegItem)
+ void TreeWidget::updateChildren(const armem::wm::CoreSegment& coreSeg, QTreeWidgetItem* coreSegItem)
{
workingmemoryProvSegmentBuilder.updateTree(coreSegItem, coreSeg.providerSegments());
}
- void TreeWidget::updateChildren(const armem::workingmemory::ProviderSegment& provSeg, QTreeWidgetItem* provSegItem)
+ void TreeWidget::updateChildren(const armem::wm::ProviderSegment& provSeg, QTreeWidgetItem* provSegItem)
{
workingmemoryEntityBuilder.updateTree(provSegItem, provSeg.entities());
}
- void TreeWidget::updateChildren(const armem::workingmemory::Entity& entity, QTreeWidgetItem* entityItem)
+ void TreeWidget::updateChildren(const armem::wm::Entity& entity, QTreeWidgetItem* entityItem)
{
workingmemorySnapshotBuilder.updateTree(entityItem, entity.history());
}
- void TreeWidget::updateChildren(const armem::workingmemory::EntitySnapshot& snapshot, QTreeWidgetItem* snapshotItem)
+ void TreeWidget::updateChildren(const armem::wm::EntitySnapshot& snapshot, QTreeWidgetItem* snapshotItem)
{
workingmemoryInstanceBuilder.updateTree(snapshotItem, snapshot.instances());
}
- void TreeWidget::updateChildren(const armem::workingmemory::EntityInstance& data, QTreeWidgetItem* dataItem)
+ void TreeWidget::updateChildren(const armem::wm::EntityInstance& data, QTreeWidgetItem* dataItem)
{
(void) data, (void) dataItem;
}
- QTreeWidgetItem* TreeWidget::makeItem(const std::string& key, const armem::detail::MemoryItem& memoryItem)
+ QTreeWidgetItem* TreeWidget::makeItem(const std::string& key, const armem::base::detail::MemoryItem& memoryItem)
{
(void) key;
QStringList columns;
@@ -270,14 +270,14 @@ namespace armarx::armem::gui::memory
return item;
}
- void TreeWidget::updateItemItem(const armem::detail::MemoryItem& level, QTreeWidgetItem* item)
+ void TreeWidget::updateItemItem(const armem::base::detail::MemoryItem& level, QTreeWidgetItem* item)
{
(void) level, (void) item;
}
template <class... T>
void TreeWidget::updateContainerItem(
- const armem::workingmemory::detail::MemoryContainer<T...>& container, QTreeWidgetItem* item)
+ const armem::wm::detail::MemoryContainer<T...>& container, QTreeWidgetItem* item)
{
updateItemItem(container, item);
item->setText(int(Columns::SIZE), QString::number(container.size()));
@@ -285,7 +285,7 @@ namespace armarx::armem::gui::memory
template <class... T>
void TreeWidget::updateTypedContainerItem(
- const armem::workingmemory::detail::TypedEntityContainer<T...>& container, QTreeWidgetItem* item)
+ const armem::wm::detail::TypedEntityContainer<T...>& container, QTreeWidgetItem* item)
{
updateContainerItem(container, item);
std::string typeName;
diff --git a/source/RobotAPI/libraries/armem_gui/memory/TreeWidget.h b/source/RobotAPI/libraries/armem_gui/memory/TreeWidget.h
index d93bed9ab..1ce801920 100644
--- a/source/RobotAPI/libraries/armem_gui/memory/TreeWidget.h
+++ b/source/RobotAPI/libraries/armem_gui/memory/TreeWidget.h
@@ -4,8 +4,8 @@
#include <QTreeWidget>
-#include <RobotAPI/libraries/armem/core/workingMemory/Memory.h>
-#include <RobotAPI/libraries/armem/core/longtermMemory/Memory.h>
+#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
+#include <RobotAPI/libraries/armem/core/longtermmemory/Memory.h>
#include <RobotAPI/libraries/armem_gui/TreeWidgetBuilder.h>
@@ -22,8 +22,8 @@ namespace armarx::armem::gui::memory
TreeWidget();
- void update(const armem::workingmemory::Memory& memory);
- void update(const std::map<std::string, const armem::workingmemory::Memory*>& memories);
+ void update(const armem::wm::Memory& memory);
+ void update(const std::map<std::string, const armem::wm::Memory*>& memories);
std::optional<MemoryID> selectedID() const;
@@ -56,34 +56,34 @@ namespace armarx::armem::gui::memory
void initWidget();
void initBuilders();
- void updateChildren(const armem::workingmemory::Memory& memory, QTreeWidget* tree);
- void updateChildren(const std::map<std::string, const armem::workingmemory::Memory*>& memories, QTreeWidget* tree);
+ void updateChildren(const armem::wm::Memory& memory, QTreeWidget* tree);
+ void updateChildren(const std::map<std::string, const armem::wm::Memory*>& memories, QTreeWidget* tree);
- void updateChildren(const armem::workingmemory::Memory& memory, QTreeWidgetItem* memoryItem);
- void updateChildren(const armem::workingmemory::CoreSegment& coreSeg, QTreeWidgetItem* coreSegItem);
- void updateChildren(const armem::workingmemory::ProviderSegment& provSeg, QTreeWidgetItem* provSegItem);
- void updateChildren(const armem::workingmemory::Entity& entity, QTreeWidgetItem* entityItem);
- void updateChildren(const armem::workingmemory::EntitySnapshot& snapshot, QTreeWidgetItem* snapshotItem);
- void updateChildren(const armem::workingmemory::EntityInstance& data, QTreeWidgetItem* parent);
+ void updateChildren(const armem::wm::Memory& memory, QTreeWidgetItem* memoryItem);
+ void updateChildren(const armem::wm::CoreSegment& coreSeg, QTreeWidgetItem* coreSegItem);
+ void updateChildren(const armem::wm::ProviderSegment& provSeg, QTreeWidgetItem* provSegItem);
+ void updateChildren(const armem::wm::Entity& entity, QTreeWidgetItem* entityItem);
+ void updateChildren(const armem::wm::EntitySnapshot& snapshot, QTreeWidgetItem* snapshotItem);
+ void updateChildren(const armem::wm::EntityInstance& data, QTreeWidgetItem* parent);
- QTreeWidgetItem* makeItem(const std::string& key, const armem::detail::MemoryItem& container);
+ QTreeWidgetItem* makeItem(const std::string& key, const armem::base::detail::MemoryItem& container);
- void updateItemItem(const armem::detail::MemoryItem& level, QTreeWidgetItem* item);
+ void updateItemItem(const armem::base::detail::MemoryItem& level, QTreeWidgetItem* item);
template <class... T>
- void updateContainerItem(const armem::workingmemory::detail::MemoryContainer<T...>& container, QTreeWidgetItem* item);
+ void updateContainerItem(const armem::wm::detail::MemoryContainer<T...>& container, QTreeWidgetItem* item);
template <class... T>
- void updateTypedContainerItem(const armem::workingmemory::detail::TypedEntityContainer<T...>& container, QTreeWidgetItem* item);
+ void updateTypedContainerItem(const armem::wm::detail::TypedEntityContainer<T...>& container, QTreeWidgetItem* item);
private:
- MapTreeWidgetBuilder<std::string, const workingmemory::Memory*> workingmemoryBuilder;
- MapTreeWidgetBuilder<std::string, workingmemory::CoreSegment> workingmemoryCoreSegmentBuilder;
- MapTreeWidgetBuilder<std::string, workingmemory::ProviderSegment> workingmemoryProvSegmentBuilder;
- MapTreeWidgetBuilder<std::string, workingmemory::Entity> workingmemoryEntityBuilder;
- MapTreeWidgetBuilder<armem::Time, workingmemory::EntitySnapshot> workingmemorySnapshotBuilder;
- TreeWidgetBuilder<std::vector<workingmemory::EntityInstance>> workingmemoryInstanceBuilder;
+ MapTreeWidgetBuilder<std::string, const wm::Memory*> workingmemoryBuilder;
+ MapTreeWidgetBuilder<std::string, wm::CoreSegment> workingmemoryCoreSegmentBuilder;
+ MapTreeWidgetBuilder<std::string, wm::ProviderSegment> workingmemoryProvSegmentBuilder;
+ MapTreeWidgetBuilder<std::string, wm::Entity> workingmemoryEntityBuilder;
+ MapTreeWidgetBuilder<armem::Time, wm::EntitySnapshot> workingmemorySnapshotBuilder;
+ TreeWidgetBuilder<std::vector<wm::EntityInstance>> workingmemoryInstanceBuilder;
std::optional<MemoryID> _selectedID;
/// While this is false, do not handle selection updates.
diff --git a/source/RobotAPI/libraries/armem_robot_localization/TransformReader.cpp b/source/RobotAPI/libraries/armem_robot_localization/TransformReader.cpp
index 89f85100f..c3b24c489 100644
--- a/source/RobotAPI/libraries/armem_robot_localization/TransformReader.cpp
+++ b/source/RobotAPI/libraries/armem_robot_localization/TransformReader.cpp
@@ -47,9 +47,9 @@
// this package
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/client/query/query_fns.h>
-#include <RobotAPI/libraries/armem/core/workingMemory/Memory.h>
-#include <RobotAPI/libraries/armem/core/workingMemory/ProviderSegment.h>
-#include <RobotAPI/libraries/armem/core/workingMemory/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
+#include <RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.h>
+#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
#include <RobotAPI/libraries/armem/server/MemoryRemoteGui.h>
#include <RobotAPI/libraries/aron/core/navigator/type/NavigatorFactory.h>
#include <RobotAPI/libraries/core/FramedPose.h>
@@ -128,7 +128,7 @@ namespace armarx::armem
// }
- std::vector<std::string> TransformReader::buildTransformChain(const armem::workingmemory::Memory& memory,
+ std::vector<std::string> TransformReader::buildTransformChain(const armem::wm::Memory& memory,
const TransformQuery& query) const
{
ARMARX_DEBUG << "Building transform chain";
@@ -202,7 +202,7 @@ namespace armarx::armem
return chain;
}
- inline Transform convertEntityToTransform(const armem::workingmemory::EntityInstance& item)
+ inline Transform convertEntityToTransform(const armem::wm::EntityInstance& item)
{
aron::Transform aronTransform;
aronTransform.fromAron(item.data());
@@ -271,7 +271,7 @@ namespace armarx::armem
return simox::math::interpolatePose(posePreIt->transform, poseNextIt->transform, t);
}
- Eigen::Affine3f TransformReader::obtainTransform(const std::string& entityName, const armem::workingmemory::ProviderSegment& agentProviderSegment, const int64_t timestamp) const
+ Eigen::Affine3f TransformReader::obtainTransform(const std::string& entityName, const armem::wm::ProviderSegment& agentProviderSegment, const int64_t timestamp) const
{
ARMARX_DEBUG << "getEntity:" + entityName;
@@ -329,7 +329,7 @@ namespace armarx::armem
}
std::vector<Eigen::Affine3f>
- TransformReader::obtainTransforms(const armem::workingmemory::Memory& memory,
+ TransformReader::obtainTransforms(const armem::wm::Memory& memory,
const std::vector<std::string>& tfChain,
const std::string& agent,
const std::int64_t& timestamp) const
diff --git a/source/RobotAPI/libraries/armem_robot_localization/TransformReader.h b/source/RobotAPI/libraries/armem_robot_localization/TransformReader.h
index f7f6533fb..9b0489954 100644
--- a/source/RobotAPI/libraries/armem_robot_localization/TransformReader.h
+++ b/source/RobotAPI/libraries/armem_robot_localization/TransformReader.h
@@ -64,14 +64,14 @@ namespace armarx::armem
}
private:
- std::vector<std::string> buildTransformChain(const armem::workingmemory::Memory& memory,
+ std::vector<std::string> buildTransformChain(const armem::wm::Memory& memory,
const TransformQuery& query) const;
- std::vector<Eigen::Affine3f> obtainTransforms(const armem::workingmemory::Memory& memory,
+ std::vector<Eigen::Affine3f> obtainTransforms(const armem::wm::Memory& memory,
const std::vector<std::string>& tfChain,
const std::string& agent, const std::int64_t& timestamp) const;
- Eigen::Affine3f obtainTransform(const std::string& entityName, const armem::workingmemory::ProviderSegment& agentProviderSegment, int64_t timestamp) const;
+ Eigen::Affine3f obtainTransform(const std::string& entityName, const armem::wm::ProviderSegment& agentProviderSegment, int64_t timestamp) const;
armem::client::Reader memoryReader;
diff --git a/source/RobotAPI/libraries/armem_robot_localization/TransformWriter.cpp b/source/RobotAPI/libraries/armem_robot_localization/TransformWriter.cpp
index d805dc9d8..1ac8ea58b 100644
--- a/source/RobotAPI/libraries/armem_robot_localization/TransformWriter.cpp
+++ b/source/RobotAPI/libraries/armem_robot_localization/TransformWriter.cpp
@@ -37,9 +37,9 @@
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/client/query/query_fns.h>
-#include <RobotAPI/libraries/armem/core/workingMemory/ice_conversions.h>
-#include <RobotAPI/libraries/armem/core/workingMemory/Memory.h>
-#include <RobotAPI/libraries/armem/core/workingMemory/ProviderSegment.h>
+#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
+#include <RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.h>
#include <RobotAPI/libraries/armem/server/MemoryRemoteGui.h>
#include <RobotAPI/libraries/aron/core/navigator/type/NavigatorFactory.h>
#include <RobotAPI/libraries/core/FramedPose.h>
--
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