diff --git a/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.cpp b/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.cpp
index c2716d4e77d6f65edf848be6ed8a842d4452c754..aac48df35df27422b09764275b0f623ed89c26a8 100644
--- a/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.cpp
+++ b/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.cpp
@@ -29,6 +29,8 @@
#include <RobotAPI/libraries/armem/component/MemoryRemoteGui.h>
#include <RobotAPI/libraries/armem/client/MemoryWriter.h>
+#include <RobotAPI/libraries/armem/client/MemoryReader.h>
+#include <RobotAPI/libraries/armem/client/QueryBuilder.h>
#include <RobotAPI/libraries/armem/memory/ice_conversions.h>
#include <RobotAPI/components/armem/ArMemExampleMemory/aron/Primitive.aron.generated.h>
@@ -156,58 +158,13 @@ namespace armarx
ARMARX_CHECK_EQUAL(commitResult.results.size(), commit.updates.size());
}
- /*
- * ToDo: Recreate with raw and new query syntax.
- {
- armem::data::EntitySnapshotQuery query;
- query.snapshotID = snapshotID.str();
-
- ARMARX_IMPORTANT
- << "Querying snapshot:"
- << "\n- snapshotID: \t'" << query.snapshotID << "'"
- ;
-
- armem::data::EntitySnapshotQueryResultList results = memory->getEntitySnapshots({query});
-
- ARMARX_CHECK_EQUAL(results.size(), 1);
- armem::data::EntitySnapshotQueryResult& result = results.at(0);
-
- ARMARX_INFO << "Result: "
- << "\n- success: \t" << result.success
- << "\n- # instances: \t" << result.instances.size()
- << "\n- time created: \t" << armem::Time::microSeconds(result.timeCreatedMicroSeconds).toDateTime()
- << "\n- error message: \t" << result.errorMessage
- ;
- }
-
if (true)
{
- armem::data::EntitySnapshotQuery query;
- snapshotID.clearTimestamp();
- query.snapshotID = snapshotID.str();
-
- ARMARX_IMPORTANT
- << "Querying latest snapshot:"
- << "\n- entityID: \t'" << query.snapshotID << "'"
- ;
-
- armem::data::EntitySnapshotQueryResultList results = memory->getEntitySnapshots({query});
-
- ARMARX_CHECK_EQUAL(results.size(), 1);
- armem::data::EntitySnapshotQueryResult& result = results.at(0);
-
- ARMARX_INFO << "Result: "
- << "\n- success: \t" << result.success
- << "\n- # instances: \t" << result.instances.size()
- << "\n- time created: \t" << armem::Time::microSeconds(result.timeCreatedMicroSeconds).toDateTime()
- << "\n- error message: \t" << result.errorMessage
- ;
+ queryLatestRawIce(snapshotID.getEntityID());
}
- */
-
if (true)
{
- rawIceQuery(snapshotID);
+ querySnapshot(snapshotID);
}
if (true)
{
@@ -225,79 +182,115 @@ namespace armarx
{
}
- bool ArMemExampleClient::rawIceQuery(const armem::MemoryID& snapshotID)
+ bool ArMemExampleClient::queryLatestRawIce(const armem::MemoryID& entityID)
{
ARMARX_IMPORTANT
- << "Querying latest snapshot:"
- << "\n- entityID: \t'" << snapshotID << "'"
- // << "\n" << *memoryQuery
+ << "Querying latest snapshot (via raw ice query types):"
+ << "\n- entityID: \t'" << entityID << "'"
;
armem::data::query::EntityQueryPtr entityQuery =
- // new armem::data::query::entity::Single();
- new armem::data::query::entity::All();
+ new armem::data::query::entity::Single();
armem::data::query::ProviderSegmentQueryPtr providerQuery =
- new armem::data::query::provider::Single({entityQuery}, snapshotID.entityName);
- // new armem::data::query::provider::All({entityQuery});
+ new armem::data::query::provider::Single({entityQuery}, entityID.entityName);
armem::data::query::CoreSegmentQueryPtr coreQuery =
- new armem::data::query::core::Single({providerQuery}, snapshotID.providerSegmentName);
+ new armem::data::query::core::Single({providerQuery}, entityID.providerSegmentName);
armem::data::query::MemoryQueryPtr memoryQuery =
- new armem::data::query::memory::Single({coreQuery}, snapshotID.coreSegmentName);
+ new armem::data::query::memory::Single({coreQuery}, entityID.coreSegmentName);
- armem::data::QueryInput input;
- input.memoryQueries = {memoryQuery};
+ armem::data::QueryInput qInput;
+ qInput.memoryQueries = {memoryQuery};
- armem::data::QueryResult iceResult = memory->query(input);
+ armem::data::QueryResult qResult = memory->query(qInput);
ARMARX_INFO << "Result: "
- << "\n- success: \t" << iceResult.success
- << "\n- error message: \t" << iceResult.errorMessage
+ << "\n- success: \t" << qResult.success
+ << "\n- error message: \t" << qResult.errorMessage
;
- if (!iceResult.success)
+ if (qResult.success)
{
- ARMARX_ERROR << iceResult.errorMessage;
- return false;
- }
+ armem::MemoryPtr result = armem::fromIce<armem::MemoryPtr>(qResult.memory);
- armem::MemoryPtr result = armem::fromIce<armem::MemoryPtr>(iceResult.memory);
+ ARMARX_CHECK_EQUAL(result->coreSegments.size(), 1);
+ armem::CoreSegmentPtr& coreSeg = result->coreSegments.begin()->second;
- ARMARX_CHECK_EQUAL(result->coreSegments.size(), 1);
+ ARMARX_CHECK_EQUAL(coreSeg->providerSegments.size(), 1);
+ armem::ProviderSegmentPtr& provSeg = coreSeg->providerSegments.begin()->second;
- armem::CoreSegmentPtr& coreSeg = result->coreSegments.begin()->second;
- ARMARX_CHECK_EQUAL(coreSeg->providerSegments.size(), 1);
+ ARMARX_CHECK_EQUAL(provSeg->entities.size(), 1);
+ armem::EntityPtr& entity = provSeg->entities.begin()->second;
- armem::ProviderSegmentPtr& provSeg = coreSeg->providerSegments.begin()->second;
- ARMARX_CHECK_EQUAL(provSeg->entities.size(), 1);
+ ARMARX_CHECK_GREATER_EQUAL(entity->history.size(), 1);
+ armem::EntitySnapshotPtr& snapshot = entity->history.begin()->second;
- armem::EntityPtr& entity = provSeg->entities.begin()->second;
- ARMARX_CHECK_GREATER_EQUAL(entity->history.size(), 1);
+ ARMARX_INFO << "Result: "
+ << "\n- memory: \t" << result->name()
+ << "\n- core segment: \t" << coreSeg->name()
+ << "\n- prov segment: \t" << provSeg->name()
+ << "\n- entity: \t" << entity->name()
+ << "\n- snapshot: \t" << snapshot->time()
+ << "\n- #instances: \t" << snapshot->instances.size()
+ ;
- armem::EntitySnapshotPtr& snapshot = entity->history.begin()->second;
+ ARMARX_IMPORTANT << "Getting entity from snapshot ID";
+ const armem::Entity& e = result->getEntity(entityID);
+ ARMARX_INFO << "Result: "
+ << "\n- entity: \t" << e.name()
+ << "\n- snapshot: \t" << e.getLatestSnapshot().time()
+ << "\n- #instances: \t" << e.getLatestSnapshot().instances.size()
+ ;
- ARMARX_INFO << "Result: "
- << "\n- memory: \t" << result->name()
- << "\n- core segment: \t" << coreSeg->name()
- << "\n- prov segment: \t" << provSeg->name()
- << "\n- entity: \t" << entity->name()
- << "\n- snapshot: \t" << snapshot->time()
- << "\n- #instances: \t" << snapshot->instances.size()
- ;
+ tab.queryResult = std::move(result);
+ tab.rebuild = true;
+ }
+ else
+ {
+ ARMARX_ERROR << qResult.errorMessage;
+ }
+
+ return qResult.success;
+ }
+
+ bool ArMemExampleClient::querySnapshot(const armem::MemoryID& snapshotID)
+ {
+ ARMARX_IMPORTANT
+ << "Querying exact snapshot of entity: (via query builder)"
+ << "\n- snapshotID: \t'" << snapshotID << "'"
+ ;
+
+ armem::MemoryReader reader(memory);
+ armem::client::QueryBuilder qb;
+ qb
+ .coreSegments().withID(snapshotID)
+ .providerSegments().withID(snapshotID)
+ .entities().withID(snapshotID)
+ .snapshots().withID(snapshotID);
- ARMARX_IMPORTANT << "Getting entity from snapshot ID";
- const armem::Entity& e = result->getEntity(snapshotID);
+ armem::data::QueryResult qResult = reader.query(qb.buildQueryInput());
ARMARX_INFO << "Result: "
- << "\n- entity: \t" << e.name()
- << "\n- snapshot: \t" << e.getLatestSnapshot().time()
- << "\n- #instances: \t" << e.getLatestSnapshot().instances.size()
+ << "\n- success: \t" << qResult.success
+ << "\n- error message: \t" << qResult.errorMessage
;
+ if (qResult.success)
+ {
+ armem::MemoryPtr memory;
+ fromIce(qResult.memory, memory);
+ armem::EntitySnapshot& entitySnapshot = memory->getEntity(snapshotID).getLatestSnapshot();
- tab.queryResult = std::move(result);
- tab.rebuild = true;
+ ARMARX_INFO << "Result snapshot: "
+ << "\n- time: \t" << entitySnapshot.time()
+ << "\n- # instances: \t" << entitySnapshot.instances.size()
+ ;
+ }
+ else
+ {
+ ARMARX_ERROR << qResult.errorMessage;
+ }
- return true;
+ return qResult.success;
}
bool ArMemExampleClient::primitives(armem::MemoryWriter& writer)
@@ -347,21 +340,16 @@ namespace armarx
return false;
}
- // Query.
-
- armem::data::query::EntityQueryPtr entityQuery = new armem::data::query::entity::All();
- armem::data::query::ProviderSegmentQueryPtr providerQuery =
- new armem::data::query::provider::All({entityQuery});
- armem::data::query::CoreSegmentQueryPtr coreQuery =
- new armem::data::query::core::Single({providerQuery}, providerID.providerSegmentName);
- armem::data::query::MemoryQueryPtr memoryQuery =
- new armem::data::query::memory::Single({coreQuery}, providerID.coreSegmentName);
-
-
- armem::data::QueryInput input;
- input.memoryQueries = {memoryQuery};
+ // Query all entities from provider.
+ armem::client::QueryBuilder qb;
+ qb
+ .coreSegments().withID(providerID)
+ .providerSegments().withID(providerID)
+ .entities().all()
+ .snapshots().all();
- armem::data::QueryResult result = memory->query(input);
+ armem::MemoryReader reader(memory);
+ armem::data::QueryResult result = reader.query(qb.buildQueryInput());
if (result.success)
{
armem::MemoryPtr resultMemory = armem::fromIce<armem::MemoryPtr>(result.memory);
diff --git a/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.h b/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.h
index bbf97094fd93c248deacbb907d515e5ea8d6eda8..00f0fc269a20bd4eedb927abe6d864872217e01c 100644
--- a/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.h
+++ b/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.h
@@ -102,7 +102,9 @@ namespace armarx
private:
// Examples
- bool rawIceQuery(const armem::MemoryID& snapshotID);
+ bool queryLatestRawIce(const armem::MemoryID& entityID);
+ bool querySnapshot(const armem::MemoryID& snapshotID);
+
bool primitives(armem::MemoryWriter& writer);