diff --git a/source/RobotAPI/libraries/armem/CMakeLists.txt b/source/RobotAPI/libraries/armem/CMakeLists.txt
index ef5f227686bf252f3f7941fd3f0d96aed72442d1..565b2c951353fcecee34fcc20a98cd50d333c018 100644
--- a/source/RobotAPI/libraries/armem/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem/CMakeLists.txt
@@ -36,6 +36,7 @@ set(LIB_FILES
core/base/detail/MemoryContainerBase.cpp
core/base/detail/EntityContainerBase.cpp
core/base/detail/AronTyped.cpp
+ core/base/detail/iteration_mixins.cpp
core/base/CoreSegmentBase.cpp
core/base/EntityBase.cpp
@@ -154,6 +155,7 @@ set(LIB_HEADERS
core/base/detail/MemoryContainerBase.h
core/base/detail/EntityContainerBase.h
core/base/detail/AronTyped.h
+ core/base/detail/iteration_mixins.h
core/base/CoreSegmentBase.h
core/base/EntityBase.h
diff --git a/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h b/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h
index 1f4e285c88080d9c7191cda2b9790397ebeee8b6..61b227c3c0da4fde7bd307bfa827edea0438765b 100644
--- a/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h
@@ -7,6 +7,7 @@
#include "detail/AronTyped.h"
#include "detail/EntityContainerBase.h"
#include "detail/MaxHistorySize.h"
+#include "detail/iteration_mixins.h"
namespace armarx::armem::base
@@ -19,7 +20,10 @@ namespace armarx::armem::base
class CoreSegmentBase :
public detail::EntityContainerBase<_ProviderSegmentT, typename _ProviderSegmentT::EntityT, _Derived>,
public detail::MaxHistorySize,
- public detail::AronTyped
+ public detail::AronTyped,
+ public detail::ForEachEntityInstanceMixin<_Derived>,
+ public detail::ForEachEntitySnapshotMixin<_Derived>,
+ public detail::ForEachEntityMixin<_Derived>
{
using Base = detail::EntityContainerBase<_ProviderSegmentT, typename _ProviderSegmentT::EntityT, _Derived>;
@@ -50,6 +54,7 @@ namespace armarx::armem::base
{}
};
+
public:
CoreSegmentBase()
@@ -75,6 +80,8 @@ namespace armarx::armem::base
CoreSegmentBase& operator=(CoreSegmentBase&& other) = default;
+ // READ ACCESS
+
inline const std::string& name() const
{
return this->id().coreSegmentName;
@@ -85,16 +92,6 @@ namespace armarx::armem::base
}
- inline const auto& providerSegments() const
- {
- return this->_container;
- }
- inline auto& providerSegments()
- {
- return this->_container;
- }
-
-
bool hasProviderSegment(const std::string& name) const
{
return this->_container.count(name) > 0;
@@ -145,6 +142,43 @@ namespace armarx::armem::base
}
}
+
+ // ITERATION
+
+ /**
+ * @param func Function like: bool process(ProviderSegmentT& provSeg)
+ */
+ template <class ProviderSegmentFunctionT>
+ bool forEachProviderSegment(ProviderSegmentFunctionT&& func)
+ {
+ return base::detail::forEachChildPair(this->_container, func);
+ }
+ /**
+ * @param func Function like: bool process(const ProviderSegmentT& provSeg)
+ */
+ template <class ProviderSegmentFunctionT>
+ bool forEachProviderSegment(ProviderSegmentFunctionT&& func) const
+ {
+ return base::detail::forEachChildPair(this->_container, func);
+ }
+
+ // forEachEntity() is provided by ForEachEntityMixin.
+ // forEachEntitySnapshot() is provided by ForEachEntitySnapshotMixin.
+ // forEachEntityInstance() is provided by ForEachEntityInstanceMixin.
+
+
+ inline const auto& providerSegments() const
+ {
+ return this->_container;
+ }
+ inline auto& providerSegments()
+ {
+ return this->_container;
+ }
+
+
+ // MODIFICATION
+
/**
* @brief Updates an entity's history.
*
@@ -262,6 +296,9 @@ namespace armarx::armem::base
}
}
+
+ // MISC
+
virtual bool equalsDeep(const CoreSegmentBase& other) const
{
//std::cout << "CoreSegment::equalsDeep" << std::endl;
diff --git a/source/RobotAPI/libraries/armem/core/base/EntityBase.h b/source/RobotAPI/libraries/armem/core/base/EntityBase.h
index 5ebb9844ec2110ef26b4901679a7542add16c103..4fe586cc309520494fd8443ef1f28f1cfe010229 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntityBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/EntityBase.h
@@ -13,6 +13,7 @@
#include "EntitySnapshotBase.h"
#include "detail/MaxHistorySize.h"
#include "detail/MemoryContainerBase.h"
+#include "detail/iteration_mixins.h"
namespace armarx::armem::base
@@ -40,7 +41,8 @@ namespace armarx::armem::base
template <class _EntitySnapshotT, class _Derived>
class EntityBase :
public detail::MemoryContainerBase<std::map<Time, _EntitySnapshotT>, _Derived>,
- public detail::MaxHistorySize
+ public detail::MaxHistorySize,
+ public detail::ForEachEntityInstanceMixin<_Derived>
{
using Base = detail::MemoryContainerBase<std::map<Time, _EntitySnapshotT>, _Derived>;
@@ -82,27 +84,7 @@ namespace armarx::armem::base
EntityBase& operator=(EntityBase&& other) = default;
- virtual bool equalsDeep(const EntityBase& other) const
- {
- //std::cout << "Entity::equalsDeep" << std::endl;
- if (this->size() != other.size())
- {
- return false;
- }
- for (const auto& [key, snapshot] : this->_container)
- {
- if (not other.hasSnapshot(key))
- {
- return false;
- }
- if (not snapshot.equalsDeep(other.getSnapshot(key)))
- {
- return false;
- }
- }
- return true;
- }
-
+ // READING
inline const std::string& name() const
{
@@ -113,17 +95,6 @@ namespace armarx::armem::base
return const_cast<std::string&>(const_cast<const EntityBase*>(this)->name());
}
-
- inline const ContainerT& history() const
- {
- return this->_container;
- }
- inline ContainerT& history()
- {
- return const_cast<ContainerT&>(const_cast<const EntityBase*>(this)->history());
- }
-
-
/**
* @brief Indicates whether a history entry for the given time exists.
*/
@@ -354,6 +325,39 @@ namespace armarx::armem::base
}
+ // ITERATION
+
+ /**
+ * @param func Function like: bool process(EntitySnapshotT& snapshot)
+ */
+ template <class SnapshotFunctionT>
+ bool forEachEntitySnapshot(SnapshotFunctionT&& func)
+ {
+ return base::detail::forEachChildPair(this->_container, func);
+ }
+ /**
+ * @param func Function like void process(const EntitySnapshotT& snapshot)
+ */
+ template <class SnapshotFunctionT>
+ bool forEachEntitySnapshot(SnapshotFunctionT&& func) const
+ {
+ return base::detail::forEachChildPair(this->_container, func);
+ }
+ // forEachEntityInstance() is provided by ForEachEntityInstanceMixin.
+
+
+ inline const ContainerT& history() const
+ {
+ return this->_container;
+ }
+ inline ContainerT& history()
+ {
+ return const_cast<ContainerT&>(const_cast<const EntityBase*>(this)->history());
+ }
+
+
+ // MODIFICATION
+
/**
* @brief Add the given update to this entity's history.
* @param update The update.
@@ -440,6 +444,30 @@ namespace armarx::armem::base
truncate();
}
+
+ // MISC
+
+ virtual bool equalsDeep(const EntityBase& other) const
+ {
+ //std::cout << "Entity::equalsDeep" << std::endl;
+ if (this->size() != other.size())
+ {
+ return false;
+ }
+ for (const auto& [key, snapshot] : this->_container)
+ {
+ if (not other.hasSnapshot(key))
+ {
+ return false;
+ }
+ if (not snapshot.equalsDeep(other.getSnapshot(key)))
+ {
+ return false;
+ }
+ }
+ return true;
+ }
+
std::string getKeyString() const
{
return this->id().entityName;
diff --git a/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h b/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h
index eaa9ca810e46d2cbf5ccb1912b8954a8ebfc7c37..0d9a6ffdca8e15c3164797be76087cb5cae0052f 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h
@@ -8,6 +8,7 @@
#include "EntityInstanceBase.h"
#include "detail/MemoryContainerBase.h"
+#include "detail/iteration_mixins.h"
namespace armarx::armem::base
@@ -49,24 +50,7 @@ namespace armarx::armem::base
EntitySnapshotBase& operator=(EntitySnapshotBase&& other) = default;
- bool equalsDeep(const EntitySnapshotBase& other) const
- {
- //std::cout << "EntitySnapshot::equalsDeep" << std::endl;
- if (this->size() != other.size())
- {
- return false;
- }
- int i = 0;
- for (const auto& instance : this->_container)
- {
- if (not instance.equalsDeep(other.getInstance(i)))
- {
- return false;
- }
- i++;
- }
- return true;
- }
+ // READING
inline Time& time()
{
@@ -78,34 +62,6 @@ namespace armarx::armem::base
return this->id().timestamp;
}
-
- inline const std::vector<EntityInstanceT>& instances() const
- {
- return this->_container;
- }
- inline std::vector<EntityInstanceT>& instances()
- {
- return const_cast<std::vector<EntityInstanceT>&>(const_cast<const EntitySnapshotBase*>(this)->instances());
- }
-
-
- void update(const EntityUpdate& update, std::optional<MemoryID> parentID = std::nullopt)
- {
- if (parentID)
- {
- this->id() = *parentID;
- }
- time() = update.timeCreated;
-
- this->_container.clear();
- for (int i = 0; i < int(update.instancesData.size()); ++i)
- {
- EntityInstanceT& data = this->_container.emplace_back(i, this->id());
- data.update(update, i);
- }
- }
-
-
bool hasInstance(int index) const
{
size_t si = size_t(index);
@@ -157,6 +113,53 @@ namespace armarx::armem::base
}
+ // ITERATION
+
+ /**
+ * @param func Function like void process(EntityInstanceT& instance)>
+ */
+ template <class InstanceFunctionT>
+ bool forEachEntityInstance(InstanceFunctionT&& func)
+ {
+ return base::detail::forEachChildSingle(this->_container, func);
+ }
+ /**
+ * @param func Function like void process (const EntityInstanceT& instance)
+ */
+ template <class InstanceFunctionT>
+ bool forEachEntityInstance(InstanceFunctionT&& func) const
+ {
+ return base::detail::forEachChildSingle(this->_container, func);
+ }
+
+ inline const std::vector<EntityInstanceT>& instances() const
+ {
+ return this->_container;
+ }
+ inline std::vector<EntityInstanceT>& instances()
+ {
+ return const_cast<std::vector<EntityInstanceT>&>(const_cast<const EntitySnapshotBase*>(this)->instances());
+ }
+
+
+ // MODIFICATION
+
+ void update(const EntityUpdate& update, std::optional<MemoryID> parentID = std::nullopt)
+ {
+ if (parentID)
+ {
+ this->id() = *parentID;
+ }
+ time() = update.timeCreated;
+
+ this->_container.clear();
+ for (int i = 0; i < int(update.instancesData.size()); ++i)
+ {
+ EntityInstanceT& data = this->_container.emplace_back(i, this->id());
+ data.update(update, i);
+ }
+ }
+
/**
* @brief Add a single instance with data.
* @param instance The instance.
@@ -196,6 +199,29 @@ namespace armarx::armem::base
return it;
}
+
+ // MISC
+
+ bool equalsDeep(const EntitySnapshotBase& other) const
+ {
+ //std::cout << "EntitySnapshot::equalsDeep" << std::endl;
+ if (this->size() != other.size())
+ {
+ return false;
+ }
+ int i = 0;
+ for (const auto& instance : this->_container)
+ {
+ if (not instance.equalsDeep(other.getInstance(i)))
+ {
+ return false;
+ }
+ i++;
+ }
+ return true;
+ }
+
+
std::string getKeyString() const
{
return toDateTimeMilliSeconds(this->time());
diff --git a/source/RobotAPI/libraries/armem/core/base/MemoryBase.h b/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
index 7c00ec9a3fe3d51ef3fff1aec3973b0ce25934f2..271f2bf9f5b0ef44b69c062a7bdbb0e826b8bd2c 100644
--- a/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
@@ -7,6 +7,7 @@
#include "CoreSegmentBase.h"
#include "detail/EntityContainerBase.h"
+#include "detail/iteration_mixins.h"
namespace armarx::armem::base
@@ -17,7 +18,11 @@ namespace armarx::armem::base
*/
template <class _CoreSegmentT, class _Derived>
class MemoryBase :
- public detail::EntityContainerBase<_CoreSegmentT, typename _CoreSegmentT::ProviderSegmentT::EntityT, _Derived>
+ public detail::EntityContainerBase<_CoreSegmentT, typename _CoreSegmentT::ProviderSegmentT::EntityT, _Derived>,
+ public detail::ForEachEntityInstanceMixin<_Derived>,
+ public detail::ForEachEntitySnapshotMixin<_Derived>,
+ public detail::ForEachEntityMixin<_Derived>,
+ public detail::ForEachProviderSegmentMixin<_Derived>
{
using Base = detail::EntityContainerBase<_CoreSegmentT, typename _CoreSegmentT::ProviderSegmentT::EntityT, _Derived>;
@@ -72,6 +77,8 @@ namespace armarx::armem::base
MemoryBase& operator=(MemoryBase&& other) = default;
+ // READ ACCESS
+
inline const std::string& name() const
{
return this->id().memoryName;
@@ -82,16 +89,6 @@ namespace armarx::armem::base
}
- inline auto& coreSegments() const
- {
- return this->_container;
- }
- inline auto& coreSegments()
- {
- return this->_container;
- }
-
-
bool hasCoreSegment(const std::string& name) const
{
return this->_container.count(name) > 0;
@@ -167,6 +164,44 @@ namespace armarx::armem::base
}
}
+
+ // ITERATION
+
+ /**
+ * @param func Function like: bool process(CoreSegmentT& provSeg)
+ */
+ template <class CoreSegmentFunctionT>
+ bool forEachCoreSegment(CoreSegmentFunctionT&& func)
+ {
+ return base::detail::forEachChildPair(this->_container, func);
+ }
+ /**
+ * @param func Function like: bool process(const CoreSegmentT& provSeg)
+ */
+ template <class CoreSegmentFunctionT>
+ bool forEachCoreSegment(CoreSegmentFunctionT&& func) const
+ {
+ return base::detail::forEachChildPair(this->_container, func);
+ }
+
+ // forEachProviderSegment() is provided by ForEachProviderSegmentMixin.
+ // forEachEntity() is provided by ForEachEntityMixin.
+ // forEachEntitySnapshot() is provided by ForEachEntitySnapshotMixin.
+ // forEachEntityInstance() is provided by ForEachEntityInstanceMixin.
+
+
+ inline auto& coreSegments() const
+ {
+ return this->_container;
+ }
+ inline auto& coreSegments()
+ {
+ return this->_container;
+ }
+
+
+ // MODIFICATION
+
/**
* @brief Add an empty core segment with the given name.
* @param name The core segment name.
diff --git a/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h b/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h
index 62777c78d0711f2540978fb7a01e1ce17eaefca8..a09fda41f17e345e1842cc991717c40e2e8bc731 100644
--- a/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h
@@ -7,6 +7,7 @@
#include "detail/AronTyped.h"
#include "detail/EntityContainerBase.h"
#include "detail/MaxHistorySize.h"
+#include "detail/iteration_mixins.h"
namespace armarx::armem::base
@@ -19,7 +20,9 @@ namespace armarx::armem::base
class ProviderSegmentBase :
public detail::EntityContainerBase<_EntityT, _EntityT, _Derived>,
public detail::MaxHistorySize,
- public detail::AronTyped
+ public detail::AronTyped,
+ public detail::ForEachEntityInstanceMixin<_Derived>,
+ public detail::ForEachEntitySnapshotMixin<_Derived>
{
using Base = detail::EntityContainerBase<_EntityT, _EntityT, _Derived>;
@@ -73,6 +76,8 @@ namespace armarx::armem::base
ProviderSegmentBase& operator=(ProviderSegmentBase&& other) = default;
+ // READ ACCESS
+
inline const std::string& name() const
{
return this->id().providerSegmentName;
@@ -83,16 +88,6 @@ namespace armarx::armem::base
}
- inline const auto& entities() const
- {
- return this->_container;
- }
- inline auto& entities()
- {
- return this->_container;
- }
-
-
bool hasEntity(const std::string& name) const
{
return this->_container.count(name) > 0;
@@ -137,6 +132,44 @@ namespace armarx::armem::base
}
}
+
+ // ITERATION
+
+ // All functors are taken as universal reference (F&&).
+
+ /**
+ * @param func Function like: bool process(EntityT& entity)
+ */
+ template <class EntityFunctionT>
+ bool forEachEntity(EntityFunctionT&& func)
+ {
+ return base::detail::forEachChildPair(this->_container, func);
+ }
+ /**
+ * @param func Function like: bool process(const EntityT& entity)
+ */
+ template <class EntityFunctionT>
+ bool forEachEntity(EntityFunctionT&& func) const
+ {
+ return base::detail::forEachChildPair(this->_container, func);
+ }
+
+ // forEachEntitySnapshot() is provided by ForEachEntitySnapshotMixin.
+ // forEachEntityInstance() is provided by ForEachEntityInstanceMixin.
+
+
+ inline const ContainerT& entities() const
+ {
+ return this->_container;
+ }
+ inline ContainerT& entities()
+ {
+ return this->_container;
+ }
+
+
+ // MODIFICATION
+
/**
* @brief Updates an entity's history.
*
@@ -221,6 +254,8 @@ namespace armarx::armem::base
}
+ // MISC
+
virtual bool equalsDeep(const ProviderSegmentBase& other) const
{
//std::cout << "ProviderSegment::equalsDeep" << std::endl;