diff --git a/source/RobotAPI/libraries/armem/error/ArMemError.cpp b/source/RobotAPI/libraries/armem/error/ArMemError.cpp
index de7edf68c108b10299ef466688297af7d9b38ddc..b6cac6b7c685af1273c670eca1dcb2f25ce644e0 100644
--- a/source/RobotAPI/libraries/armem/error/ArMemError.cpp
+++ b/source/RobotAPI/libraries/armem/error/ArMemError.cpp
@@ -14,6 +14,27 @@ namespace armarx::armem::error
}
+ InvalidArgument::InvalidArgument(const std::string& argument, const std::string& function, const std::string& message) :
+ ArMemError(makeMsg(argument, function, message))
+ {
+ }
+
+ std::string InvalidArgument::makeMsg(const std::string& argument, const std::string& function, const std::string& message)
+ {
+ std::stringstream ss;
+ ss << "Invalid value for argument '" << argument << "' in function " << function << "()";
+ if (message.empty())
+ {
+ ss << ".";
+ }
+ else
+ {
+ ss << ":\n" << message;
+ }
+ return ss.str();
+ }
+
+
StorageNameMismatch::StorageNameMismatch(const std::string& expectedName,
const std::string& ownTerm, const std::string& storageName) :
ArMemError(makeMsg(expectedName, ownTerm, storageName))
@@ -59,6 +80,22 @@ namespace armarx::armem::error
+ MissingData::MissingData(const std::string& missingTerm, const std::string& missingName,
+ const std::string& ownTerm, const std::string& ownName) :
+ ArMemError(makeMsg(missingTerm, missingName, ownTerm, ownName))
+ {
+ }
+
+ std::string MissingData::makeMsg(const std::string& missingTerm, const std::string& missingName,
+ const std::string& ownTerm, const std::string& ownName)
+ {
+ std::stringstream ss;
+ ss << "No " << missingTerm << " data at '" << missingName << "' "
+ << "in " << ownTerm << " '" << ownName << "'.";
+ return ss.str();
+ }
+
+
ParseIntegerError::ParseIntegerError(std::string string, std::string semanticName) :
ArMemError(makeMsg(string, semanticName))
{
@@ -121,4 +158,5 @@ namespace armarx::armem::error
return ss.str();
}
+
}
diff --git a/source/RobotAPI/libraries/armem/error/ArMemError.h b/source/RobotAPI/libraries/armem/error/ArMemError.h
index 5dd1a9118fb11a1b66405d15fd41b544955c2bdb..a85d26ce5000e7780208f2d7b1ae3afa75f9fad4 100644
--- a/source/RobotAPI/libraries/armem/error/ArMemError.h
+++ b/source/RobotAPI/libraries/armem/error/ArMemError.h
@@ -21,6 +21,23 @@ namespace armarx::armem::error
};
+ /**
+ * @brief Indicates that an argument was invalid.
+ */
+ class InvalidArgument : public ArMemError
+ {
+ public:
+
+ InvalidArgument(const std::string& argument, const std::string& function,
+ const std::string& message);
+
+ static std::string makeMsg(const std::string& argument, const std::string& function,
+ const std::string& message);
+
+ };
+
+
+
/**
* @brief Indicates that a name in a given ID does not match a storage's own name.
*/
@@ -68,7 +85,22 @@ namespace armarx::armem::error
/**
- * @brief Indicates that a storage did not have an entry under a given name.
+ * @brief Indicates that a container did have an entry, but the entry's data was
+ * null when trying to access it.
+ */
+ class MissingData : public ArMemError
+ {
+ public:
+ MissingData(const std::string& missingTerm, const std::string& missingName,
+ const std::string& ownTerm, const std::string& ownName);
+
+ static std::string makeMsg(const std::string& missingTerm, const std::string& missingName,
+ const std::string& ownTerm, const std::string& ownName);
+ };
+
+
+ /**
+ * @brief Indicates that a string could not be parsed as integer.
*/
class ParseIntegerError : public ArMemError
{
diff --git a/source/RobotAPI/libraries/armem/memory/Entity.cpp b/source/RobotAPI/libraries/armem/memory/Entity.cpp
index 4c56024a850bc1d38063a6061e2749c7001f1d29..2e563ee2e553bfce514a030ae18b55c359e48974 100644
--- a/source/RobotAPI/libraries/armem/memory/Entity.cpp
+++ b/source/RobotAPI/libraries/armem/memory/Entity.cpp
@@ -50,6 +50,12 @@ namespace armarx::armem
return history.count(time) > 0;
}
+ bool Entity::hasSnapshotData(Time time) const
+ {
+ auto it = history.find(time);
+ return it != history.end() && (it->second != nullptr);
+ }
+
EntitySnapshot& Entity::getSnapshot(Time time)
{
return const_cast<EntitySnapshot&>(const_cast<const Entity*>(this)->getSnapshot(time));
@@ -60,8 +66,15 @@ namespace armarx::armem
auto it = history.find(time);
if (it != history.end())
{
- ARMARX_CHECK_NOT_NULL(it->second);
- return *it->second;
+ if (it->second)
+ {
+ return *it->second;
+ }
+ else
+ {
+ throw error::MissingData("entity snapshot", toDateTimeMilliSeconds(time),
+ getLevelName(), this->name);
+ }
}
else
{
@@ -89,8 +102,15 @@ namespace armarx::armem
const EntitySnapshot& Entity::getLatestSnapshot() const
{
auto& latest = getLatestItem();
- ARMARX_CHECK_NOT_NULL(latest.second);
- return *latest.second;
+ if (latest.second)
+ {
+ return *latest.second;
+ }
+ else
+ {
+ throw error::MissingData("entity snapshot", toDateTimeMilliSeconds(latest.first),
+ getLevelName(), this->name);
+ }
}
Time Entity::getLatestTimestamp() const
@@ -111,6 +131,10 @@ namespace armarx::armem
EntitySnapshot& Entity::addSnapshot(EntitySnapshotPtr&& snapshot)
{
+ if (!snapshot)
+ {
+ throw error::InvalidArgument("snapshot", __FUNCTION__, "Passed snapshot pointer is null.");
+ }
auto it = history.emplace(snapshot->time, std::move(snapshot)).first;
return *it->second;
}
@@ -140,6 +164,12 @@ namespace armarx::armem
}
+ EntitySnapshotPtr& Entity::addSnapshotEntry(Time time)
+ {
+ return history.emplace(time, nullptr).first->second;
+ }
+
+
void Entity::setMaxHistorySize(long maxSize)
{
this->maxHistorySize = maxSize;
diff --git a/source/RobotAPI/libraries/armem/memory/Entity.h b/source/RobotAPI/libraries/armem/memory/Entity.h
index 742b6709f3f1f7293e76f1f0bb847224f995af68..a03400cb9881b228f906612cb271abdeebb75511 100644
--- a/source/RobotAPI/libraries/armem/memory/Entity.h
+++ b/source/RobotAPI/libraries/armem/memory/Entity.h
@@ -33,8 +33,36 @@ namespace armarx::armem
Entity& operator=(const Entity& other);
+ /**
+ * @brief Indicates whether a history entry for the given time exists.
+ */
bool hasSnapshot(Time time) const;
+ /**
+ * @brief Indicates whether a history entry for the given time exists
+ * and its data is not null.
+ */
+ bool hasSnapshotData(Time time) const;
+
+
+ /**
+ * @brief Get the latest timestamp.
+ * @throw `armem::error::EntityHistoryEmpty` If the history is empty.
+ */
+ Time getLatestTimestamp() const;
+ /**
+ * @brief Get all timestamps in the history.
+ */
+ std::vector<Time> getTimestamps() const;
+
+ /**
+ * @brief Get a snapshot.
+ * @param time The time.
+ * @return The snapshot, if it exists.
+ *
+ * @throws `armem::error::MissingEntry` If there is no such entry.
+ * @throws `armem::error::MissingData` If the entry has no data.
+ */
EntitySnapshot& getSnapshot(Time time);
const EntitySnapshot& getSnapshot(Time time) const;
@@ -45,21 +73,11 @@ namespace armarx::armem
* @brief Return the snapshot with the most recent timestamp.
* @return The latest snapshot.
* @throw `armem::error::EntityHistoryEmpty` If the history is empty.
+ * @throw `armem::error::MissingData` If the latest snapshot has no data.
*/
EntitySnapshot& getLatestSnapshot();
const EntitySnapshot& getLatestSnapshot() const;
- /**
- * @brief Get the latest timestamp.
- * @throw `armem::error::EntityHistoryEmpty` If the history is empty.
- */
- Time getLatestTimestamp() const;
-
- /**
- * @brief Get all timestamps in the history.
- */
- std::vector<Time> getTimestamps() const;
-
/**
* @brief Add the given update to this entity's history.
@@ -68,10 +86,22 @@ namespace armarx::armem
*/
MemoryID update(const InternalEntityUpdate& update);
- /// Add a single snapshot.
+ /**
+ * @brief Add a single snapshot entry without data.
+ * @param time The time.
+ * @return The (empty) snapshot pointer.
+ */
+ EntitySnapshotPtr& addSnapshotEntry(Time time);
+
+ /**
+ * @brief Add a single snapshot with data.
+ * @param snapshot The snapshot.
+ * @return The stored snapshot.
+ */
EntitySnapshot& addSnapshot(const EntitySnapshot& snapshot);
EntitySnapshot& addSnapshot(EntitySnapshotPtr&& snapshot);
+
/// Get a cleared copy of `*this` (with empty history).
EntityPtr getEmptyCopy() const;