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  • sw/armarx/robot-api
  • uwkce_singer/robot-api
  • untcg_hofmann/robot-api
  • ulqba_korosakov/RobotAPI
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source/RobotAPI/components/ArViz/ArVizStorage.cpp
View file @ 7fe70ab4
......@@ -482,6 +482,12 @@ void armarx::ArVizStorage::recordBatch(armarx::viz::data::RecordingBatch& batch)
batch.header.lastRevision = last.revision;
batch.header.firstTimestampInMicroSeconds = first.timestampInMicroseconds;
batch.header.lastTimestampInMicroSeconds = last.timestampInMicroseconds;
if (firstBatch)
{
batch.initialState = currentState;
firstBatch = false;
}
std::string filename = batchFileName(batch.header);
std::filesystem::path filePath = recordingPath / filename;
......@@ -571,6 +577,7 @@ std::string armarx::ArVizStorage::startRecording(std::string const& newRecording
recordingMetaData.batchHeaders.clear();
}
firstBatch = true;
recordingTask = new RunningTask<ArVizStorage>(this, &ArVizStorage::record);
recordingTask->start();
......@@ -640,7 +647,7 @@ armarx::viz::data::RecordingBatch armarx::ArVizStorage::getRecordingBatch(std::s
return result;
}
if (batchIndex < 0 && batchIndex >= (long)recording->batchHeaders.size())
if (batchIndex < 0 || batchIndex >= (long)recording->batchHeaders.size())
{
ARMARX_WARNING << "Batch index is not valid. Index = " << batchIndex
<< "Batch count: " << recording->batchHeaders.size();
......
source/RobotAPI/components/ArViz/ArVizStorage.h
View file @ 7fe70ab4
......@@ -110,6 +110,7 @@ namespace armarx
std::vector<viz::data::TimestampedLayerUpdate> currentState;
std::vector<viz::data::TimestampedLayerUpdate> history;
long revision = 0;
bool firstBatch = false;
// We store all interactions in here
// But we curate them, so that only the last interaction with an element is reported
......
source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Data.h
View file @ 7fe70ab4
......@@ -24,12 +24,13 @@
#pragma once
// STD/STL
#include <memory>
#include <map>
#include <memory>
#include <optional>
// ArmarX
#include <SimoxUtility/xml.h>
#include <ArmarXCore/core/rapidxml/wrapper/RapidXmlReader.h>
/**
......@@ -116,36 +117,80 @@ namespace armarx::aron::typereader::xml
};
// Replacements ({tagName, {replacementsTag, additionalAronDTOXMLIncludePackagePath}, deprecationwarning})
const std::map<std::string, Replacement> REPLACEMENTS =
{
{"int", {"<int32 />", {}, "The <int />-tag is deprecated. Please use <int32 /> instead."}},
{"long", {"<int64 />", {}, "The <long />-tag is deprecated. Please use <int64 /> instead."}},
{"float", {"<float32 />", {}, "The <float />-tag is deprecated. Please use <float32 /> instead."}},
{"double", {"<float64 />", {}, "The <double />-tag is deprecated. Please use <float64 /> instead."}},
{"position", {"<matrix rows='3' cols='1' type='float32' />", {}, ""}},
{"pose", {"<matrix rows='4' cols='4' type='float32' />", {}, ""}},
{"orientation", {"<quaternion type='float32' />", {}, ""}},
const std::map<std::string, Replacement> REPLACEMENTS = {
{"int",
{"<int32 />", {}, "The <int />-tag is deprecated. Please use <int32 /> instead."}},
{"long",
{"<int64 />", {}, "The <long />-tag is deprecated. Please use <int64 /> instead."}},
{"float",
{"<float32 />",
{},
"The <float />-tag is deprecated. Please use <float32 /> instead."}},
{"double",
{"<float64 />",
{},
"The <double />-tag is deprecated. Please use <float64 /> instead."}},
// should that be deprecated?
{"position", {"<matrix rows='3' cols='1' type='float32' />", {}, ""}},
{"pose", {"<matrix rows='4' cols='4' type='float32' />", {}, ""}},
{"orientation", {"<quaternion type='float32' />", {}, ""}},
// values similar to eigen
{"quaternionf", {"<quaternion type='float32' />", {}, ""}},
{"quaterniond", {"<quaternion type='float64' />", {}, ""}},
{"vector2f", {"<matrix rows='2' cols='1' type='float32' />", {}, ""}},
{"vector2d", {"<matrix rows='2' cols='1' type='float64' />", {}, ""}},
{"vector3f", {"<matrix rows='3' cols='1' type='float32' />", {}, ""}},
{"vector3d", {"<matrix rows='3' cols='1' type='float64' />", {}, ""}},
{"vector4f", {"<matrix rows='4' cols='1' type='float32' />", {}, ""}},
{"vector4d", {"<matrix rows='4' cols='1' type='float64' />", {}, ""}},
{"matrix2f", {"<matrix rows='2' cols='2' type='float32' />", {}, ""}},
{"matrix2d", {"<matrix rows='2' cols='2' type='float64' />", {}, ""}},
{"matrix3f", {"<matrix rows='3' cols='3' type='float32' />", {}, ""}},
{"matrix3d", {"<matrix rows='3' cols='3' type='float64' />", {}, ""}},
{"matrix4f", {"<matrix rows='4' cols='4' type='float32' />", {}, ""}},
{"matrix4d", {"<matrix rows='4' cols='4' type='float64' />", {}, ""}},
// You can also add replacements for arondtos here!
// structure: {xml-identifier, {replacement, auto-include}, deprecationwarning}
{"datetime", {"<armarx::arondto::DateTime />", {"RobotAPI", "libraries/aron/common/aron/time.xml"}, ""}},
{"time", {"<armarx::arondto::DateTime />", {"RobotAPI", "libraries/aron/common/aron/time.xml"}, ""}},
{"duration", {"<armarx::arondto::Duration />", {"RobotAPI", "libraries/aron/common/aron/time.xml"}, ""}},
{"framedposition", {"<armarx::arondto::FramedPosition />", {"RobotAPI", "libraries/aron/common/aron/framed.xml"}, ""}},
{"framedorientation", {"<armarx::arondto::FramedOrientation />", {"RobotAPI", "libraries/aron/common/aron/framed.xml"}, ""}},
{"framedpose", {"<armarx::arondto::FramedPose />", {"RobotAPI", "libraries/aron/common/aron/framed.xml"}, ""}}
};
}
{"datetime",
{"<armarx::arondto::DateTime />",
{"RobotAPI", "libraries/aron/common/aron/time.xml"},
""}},
{"time",
{"<armarx::arondto::DateTime />",
{"RobotAPI", "libraries/aron/common/aron/time.xml"},
""}},
{"duration",
{"<armarx::arondto::Duration />",
{"RobotAPI", "libraries/aron/common/aron/time.xml"},
""}},
{"framedposition",
{"<armarx::arondto::FramedPosition />",
{"RobotAPI", "libraries/aron/common/aron/framed.xml"},
""}},
{"framedorientation",
{"<armarx::arondto::FramedOrientation />",
{"RobotAPI", "libraries/aron/common/aron/framed.xml"},
""}},
{"framedpose",
{"<armarx::arondto::FramedPose />",
{"RobotAPI", "libraries/aron/common/aron/framed.xml"},
""}}};
} // namespace constantes
namespace util
{
std::optional<RapidXmlReaderNode> GetFirstNodeWithTag(const RapidXmlReaderNode& node, const std::string& name);
std::optional<RapidXmlReaderNode> GetFirstNodeWithTag(const RapidXmlReaderNode& node,
const std::string& name);
void EnforceAttribute(const RapidXmlReaderNode& node, const std::string& att);
bool HasAttribute(const RapidXmlReaderNode& node, const std::string& att);
std::string GetAttribute(const RapidXmlReaderNode& node, const std::string& att);
std::string GetAttributeWithDefault(const RapidXmlReaderNode& node, const std::string& att, const std::string& def);
std::string GetAttributeWithDefault(const RapidXmlReaderNode& node,
const std::string& att,
const std::string& def);
bool AttributeIsTrue(const RapidXmlReaderNode& node, const std::string& att);
bool HasTagName(const RapidXmlReaderNode& node, const std::string& name);
......@@ -158,5 +203,5 @@ namespace armarx::aron::typereader::xml
void EnforceChildSize(const RapidXmlReaderNode& node, const size_t size);
void EnforceChildSizeGreaterEqual(const RapidXmlReaderNode& node, const size_t size);
void EnforceChildSizeGreater(const RapidXmlReaderNode& node, const size_t size);
}
}
} // namespace util
} // namespace armarx::aron::typereader::xml
source/RobotAPI/libraries/aron/core/Path.cpp
View file @ 7fe70ab4
......@@ -29,29 +29,21 @@
namespace armarx::aron
{
Path::Path() :
rootIdentifier("_ARON"),
delimeter("->")
Path::Path() : rootIdentifier(DEFAULT_ROOT_IDENTIFIER), delimeter(DEFAULT_DELIMETER)
{
}
Path::Path(const std::vector<std::string>& p) :
rootIdentifier("_ARON"),
delimeter("->"),
path(p)
rootIdentifier(DEFAULT_ROOT_IDENTIFIER), delimeter(DEFAULT_DELIMETER), path(p)
{
}
Path::Path(const Path& p) :
rootIdentifier(p.getRootIdentifier()),
delimeter(p.getDelimeter()),
path(p.getPath())
rootIdentifier(p.getRootIdentifier()), delimeter(p.getDelimeter()), path(p.getPath())
{
}
Path::Path(const Path& pa, const std::vector<std::string>& p) :
Path(pa)
Path::Path(const Path& pa, const std::vector<std::string>& p) : Path(pa)
{
for (const std::string& s : p)
{
......@@ -59,65 +51,78 @@ namespace armarx::aron
}
}
void Path::setRootIdentifier(const std::string& s)
void
Path::setRootIdentifier(const std::string& s)
{
rootIdentifier = s;
}
std::string Path::getRootIdentifier() const
std::string
Path::getRootIdentifier() const
{
return rootIdentifier;
}
void Path::setDelimeter(const std::string& d)
void
Path::setDelimeter(const std::string& d)
{
delimeter = d;
}
std::string Path::getDelimeter() const
std::string
Path::getDelimeter() const
{
return delimeter;
}
void Path::append(const std::string& str)
void
Path::append(const std::string& str)
{
path.push_back(str);
}
std::vector<std::string> Path::getPath() const
std::vector<std::string>
Path::getPath() const
{
return path;
}
std::string Path::getLastElement() const
std::string
Path::getLastElement() const
{
if (!hasElement())
{
throw error::AronException(__PRETTY_FUNCTION__, "Try to access last element of empty vector.");
throw error::AronException(__PRETTY_FUNCTION__,
"Try to access last element of empty vector.");
}
return path.back();
}
std::string Path::getFirstElement() const
std::string
Path::getFirstElement() const
{
if (!hasElement())
{
throw error::AronException(__PRETTY_FUNCTION__, "Try to access last element of empty vector.");
throw error::AronException(__PRETTY_FUNCTION__,
"Try to access last element of empty vector.");
}
return path[0];
}
bool Path::hasElement() const
bool
Path::hasElement() const
{
return path.size() > 0;
}
size_t Path::size() const
size_t
Path::size() const
{
return path.size();
}
std::string Path::toString() const
std::string
Path::toString() const
{
std::stringstream ss;
ss << rootIdentifier;
......@@ -128,7 +133,10 @@ namespace armarx::aron
return ss.str();
}
Path Path::FromString(const std::string& s, const std::string& rootIdentifier, const std::string& delimeter)
Path
Path::FromString(const std::string& s,
const std::string& rootIdentifier,
const std::string& delimeter)
{
std::vector<std::string> elements = simox::alg::split(s, delimeter);
if (elements.size())
......@@ -138,7 +146,8 @@ namespace armarx::aron
return Path(elements);
}
Path Path::withIndex(int i, bool escape) const
Path
Path::withIndex(int i, bool escape) const
{
std::string el = std::to_string(i);
if (escape)
......@@ -148,7 +157,8 @@ namespace armarx::aron
return Path(*this, {el});
}
Path Path::withElement(const std::string& s, bool escape) const
Path
Path::withElement(const std::string& s, bool escape) const
{
std::string el = s;
if (escape)
......@@ -158,7 +168,8 @@ namespace armarx::aron
return Path(*this, {el});
}
Path Path::withAcceptedType(bool escape) const
Path
Path::withAcceptedType(bool escape) const
{
std::string el = "::accepted_type";
if (escape)
......@@ -168,7 +179,8 @@ namespace armarx::aron
return Path(*this, {el});
}
Path Path::withAcceptedTypeIndex(int i, bool escape) const
Path
Path::withAcceptedTypeIndex(int i, bool escape) const
{
std::string el = "::accepted_type_" + std::to_string(i);
if (escape)
......@@ -178,7 +190,8 @@ namespace armarx::aron
return Path(*this, {el});
}
Path Path::withDetachedLastElement() const
Path
Path::withDetachedLastElement() const
{
std::vector<std::string> p = path;
p.pop_back();
......@@ -188,7 +201,8 @@ namespace armarx::aron
return ret;
}
Path Path::withDetachedFirstElement() const
Path
Path::withDetachedFirstElement() const
{
std::vector<std::string> p = path;
p.erase(p.begin());
......@@ -198,7 +212,8 @@ namespace armarx::aron
return ret;
}
Path Path::getWithoutPrefix(const Path& pref) const
Path
Path::getWithoutPrefix(const Path& pref) const
{
unsigned int firstWithoutMatch = 0;
for (const std::string& el : pref.getPath())
......@@ -212,11 +227,12 @@ namespace armarx::aron
firstWithoutMatch++;
}
}
std::vector<std::string> elementsWithoutPrefix(path.begin() + firstWithoutMatch, path.end());
std::vector<std::string> elementsWithoutPrefix(path.begin() + firstWithoutMatch,
path.end());
auto ret = Path(elementsWithoutPrefix);
ret.setRootIdentifier(rootIdentifier);
ret.setDelimeter(delimeter);
return ret;
}
}
} // namespace armarx::aron
source/RobotAPI/libraries/aron/core/Path.h
View file @ 7fe70ab4
......@@ -24,8 +24,8 @@
#pragma once
// STD/STL
#include<vector>
#include<string>
#include <string>
#include <vector>
namespace armarx::aron
{
......@@ -36,6 +36,9 @@ namespace armarx::aron
class Path
{
public:
static const constexpr char* DEFAULT_ROOT_IDENTIFIER = "_ARON";
static const constexpr char* DEFAULT_DELIMETER = "->";
/// default constructor
Path();
......@@ -69,7 +72,9 @@ namespace armarx::aron
std::string getDelimeter() const;
std::string toString() const;
static Path FromString(const std::string&, const std::string& rootIdentifier = "_ARON", const std::string& delimeter = "->");
static Path FromString(const std::string&,
const std::string& rootIdentifier = DEFAULT_ROOT_IDENTIFIER,
const std::string& delimeter = DEFAULT_DELIMETER);
Path withDetachedFirstElement() const;
Path withDetachedLastElement() const;
......@@ -83,4 +88,4 @@ namespace armarx::aron
std::string delimeter;
std::vector<std::string> path;
};
}
} // namespace armarx::aron