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