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  • sw/armarx/robot-api
  • uwkce_singer/robot-api
  • untcg_hofmann/robot-api
  • ulqba_korosakov/RobotAPI
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scenarios/AronComponentConfigExample/config/AronComponentConfigExample.cfg
View file @ 7a0f7f68
......@@ -60,152 +60,200 @@
# ArmarX.ComponentConfigTest.RemoteGuiName = RemoteGuiProvider
# ArmarX.ComponentConfigTest.boolMember:
# ArmarX.ComponentConfigTest.TestConfig.boolMember:
# Attributes:
# - Default: true
# - Case sensitivity: yes
# - Required: no
# - Possible values: {0, 1, false, no, true, yes}
# ArmarX.ComponentConfigTest.boolMember = true
# ArmarX.ComponentConfigTest.TestConfig.boolMember = true
# ArmarX.ComponentConfigTest.floatMember:
# ArmarX.ComponentConfigTest.TestConfig.floatMember:
# Attributes:
# - Default: 100
# - Case sensitivity: yes
# - Required: no
# ArmarX.ComponentConfigTest.floatMember = 100
# ArmarX.ComponentConfigTest.TestConfig.floatMember = 100
# ArmarX.ComponentConfigTest.intMember:
# ArmarX.ComponentConfigTest.TestConfig.intMember:
# Attributes:
# - Default: 1000
# - Case sensitivity: yes
# - Required: no
# ArmarX.ComponentConfigTest.intMember = 1000
# ArmarX.ComponentConfigTest.TestConfig.intMember = 1000
# ArmarX.ComponentConfigTest.stringMember:
# ArmarX.ComponentConfigTest.TestConfig.orientation.header.agent:
# Attributes:
# - Default: ""
# - Case sensitivity: yes
# - Required: no
# ArmarX.ComponentConfigTest.TestConfig.orientation.header.agent = ""
# ArmarX.ComponentConfigTest.TestConfig.orientation.header.frame:
# Attributes:
# - Default: ""
# - Case sensitivity: yes
# - Required: no
# ArmarX.ComponentConfigTest.TestConfig.orientation.header.frame = ""
# ArmarX.ComponentConfigTest.TestConfig.pose.header.agent:
# Attributes:
# - Default: ""
# - Case sensitivity: yes
# - Required: no
# ArmarX.ComponentConfigTest.TestConfig.pose.header.agent = ""
# ArmarX.ComponentConfigTest.TestConfig.pose.header.frame:
# Attributes:
# - Default: ""
# - Case sensitivity: yes
# - Required: no
# ArmarX.ComponentConfigTest.TestConfig.pose.header.frame = ""
# ArmarX.ComponentConfigTest.TestConfig.position.header.agent:
# Attributes:
# - Default: ""
# - Case sensitivity: yes
# - Required: no
# ArmarX.ComponentConfigTest.TestConfig.position.header.agent = ""
# ArmarX.ComponentConfigTest.TestConfig.position.header.frame:
# Attributes:
# - Default: ""
# - Case sensitivity: yes
# - Required: no
# ArmarX.ComponentConfigTest.TestConfig.position.header.frame = ""
# ArmarX.ComponentConfigTest.TestConfig.stringMember:
# Attributes:
# - Default: initial
# - Case sensitivity: yes
# - Required: no
# ArmarX.ComponentConfigTest.stringMember = initial
# ArmarX.ComponentConfigTest.TestConfig.stringMember = initial
# ArmarX.ComponentConfigTest.subMember.boolMember:
# ArmarX.ComponentConfigTest.TestConfig.subMember.boolMember:
# Attributes:
# - Default: false
# - Case sensitivity: yes
# - Required: no
# - Possible values: {0, 1, false, no, true, yes}
# ArmarX.ComponentConfigTest.subMember.boolMember = false
# ArmarX.ComponentConfigTest.TestConfig.subMember.boolMember = false
# ArmarX.ComponentConfigTest.subMember.doubleMember:
# ArmarX.ComponentConfigTest.TestConfig.subMember.doubleMember:
# Attributes:
# - Default: 0
# - Case sensitivity: yes
# - Required: no
# ArmarX.ComponentConfigTest.subMember.doubleMember = 0
# ArmarX.ComponentConfigTest.TestConfig.subMember.doubleMember = 0
# ArmarX.ComponentConfigTest.subMember.floatMember:
# ArmarX.ComponentConfigTest.TestConfig.subMember.floatMember:
# Attributes:
# - Default: 0
# - Case sensitivity: yes
# - Required: no
# ArmarX.ComponentConfigTest.subMember.floatMember = 0
# ArmarX.ComponentConfigTest.TestConfig.subMember.floatMember = 0
# ArmarX.ComponentConfigTest.subMember.intMember:
# ArmarX.ComponentConfigTest.TestConfig.subMember.intMember:
# Attributes:
# - Default: 0
# - Case sensitivity: yes
# - Required: no
# ArmarX.ComponentConfigTest.subMember.intMember = 0
# ArmarX.ComponentConfigTest.TestConfig.subMember.intMember = 0
# ArmarX.ComponentConfigTest.subMember.stringMember:
# ArmarX.ComponentConfigTest.TestConfig.subMember.stringMember:
# Attributes:
# - Default: ""
# - Case sensitivity: yes
# - Required: no
# ArmarX.ComponentConfigTest.subMember.stringMember = ""
# ArmarX.ComponentConfigTest.TestConfig.subMember.stringMember = ""
# ArmarX.ComponentConfigTest.subMember.subsubMember.boolMember:
# ArmarX.ComponentConfigTest.TestConfig.subMember.subsubMember.boolMember:
# Attributes:
# - Default: false
# - Case sensitivity: yes
# - Required: no
# - Possible values: {0, 1, false, no, true, yes}
# ArmarX.ComponentConfigTest.subMember.subsubMember.boolMember = false
# ArmarX.ComponentConfigTest.TestConfig.subMember.subsubMember.boolMember = false
# ArmarX.ComponentConfigTest.subMember.subsubMember.enumMember:
# ArmarX.ComponentConfigTest.TestConfig.subMember.subsubMember.enumMember:
# Attributes:
# - Default: 1
# - Case sensitivity: yes
# - Required: no
# - Possible values: {Bar, Baz, Foo, Qux}
# ArmarX.ComponentConfigTest.subMember.subsubMember.enumMember = 1
# ArmarX.ComponentConfigTest.TestConfig.subMember.subsubMember.enumMember = 1
# ArmarX.ComponentConfigTest.subMember.subsubMember.floatMember:
# ArmarX.ComponentConfigTest.TestConfig.subMember.subsubMember.floatMember:
# Attributes:
# - Default: 0
# - Case sensitivity: yes
# - Required: no
# ArmarX.ComponentConfigTest.subMember.subsubMember.floatMember = 0
# ArmarX.ComponentConfigTest.TestConfig.subMember.subsubMember.floatMember = 0
# ArmarX.ComponentConfigTest.subMember.subsubMember.intDictMember:
# ArmarX.ComponentConfigTest.TestConfig.subMember.subsubMember.intDictMember:
# Attributes:
# - Default: int1:1,int2:2
# - Case sensitivity: yes
# - Required: no
ArmarX.ComponentConfigTest.subMember.subsubMember.intDictMember = int1:1,int2:2,int3:3,int5:4
# ArmarX.ComponentConfigTest.TestConfig.subMember.subsubMember.intDictMember = int1:1,int2:2
# ArmarX.ComponentConfigTest.subMember.subsubMember.intListMember:
# ArmarX.ComponentConfigTest.TestConfig.subMember.subsubMember.intListMember:
# Attributes:
# - Default: 1, 2, 3, 4, 5, 6
# - Case sensitivity: yes
# - Required: no
# ArmarX.ComponentConfigTest.subMember.subsubMember.intListMember = 1, 2, 3, 4, 5, 6
# ArmarX.ComponentConfigTest.TestConfig.subMember.subsubMember.intListMember = 1, 2, 3, 4, 5, 6
# ArmarX.ComponentConfigTest.subMember.subsubMember.intMember:
# ArmarX.ComponentConfigTest.TestConfig.subMember.subsubMember.intMember:
# Attributes:
# - Default: 0
# - Case sensitivity: yes
# - Required: no
# ArmarX.ComponentConfigTest.subMember.subsubMember.intMember = 0
# ArmarX.ComponentConfigTest.TestConfig.subMember.subsubMember.intMember = 0
# ArmarX.ComponentConfigTest.subMember.subsubMember.stringDictMember:
# ArmarX.ComponentConfigTest.TestConfig.subMember.subsubMember.stringDictMember:
# Attributes:
# - Default: string1:blub,string2:duh
# - Case sensitivity: yes
# - Required: no
# ArmarX.ComponentConfigTest.subMember.subsubMember.stringDictMember = string1:blub,string2:duh
# ArmarX.ComponentConfigTest.TestConfig.subMember.subsubMember.stringDictMember = string1:blub,string2:duh
# ArmarX.ComponentConfigTest.subMember.subsubMember.stringListMember:
# ArmarX.ComponentConfigTest.TestConfig.subMember.subsubMember.stringListMember:
# Attributes:
# - Default: a, b, c, d, e
# - Case sensitivity: yes
# - Required: no
# ArmarX.ComponentConfigTest.subMember.subsubMember.stringListMember = a, b, c, d, e
# ArmarX.ComponentConfigTest.TestConfig.subMember.subsubMember.stringListMember = a, b, c, d, e
# ArmarX.ComponentConfigTest.subMember.subsubMember.stringMember:
# ArmarX.ComponentConfigTest.TestConfig.subMember.subsubMember.stringMember:
# Attributes:
# - Default: ""
# - Case sensitivity: yes
# - Required: no
# ArmarX.ComponentConfigTest.subMember.subsubMember.stringMember = ""
# ArmarX.ComponentConfigTest.TestConfig.subMember.subsubMember.stringMember = ""
# ArmarX.Config: Comma-separated list of configuration files
......
source/RobotAPI/applications/AronCodeGenerator/main.cpp
View file @ 7a0f7f68
......@@ -177,7 +177,39 @@ int main(int argc, char* argv[])
}
}
auto w = CppWriterPtr(new CppWriter());
std::time_t current_time = std::time(0);
std::tm* now = std::localtime(&current_time);
std::string current_year = std::to_string(now->tm_year + 1900);
std::string fileDoc = std::string("* This file is part of ArmarX. \n") +
"* \n" +
"* Copyright (C) 2012-" + current_year + ", High Performance Humanoid Technologies (H2T), \n" +
"* Karlsruhe Institute of Technology (KIT), all rights reserved. \n" +
"* \n" +
"* ArmarX is free software; you can redistribute it and/or modify \n" +
"* it under the terms of the GNU General Public License version 2 as \n" +
"* published by the Free Software Foundation. \n" +
"* \n" +
"* ArmarX is distributed in the hope that it will be useful, but \n" +
"* WITHOUT ANY WARRANTY; without even the implied warranty of \n" +
"* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the \n" +
"* GNU General Public License for more details. \n" +
"* \n" +
"* You should have received a copy of the GNU General Public License \n" +
"* along with this program. If not, see <http://www.gnu.org/licenses/>. \n" +
"* \n" +
"* @copyright http://www.gnu.org/licenses/gpl-2.0.txt \n" +
"* GNU General Public License \n" +
"* *********************************************************************** \n" +
"* WARNING: This file is autogenerated. \n" +
"* Original file: " + filename + " \n" +
"* Please do not edit since your changes may be overwritten on the next generation \n" +
"* If you have any questions please contact: Fabian Peller-Konrad (fabian dot peller-konrad at kit dot edu) \n" +
"* ***********************************************************************";
auto w = CppWriterPtr(new CppWriter(true, fileDoc));
w->header.line();
w->header.line();
// Generate enums at top of generated header file
std::vector<MetaEnumPtr> enums = writer.getTypeEnums();
......@@ -186,7 +218,12 @@ int main(int argc, char* argv[])
std::cout << "Now exporting enums..." << std::endl;
}
w->body.line("/*************************************************************************");
w->body.line(" * ALL GENERATED ENUMS ***************************************************");
w->body.line(" ************************************************************************/");
MetaEnum::Write(enums, w);
w->body.line();
w->body.line();
std::string enum_file_generation_content = w->getString();
......@@ -208,7 +245,12 @@ int main(int argc, char* argv[])
std::cout << "Now exporting classes..." << std::endl;
}
w->body.line("/* ************************************************************************");
w->body.line(" * ALL GENERATED CLASSES *************************************************");
w->body.line(" * ***********************************************************************/");
CppClass::Write(classes, w);
w->body.line();
w->body.line();
std::string class_file_generation_content = simox::alg::remove_prefix(w->getString(), enum_file_generation_content);
......@@ -223,39 +265,7 @@ int main(int argc, char* argv[])
exit(1);
}
std::time_t current_time = std::time(0);
std::tm* now = std::localtime(&current_time);
std::string current_year = std::to_string(now->tm_year + 1900);
std::string new_file_header = "\
/* \n\
* This file is part of ArmarX. \n\
* \n\
* Copyright (C) 2012-" + current_year + ", High Performance Humanoid Technologies (H2T), \n\
* Karlsruhe Institute of Technology (KIT), all rights reserved. \n\
* \n\
* ArmarX is free software; you can redistribute it and/or modify \n\
* it under the terms of the GNU General Public License version 2 as \n\
* published by the Free Software Foundation. \n\
* \n\
* ArmarX is distributed in the hope that it will be useful, but \n\
* WITHOUT ANY WARRANTY; without even the implied warranty of \n\
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the \n\
* GNU General Public License for more details. \n\
* \n\
* You should have received a copy of the GNU General Public License \n\
* along with this program. If not, see <http://www.gnu.org/licenses/>. \n\
* \n\
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt \n\
* GNU General Public License \n\
************************************************************************* \n\
* WARNING: This file is autogenerated. \n\
* Original file: " + filename + " \n\
* Please do not edit since your changes may be overwritten on the next generation \n\
* If you have any questions please contact: Fabian Peller-Konrad (fabian dot peller-konrad at kit dot edu) \n\
************************************************************************* \n\
*/\n\n\n";
std::string new_file_full_content = new_file_header + w->getString();
std::string new_file_full_content = w->getString();
std::string new_name_with_extension = input_file.filename().replace_extension("").string();
new_name_with_extension += ".aron.generated.h";
......
source/RobotAPI/components/armem/addon/LegacyRobotStateMemoryAdapter/LegacyRobotStateMemoryAdapter.cpp
View file @ 7a0f7f68
......@@ -96,7 +96,7 @@ namespace armarx::armem
armem::EntityUpdate entityUpdate;
entityUpdate.entityID = propEntityID;
entityUpdate.timeCreated = Time(Duration::MicroSeconds(_timestampUpdateFirstModifiedInUs)); // we take the oldest timestamp
entityUpdate.referencedTime = Time(Duration::MicroSeconds(_timestampUpdateFirstModifiedInUs)); // we take the oldest timestamp
entityUpdate.instancesData =
{
......@@ -128,7 +128,7 @@ namespace armarx::armem
armem::EntityUpdate locUpdate;
locUpdate.entityID = locEntityID;
locUpdate.timeCreated = Time(Duration::MicroSeconds(_timestampUpdateFirstModifiedInUs));
locUpdate.referencedTime = Time(Duration::MicroSeconds(_timestampUpdateFirstModifiedInUs));
locUpdate.instancesData =
{
transform.toAron()
......@@ -282,7 +282,7 @@ namespace armarx::armem
entityUpdate.entityID.entityName = "Armar3";
entityUpdate.instancesData = { desc.toAron() };
entityUpdate.timeCreated = armem::Time::Now();
entityUpdate.referencedTime = armem::Time::Now();
auto res = memoryWriter.commit(c);
if (!res.allSuccess())
{
......
source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
View file @ 7a0f7f68
......@@ -218,9 +218,9 @@ namespace armarx
// Prepare the update with some empty instances.
armem::EntityUpdate update;
update.entityID = entityID;
update.timeCreated = armem::Time::Now();
update.referencedTime = armem::Time::Now();
double diff = (update.timeCreated - runStarted).toMilliSecondsDouble() / 1000;
double diff = (update.referencedTime - runStarted).toMilliSecondsDouble() / 1000;
auto dict1 = std::make_shared<aron::data::Dict>();
auto dict2 = std::make_shared<aron::data::Dict>();
......@@ -265,7 +265,7 @@ namespace armarx
{
armem::EntityUpdate& update = commit.add();
update.entityID = entityID;
update.timeCreated = armem::Time::Now() + armem::Duration::Seconds(i);
update.referencedTime = armem::Time::Now() + armem::Duration::Seconds(i);
for (int j = 0; j < i; ++j)
{
update.instancesData.push_back(std::make_shared<aron::data::Dict>());
......@@ -387,7 +387,7 @@ namespace armarx
{
armem::EntityUpdate& update = commit.add();
update.entityID = exampleDataProviderID.withEntityName("default");
update.timeCreated = time;
update.referencedTime = time;
armem::example::ExampleData data;
toAron(data.memoryID, armem::MemoryID());
......@@ -401,7 +401,7 @@ namespace armarx
{
armem::EntityUpdate& update = commit.add();
update.entityID = exampleDataProviderID.withEntityName("the answer");
update.timeCreated = time;
update.referencedTime = time;
armem::example::ExampleData data;
data.the_bool = true;
......@@ -488,7 +488,7 @@ namespace armarx
{
armem::EntityUpdate& update = commit.add();
update.entityID = linkedDataProviderID.withEntityName("yet_more_data");
update.timeCreated = time;
update.referencedTime = time;
armem::example::LinkedData data;
data.yet_another_int = 42;
......@@ -545,7 +545,7 @@ namespace armarx
{
armem::EntityUpdate& update = commit.add();
update.entityID = exampleDataProviderID.withEntityName("id to the_answer");
update.timeCreated = time;
update.referencedTime = time;
armem::example::ExampleData data;
armem::toAron(data.memoryID, theAnswerSnapshotID);
......@@ -556,7 +556,7 @@ namespace armarx
{
armem::EntityUpdate& update = commit.add();
update.entityID = exampleDataProviderID.withEntityName("id to self");
update.timeCreated = time;
update.referencedTime = time;
armem::example::ExampleData data;
armem::toAron(data.memoryID, update.entityID.withTimestamp(time));
......@@ -568,7 +568,7 @@ namespace armarx
{
armem::EntityUpdate& update = commit.add();
update.entityID = exampleDataProviderID.withEntityName("id to previous snapshot");
update.timeCreated = time - armem::Duration::Seconds(1); // 1 sec in the past
update.referencedTime = time - armem::Duration::Seconds(1); // 1 sec in the past
armem::example::ExampleData data;
armem::toAron(data.memoryID, armem::MemoryID()); // First entry - invalid link
......@@ -579,7 +579,7 @@ namespace armarx
{
armem::EntityUpdate& update = commit.add();
update.entityID = exampleDataProviderID.withEntityName("id to previous snapshot");
update.timeCreated = time;
update.referencedTime = time;
armem::example::ExampleData data;
armem::toAron(data.memoryID, update.entityID.withTimestamp(time - armem::Duration::Seconds(1)));
......@@ -634,7 +634,7 @@ namespace armarx
{
armem::EntityUpdate& update = commit.add();
update.entityID = exampleDataProviderID.withEntityName("link to yet_more_data");
update.timeCreated = time;
update.referencedTime = time;
armem::example::ExampleData data;
armem::toAron(data.memoryID, armem::MemoryID());
......@@ -686,7 +686,7 @@ namespace armarx
{
armem::EntityUpdate& update = commit.add();
update.entityID = exampleDataProviderID.withEntityName("some_new_fancy_entity_id");
update.timeCreated = time;
update.referencedTime = time;
auto currentFolder = std::filesystem::current_path();
auto opencv_img = cv::imread((currentFolder / "images" / (std::to_string(imageCounter + 1) + ".jpg")).string());
......@@ -708,7 +708,7 @@ namespace armarx
{
armem::EntityUpdate& update = commit.add();
update.entityID = exampleDataProviderID.withEntityName("unexpected_data");
update.timeCreated = time;
update.referencedTime = time;
armem::example::ExampleData data;
toAron(data.memoryID, armem::MemoryID()); // ////1/1
......
source/RobotAPI/components/armem/client/ObjectInstanceToIndex/ObjectInstanceToIndex.cpp
View file @ 7a0f7f68
......@@ -196,7 +196,7 @@ namespace armarx
armem::EntityUpdate& update = commit.add();
update.entityID = provSegID.withEntityName(instance.id().str());
update.timeCreated = instance.id().timestamp;
update.referencedTime = instance.id().timestamp;
update.instancesData = { spatial.toAron() };
return true;
......
source/RobotAPI/components/armem/client/ObjectInstanceToIndex/impl/ObjectInstanceToIndex.cpp
View file @ 7a0f7f68
......@@ -75,7 +75,7 @@ namespace armarx::armem::objects
armem::EntityUpdate& update = commit.add();
update.entityID = indexSpatialProviderSegmentID.withEntityName(
objectInstanceID.getEntityID().str());
update.timeCreated = objectPose.timestamp;
update.referencedTime = objectPose.timestamp;
update.instancesData = {spatial.toAron()};
}
......@@ -114,7 +114,7 @@ namespace armarx::armem::objects
armem::EntityUpdate& update = commit.add();
update.entityID = indexNamedProviderSegmentID.withEntityName(
objectInstanceID.getEntityID().str());
update.timeCreated = objectPose.timestamp;
update.referencedTime = objectPose.timestamp;
update.instancesData = {named.toAron()};
}
}
......
source/RobotAPI/components/armem/client/RobotStatePredictionClientExample/RobotStatePredictionClient.cpp
View file @ 7a0f7f68
......@@ -163,7 +163,7 @@ namespace armarx::armem::robot_state
{
armem::EntityUpdate update;
update.entityID = entityID;
update.timeCreated = predictedTime;
update.referencedTime = predictedTime;
update.instancesData = {result.prediction};
coreSegment->update(update);
}
......
source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
View file @ 7a0f7f68
......@@ -197,7 +197,7 @@ namespace armarx
.withProviderSegmentName(memoryID.providerSegmentName)
.withEntityName(memoryID.entityName);
update.entityID = newID;
update.timeCreated = armem::Time::Now();
update.referencedTime = armem::Time::Now();
update.instancesData = { instance->data() };
armem::Commit newCommit;
......
source/RobotAPI/interface/armem/commit.ice
View file @ 7a0f7f68
......@@ -34,7 +34,7 @@ module armarx
{
armem::data::MemoryID entityID;
aron::data::dto::AronDictSeq instancesData;
armarx::core::time::dto::DateTime timeCreated;
armarx::core::time::dto::DateTime referencedTime;
float confidence = 1.0;
armarx::core::time::dto::DateTime timeSent;
......
source/RobotAPI/interface/armem/memory.ice
View file @ 7a0f7f68
......@@ -38,9 +38,11 @@ module armarx
/// Ice Twin of `armarx::armem::EntityInstanceMetadata`.
class EntityInstanceMetadata
{
armarx::core::time::dto::DateTime timeCreated;
armarx::core::time::dto::DateTime timeSent;
armarx::core::time::dto::DateTime timeArrived;
armarx::core::time::dto::DateTime referencedTime;
armarx::core::time::dto::DateTime sentTime;
armarx::core::time::dto::DateTime arrivedTime;
armarx::core::time::dto::DateTime lastAccessedTime;
long accessed = 0;
float confidence = 1.0;
};
......
source/RobotAPI/libraries/GraspingUtility/GraspCandidateWriter.cpp
View file @ 7a0f7f68
......@@ -170,7 +170,7 @@ namespace armarx::armem
armem::EntityUpdate update;
update.entityID = entityID;
update.instancesData = instances;
update.timeCreated = timestamp;
update.referencedTime = timestamp;
ARMARX_DEBUG << "Committing " << update << " at time " << timestamp;
armem::EntityUpdateResult updateResult = memoryWriter.commit(update);
......
source/RobotAPI/libraries/armem/client/Writer.cpp
View file @ 7a0f7f68
......@@ -84,12 +84,12 @@ namespace armarx::armem::client
EntityUpdateResult Writer::commit(
const MemoryID& entityID,
const std::vector<aron::data::DictPtr>& instancesData,
Time timeCreated)
Time referencedTime)
{
EntityUpdate update;
update.entityID = entityID;
update.instancesData = instancesData;
update.timeCreated = timeCreated;
update.referencedTime = referencedTime;
return commit(update);
}
......
source/RobotAPI/libraries/armem/client/Writer.h
View file @ 7a0f7f68
......@@ -49,7 +49,7 @@ namespace armarx::armem::client
EntityUpdateResult commit(
const MemoryID& entityID,
const std::vector<aron::data::DictPtr>& instancesData,
Time timeCreated);
Time referencedTime);
// with bare-ice types
data::CommitResult commit(const data::Commit& commit);
......
source/RobotAPI/libraries/armem/core/Commit.cpp
View file @ 7a0f7f68
......@@ -14,7 +14,7 @@ namespace armarx::armem
{
return os << "Entity update: "
<< "\n- success: \t" << rhs.entityID
<< "\n- timestamp: \t" << toDateTimeMilliSeconds(rhs.timeCreated)
<< "\n- timestamp: \t" << toDateTimeMilliSeconds(rhs.referencedTime)
<< "\n- #instances: \t" << rhs.instancesData.size()
<< "\n"
;
......@@ -25,7 +25,7 @@ namespace armarx::armem
return os << "Entity update result: "
<< "\n- success: \t" << (rhs.success ? "true" : "false")
<< "\n- snapshotID: \t" << rhs.snapshotID
<< "\n- time arrived: \t" << toDateTimeMilliSeconds(rhs.timeArrived)
<< "\n- time arrived: \t" << toDateTimeMilliSeconds(rhs.arrivedTime)
<< "\n- error message: \t" << rhs.errorMessage
<< "\n"
;
......
source/RobotAPI/libraries/armem/core/Commit.h
View file @ 7a0f7f68
......@@ -36,7 +36,7 @@ namespace armarx::armem
* @brief Time when this entity update was created (e.g. time of image recording).
* This is the key of the entity's history.
*/
Time timeCreated = Time::Invalid();
Time referencedTime = Time::Invalid();
// OPTIONAL
......@@ -52,14 +52,14 @@ namespace armarx::armem
*
* Set automatically when sending the commit.
*/
Time timeSent = Time::Invalid();
Time sentTime = Time::Invalid();
/**
* @brief Time when this update arrived at the memory server.
*
* Set by memory server on arrival.
*/
Time timeArrived = Time::Invalid();
Time arrivedTime = Time::Invalid();
friend std::ostream& operator<<(std::ostream& os, const EntityUpdate& rhs);
......@@ -74,7 +74,7 @@ namespace armarx::armem
bool success = false;
MemoryID snapshotID;
Time timeArrived = Time::Invalid();
Time arrivedTime = Time::Invalid();
std::string errorMessage;
......
source/RobotAPI/libraries/armem/core/base/EntityBase.h
View file @ 7a0f7f68
......@@ -552,11 +552,11 @@ namespace armarx::armem::base
EntitySnapshotT* snapshot;
auto it = this->_container.find(update.timeCreated);
auto it = this->_container.find(update.referencedTime);
if (it == this->_container.end())
{
// Insert into history.
snapshot = &addSnapshot(update.timeCreated);
snapshot = &addSnapshot(update.referencedTime);
// ret.removedSnapshots = this->truncate();
ret.entityUpdateType = UpdateType::InsertedNew;
}
......
source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.cpp
View file @ 7a0f7f68
......@@ -3,11 +3,17 @@
namespace armarx::armem::base
{
void EntityInstanceMetadata::access() const
{
numAccessed++;
lastAccessedTime = armarx::core::time::DateTime::Now();
}
bool EntityInstanceMetadata::operator==(const EntityInstanceMetadata& other) const
{
return timeCreated == other.timeCreated
&& timeSent == other.timeSent
&& timeArrived == other.timeArrived
return referencedTime == other.referencedTime
&& sentTime == other.sentTime
&& arrivedTime == other.arrivedTime
&& std::abs(confidence - other.confidence) < 1e-6f;
}
}
......@@ -16,10 +22,11 @@ namespace armarx::armem::base
std::ostream& armarx::armem::base::operator<<(std::ostream& os, const EntityInstanceMetadata& d)
{
os << "EntityInstanceMetadata: "
<< "\n- t_create = \t" << armem::toStringMicroSeconds(d.timeCreated) << " us"
<< "\n- t_sent = \t" << armem::toStringMicroSeconds(d.timeSent) << " us"
<< "\n- t_arrived = \t" << armem::toStringMicroSeconds(d.timeArrived) << " us"
<< "\n- confidence = \t" << d.confidence << " us"
<< "\n - t_referenced = \t" << armem::toStringMicroSeconds(d.referencedTime) << " us"
<< "\n - t_sent = \t" << armem::toStringMicroSeconds(d.sentTime) << " us"
<< "\n - t_arrived = \t" << armem::toStringMicroSeconds(d.arrivedTime) << " us"
<< "\n - t_accessed = \t" << armem::toStringMicroSeconds(d.lastAccessedTime) << " us (" << d.numAccessed << ")"
<< "\n - confidence = \t" << d.confidence << " us"
;
return os;
}
source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h
View file @ 7a0f7f68
......@@ -14,6 +14,16 @@ namespace armarx::armem::base
*/
struct NoData
{
virtual ~NoData() = default;
bool operator==(const NoData& other)
{
return true;
}
bool operator!=(const NoData& other)
{
return false;
}
};
......@@ -22,22 +32,34 @@ namespace armarx::armem::base
*/
struct EntityInstanceMetadata
{
/// Time when this value was created.
Time timeCreated;
virtual ~EntityInstanceMetadata() = default;
/**
* @brief Time this instance refers to.
*
* For example, the physical time point when an image was captured.
* If the image is processed, the result should have the same
* referencedTime as the image.
*/
Time referencedTime = Time::Invalid();
/// Time when this value was sent to the memory.
Time timeSent;
Time sentTime = Time::Invalid();
/// Time when this value has arrived at the memory.
Time timeArrived;
Time arrivedTime = Time::Invalid();
/// An optional confidence, may be used for things like decay.
float confidence = 1.0;
/// An optional value indicating the last access
Time lastAccessed = Time::Invalid();
/// An optional value indicating the time of last access.
mutable Time lastAccessedTime = Time::Invalid();
/// A counter how often the instance has been accessed
unsigned long accessed = 0;
/// A counter how often the instance has been accessed.
mutable unsigned long numAccessed = 0;
/// Called whenever the entity instance this metadata belongs to is accessed (e.g. queried).
void access() const;
bool operator==(const EntityInstanceMetadata& other) const;
inline bool operator!=(const EntityInstanceMetadata& other) const
......@@ -91,11 +113,11 @@ namespace armarx::armem::base
// Data
EntityInstanceMetadata& metadata()
MetadataT& metadata()
{
return _metadata;
}
const EntityInstanceMetadata& metadata() const
const MetadataT& metadata() const
{
return _metadata;
}
......
source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h
View file @ 7a0f7f68
......@@ -223,7 +223,7 @@ namespace armarx::armem::base
void update(const EntityUpdate& update)
{
detail::throwIfNotEqual(time(), update.timeCreated);
detail::throwIfNotEqual(time(), update.referencedTime);
this->_container.clear();
for (int index = 0; index < int(update.instancesData.size()); ++index)
......
source/RobotAPI/libraries/armem/core/base/ice_conversions.cpp
View file @ 7a0f7f68
......@@ -56,16 +56,20 @@ namespace armarx::armem
void base::toIce(data::EntityInstanceMetadata& ice, const EntityInstanceMetadata& metadata)
{
ice.confidence = metadata.confidence;
toIce(ice.timeArrived, metadata.timeArrived);
toIce(ice.timeCreated, metadata.timeCreated);
toIce(ice.timeSent, metadata.timeSent);
toIce(ice.arrivedTime, metadata.arrivedTime);
toIce(ice.referencedTime, metadata.referencedTime);
toIce(ice.sentTime, metadata.sentTime);
toIce(ice.lastAccessedTime, metadata.lastAccessedTime);
ice.accessed = metadata.numAccessed;
}
void base::fromIce(const data::EntityInstanceMetadata& ice, EntityInstanceMetadata& metadata)
{
metadata.confidence = ice.confidence;
fromIce(ice.timeArrived, metadata.timeArrived);
fromIce(ice.timeCreated, metadata.timeCreated);
fromIce(ice.timeSent, metadata.timeSent);
fromIce(ice.arrivedTime, metadata.arrivedTime);
fromIce(ice.referencedTime, metadata.referencedTime);
fromIce(ice.sentTime, metadata.sentTime);
fromIce(ice.lastAccessedTime, metadata.lastAccessedTime);
metadata.numAccessed = ice.accessed;
}
......