scenarios/AronComponentConfigExample/config/AronComponentConfigExample.cfg

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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;
     }