Refactor inheritance in armem/core

• Remove common base classes and virtual inheritance
• Move constructors and operators to base classes
• Add tests for copy/move constructors and operators

source/RobotAPI/libraries/armem/core/base/EntityBase.h

@@ -39,8 +39,8 @@ namespace armarx::armem::base
      */
     template <class _EntitySnapshotT, class _Derived>
     class EntityBase :
-        virtual public detail::MemoryContainerBase<std::map<Time, _EntitySnapshotT>, _Derived>,
-        virtual public detail::MaxHistorySize
+        public detail::MemoryContainerBase<std::map<Time, _EntitySnapshotT>, _Derived>,
+        public detail::MaxHistorySize
     {
         using Base = detail::MemoryContainerBase<std::map<Time, _EntitySnapshotT>, _Derived>;
 
@@ -55,11 +55,23 @@ namespace armarx::armem::base
 
     public:
 
-        EntityBase& operator=(const EntityBase& other)
+        EntityBase()
         {
-            other._copySelf(*this);
-            return *this;
         }
+        EntityBase(const std::string& name, const MemoryID& parentID = {}) :
+            EntityBase(parentID.withEntityName(name))
+        {
+        }
+        EntityBase(const MemoryID& id) :
+            Base(id)
+        {
+        }
+
+
+        EntityBase(const EntityBase& other) = default;
+        EntityBase(EntityBase&& other) = default;
+        EntityBase& operator=(const EntityBase& other) = default;
+        EntityBase& operator=(EntityBase&& other) = default;
 
 
         virtual bool equalsDeep(const EntityBase& other) const
@@ -69,7 +81,7 @@ namespace armarx::armem::base
             {
                 return false;
             }
-            for (const auto& [key, snapshot] : _container)
+            for (const auto& [key, snapshot] : this->_container)
             {
                 if (not other.hasSnapshot(key))
                 {
@@ -96,7 +108,7 @@ namespace armarx::armem::base
 
         inline const std::map<Time, EntitySnapshotT>& history() const
         {
-            return _container;
+            return this->_container;
         }
         inline std::map<Time, EntitySnapshotT>& history()
         {
@@ -109,7 +121,7 @@ namespace armarx::armem::base
          */
         bool hasSnapshot(Time time) const
         {
-            return _container.count(time) > 0;
+            return this->_container.count(time) > 0;
         }
 
         /**
@@ -126,7 +138,7 @@ namespace armarx::armem::base
          */
         std::vector<Time> getTimestamps() const
         {
-            return simox::alg::get_keys(_container);
+            return simox::alg::get_keys(this->_container);
         }
 
 
@@ -145,8 +157,8 @@ namespace armarx::armem::base
 
         const EntitySnapshotT& getSnapshot(Time time) const
         {
-            auto it = _container.find(time);
-            if (it != _container.end())
+            auto it = this->_container.find(time);
+            if (it != this->_container.end())
             {
                 return it->second;
             }
@@ -196,8 +208,8 @@ namespace armarx::armem::base
 
             EntitySnapshotT* snapshot;
 
-            auto it = _container.find(update.timeCreated);
-            if (it == _container.end())
+            auto it = this->_container.find(update.timeCreated);
+            if (it == this->_container.end())
             {
                 // Insert into history.
                 snapshot = &addSnapshot(update.timeCreated);
@@ -225,7 +237,7 @@ namespace armarx::armem::base
 
         EntitySnapshotT& addSnapshot(EntitySnapshotT&& snapshot)
         {
-            auto it = _container.emplace(snapshot.time(), std::move(snapshot)).first;
+            auto it = this->_container.emplace(snapshot.time(), std::move(snapshot)).first;
             it->second.id().setEntityID(this->id());
             return it->second;
         }
@@ -256,33 +268,6 @@ namespace armarx::armem::base
             return "entity";
         }
 
-        virtual _Derived copy() const override
-        {
-            _Derived d;
-            this->_copySelf(d);
-            return d;
-        }
-
-        virtual _Derived copyEmpty() const override
-        {
-            _Derived d;
-            this->_copySelfEmpty(d);
-            return d;
-        }
-
-
-    protected:
-
-        virtual void _copySelf(DerivedT& other) const override
-        {
-            Base::_copySelf(other);
-        }
-
-        virtual void _copySelfEmpty(DerivedT& other) const override
-        {
-            Base::_copySelfEmpty(other);
-        }
-
 
     private:
 
@@ -291,11 +276,11 @@ namespace armarx::armem::base
         {
             if (_maxHistorySize >= 0)
             {
-                while (_container.size() > size_t(_maxHistorySize))
+                while (this->_container.size() > size_t(_maxHistorySize))
                 {
-                    _container.erase(_container.begin());
+                    this->_container.erase(this->_container.begin());
                 }
-                ARMARX_CHECK_LESS_EQUAL(_container.size(), _maxHistorySize);
+                ARMARX_CHECK_LESS_EQUAL(this->_container.size(), _maxHistorySize);
             }
         }
 
@@ -314,18 +299,13 @@ namespace armarx::armem::base
          */
         const typename std::map<Time, EntitySnapshotT>::value_type& getLatestItem() const
         {
-            if (_container.empty())
+            if (this->_container.empty())
             {
                 throw armem::error::EntityHistoryEmpty(name(), "when getting the latest snapshot.");
             }
-            return *_container.rbegin();
+            return *this->_container.rbegin();
         }
 
-
-    protected:
-
-        using Base::_container;
-
     };
 
 }