armem/dev => master

source/RobotAPI/libraries/armem_objects/server/attachments/Segment.cpp

@@ -5,6 +5,7 @@
 #include <ArmarXCore/core/time/TimeUtil.h>
 #include "ArmarXCore/core/logging/Logging.h"
 
+#include "RobotAPI/libraries/armem/util/util.h"
 #include "RobotAPI/libraries/aron/common/aron_conversions.h"
 
 #include <RobotAPI/libraries/armem/core/aron_conversions.h>
@@ -17,7 +18,7 @@
 
 #include <RobotAPI/libraries/armem_objects/aron/Robot.aron.generated.h>
 #include <RobotAPI/libraries/armem_objects/aron_conversions.h>
-#include "RobotAPI/libraries/armem_objects/articulated_object_conversions.h"
+#include <RobotAPI/libraries/armem_objects/aron/Attachment.aron.generated.h>
 
 
 namespace armarx::armem::server::obj::attachments
@@ -51,37 +52,32 @@ namespace armarx::armem::server::obj::attachments
         // this->visu = std::make_unique<Visu>(arviz, *this);
     }
 
-
-    std::unordered_map<armem::MemoryID, ::armarx::armem::articulated_object::ArticulatedObjectDescription> Segment::getKnownObjectClasses() const
+    std::vector<armarx::armem::attachments::ObjectAttachment> Segment::getAttachments(const armem::Time& timestamp) const
     {
-        std::unordered_map<armem::MemoryID, ::armarx::armem::articulated_object::ArticulatedObjectDescription> objects;
+        std::vector<armarx::armem::attachments::ObjectAttachment> attachments;
 
         for (const auto& [_, provSeg] : iceMemory.workingMemory->getCoreSegment(p.coreClassSegmentName))
         {
             for (const auto& [name, entity] :  provSeg.entities())
             {
                 const auto& entityInstance = entity.getLatestSnapshot().getInstance(0);
-                const auto description = articulated_object::convertRobotDescription(entityInstance);
+                const auto attachment = tryCast<armarx::arondto::attachment::ObjectAttachment>(entityInstance);
 
-                if (not description)
+                if (not attachment)
                 {
-                    ARMARX_WARNING << "Could not convert entity instance to 'RobotDescription'";
+                    ARMARX_WARNING << "Could not convert entity instance to 'ObjectAttachment'";
                     continue;
                 }
 
-                ARMARX_INFO << "Key is " << armem::MemoryID(entity.id());
-
-                objects.emplace(armem::MemoryID(entity.id()), *description);
+                ARMARX_DEBUG << "Key is " << armem::MemoryID(entity.id());
+                attachments.push_back(attachment);
             }
         }
 
-        ARMARX_IMPORTANT << "Number of known articulated object classes: " << objects.size();
-
-        return objects;
+        return attachments;
     }
 
 
-
     // void Segment::RemoteGui::setup(const Segment& data)
     // {
     //     using namespace armarx::RemoteGui::Client;
@@ -124,4 +120,4 @@ namespace armarx::armem::server::obj::attachments
     //     }
     // }
 
-}  // namespace armarx::armem::server::obj::articulated_object_class
+}  // namespace armarx::armem::server::obj::attachments