Draft: Make RobotStateMemory ready

Goal:

• Make stable (especially race conditions)
• Improve runtime
• Add profiling/monitoring
• Refactor code
• Add missing interfaces

source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp

@@ -168,30 +168,40 @@ namespace armarx::armem::server::robot_state::localization
     }
 
 
-    bool Segment::storeTransform(const armarx::armem::robot_state::Transform& transform)
+    bool Segment::commitTransform(const armarx::armem::robot_state::Transform& transform)
     {
-        const armem::Time& timestamp = transform.header.timestamp;
+        Commit commit;
+        commit.add(makeUpdate(transform));
 
-        const MemoryID providerID =
-            coreSegment->id().withProviderSegmentName(transform.header.agent);
-        if (not coreSegment->hasProviderSegment(providerID.providerSegmentName))
-        {
-            coreSegment->addProviderSegment(providerID.providerSegmentName, arondto::Transform::toAronType());
-        }
+        const armem::CommitResult result = iceMemory.commit(commit);
+        return result.allSuccess();
+    }
 
+
+    bool Segment::commitTransformLocking(const armarx::armem::robot_state::Transform& transform)
+    {
         Commit commit;
+        commit.add(makeUpdate(transform));
 
-        EntityUpdate& update = commit.updates.emplace_back();
-        update.entityID =
-            providerID.withEntityName(transform.header.parentFrame + "," + transform.header.frame);
+        const armem::CommitResult result = iceMemory.commitLocking(commit);
+        return result.allSuccess();
+    }
+
+
+    EntityUpdate Segment::makeUpdate(const armarx::armem::robot_state::Transform& transform) const
+    {
+        const armem::Time& timestamp = transform.header.timestamp;
+        const MemoryID providerID = coreSegment->id().withProviderSegmentName(transform.header.agent);
+
+        EntityUpdate update;
+        update.entityID = providerID.withEntityName(transform.header.parentFrame + "," + transform.header.frame);
         update.timeArrived = update.timeCreated = update.timeSent = timestamp;
 
         arondto::Transform aronTransform;
         toAron(aronTransform, transform);
         update.instancesData = {aronTransform.toAron()};
 
-        const armem::CommitResult result = iceMemory.commit(commit);
-        return result.allSuccess();
+        return update;
     }
 
 } // namespace armarx::armem::server::robot_state::localization