From fdf01373c6df4614821c30560245497ef3a76e6f Mon Sep 17 00:00:00 2001
From: Christoph Pohl <christoph.pohl@kit.edu>
Date: Sat, 25 Mar 2023 16:42:33 +0100
Subject: [PATCH] Improve memory reader interface
---
.../armarx/manipulation/client/core/Reader.h | 19 +++++++++++++------
.../client/executable_action/Reader.cpp | 6 ++----
.../client/executable_action/Reader.h | 4 +---
.../client/executed_action/Reader.cpp | 7 +++----
.../client/executed_action/Reader.h | 4 +---
5 files changed, 20 insertions(+), 20 deletions(-)
diff --git a/source/armarx/manipulation/client/core/Reader.h b/source/armarx/manipulation/client/core/Reader.h
index c15bfb72..dda03ffc 100644
--- a/source/armarx/manipulation/client/core/Reader.h
+++ b/source/armarx/manipulation/client/core/Reader.h
@@ -47,7 +47,7 @@ namespace armarx::manipulation::memory::client::core
using armem::client::util::SimpleReaderBase::SimpleReaderBase;
std::vector<BusinessObj>
- query(const std::string& providerName,
+ query(const std::optional<std::string>& providerName = std::nullopt,
const std::optional<std::string>& entityName = std::nullopt,
const std::optional<armem::Time>& startTime = std::nullopt,
const std::optional<armem::Time>& endTime = std::nullopt)
@@ -60,8 +60,15 @@ namespace armarx::manipulation::memory::client::core
ps = std::experimental::make_observer(&qb.coreSegments()
.withName(properties().coreSegmentName)
- .providerSegments()
- .withName(providerName));
+ .providerSegments());
+ if (providerName.has_value())
+ {
+ ps = std::experimental::make_observer(&ps->withName(providerName.value()));
+ }
+ else
+ {
+ ps = std::experimental::make_observer(&ps->all());
+ }
if (entityName.has_value())
{
es = std::experimental::make_observer(&ps->entities().withName(entityName.value()));
@@ -82,7 +89,7 @@ namespace armarx::manipulation::memory::client::core
}
(void*)ss.get();
const auto query = qb.buildQueryInput();
- return fromQuery(memoryReader().query(query), providerName);
+ return fromQuery(memoryReader().query(query));
}
std::string
@@ -100,9 +107,9 @@ namespace armarx::manipulation::memory::client::core
private:
std::vector<BusinessObj>
- fromQuery(const armem::client::QueryResult& query, const std::string& providerName)
+ fromQuery(const armem::client::QueryResult& query)
{
- return ImplT::fromQuery(query, properties().coreSegmentName, providerName);
+ return ImplT::fromQuery(query, properties().coreSegmentName);
}
};
} // namespace armarx::manipulation::memory::client::core
\ No newline at end of file
diff --git a/source/armarx/manipulation/client/executable_action/Reader.cpp b/source/armarx/manipulation/client/executable_action/Reader.cpp
index e651bda3..de8f78df 100644
--- a/source/armarx/manipulation/client/executable_action/Reader.cpp
+++ b/source/armarx/manipulation/client/executable_action/Reader.cpp
@@ -30,11 +30,9 @@ namespace armarx::manipulation::memory::client::core
std::vector<manipulation::core::ExecutableAction>
ReaderImplementation<armarx::manipulation::core::ExecutableAction>::fromQuery(
const armem::client::QueryResult& query,
- const std::string& coreSegment,
- const std::string& providerSegment)
+ const std::string& coreSegment)
{
- const auto& segment =
- query.memory.getCoreSegment(coreSegment).getProviderSegment(providerSegment);
+ const auto& segment = query.memory.getCoreSegment(coreSegment);
std::vector<armarx::manipulation::core::ExecutableAction> actions;
segment.forEachInstance(
[&actions](const auto& instance)
diff --git a/source/armarx/manipulation/client/executable_action/Reader.h b/source/armarx/manipulation/client/executable_action/Reader.h
index b5deea26..18a8945d 100644
--- a/source/armarx/manipulation/client/executable_action/Reader.h
+++ b/source/armarx/manipulation/client/executable_action/Reader.h
@@ -37,9 +37,7 @@ namespace armarx::manipulation::memory::client
static constexpr std::string_view providerName = "";
static std::vector<manipulation::core::ExecutableAction>
- fromQuery(const armem::client::QueryResult& query,
- const std::string& coreSegment,
- const std::string& providerSegment);
+ fromQuery(const armem::client::QueryResult& query, const std::string& coreSegment);
};
diff --git a/source/armarx/manipulation/client/executed_action/Reader.cpp b/source/armarx/manipulation/client/executed_action/Reader.cpp
index 649ae25f..5f5cc43c 100644
--- a/source/armarx/manipulation/client/executed_action/Reader.cpp
+++ b/source/armarx/manipulation/client/executed_action/Reader.cpp
@@ -31,11 +31,10 @@ namespace armarx::manipulation::memory::client::core
std::vector<manipulation::core::ExecutedAction>
ReaderImplementation<armarx::manipulation::core::ExecutedAction>::fromQuery(
const armem::client::QueryResult& query,
- const std::string& coreSegment,
- const std::string& providerSegment)
+ const std::string& coreSegment)
{
- const auto& segment =
- query.memory.getCoreSegment(coreSegment).getProviderSegment(providerSegment);
+ const auto& segment = query.memory.getCoreSegment(coreSegment);
+
std::vector<armarx::manipulation::core::ExecutedAction> actions;
segment.forEachInstance(
[&actions](const auto& instance)
diff --git a/source/armarx/manipulation/client/executed_action/Reader.h b/source/armarx/manipulation/client/executed_action/Reader.h
index 47177179..f58a1e27 100644
--- a/source/armarx/manipulation/client/executed_action/Reader.h
+++ b/source/armarx/manipulation/client/executed_action/Reader.h
@@ -37,9 +37,7 @@ namespace armarx::manipulation::memory::client
static constexpr std::string_view providerName = "";
static std::vector<manipulation::core::ExecutedAction>
- fromQuery(const armem::client::QueryResult& query,
- const std::string& coreSegment,
- const std::string& providerSegment);
+ fromQuery(const armem::client::QueryResult& query, const std::string& coreSegment);
};
--
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