removing time provider

source/armarx/navigation/core/CMakeLists.txt

@@ -17,7 +17,6 @@ armarx_add_library(core
         Graph.cpp
         aron_conversions.cpp
         json_conversions.cpp
-        time/ChronoMonotonicTimeServer.cpp
     HEADERS
         Trajectory.h
         constants.h
@@ -35,8 +34,6 @@ armarx_add_library(core
         TopologicScene.h
         aron_conversions.h
         json_conversions.h
-        time/ChronoMonotonicTimeServer.h
-        time/TimeServerInterface.h
     DEPENDENCIES_PUBLIC
         ArmarXCoreInterfaces
         ArmarXCore

source/armarx/navigation/core/time/ChronoMonotonicTimeServer.cpp

-#include "ChronoMonotonicTimeServer.h"
-
-#include <ArmarXCore/core/time/Clock.h>
-
-namespace armarx::navigation::core
-{
-    armarx::core::time::DateTime
-    ChronoMonotonicTimeServer::now() const
-    {
-        return armarx::Clock::Now();
-    }
-
-} // namespace armarx::navigation::core

source/armarx/navigation/core/time/ChronoMonotonicTimeServer.h

-/**
- * This file is part of ArmarX.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @author     Fabian Reister ( fabian dot reister at kit dot edu )
- * @date       2021
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-#pragma once
-
-#include <armarx/navigation/core/time/TimeServerInterface.h>
-#include <armarx/navigation/core/types.h>
-
-
-namespace armarx::navigation::core
-{
-
-    class ChronoMonotonicTimeServer : virtual public TimeServerInterface
-    {
-    public:
-        armarx::core::time::DateTime now() const override;
-
-        ~ChronoMonotonicTimeServer() override = default;
-    };
-} // namespace armarx::navigation::core

source/armarx/navigation/core/time/TimeServerInterface.h

-/**
- * This file is part of ArmarX.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @author     Fabian Reister ( fabian dot reister at kit dot edu )
- * @date       2021
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-#pragma once
-
-#include "ArmarXCore/core/time/DateTime.h"
-
-namespace armarx::navigation::core
-{
-
-    class TimeServerInterface
-    {
-    public:
-        virtual armarx::core::time::DateTime now() const = 0;
-
-        virtual ~TimeServerInterface() = default;
-    };
-} // namespace armarx::navigation::core

source/armarx/navigation/core/types.h

@@ -78,14 +78,14 @@ namespace armarx::navigation::core
 
     struct Scene
     {
-        std::optional<core::StaticScene> staticScene = std::nullopt;
+        DateTime timestamp = DateTime::Invalid();
 
+        std::optional<core::StaticScene> staticScene = std::nullopt;
         std::optional<core::DynamicScene> dynamicScene = std::nullopt;
-        // TopologicMapPtr topologicMap;
+
         VirtualRobot::RobotPtr robot;
 
         std::optional<core::SceneGraph> graph;
-        TimeServerInterface* timeServer;
     };
 
     struct PIDParams