From 9cc7cafcd1ac4f8f0b45c4457a1652700c5f7953 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Wed, 4 May 2022 18:22:32 +0200
Subject: [PATCH] using armarx::time
---
source/armarx/navigation/core/events.h | 7 +++----
.../core/time/ChronoMonotonicTimeServer.cpp | 17 +++--------------
.../core/time/ChronoMonotonicTimeServer.h | 2 +-
.../navigation/core/time/TimeServerInterface.h | 4 ++--
source/armarx/navigation/core/types.h | 3 ---
.../memory/client/parameterization/Writer.cpp | 11 +++--------
.../MemoryParameterizationService.cpp | 4 ++--
.../MemoryParameterizationService.h | 4 ++--
8 files changed, 16 insertions(+), 36 deletions(-)
diff --git a/source/armarx/navigation/core/events.h b/source/armarx/navigation/core/events.h
index f50fa3bb..fd95336f 100644
--- a/source/armarx/navigation/core/events.h
+++ b/source/armarx/navigation/core/events.h
@@ -1,19 +1,18 @@
#pragma once
-// STD/STL
#include <string>
-// Navigation
-#include <armarx/navigation/core/types.h>
+#include <ArmarXCore/core/time/DateTime.h>
+#include <armarx/navigation/core/types.h>
namespace armarx::navigation::core
{
struct Event
{
- core::TimestampUs timestamp;
+ armarx::core::time::DateTime timestamp;
};
struct GlobalPlanningFailedEvent : public Event
diff --git a/source/armarx/navigation/core/time/ChronoMonotonicTimeServer.cpp b/source/armarx/navigation/core/time/ChronoMonotonicTimeServer.cpp
index 4e619612..fb3db7cb 100644
--- a/source/armarx/navigation/core/time/ChronoMonotonicTimeServer.cpp
+++ b/source/armarx/navigation/core/time/ChronoMonotonicTimeServer.cpp
@@ -1,24 +1,13 @@
#include "ChronoMonotonicTimeServer.h"
-#include <chrono>
-
-#include <ArmarXCore/core/logging/Logging.h>
+#include <ArmarXCore/core/time/Clock.h>
namespace armarx::navigation::core
{
- TimestampUs
+ armarx::core::time::DateTime
ChronoMonotonicTimeServer::now() const
{
- const auto tsNow = std::chrono::high_resolution_clock::now();
- // const auto tsNow = std::chrono::steady_clock::now();
- const auto tsSince = tsNow.time_since_epoch();
- const auto dur = std::chrono::duration_cast<std::chrono::microseconds>(tsSince);
-
- // ARMARX_INFO << "tsnow " << tsNow;
- // ARMARX_INFO << "tsSince " << tsSince;
- // ARMARX_INFO << "dur " << dur;
-
- return dur;
+ return armarx::Clock::Now();
}
} // namespace armarx::navigation::core
diff --git a/source/armarx/navigation/core/time/ChronoMonotonicTimeServer.h b/source/armarx/navigation/core/time/ChronoMonotonicTimeServer.h
index 24bc5a12..31d6cf7e 100644
--- a/source/armarx/navigation/core/time/ChronoMonotonicTimeServer.h
+++ b/source/armarx/navigation/core/time/ChronoMonotonicTimeServer.h
@@ -31,7 +31,7 @@ namespace armarx::navigation::core
class ChronoMonotonicTimeServer : virtual public TimeServerInterface
{
public:
- TimestampUs now() const override;
+ armarx::core::time::DateTime now() const override;
~ChronoMonotonicTimeServer() override = default;
};
diff --git a/source/armarx/navigation/core/time/TimeServerInterface.h b/source/armarx/navigation/core/time/TimeServerInterface.h
index f17665c8..fdb74e85 100644
--- a/source/armarx/navigation/core/time/TimeServerInterface.h
+++ b/source/armarx/navigation/core/time/TimeServerInterface.h
@@ -21,7 +21,7 @@
#pragma once
-#include <armarx/navigation/core/types.h>
+#include "ArmarXCore/core/time/DateTime.h"
namespace armarx::navigation::core
{
@@ -29,7 +29,7 @@ namespace armarx::navigation::core
class TimeServerInterface
{
public:
- virtual TimestampUs now() const = 0;
+ virtual armarx::core::time::DateTime now() const = 0;
virtual ~TimeServerInterface() = default;
};
diff --git a/source/armarx/navigation/core/types.h b/source/armarx/navigation/core/types.h
index 0e5b96fa..a0529cb0 100644
--- a/source/armarx/navigation/core/types.h
+++ b/source/armarx/navigation/core/types.h
@@ -95,9 +95,6 @@ namespace armarx::navigation::core
TimeServerInterface* timeServer;
};
- using TimestampUs = std::chrono::microseconds;
-
-
struct PIDParams
{
float Kp{1.0};
diff --git a/source/armarx/navigation/memory/client/parameterization/Writer.cpp b/source/armarx/navigation/memory/client/parameterization/Writer.cpp
index 23a8d443..7becf03f 100644
--- a/source/armarx/navigation/memory/client/parameterization/Writer.cpp
+++ b/source/armarx/navigation/memory/client/parameterization/Writer.cpp
@@ -11,15 +11,10 @@ namespace armarx::navigation::memory::client::param
bool
Writer::store(const std::unordered_map<core::StackLayer, aron::data::DictPtr>& stack,
const std::string& clientID,
- const core::TimestampUs& timestamp)
+ const armarx::core::time::DateTime& timestamp)
{
ARMARX_CHECK(not stack.empty());
- const armem::Time ts(Duration::MicroSeconds(timestamp.count()));
-
- ARMARX_INFO << "timestamp chrono " << timestamp;
- ARMARX_INFO << "timestamp " << ts;
-
armem::Commit commit;
for (const auto& [layer, data] : stack)
@@ -32,8 +27,8 @@ namespace armarx::navigation::memory::client::param
.withCoreSegmentName(properties().coreSegmentName)
.withProviderSegmentName(clientID)
.withEntityName(layerName)
- .withTimestamp(ts);
- update.timeCreated = ts;
+ .withTimestamp(timestamp);
+ update.timeCreated = timestamp;
update.instancesData = {data};
commit.add(update);
}
diff --git a/source/armarx/navigation/server/parameterization/MemoryParameterizationService.cpp b/source/armarx/navigation/server/parameterization/MemoryParameterizationService.cpp
index b4334831..89be35bb 100644
--- a/source/armarx/navigation/server/parameterization/MemoryParameterizationService.cpp
+++ b/source/armarx/navigation/server/parameterization/MemoryParameterizationService.cpp
@@ -13,7 +13,7 @@ namespace armarx::navigation::server
bool
MemoryParameterizationService::store(const aron::data::DictPtr& params,
const std::string& clientId,
- const core::TimestampUs& timestamp)
+ const armarx::core::time::DateTime& timestamp)
{
ARMARX_CHECK_NOT_NULL(writer);
@@ -63,7 +63,7 @@ namespace armarx::navigation::server
bool
MemoryParameterizationService::store(const aron::data::dto::DictPtr& params,
const std::string& clientId,
- const core::TimestampUs& timestamp)
+ const armarx::core::time::DateTime& timestamp)
{
const auto dict = aron::data::Dict::FromAronDictDTO(params);
return store(dict, clientId, timestamp);
diff --git a/source/armarx/navigation/server/parameterization/MemoryParameterizationService.h b/source/armarx/navigation/server/parameterization/MemoryParameterizationService.h
index 0eb1e0b7..ea81edee 100644
--- a/source/armarx/navigation/server/parameterization/MemoryParameterizationService.h
+++ b/source/armarx/navigation/server/parameterization/MemoryParameterizationService.h
@@ -41,11 +41,11 @@ namespace armarx::navigation::server
bool store(const aron::data::DictPtr& params,
const std::string& clientId,
- const core::TimestampUs& timestamp);
+ const armarx::core::time::DateTime& timestamp);
bool store(const aron::data::dto::DictPtr& params,
const std::string& clientId,
- const core::TimestampUs& timestamp);
+ const armarx::core::time::DateTime& timestamp);
protected:
--
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