diff --git a/source/armarx/navigation/client/services/MemorySubscriber.cpp b/source/armarx/navigation/client/services/MemorySubscriber.cpp
index e0c9579b5da46f27d3d8c6da293db0463ee729eb..9f530dd216430cb505379f1cadbba6b3c561b58f 100644
--- a/source/armarx/navigation/client/services/MemorySubscriber.cpp
+++ b/source/armarx/navigation/client/services/MemorySubscriber.cpp
@@ -19,7 +19,7 @@ namespace armarx::navigation::client
MemorySubscriber::MemorySubscriber(const std::string& callerId,
armem::client::MemoryNameSystem& mns) :
- callerId(callerId), memoryNameSystem(mns), lastMemoryPoll(armem::Time::now())
+ callerId(callerId), memoryNameSystem(mns), lastMemoryPoll(armem::Time::Now())
{
const std::string memoryName = "Navigation";
@@ -144,7 +144,7 @@ namespace armarx::navigation::client
{
ARMARX_TRACE;
- const armem::Time now = armem::Time::now();
+ const armem::Time now = armem::Time::Now();
armem::client::query::Builder qb;
// clang-format off
diff --git a/source/armarx/navigation/components/GraphImportExport/GraphImportExport.cpp b/source/armarx/navigation/components/GraphImportExport/GraphImportExport.cpp
index bf2bb976f01a4ae725f4b515d3693c923b7b2ef9..c1976d582786e72afa4f3c3872b428893cfe9ab8 100644
--- a/source/armarx/navigation/components/GraphImportExport/GraphImportExport.cpp
+++ b/source/armarx/navigation/components/GraphImportExport/GraphImportExport.cpp
@@ -215,7 +215,7 @@ namespace armarx::navigation
void
GraphImportExport::locationsMemoryxToArmem(const std::string& sceneName)
{
- const armem::Time time = armem::Time::now();
+ const armem::Time time = armem::Time::Now();
armem::Commit commit;
memoryx::GraphNodeBaseList graphNodes = proxies.graphSegment->getNodesByScene(sceneName);
@@ -304,7 +304,7 @@ namespace armarx::navigation
toAron(aron, graph);
// Build commit
- const armem::Time time = armem::Time::now();
+ const armem::Time time = armem::Time::Now();
armem::EntityUpdate update;
update.entityID = getGraphProviderSegmentID().withEntityName(sceneName);
update.timeCreated = time;
diff --git a/source/armarx/navigation/components/NavigationMemory/NavigationMemory.cpp b/source/armarx/navigation/components/NavigationMemory/NavigationMemory.cpp
index 847ec7157d43cb34ff0ea9b1fb5ced5b409395e8..e0ba0315927b3499fddd7f0920242ce719bac2d1 100644
--- a/source/armarx/navigation/components/NavigationMemory/NavigationMemory.cpp
+++ b/source/armarx/navigation/components/NavigationMemory/NavigationMemory.cpp
@@ -31,6 +31,7 @@
#include <ArmarXCore/core/time/CycleUtil.h>
#include <ArmarXCore/libraries/DecoupledSingleComponent/Decoupled.h>
+#include <RobotAPI/libraries/aron/common/aron_conversions.h>
#include <RobotAPI/libraries/armem/client/query.h>
#include <RobotAPI/libraries/armem/core/operations.h>
#include <RobotAPI/libraries/armem/server/ltm/disk/Memory.h>
@@ -181,9 +182,9 @@ namespace armarx::navigation
// send commit to memory
auto& up = c.add();
up.confidence = 1.0;
- up.timeCreated = armem::Time::now();
- up.timeSent = armem::Time::now();
- up.timeArrived = armem::Time::now();
+ up.timeCreated = armem::Time::Now();
+ up.timeSent = armem::Time::Now();
+ up.timeArrived = armem::Time::Now();
up.entityID = providerID.withEntityName(location.filename().string());
up.instancesData = {loc.toAron()};
}
@@ -244,7 +245,7 @@ namespace armarx::navigation
v.locationID.coreSegmentName = split[1];
v.locationID.providerSegmentName = split[2];
v.locationID.entityName = split[3];
- v.locationID.timestamp = armem::Time::microSeconds(-1);
+ toAron(v.locationID.timestamp, armem::Time::Invalid());
v.locationID.instanceIndex = 0;
g.vertices.push_back(v);
@@ -264,9 +265,9 @@ namespace armarx::navigation
auto& up = c.add();
up.confidence = 1.0;
- up.timeCreated = armem::Time::now();
- up.timeSent = armem::Time::now();
- up.timeArrived = armem::Time::now();
+ up.timeCreated = armem::Time::Now();
+ up.timeSent = armem::Time::Now();
+ up.timeArrived = armem::Time::Now();
up.entityID = providerID.withEntityName(singleGraph.filename().string());
up.instancesData = {g.toAron()};
}
diff --git a/source/armarx/navigation/components/Navigator/Navigator.cpp b/source/armarx/navigation/components/Navigator/Navigator.cpp
index dc391906154fc875fda2f76e73767497927a8308..347c8df286eae6ce4151c87cc62c5586d54dac12 100644
--- a/source/armarx/navigation/components/Navigator/Navigator.cpp
+++ b/source/armarx/navigation/components/Navigator/Navigator.cpp
@@ -543,7 +543,7 @@ namespace armarx::navigation::components
const armem::vision::occupancy_grid::client::Reader::Result result =
occupancyGridReader.query(armem::vision::occupancy_grid::client::Reader::Query{
.providerName = "CartographerMappingAndLocalization",
- .timestamp = armem::Time::now()});
+ .timestamp = armem::Time::Now()});
if (result and result.occupancyGrid.has_value() and false) // Feature disabled on master ...
{
@@ -641,13 +641,13 @@ namespace armarx::navigation::components
ARMARX_TRACE;
synchronizeLocalClone(scene.robot);
- auto robotDescription = virtualRobotReader.queryDescription("Armar6", armem::Time::now());
+ auto robotDescription = virtualRobotReader.queryDescription("Armar6", armem::Time::Now());
ARMARX_CHECK(robotDescription.has_value());
// synchronizing platform state
const std::optional<armem::robot::PlatformState> platformState =
- virtualRobotReader.queryPlatformState(robotDescription.value(), armem::Time::now());
+ virtualRobotReader.queryPlatformState(robotDescription.value(), armem::Time::Now());
ARMARX_CHECK(platformState.has_value());
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/WidgetController.cpp b/source/armarx/navigation/gui-plugins/LocationGraphEditor/WidgetController.cpp
index 894b527dcac09505145bfda3e270002a6e3325d9..33c40dfc3147484998f36f4ea1fe66ceead87404 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/WidgetController.cpp
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/WidgetController.cpp
@@ -522,7 +522,7 @@ namespace armarx::navigation::qt_plugins::location_graph_editor
{
armem::EntityUpdate& update = commit.add();
fromAron(vertex.attrib().aron.locationID, update.entityID);
- update.timeCreated = armem::Time::now();
+ update.timeCreated = armem::Time::Now();
navigation::location::arondto::Location dto;
dto.globalRobotPose = vertex.attrib().getPose().matrix();
@@ -560,7 +560,7 @@ namespace armarx::navigation::qt_plugins::location_graph_editor
armem::EntityUpdate update;
update.entityID = model.graphEntityID;
- update.timeCreated = armem::Time::now();
+ update.timeCreated = armem::Time::Now();
update.instancesData = {dto.toAron()};
armem::EntityUpdateResult result = remote.graphWriter.commit(update);
diff --git a/source/armarx/navigation/memory/client/events/Writer.cpp b/source/armarx/navigation/memory/client/events/Writer.cpp
index 1858dd5d443d58acbd58d14e737916e0c3b377de..d41443621d830f43750a94cab5f629193ab93068 100644
--- a/source/armarx/navigation/memory/client/events/Writer.cpp
+++ b/source/armarx/navigation/memory/client/events/Writer.cpp
@@ -101,7 +101,7 @@ namespace armarx::navigation::mem::client::events
ARMARX_INFO << "Storing event `" << eventName << "` in memory.";
- armem::Time ts = armem::Time::microSeconds(event.timestamp.count());
+ armem::Time ts = armem::Time(armem::Duration::MicroSeconds(event.timestamp.count()));
armem::EntityUpdate update;
update.entityID = armem::MemoryID()
diff --git a/source/armarx/navigation/memory/client/parameterization/Writer.cpp b/source/armarx/navigation/memory/client/parameterization/Writer.cpp
index b1b8610d6b680047078e44283b50700e068d17fd..5551fd6cdf43c8978d9a63b3e32d5100731f08c5 100644
--- a/source/armarx/navigation/memory/client/parameterization/Writer.cpp
+++ b/source/armarx/navigation/memory/client/parameterization/Writer.cpp
@@ -14,7 +14,7 @@ namespace armarx::navigation::mem::client::param
{
ARMARX_CHECK(not stack.empty());
- armem::Time ts = armem::Time::microSeconds(timestamp.count());
+ const armem::Time ts(Duration::MicroSeconds(timestamp.count()));
ARMARX_INFO << "timestamp chrono " << timestamp;
ARMARX_INFO << "timestamp " << ts;
diff --git a/source/armarx/navigation/memory/client/stack_result/Writer.cpp b/source/armarx/navigation/memory/client/stack_result/Writer.cpp
index 95048a88103b77b72e1e2ecd14ae7e3cf2df4c2a..5e5f1adcf514f7331149d2c641089b75c1ab7ad7 100644
--- a/source/armarx/navigation/memory/client/stack_result/Writer.cpp
+++ b/source/armarx/navigation/memory/client/stack_result/Writer.cpp
@@ -61,7 +61,7 @@ namespace armarx::navigation::mem::client::stack_result
armem::Commit& commit)
{
// FIXME timestamp should be part of GlobalPlannerResult
- armem::Time timestamp = armem::Time::now();
+ armem::Time timestamp = armem::Time::Now();
armem::EntityUpdate update;
update.entityID = armem::MemoryID()
@@ -90,7 +90,7 @@ namespace armarx::navigation::mem::client::stack_result
armem::Commit& commit)
{
// FIXME timestamp should be part of GlobalPlannerResult
- armem::Time timestamp = armem::Time::now();
+ armem::Time timestamp = armem::Time::Now();
armem::EntityUpdate update;
update.entityID = armem::MemoryID()