From c205525d38b93df26cf548cdd0449b816dcce8ac Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Tue, 29 Mar 2022 14:08:53 +0200
Subject: [PATCH 1/3] Fix deprecation warnings of using legacy time API
---
.../client/services/MemorySubscriber.cpp | 4 ++--
.../GraphImportExport/GraphImportExport.cpp | 4 ++--
.../NavigationMemory/NavigationMemory.cpp | 15 ++++++++-------
.../navigation/components/Navigator/Navigator.cpp | 6 +++---
.../LocationGraphEditor/WidgetController.cpp | 4 ++--
.../memory/client/stack_result/Writer.cpp | 4 ++--
6 files changed, 19 insertions(+), 18 deletions(-)
diff --git a/source/armarx/navigation/client/services/MemorySubscriber.cpp b/source/armarx/navigation/client/services/MemorySubscriber.cpp
index e0c9579b..9f530dd2 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 bf2bb976..c1976d58 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 847ec715..e0ba0315 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 dc391906..347c8df2 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 894b527d..33c40dfc 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/stack_result/Writer.cpp b/source/armarx/navigation/memory/client/stack_result/Writer.cpp
index 95048a88..5e5f1adc 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()
--
GitLab
From 09c5acf6beb7d689269a14e3c6a8382d478a66e6 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Tue, 29 Mar 2022 14:30:22 +0200
Subject: [PATCH 2/3] Fix one more deprecation warning
---
source/armarx/navigation/memory/client/events/Writer.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/source/armarx/navigation/memory/client/events/Writer.cpp b/source/armarx/navigation/memory/client/events/Writer.cpp
index 1858dd5d..d4144362 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()
--
GitLab
From 0b6f0dff9aaae5c26749cb74262ad292ebe15ba9 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Tue, 29 Mar 2022 15:51:44 +0200
Subject: [PATCH 3/3] fixing compiler warning
---
.../armarx/navigation/memory/client/parameterization/Writer.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/source/armarx/navigation/memory/client/parameterization/Writer.cpp b/source/armarx/navigation/memory/client/parameterization/Writer.cpp
index b1b8610d..5551fd6c 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;
--
GitLab