diff --git a/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.cpp b/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.cpp
index d5c7d69917c8cbba5fafee284b18229f351ea9de..8e172a97d95ed3ce515743a877c8c5bb3ed168d1 100644
--- a/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.cpp
+++ b/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.cpp
@@ -87,7 +87,7 @@ namespace armarx::articulated_object
articulatedObjectReader->connect();
ARMARX_IMPORTANT << "Running example.";
- start = armem::Time::now();
+ start = armem::Time::Now();
task = new PeriodicTask<ArticulatedObjectLocalizerExample>(
this, &ArticulatedObjectLocalizerExample::run,
@@ -108,7 +108,7 @@ namespace armarx::articulated_object
{
const std::string dishwasherName = "Kitchen/mobile-dishwasher";
- const auto descriptions = articulatedObjectReader->queryDescriptions(IceUtil::Time::now());
+ const auto descriptions = articulatedObjectReader->queryDescriptions(armem::Time::Now());
ARMARX_INFO << "Found " << descriptions.size() << " articulated object descriptions";
@@ -155,20 +155,22 @@ namespace armarx::articulated_object
ARMARX_DEBUG << "Reporting articulated objects";
- const IceUtil::Time now = TimeUtil::GetTime();
- const float t = float((now - start).toSecondsDouble());
+ const armem::Time now = armem::Time::Now();
+ const float t = float((now - start).toSecondsDouble());
// move joints at certain frequency
const float k = (1 + std::sin(t / (M_2_PIf32))) / 2; // in [0,1]
- const std::map<std::string, float> jointValues{{"dishwasher_door_joint", M_PIf32 / 2 * k},
- {"drawer_joint", 350 * k}};
+ const std::map<std::string, float> jointValues
+ {
+ {"dishwasher_door_joint", M_PIf32 / 2 * k},
+ {"drawer_joint", 350 * k}
+ };
dishwasher->setGlobalPose(simox::math::pose(Eigen::Vector3f(1000, 0, 0)));
dishwasher->setJointValues(jointValues);
-
- articulatedObjectWriter->storeArticulatedObject(dishwasher, IceUtil::Time::now());
+ articulatedObjectWriter->storeArticulatedObject(dishwasher, now);
}
} // namespace armarx::articulated_object
diff --git a/source/RobotAPI/components/ObjectPoseProviderExample/ObjectPoseProviderExample.cpp b/source/RobotAPI/components/ObjectPoseProviderExample/ObjectPoseProviderExample.cpp
index adab12c7d13d5a4e9e032b0e964f9fea6e324c73..bbf6438cb32566dae0436d22770f8f89dd7d43c9 100644
--- a/source/RobotAPI/components/ObjectPoseProviderExample/ObjectPoseProviderExample.cpp
+++ b/source/RobotAPI/components/ObjectPoseProviderExample/ObjectPoseProviderExample.cpp
@@ -195,7 +195,7 @@ namespace armarx
}
pose.confidence = 0.75 + 0.25 * std::sin(t - i);
- pose.timestamp = TimeUtil::GetTime();
+ pose.timestamp = DateTime::Now();
i++;
}
diff --git a/source/RobotAPI/components/armem/addon/LegacyRobotStateMemoryAdapter/LegacyRobotStateMemoryAdapter.cpp b/source/RobotAPI/components/armem/addon/LegacyRobotStateMemoryAdapter/LegacyRobotStateMemoryAdapter.cpp
index cdc049a27ad64057d179096185a2a5968f34d0d0..b8ab1db644a6228974453e648271c5b7975283fe 100644
--- a/source/RobotAPI/components/armem/addon/LegacyRobotStateMemoryAdapter/LegacyRobotStateMemoryAdapter.cpp
+++ b/source/RobotAPI/components/armem/addon/LegacyRobotStateMemoryAdapter/LegacyRobotStateMemoryAdapter.cpp
@@ -20,14 +20,14 @@
* GNU General Public License
*/
-// Header
#include "LegacyRobotStateMemoryAdapter.h"
-// ArmarX
+#include <RobotAPI/libraries/aron/common/aron_conversions.h>
#include <RobotAPI/libraries/armem_robot_state/aron/Proprioception.aron.generated.h>
#include <RobotAPI/libraries/armem_robot_state/aron/Transform.aron.generated.h>
#include <RobotAPI/libraries/armem_robot/aron/RobotDescription.aron.generated.h>
+
namespace armarx::armem
{
@@ -87,7 +87,7 @@ namespace armarx::armem
// is this corect??
prop.platform.acceleration = Eigen::Vector3f();
- prop.platform.relativePosition = Eigen::Vector3f(update.platformPose.x, // this should be globasl AFAIK
+ prop.platform.relativePosition = Eigen::Vector3f(update.platformPose.x, // this should be globasl AFAIK
update.platformPose.y,
update.platformPose.rotationAroundZ);
prop.platform.velocity = Eigen::Vector3f(std::get<0>(update.platformVelocity),
@@ -96,7 +96,7 @@ namespace armarx::armem
armem::EntityUpdate entityUpdate;
entityUpdate.entityID = propEntityID;
- entityUpdate.timeCreated = IceUtil::Time::microSeconds(_timestampUpdateFirstModifiedInUs); // we take the oldest timestamp
+ entityUpdate.timeCreated = Time(Duration::MicroSeconds(_timestampUpdateFirstModifiedInUs)); // we take the oldest timestamp
entityUpdate.instancesData =
{
@@ -128,7 +128,7 @@ namespace armarx::armem
armem::EntityUpdate locUpdate;
locUpdate.entityID = locEntityID;
- locUpdate.timeCreated = IceUtil::Time::microSeconds(_timestampUpdateFirstModifiedInUs);
+ locUpdate.timeCreated = Time(Duration::MicroSeconds(_timestampUpdateFirstModifiedInUs));
locUpdate.instancesData =
{
transform.toAron()
@@ -247,7 +247,7 @@ namespace armarx::armem
ARMARX_IMPORTANT << "Commiting Armar3 to descriptions";
armem::arondto::RobotDescription desc;
desc.name = "Armar3";
- desc.timestamp = armem::Time::now();
+ toAron(desc.timestamp, armem::Time::Now());
desc.xml.package = "RobotAPI";
desc.xml.path = "RobotAPI/robots/Armar3/ArmarIII.xml";
@@ -261,7 +261,7 @@ namespace armarx::armem
entityUpdate.entityID.entityName = "Armar3";
entityUpdate.instancesData = { desc.toAron() };
- entityUpdate.timeCreated = armem::Time::now();
+ entityUpdate.timeCreated = armem::Time::Now();
auto res = memoryWriter.commit(c);
if (!res.allSuccess())
{
diff --git a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
index db3fb7ee4c04b359d97ca606e54fe2961750043c..05bb57827346342762bf482f906d6a6e10b83d5a 100644
--- a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
+++ b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
@@ -34,7 +34,6 @@
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <ArmarXCore/core/time/CycleUtil.h>
-
#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
#include <RobotAPI/libraries/armem/server/MemoryRemoteGui.h>
#include <RobotAPI/libraries/armem/client/query/Builder.h>
@@ -146,7 +145,7 @@ namespace armarx
void ExampleMemoryClient::run()
{
ARMARX_IMPORTANT << "Running example.";
- run_started = IceUtil::Time::now();
+ runStarted = armem::Time::Now();
armem::MemoryID snapshotID = commitSingleSnapshot(exampleEntityID);
if (true)
@@ -167,6 +166,10 @@ namespace armarx
queryExampleData();
}
if (true)
+ {
+ commitExamplesWithIDs();
+ }
+ if (true)
{
commitExamplesWithLinks();
}
@@ -210,9 +213,9 @@ namespace armarx
// Prepare the update with some empty instances.
armem::EntityUpdate update;
update.entityID = entityID;
- update.timeCreated = armem::Time::now();
+ update.timeCreated = armem::Time::Now();
- double diff = (update.timeCreated - run_started).toMilliSecondsDouble() / 1000;
+ double diff = (update.timeCreated - runStarted).toMilliSecondsDouble() / 1000;
auto dict1 = std::make_shared<aron::data::Dict>();
auto dict2 = std::make_shared<aron::data::Dict>();
@@ -257,7 +260,7 @@ namespace armarx
{
armem::EntityUpdate& update = commit.add();
update.entityID = entityID;
- update.timeCreated = armem::Time::now() + armem::Time::seconds(i);
+ update.timeCreated = armem::Time::Now() + armem::Duration::Seconds(i);
for (int j = 0; j < i; ++j)
{
update.instancesData.push_back(std::make_shared<aron::data::Dict>());
@@ -364,7 +367,15 @@ namespace armarx
}
exampleDataProviderID = armem::MemoryID(addSegmentResult.segmentID);
- const armem::Time time = armem::Time::now();
+ addSegmentResult = memoryWriter.addSegment("LinkedData", getName());
+ if (!addSegmentResult.success)
+ {
+ ARMARX_ERROR << addSegmentResult.errorMessage;
+ return;
+ }
+ linkedDataProviderID = armem::MemoryID(addSegmentResult.segmentID);
+
+ const armem::Time time = armem::Time::Now();
armem::Commit commit;
//commit to default
@@ -374,7 +385,8 @@ namespace armarx
update.timeCreated = time;
armem::example::ExampleData data;
- toAron(data.memoryLink, armem::MemoryID());
+ toAron(data.memoryID, armem::MemoryID());
+ toAron(data.memoryLink.memoryID, armem::MemoryID());
ARMARX_CHECK_NOT_NULL(data.toAron());
update.instancesData = { data.toAron() };
}
@@ -388,7 +400,7 @@ namespace armarx
armem::example::ExampleData data;
data.the_bool = true;
- data.the_double = std::sin(time.toSecondsDouble());
+ data.the_double = std::sin(time.toDurationSinceEpoch().toSecondsDouble());
data.the_float = 21.5;
data.the_int = 42;
data.the_long = 424242;
@@ -418,7 +430,8 @@ namespace armarx
data.the_3x1_vector = { 24, 42, 2442 };
data.the_4x4_matrix = 42 * Eigen::Matrix4f::Identity();
- toAron(data.memoryLink, armem::MemoryID()); // ////1/1
+ toAron(data.memoryID, armem::MemoryID()); // ////1/1
+ toAron(data.memoryLink.memoryID, armem::MemoryID());
simox::ColorMap cmap = simox::color::cmaps::plasma();
{
@@ -466,10 +479,27 @@ namespace armarx
update.instancesData = { data.toAron() };
}
+ // commit to linked data
+ {
+ armem::EntityUpdate& update = commit.add();
+ update.entityID = linkedDataProviderID.withEntityName("yet_more_data");
+ update.timeCreated = time;
+
+ armem::example::LinkedData data;
+ data.yet_another_int = 42;
+ data.yet_another_string = "Hi! I'm from another core segment!";
+ data.yet_another_object.element_int = 8349;
+ data.yet_another_object.element_float = -1e3;
+ data.yet_another_object.element_string = "I'm a nested object in some linked data.";
+ ARMARX_CHECK_NOT_NULL(data.toAron());
+ update.instancesData = { data.toAron() };
+ }
+
armem::CommitResult commitResult = memoryWriter.commit(commit);
if (commitResult.allSuccess())
{
- armem::fromIce(commitResult.results.at(1).snapshotID, theAnswerSnapshotID);
+ theAnswerSnapshotID = commitResult.results.at(1).snapshotID;
+ yetMoreDataSnapshotID = commitResult.results.at(2).snapshotID;
}
else
{
@@ -501,50 +531,54 @@ namespace armarx
}
- void ExampleMemoryClient::commitExamplesWithLinks()
+ void ExampleMemoryClient::commitExamplesWithIDs()
{
ARMARX_IMPORTANT << "Committing multiple entity updates with links ...";
- const armem::Time time = armem::Time::now();
+ const armem::Time time = armem::Time::Now();
armem::Commit commit;
{
armem::EntityUpdate& update = commit.add();
- update.entityID = exampleDataProviderID.withEntityName("link to the_answer");
+ update.entityID = exampleDataProviderID.withEntityName("id to the_answer");
update.timeCreated = time;
armem::example::ExampleData data;
- armem::toAron(data.memoryLink, theAnswerSnapshotID);
+ armem::toAron(data.memoryID, theAnswerSnapshotID);
+ armem::toAron(data.memoryLink.memoryID, armem::MemoryID());
update.instancesData = { data.toAron() };
}
{
armem::EntityUpdate& update = commit.add();
- update.entityID = exampleDataProviderID.withEntityName("link to self");
+ update.entityID = exampleDataProviderID.withEntityName("id to self");
update.timeCreated = time;
armem::example::ExampleData data;
- armem::toAron(data.memoryLink, update.entityID.withTimestamp(time));
+ armem::toAron(data.memoryID, update.entityID.withTimestamp(time));
+ armem::toAron(data.memoryLink.memoryID, armem::MemoryID());
update.instancesData = { data.toAron() };
}
{
armem::EntityUpdate& update = commit.add();
- update.entityID = exampleDataProviderID.withEntityName("link to previous snapshot");
- update.timeCreated = time - armem::Time::seconds(1); // 1 sec in the past
+ update.entityID = exampleDataProviderID.withEntityName("id to previous snapshot");
+ update.timeCreated = time - armem::Duration::Seconds(1); // 1 sec in the past
armem::example::ExampleData data;
- armem::toAron(data.memoryLink, armem::MemoryID()); // First entry - invalid link
+ armem::toAron(data.memoryID, armem::MemoryID()); // First entry - invalid link
+ armem::toAron(data.memoryLink.memoryID, armem::MemoryID());
update.instancesData = { data.toAron() };
}
{
armem::EntityUpdate& update = commit.add();
- update.entityID = exampleDataProviderID.withEntityName("link to previous snapshot");
+ update.entityID = exampleDataProviderID.withEntityName("id to previous snapshot");
update.timeCreated = time;
armem::example::ExampleData data;
- armem::toAron(data.memoryLink, update.entityID.withTimestamp(time - armem::Time::seconds(1)));
+ armem::toAron(data.memoryID, update.entityID.withTimestamp(time - armem::Duration::Seconds(1)));
+ armem::toAron(data.memoryLink.memoryID, armem::MemoryID());
update.instancesData = { data.toAron() };
}
@@ -584,9 +618,64 @@ namespace armarx
}
}
+
+ void ExampleMemoryClient::commitExamplesWithLinks()
+ {
+ ARMARX_IMPORTANT << "Committing an entity update with a link...";
+
+ const armem::Time time = armem::Time::Now();
+
+ armem::Commit commit;
+ {
+ armem::EntityUpdate& update = commit.add();
+ update.entityID = exampleDataProviderID.withEntityName("link to yet_more_data");
+ update.timeCreated = time;
+
+ armem::example::ExampleData data;
+ armem::toAron(data.memoryID, armem::MemoryID());
+ armem::toAron(data.memoryLink.memoryID, yetMoreDataSnapshotID);
+
+ update.instancesData = { data.toAron() };
+ }
+
+ ARMARX_CHECK_EQUAL(commit.updates.size(), 1);
+ armem::CommitResult commitResult = memoryWriter.commit(commit);
+
+ if (!commitResult.allSuccess() || commitResult.results.size() != commit.updates.size())
+ {
+ ARMARX_WARNING << commitResult.allErrorMessages();
+ }
+
+
+ // Resolve memory IDs via memory name system (works for IDs from different servers).
+ ARMARX_IMPORTANT << "Resolving multiple memory IDs via Memory Name System:";
+ {
+ std::vector<armem::MemoryID> ids;
+ for (armem::EntityUpdateResult& result : commitResult.results)
+ {
+ ids.push_back(result.snapshotID);
+ }
+ ARMARX_CHECK_EQUAL(ids.size(), commit.updates.size());
+
+ std::map<armem::MemoryID, armem::wm::EntityInstance> instances =
+ memoryNameSystem().resolveEntityInstances(ids);
+ ARMARX_CHECK_EQUAL(instances.size(), commit.updates.size());
+
+ std::stringstream ss;
+ for (const auto& [id, instance]: instances)
+ {
+ ss << "- Snapshot " << id << " "
+ << "\n--> Instance" << instance.id()
+ << " (# keys in data: " << instance.data()->childrenSize() << ")"
+ << "\n";
+ }
+ ARMARX_INFO << ss.str();
+ }
+ }
+
void ExampleMemoryClient::commitExampleImages()
{
- const armem::Time time = armem::Time::now();
+ const armem::Time time = armem::Time::Now();
armem::Commit commit;
{
@@ -608,7 +697,7 @@ namespace armarx
void ExampleMemoryClient::commitExamplesWithUntypedData()
{
- const armem::Time time = armem::Time::now();
+ const armem::Time time = armem::Time::Now();
armem::Commit commit;
{
@@ -617,7 +706,8 @@ namespace armarx
update.timeCreated = time;
armem::example::ExampleData data;
- toAron(data.memoryLink, armem::MemoryID()); // ////1/1
+ toAron(data.memoryID, armem::MemoryID()); // ////1/1
+ toAron(data.memoryLink.memoryID, armem::MemoryID());
aron::data::DictPtr aron = data.toAron();
aron->addElement("unexpectedString", std::make_shared<aron::data::String>("unexpected value"));
diff --git a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.h b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.h
index 930abfea7618c4ece3f7298c97376a54b201bac6..dcbcad65cb019296032664ee1c12fc14aee1d56e 100644
--- a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.h
+++ b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.h
@@ -98,6 +98,7 @@ namespace armarx
void commitExampleData();
void queryExampleData();
+ void commitExamplesWithIDs();
void commitExamplesWithLinks();
void commitExampleImages();
@@ -122,9 +123,11 @@ namespace armarx
armem::MemoryID exampleDataProviderID;
armem::MemoryID theAnswerSnapshotID;
+ armem::MemoryID linkedDataProviderID;
+ armem::MemoryID yetMoreDataSnapshotID;
- IceUtil::Time run_started;
+ armem::Time runStarted;
unsigned int imageCounter = 0;
armarx::RunningTask<ExampleMemoryClient>::pointer_type task;
diff --git a/source/RobotAPI/components/armem/client/GraspProviderExample/GraspProviderExample.cpp b/source/RobotAPI/components/armem/client/GraspProviderExample/GraspProviderExample.cpp
index 8f98b2383da3556f459ae6fa01a7f3ec190b29e2..c64b050dec343623d9d32d5d53eea8b96600335e 100644
--- a/source/RobotAPI/components/armem/client/GraspProviderExample/GraspProviderExample.cpp
+++ b/source/RobotAPI/components/armem/client/GraspProviderExample/GraspProviderExample.cpp
@@ -102,7 +102,7 @@ namespace armarx
candidate.sourceInfo->bbox->ha3 = Vector3BasePtr(toIce(Eigen::Vector3f()));
candidate.sourceInfo->referenceObjectPose = PoseBasePtr(toIce(Eigen::Matrix4f()));
- writer.commitGraspCandidate(candidate, armem::Time::now(), "provider1");
+ writer.commitGraspCandidate(candidate, armem::Time::Now(), "provider1");
// initialize all necessary fields of a bimanual grasp candidate and use writer to commit it to memory
armarx::grasping::BimanualGraspCandidate bimanualCandidate = armarx::grasping::BimanualGraspCandidate();
bimanualCandidate.groupNr = i; //non-necessary field, but used to commit different candidates
@@ -117,7 +117,7 @@ namespace armarx
bimanualCandidate.inwardsVectorLeft = Vector3BasePtr(toIce(Eigen::Vector3f()));
bimanualCandidate.inwardsVectorRight = Vector3BasePtr(toIce(Eigen::Vector3f()));
- writer.commitBimanualGraspCandidate(bimanualCandidate, armem::Time::now(), "provider2");
+ writer.commitBimanualGraspCandidate(bimanualCandidate, armem::Time::Now(), "provider2");
//test for writing Seqs, candidates from the same object appear as instances of the same snapshot
grasping::GraspCandidateSeq candidatesToWrite;
@@ -126,7 +126,7 @@ namespace armarx
candidatesToWrite.push_back(new grasping::GraspCandidate(candidate));
- writer.commitGraspCandidateSeq(candidatesToWrite, armem::Time::now(), "provider1");
+ writer.commitGraspCandidateSeq(candidatesToWrite, armem::Time::Now(), "provider1");
// test reader and debug by logging the group number of the candidate
diff --git a/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.cpp b/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.cpp
index 552f68ac7ea45c24a0041dbedaff43a06c3e2c31..639203e464ecd0e1b75b085c0de7a59b8b283435 100644
--- a/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.cpp
+++ b/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.cpp
@@ -74,13 +74,14 @@ namespace armarx::robot_state
void VirtualRobotReaderExampleClient::run()
{
+ const armem::Time now = armem::Time::Now();
// initialize if needed
if (virtualRobot == nullptr)
{
TIMING_START(getRobot);
- virtualRobot = virtualRobotReader.getRobot(p.robotName, IceUtil::Time::now());
+ virtualRobot = virtualRobotReader.getRobot(p.robotName, now);
if (virtualRobot == nullptr)
{
@@ -93,13 +94,9 @@ namespace armarx::robot_state
ARMARX_INFO << deactivateSpam(10) << "Synchronizing robot";
- const IceUtil::Time now = TimeUtil::GetTime();
-
TIMING_START(synchronizeRobot);
virtualRobotReader.synchronizeRobot(*virtualRobot, now);
TIMING_END_STREAM(synchronizeRobot, ARMARX_INFO);
-
-
}
} // namespace armarx::robot_state
diff --git a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
index 4adee0b0fb84415490dadf5f8394716086eb3adf..7a7d65f0740024f7ef1d7b43c667c2971962429b 100644
--- a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
+++ b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
@@ -64,6 +64,7 @@ namespace armarx
{
// Usually, the memory server will specify a number of core segments with a specific aron type.
workingMemory().addCoreSegment("ExampleData", armem::example::ExampleData::ToAronType());
+ workingMemory().addCoreSegment("LinkedData", armem::example::LinkedData::ToAronType());
// For illustration purposes, we add more segments (without types).
bool trim = true;
@@ -181,7 +182,7 @@ namespace armarx
.withProviderSegmentName(memoryID.providerSegmentName)
.withEntityName(memoryID.entityName);
update.entityID = newID;
- update.timeCreated = armem::Time::now();
+ update.timeCreated = armem::Time::Now();
update.instancesData = { instance->data() };
armem::Commit newCommit;
diff --git a/source/RobotAPI/components/armem/server/ExampleMemory/aron/ExampleData.xml b/source/RobotAPI/components/armem/server/ExampleMemory/aron/ExampleData.xml
index be9a9788fae8045e98d211d6a2b7397d6da455eb..4efce411b680ce9a91afceff7da5523b8f67d6cc 100644
--- a/source/RobotAPI/components/armem/server/ExampleMemory/aron/ExampleData.xml
+++ b/source/RobotAPI/components/armem/server/ExampleMemory/aron/ExampleData.xml
@@ -14,6 +14,7 @@ An example data containing different native ARON types.
<AronIncludes>
<Include include="<RobotAPI/libraries/armem/aron/MemoryID.xml>" autoinclude="true" />
+ <Include include="<RobotAPI/libraries/armem/aron/MemoryLink.xml>" autoinclude="true" />
</AronIncludes>
<GenerateTypes>
@@ -29,6 +30,21 @@ An example data containing different native ARON types.
</ObjectChild>
</Object>
+ <Object name='armarx::armem::example::LinkedData'>
+
+ <ObjectChild key='yet_another_int'>
+ <Int />
+ </ObjectChild>
+ <ObjectChild key='yet_another_string'>
+ <String />
+ </ObjectChild>
+
+ <ObjectChild key='yet_another_object'>
+ <armarx::armem::example::InnerClass />
+ </ObjectChild>
+
+ </Object>
+
<Object name='armarx::armem::example::ExampleData'>
<ObjectChild key='the_int'>
@@ -43,9 +59,9 @@ An example data containing different native ARON types.
<ObjectChild key='the_double'>
<Double />
</ObjectChild>
- <ObjectChild key='the_string'>
- <String />
- </ObjectChild>
+ <ObjectChild key='the_string'>
+ <String />
+ </ObjectChild>
<ObjectChild key='the_bool'>
<Bool />
</ObjectChild>
@@ -106,11 +122,16 @@ An example data containing different native ARON types.
</Dict>
</ObjectChild>
- <ObjectChild key="memoryLink">
+ <ObjectChild key="memoryID">
<armarx::armem::arondto::MemoryID />
</ObjectChild>
- </Object>
+ <ObjectChild key="memoryLink">
+ <armarx::armem::arondto::MemoryLink template="armarx::armem::example::LinkedData"/>
+ </ObjectChild>
+
+ </Object>
+
</GenerateTypes>
</AronTypeDefinition>
diff --git a/source/RobotAPI/components/armem/server/ExampleMemory/test/ExampleMemoryTest.cpp b/source/RobotAPI/components/armem/server/ExampleMemory/test/ExampleMemoryTest.cpp
index 5526876a302cd9658036a9603b753e47fd721121..362a2d2f338fe4e007a34756d006338ebd4611dc 100644
--- a/source/RobotAPI/components/armem/server/ExampleMemory/test/ExampleMemoryTest.cpp
+++ b/source/RobotAPI/components/armem/server/ExampleMemory/test/ExampleMemoryTest.cpp
@@ -41,7 +41,7 @@ BOOST_AUTO_TEST_CASE(test_ExampleData_type)
{
armarx::aron::type::ObjectPtr type = ExampleData::ToAronType();
- BOOST_CHECK_EQUAL(type->childrenSize(), 16);
+ BOOST_CHECK_EQUAL(type->childrenSize(), 20);
armem::wm::Memory memory;
armem::wm::CoreSegment& core = memory.addCoreSegment("ExampleData", type);
diff --git a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
index 1d9c4ac147ddc2407952ed6db08c8fd4cfcc279b..15de8583b000cd27b844e6770e076e41ee5bfa9a 100644
--- a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
+++ b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
@@ -22,6 +22,8 @@
#include "ObjectMemory.h"
+#include <RobotAPI/libraries/armem/core/ice_conversions_templates.h>
+
namespace armarx::armem::server::obj
{
diff --git a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
index c1bf3bc93f73ece3f5f85cf7a43a7a2d1ad270bb..5da13f82b5f74770c16f7fcbfb9c18723dd6cb80 100644
--- a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
+++ b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
@@ -191,7 +191,7 @@ namespace armarx::armem::server::robot_state
armarx::PoseBasePtr RobotStateMemory::getGlobalRobotPose(Ice::Long timestamp_us, const std::string& robotName, const ::Ice::Current& /*unused*/)
{
- auto timestamp = armem::Time::microSeconds(timestamp_us);
+ armem::Time timestamp { armem::Duration::MicroSeconds(timestamp_us) };
ARMARX_DEBUG << "Getting robot pose of robot " << robotName << " at timestamp " << timestamp << ".";
auto poseMap = localizationSegment.getRobotGlobalPoses(timestamp);
@@ -201,7 +201,7 @@ namespace armarx::armem::server::robot_state
<< "Robot with name " << robotName << " does not exist at or before timestamp " << timestamp << ".\n"
<< "Available robots are: " << simox::alg::get_keys(poseMap);
- return new Pose(poseMap[robotName].matrix());
+ return { new Pose(poseMap[robotName].matrix()) };
}
diff --git a/source/RobotAPI/components/units/GraspCandidateObserver.cpp b/source/RobotAPI/components/units/GraspCandidateObserver.cpp
index d4b5ea81cab4f670ba0a073b7ae120b82295de49..41ffefe98882f69004610a233dee16614f5b4f60 100644
--- a/source/RobotAPI/components/units/GraspCandidateObserver.cpp
+++ b/source/RobotAPI/components/units/GraspCandidateObserver.cpp
@@ -126,7 +126,7 @@ void GraspCandidateObserver::reportGraspCandidates(const std::string& providerNa
{
std::unique_lock lock(dataMutex);
this->candidates[providerName] = candidates;
- graspCandidateWriter.commitGraspCandidateSeq(candidates, armarx::armem::Time::now(), providerName);
+ graspCandidateWriter.commitGraspCandidateSeq(candidates, armarx::armem::Time::Now(), providerName);
handleProviderUpdate(providerName, candidates.size());
}
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianWaypointController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianWaypointController.cpp
index 4658f41d72431535920580dbb6bda4e0c70c0b6e..bd02cd045bb37da2a51156a60fec1b35b61a2dbf 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianWaypointController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianWaypointController.cpp
@@ -312,6 +312,19 @@ namespace armarx
_tripBufWpCtrl.commitWrite();
ARMARX_IMPORTANT << "set new waypoint\n" << wp;
}
+ void NJointCartesianWaypointController::setWaypointAx(const Ice::FloatSeq& data, const Ice::Current&)
+ {
+ Eigen::Matrix4f wp(data.data());
+ std::lock_guard g{_tripBufWpCtrlMut};
+ auto& w = _tripBufWpCtrl.getWriteBuffer();
+ w.wpsUpdated = true;
+ w.wps.clear();
+ w.wps.emplace_back(wp);
+ _tripBufWpCtrl.commitWrite();
+ ARMARX_IMPORTANT << "set new waypoint\n" << wp;
+ }
+
+
void NJointCartesianWaypointController::setConfigAndWaypoints(const NJointCartesianWaypointControllerRuntimeConfig& cfg,
const std::vector<Eigen::Matrix4f>& wps,
const Ice::Current&)
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianWaypointController.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianWaypointController.h
index 4933edd9d22e5138a7ef06d09fa15aa4f908e339..22440abdc4123b86e5ec28e07bfb396b6102dfe2 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianWaypointController.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianWaypointController.h
@@ -55,6 +55,7 @@ namespace armarx
void setConfig(const NJointCartesianWaypointControllerRuntimeConfig& cfg, const Ice::Current& = Ice::emptyCurrent) override;
void setWaypoints(const std::vector<Eigen::Matrix4f>& wps, const Ice::Current& = Ice::emptyCurrent) override;
+ void setWaypointAx(const Ice::FloatSeq& data, const Ice::Current& = Ice::emptyCurrent) override;
void setWaypoint(const Eigen::Matrix4f& wp, const Ice::Current& = Ice::emptyCurrent) override;
void setConfigAndWaypoints(const NJointCartesianWaypointControllerRuntimeConfig& cfg, const std::vector<Eigen::Matrix4f>& wps, const Ice::Current& = Ice::emptyCurrent) override;
void setConfigAndWaypoint(const NJointCartesianWaypointControllerRuntimeConfig& cfg, const Eigen::Matrix4f& wp, const Ice::Current& = Ice::emptyCurrent) override;
diff --git a/source/RobotAPI/gui-plugins/ObjectPoseGui/ObjectPoseGuiWidgetController.cpp b/source/RobotAPI/gui-plugins/ObjectPoseGui/ObjectPoseGuiWidgetController.cpp
index 68fbc7165c7d318cf68990f779c074d2f9e12cd4..705f0f7584a84aff9354cf2986505436491f98ff 100644
--- a/source/RobotAPI/gui-plugins/ObjectPoseGui/ObjectPoseGuiWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/ObjectPoseGui/ObjectPoseGuiWidgetController.cpp
@@ -232,7 +232,7 @@ namespace armarx
item->setText(col++, QString::fromStdString(ss.str()));
}
item->setText(col++, QString::number(double(pose.confidence), 'g', 2));
- item->setText(col++, QString::fromStdString(TimeUtil::toStringDateTime(pose.timestamp)));
+ item->setText(col++, QString::fromStdString(pose.timestamp.toDateTimeString()));
{
std::stringstream ss;
diff --git a/source/RobotAPI/interface/armem/commit.ice b/source/RobotAPI/interface/armem/commit.ice
index 526188ecf649745cb52e1fd00212d48c602cfcee..17260a2136d2cc4c24d1ecd06f5f77ecbcb7f8c0 100644
--- a/source/RobotAPI/interface/armem/commit.ice
+++ b/source/RobotAPI/interface/armem/commit.ice
@@ -34,10 +34,10 @@ module armarx
{
armem::data::MemoryID entityID;
aron::data::dto::AronDictSeq instancesData;
- long timeCreatedMicroSeconds;
+ armarx::core::time::dto::DateTime timeCreated;
float confidence = 1.0;
- long timeSentMicroSeconds = -1;
+ armarx::core::time::dto::DateTime timeSent;
};
sequence<EntityUpdate> EntityUpdateList;
@@ -46,7 +46,7 @@ module armarx
bool success = false;
armem::data::MemoryID snapshotID;
- long timeArrivedMicroSeconds;
+ armarx::core::time::dto::DateTime timeArrived;
string errorMessage;
};
diff --git a/source/RobotAPI/interface/armem/memory.ice b/source/RobotAPI/interface/armem/memory.ice
index a4cdd0cde1de4f553fd4181f6515e1fd4255ae01..617f7043f76019a2c474f588127dbcbd9c4f3991 100644
--- a/source/RobotAPI/interface/armem/memory.ice
+++ b/source/RobotAPI/interface/armem/memory.ice
@@ -1,5 +1,7 @@
#pragma once
+#include <ArmarXCore/interface/core/time.ice>
+
#include <RobotAPI/interface/aron.ice>
@@ -15,7 +17,7 @@ module armarx
string coreSegmentName = "";
string providerSegmentName = "";
string entityName = "";
- long timestampMicroSeconds = -1;
+ armarx::core::time::dto::DateTime timestamp;
int instanceIndex = -1;
}
@@ -36,9 +38,9 @@ module armarx
/// Ice Twin of `armarx::armem::EntityInstanceMetadata`.
class EntityInstanceMetadata
{
- long timeCreatedMicroSeconds;
- long timeSentMicroSeconds;
- long timeArrivedMicroSeconds;
+ armarx::core::time::dto::DateTime timeCreated;
+ armarx::core::time::dto::DateTime timeSent;
+ armarx::core::time::dto::DateTime timeArrived;
float confidence = 1.0;
};
@@ -57,7 +59,7 @@ module armarx
{
EntityInstanceSeq instances;
};
- dictionary<long, EntitySnapshot> EntityHistory;
+ dictionary<armarx::core::time::dto::DateTime, EntitySnapshot> EntityHistory;
/// Ice Twin of `armarx::armem::Entity`.
diff --git a/source/RobotAPI/interface/armem/query.ice b/source/RobotAPI/interface/armem/query.ice
index 936294507f0b05627051fa6974309faa1db4d758..f5555e4f306bf3e73ab3e47719f89a2ddb87268d 100644
--- a/source/RobotAPI/interface/armem/query.ice
+++ b/source/RobotAPI/interface/armem/query.ice
@@ -34,13 +34,13 @@ module armarx
/// Get a single snapshot (default for latest).
class Single extends EntityQuery
{
- long timestamp = -1; // -1 for latest
+ armarx::core::time::dto::DateTime timestamp; // -1 for latest
};
/// Get snapshots based on a time range (default for all).
class TimeRange extends EntityQuery
{
- long minTimestamp = -1; // -1 for oldest
- long maxTimestamp = -1; // -1 for latest
+ armarx::core::time::dto::DateTime minTimestamp; // -1 for oldest
+ armarx::core::time::dto::DateTime maxTimestamp; // -1 for latest
};
/**
* @brief Get snapshots based on an index range (default for all).
@@ -78,8 +78,8 @@ module armarx
*/
class TimeApprox extends EntityQuery
{
- long timestamp = -1;
- long eps = -1;
+ armarx::core::time::dto::DateTime timestamp;
+ armarx::core::time::dto::Duration eps;
};
/**
@@ -90,7 +90,7 @@ module armarx
*/
class BeforeOrAtTime extends EntityQuery
{
- long timestamp;
+ armarx::core::time::dto::DateTime timestamp;
}
/**
@@ -104,7 +104,7 @@ module armarx
*/
class BeforeTime extends EntityQuery
{
- long timestamp;
+ armarx::core::time::dto::DateTime timestamp;
long maxEntries = 1;
}
diff --git a/source/RobotAPI/interface/objectpose/object_pose_types.ice b/source/RobotAPI/interface/objectpose/object_pose_types.ice
index 4b09fd18ef1c6fe771200b3338ae67073616c42b..35960cce72ba7157a2c3bfbbca61824ef6a26334 100644
--- a/source/RobotAPI/interface/objectpose/object_pose_types.ice
+++ b/source/RobotAPI/interface/objectpose/object_pose_types.ice
@@ -23,8 +23,8 @@
#pragma once
-//fq
#include <ArmarXCore/interface/core/BasicVectorTypes.ice>
+#include <ArmarXCore/interface/core/time.ice>
#include <RobotAPI/interface/core/PoseBase.ice>
#include <RobotAPI/interface/core/NameValueMap.ice>
@@ -101,7 +101,7 @@ module armarx
/// Confidence in [0, 1] (1 = full, 0 = none).
float confidence = 0;
/// Source timestamp.
- long timestampMicroSeconds = -1;
+ armarx::core::time::dto::DateTime timestamp;
/// [Optional] Object bounding box in object's local coordinate frame.
Box localOOBB;
@@ -146,7 +146,7 @@ module armarx
/// Confidence in [0, 1] (1 = full, 0 = none).
float confidence = 0;
/// Source timestamp.
- long timestampMicroSeconds = -1;
+ armarx::core::time::dto::DateTime timestamp;
/// Object bounding box in object's local coordinate frame. May be null.
Box localOOBB;
diff --git a/source/RobotAPI/interface/units/RobotUnit/NJointCartesianWaypointController.ice b/source/RobotAPI/interface/units/RobotUnit/NJointCartesianWaypointController.ice
index bf00909d6f5b95ee23fec2f982aae5d4d6ed6ec8..f02c8e8ee8720f7a45fb730f155986016cdb0331 100644
--- a/source/RobotAPI/interface/units/RobotUnit/NJointCartesianWaypointController.ice
+++ b/source/RobotAPI/interface/units/RobotUnit/NJointCartesianWaypointController.ice
@@ -56,6 +56,7 @@ module armarx
void setConfig(NJointCartesianWaypointControllerRuntimeConfig cfg);
void setWaypoints(Eigen::Matrix4fSeq wps);
void setWaypoint(Eigen::Matrix4f wp);
+ void setWaypointAx(Ice::FloatSeq wp);
void setConfigAndWaypoints(NJointCartesianWaypointControllerRuntimeConfig cfg, Eigen::Matrix4fSeq wps);
void setConfigAndWaypoint(NJointCartesianWaypointControllerRuntimeConfig cfg, Eigen::Matrix4f wp);
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ObjectPose.cpp b/source/RobotAPI/libraries/ArmarXObjects/ObjectPose.cpp
index 11e583902b8fbb0963e8f4c1b00746de01356f1b..413d4681c37d51c959573f5a2528a07d66ea4b9b 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/ObjectPose.cpp
+++ b/source/RobotAPI/libraries/ArmarXObjects/ObjectPose.cpp
@@ -7,6 +7,7 @@
#include <VirtualRobot/RobotConfig.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/core/time/ice_conversions.h>
#include <RobotAPI/libraries/core/Pose.h>
#include <RobotAPI/libraries/core/FramedPose.h>
@@ -51,7 +52,7 @@ namespace armarx::objpose
objpose::fromIce(ice.attachment, this->attachment);
confidence = ice.confidence;
- timestamp = IceUtil::Time::microSeconds(ice.timestampMicroSeconds);
+ armarx::core::time::fromIce(ice.timestamp, timestamp);
objpose::fromIce(ice.localOOBB, localOOBB);
}
@@ -88,7 +89,7 @@ namespace armarx::objpose
objpose::toIce(ice.attachment, this->attachment);
ice.confidence = confidence;
- ice.timestampMicroSeconds = timestamp.toMicroSeconds();
+ armarx::core::time::toIce(ice.timestamp, timestamp);
objpose::toIce(ice.localOOBB, localOOBB);
}
@@ -132,7 +133,7 @@ namespace armarx::objpose
attachment = std::nullopt;
confidence = provided.confidence;
- timestamp = IceUtil::Time::microSeconds(provided.timestampMicroSeconds);
+ armarx::core::time::fromIce(provided.timestamp, timestamp);
objpose::fromIce(provided.localOOBB, localOOBB);
}
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ObjectPose.h b/source/RobotAPI/libraries/ArmarXObjects/ObjectPose.h
index 66c87f22f5f369c154043e83a72146f0d5bbea54..cc8b4c6ebd1f1f112667df6c3eccc1308e5e5416 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/ObjectPose.h
+++ b/source/RobotAPI/libraries/ArmarXObjects/ObjectPose.h
@@ -4,7 +4,6 @@
#include <map>
#include <vector>
-
#include <Eigen/Core>
#include <SimoxUtility/shapes/OrientedBox.h>
@@ -12,8 +11,7 @@
#include <VirtualRobot/VirtualRobot.h>
#include <ArmarXCore/core/PackagePath.h>
-
-#include <IceUtil/Time.h>
+#include <ArmarXCore/core/time/DateTime.h>
#include <RobotAPI/interface/objectpose/object_pose_types.h>
#include <RobotAPI/libraries/ArmarXObjects/forward_declarations.h>
@@ -87,7 +85,7 @@ namespace armarx::objpose
/// Confidence in [0, 1] (1 = full, 0 = none).
float confidence = 0;
/// Source timestamp.
- IceUtil::Time timestamp = IceUtil::Time::microSeconds(-1);
+ DateTime timestamp = DateTime::Invalid();
/// Object bounding box in object's local coordinate frame.
/// @see oobbRobot(), oobbGlobal()
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ProvidedObjectPose.cpp b/source/RobotAPI/libraries/ArmarXObjects/ProvidedObjectPose.cpp
index c67af0381b114b1b5e145b60a3c239b464f4ec31..c07cea85884a957218d9a9903ffcdd8c674b37bd 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/ProvidedObjectPose.cpp
+++ b/source/RobotAPI/libraries/ArmarXObjects/ProvidedObjectPose.cpp
@@ -1,6 +1,7 @@
#include "ProvidedObjectPose.h"
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/core/time/ice_conversions.h>
#include <RobotAPI/libraries/core/Pose.h>
#include <RobotAPI/libraries/core/FramedPose.h>
@@ -34,7 +35,7 @@ namespace armarx::objpose
objectJointValues = ice.objectJointValues;
confidence = ice.confidence;
- timestamp = IceUtil::Time::microSeconds(ice.timestampMicroSeconds);
+ armarx::core::time::fromIce(ice.timestamp, timestamp);
objpose::fromIce(ice.localOOBB, localOOBB);
}
@@ -60,7 +61,7 @@ namespace armarx::objpose
ice.objectJointValues = objectJointValues;
ice.confidence = confidence;
- ice.timestampMicroSeconds = timestamp.toMicroSeconds();
+ armarx::core::time::toIce(ice.timestamp, timestamp);
objpose::toIce(ice.localOOBB, localOOBB);
}
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ProvidedObjectPose.h b/source/RobotAPI/libraries/ArmarXObjects/ProvidedObjectPose.h
index c323a879508a60ad1dfd6b4af58dc4c4298ec534..c8d846893dbf857f1ca8bb5dbaabae1ba0b1b14b 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/ProvidedObjectPose.h
+++ b/source/RobotAPI/libraries/ArmarXObjects/ProvidedObjectPose.h
@@ -8,7 +8,7 @@
#include <SimoxUtility/shapes/OrientedBox.h>
-#include <IceUtil/Time.h>
+#include <ArmarXCore/core/time/DateTime.h>
#include <RobotAPI/interface/objectpose/object_pose_types.h>
#include <RobotAPI/libraries/ArmarXObjects/forward_declarations.h>
@@ -57,7 +57,7 @@ namespace armarx::objpose
/// Confidence in [0, 1] (1 = full, 0 = none).
float confidence = 0;
/// Source timestamp.
- IceUtil::Time timestamp = IceUtil::Time::microSeconds(-1);
+ DateTime timestamp = DateTime::Invalid();
/// Object bounding box in object's local coordinate frame.
/// @see oobbRobot(), oobbGlobal()
diff --git a/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/objpose.cpp b/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/objpose.cpp
index bb9fb98e66584e8e22889d79c57900df0df1d99f..f21931adabf669f0da8804cf937fd6205c94248b 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/objpose.cpp
+++ b/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/objpose.cpp
@@ -104,7 +104,7 @@ void armarx::objpose::fromAron(const arondto::ObjectPose& dto, ObjectPose& bo)
bo.confidence = dto.confidence;
- bo.timestamp = dto.timestamp;
+ fromAron(dto.timestamp, bo.timestamp);
if (dto.localOOBBValid)
{
@@ -153,7 +153,7 @@ void armarx::objpose::toAron(arondto::ObjectPose& dto, const ObjectPose& bo)
dto.confidence = bo.confidence;
- dto.timestamp = bo.timestamp;
+ toAron(dto.timestamp, bo.timestamp);
if (bo.localOOBB)
{
diff --git a/source/RobotAPI/libraries/ArmarXObjects/json_conversions.cpp b/source/RobotAPI/libraries/ArmarXObjects/json_conversions.cpp
index 6080cfda786c3d6115c6647fe7decd4e5faa6b03..cf42e169e67f0f18aef427c65fd24a73160983bf 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/json_conversions.cpp
+++ b/source/RobotAPI/libraries/ArmarXObjects/json_conversions.cpp
@@ -43,7 +43,7 @@ void armarx::objpose::to_json(simox::json::json& j, const ObjectPose& op)
j["robotPose"] = op.robotPose;
j["confidence"] = op.confidence;
- j["timestampMicroSeconds"] = op.timestamp.toMicroSeconds();
+ j["timestampMicroSeconds"] = op.timestamp.toMicroSecondsSinceEpoch();
if (op.localOOBB)
{
@@ -68,7 +68,7 @@ void armarx::objpose::from_json(const simox::json::json& j, ObjectPose& op)
op.robotPose = j.at("robotPose");
op.confidence = j.at("confidence");
- op.timestamp = IceUtil::Time::microSeconds(j.at("timestampMicroSeconds"));
+ op.timestamp = DateTime(Duration::MicroSeconds(j.at("timestampMicroSeconds")));
if (j.count("localOOBB"))
{
diff --git a/source/RobotAPI/libraries/GraspingUtility/GraspCandidateWriter.cpp b/source/RobotAPI/libraries/GraspingUtility/GraspCandidateWriter.cpp
index 24d050e646d9bbac8ed3ab5fa30926f6b24f442a..76200b0ab1772d68cd30482e577ae870e711af10 100644
--- a/source/RobotAPI/libraries/GraspingUtility/GraspCandidateWriter.cpp
+++ b/source/RobotAPI/libraries/GraspingUtility/GraspCandidateWriter.cpp
@@ -1,13 +1,15 @@
#include "GraspCandidateWriter.h"
+
+#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
+
#include <RobotAPI/libraries/GraspingUtility/aron/GraspCandidate.aron.generated.h>
#include <RobotAPI/libraries/GraspingUtility/aron_conversions.h>
#include <RobotAPI/libraries/armem/core/error/mns.h>
-#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
+
namespace armarx::armem
{
-
GraspCandidateWriter::GraspCandidateWriter(armem::client::MemoryNameSystem& memoryNameSystem)
: memoryNameSystem(memoryNameSystem)
{
@@ -122,7 +124,7 @@ namespace armarx::armem
std::map<std::string, std::vector<armarx::aron::data::DictPtr>> updates = {};
armarx::grasping::arondto::BimanualGraspCandidate aronGraspCandidate;
- for (armarx::grasping::BimanualGraspCandidatePtr candidate : candidates)
+ for (const armarx::grasping::BimanualGraspCandidatePtr& candidate : candidates)
{
std::string objectName = "UnknownObject";
if (candidate->sourceInfo)
@@ -161,21 +163,16 @@ namespace armarx::armem
return false;
}
- const auto iceTimestamp = Time::microSeconds(timestamp.toMicroSeconds());
-
const auto providerId = armem::MemoryID(result.segmentID);
const auto entityID =
- providerId.withEntityName(entityName).withTimestamp(iceTimestamp);
+ providerId.withEntityName(entityName).withTimestamp(timestamp);
armem::EntityUpdate update;
update.entityID = entityID;
-
-
-
update.instancesData = instances;
- update.timeCreated = iceTimestamp;
+ update.timeCreated = timestamp;
- ARMARX_DEBUG << "Committing " << update << " at time " << iceTimestamp;
+ ARMARX_DEBUG << "Committing " << update << " at time " << timestamp;
armem::EntityUpdateResult updateResult = memoryWriter.commit(update);
ARMARX_DEBUG << updateResult;
diff --git a/source/RobotAPI/libraries/armem/CMakeLists.txt b/source/RobotAPI/libraries/armem/CMakeLists.txt
index 5feda749b6fc3eb3e1f601812b778e71b20c099b..6b105d8f67ed0ba87bfd5ae17a2fcf54fea79b70 100644
--- a/source/RobotAPI/libraries/armem/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem/CMakeLists.txt
@@ -9,6 +9,7 @@ set(LIBS
ArmarXCore
RemoteGui
aron
+ aroncommon
)
set(LIB_FILES
@@ -167,6 +168,7 @@ armarx_add_library(
"${LIBS}"
ARON_FILES
aron/MemoryID.xml
+ aron/MemoryLink.xml
)
diff --git a/source/RobotAPI/libraries/armem/aron/MemoryLink.xml b/source/RobotAPI/libraries/armem/aron/MemoryLink.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3f04e393abf0c07747cdebd8288ca655f169e7c5
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/aron/MemoryLink.xml
@@ -0,0 +1,19 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+ <CodeIncludes>
+ <Include include="<RobotAPI/libraries/armem/aron/MemoryID.aron.generated.h>" />
+ </CodeIncludes>
+ <AronIncludes>
+ <Include include="<RobotAPI/libraries/armem/aron/MemoryID.xml>" />
+ </AronIncludes>
+ <GenerateTypes>
+ <Object name="armarx::armem::arondto::MemoryLink" template="T">
+ <ObjectChild key="memoryID">
+ <armarx::armem::arondto::MemoryID />
+ </ObjectChild>
+ <ObjectChild key="data">
+ <T unique_ptr="true"/>
+ </ObjectChild>
+ </Object>
+ </GenerateTypes>
+</AronTypeDefinition>
diff --git a/source/RobotAPI/libraries/armem/client/Query.cpp b/source/RobotAPI/libraries/armem/client/Query.cpp
index 52000cf3d25f118ea80cf7dfc7c5ea5830cb36f8..5829c918872623c48a2d2866d84af67b7809d919 100644
--- a/source/RobotAPI/libraries/armem/client/Query.cpp
+++ b/source/RobotAPI/libraries/armem/client/Query.cpp
@@ -1,6 +1,8 @@
#include "Query.h"
#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/ice_conversions_templates.h>
+
namespace armarx::armem::client
{
diff --git a/source/RobotAPI/libraries/armem/client/Reader.cpp b/source/RobotAPI/libraries/armem/client/Reader.cpp
index b7a1c85dd5925353a360058cc5359a312f6e42c0..5bf6dcd0308cfad16c6401bed4c2ae940a972930 100644
--- a/source/RobotAPI/libraries/armem/client/Reader.cpp
+++ b/source/RobotAPI/libraries/armem/client/Reader.cpp
@@ -4,10 +4,14 @@
#include <ArmarXCore/core/logging/Logging.h>
+#include <RobotAPI/libraries/armem/aron/MemoryLink.aron.generated.h>
#include <RobotAPI/libraries/armem/core/MemoryID_operators.h>
-#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
+#include <RobotAPI/libraries/armem/core/aron_conversions.h>
#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/util/util.h>
+#include <RobotAPI/libraries/aron/common/util/object_finders.h>
+#include <RobotAPI/libraries/aron/core/data/visitor/RecursiveVisitor.h>
#include "query/Builder.h"
#include "query/query_fns.h"
@@ -81,6 +85,212 @@ namespace armarx::armem::client
}
+ QueryResult Reader::query(const QueryInput& input,
+ armem::client::MemoryNameSystem& mns,
+ int recursionDepth) const
+ {
+ return QueryResult::fromIce(query(input.toIce(), mns, recursionDepth));
+ }
+
+
+ armem::query::data::Result Reader::query(const armem::query::data::Input& input,
+ armem::client::MemoryNameSystem& mns,
+ int recursionDepth) const
+ {
+ auto makeErrorMsg = [](auto error)
+ {
+ std::stringstream sstream;
+ sstream << "Memory query failed.\nReason: " << error.what();
+ return sstream.str();
+ };
+
+ armem::query::data::Result result;
+ ARMARX_CHECK_NOT_NULL(memoryPrx);
+ try
+ {
+ result = memoryPrx->query(input);
+ QueryResult bObj = QueryResult::fromIce(result);
+ bObj.memory.forEachInstance(
+ [&bObj, &mns, recursionDepth](armem::wm::EntityInstance& instance)
+ { resolveMemoryLinks(instance, bObj.memory, mns, recursionDepth); });
+ result = bObj.toIce();
+ }
+ catch (const Ice::ConnectionRefusedException& e)
+ {
+ result.errorMessage = makeErrorMsg(e);
+ }
+ catch (const Ice::ConnectionLostException& e)
+ {
+ result.errorMessage = makeErrorMsg(e);
+ }
+ catch (const Ice::NotRegisteredException& e)
+ {
+ result.errorMessage = makeErrorMsg(e);
+ }
+ catch (const exceptions::local::ExpressionException& e)
+ {
+ std::stringstream sstream;
+ sstream << "Encountered malformed MemoryLink: " << e.what();
+ result.errorMessage = sstream.str();
+ }
+
+ return result;
+ }
+
+
+ QueryResult Reader::query(armem::query::data::MemoryQueryPtr query, // NOLINT
+ armem::client::MemoryNameSystem& mns,
+ int recursionDepth) const
+ {
+ return this->query(armem::query::data::MemoryQuerySeq{query}, mns, recursionDepth);
+ }
+
+
+ QueryResult Reader::query(const armem::query::data::MemoryQuerySeq& queries,
+ armem::client::MemoryNameSystem& mns,
+ int recursionDepth) const
+ {
+ QueryInput input;
+ input.memoryQueries = queries;
+ return this->query(input, mns, recursionDepth);
+ }
+
+
+ QueryResult Reader::query(const QueryBuilder& queryBuilder,
+ armem::client::MemoryNameSystem& mns,
+ int recursionDepth) const
+ {
+ return this->query(queryBuilder.buildQueryInput(), mns, recursionDepth);
+ }
+
+
+ /**
+ * Get the MemoryID and data required to fill in the given MemoryLink.
+ *
+ * Returns nothing if the data could not be retrieved or its type does not
+ * match the MemoryLink's template type.
+ *
+ * @param linkData the data object of the MemoryLink
+ * @param linkType the type object of the MemoryLink
+ * @return a pair of memoryID and data to fill in a MemoryLink, or nothing if not available
+ */
+ std::optional<std::pair<MemoryID, aron::data::VariantPtr>>
+ findDataForLink(const aron::data::VariantPtr& linkData,
+ const aron::type::VariantPtr& linkType,
+ armem::client::MemoryNameSystem& mns)
+ {
+ static const aron::Path memoryLinkIDPath{{"memoryID"}};
+ static const aron::Path memoryLinkDataPath{{"data"}};
+ armem::arondto::MemoryID dto;
+ auto memoryIDDict =
+ aron::data::Dict::DynamicCastAndCheck(linkData->navigateAbsolute(memoryLinkIDPath));
+ dto.fromAron(memoryIDDict);
+ auto memoryID = aron::fromAron<armem::MemoryID>(dto);
+ if (!memoryID.isWellDefined() || !memoryID.hasEntityName())
+ {
+ ARMARX_INFO << "Encountered unresolvable MemoryID '" << memoryID.str()
+ << "', ignoring.";
+ return {};
+ }
+
+ auto nextMemory = resolveID(mns, memoryID);
+ if (!nextMemory)
+ {
+ ARMARX_WARNING << "Could not retrieve data for " << memoryID.str() << ", skipping...";
+ return {};
+ }
+ auto nextDataAndType = extractDataAndType(nextMemory.value(), memoryID);
+ if (!nextDataAndType)
+ {
+ ARMARX_WARNING << "Data or type for " << memoryID.str()
+ << " not available in memory containing that MemoryID.";
+ return {};
+ }
+ auto [nextData, nextType] = nextDataAndType.value();
+ auto linkTemplate =
+ aron::type::Object::DynamicCastAndCheck(linkType)->getTemplateInstantiations().at(0);
+ std::string nextObjectName = nextType->getObjectNameWithTemplateInstantiations();
+ if (nextType->getObjectName() != linkTemplate)
+ {
+ ARMARX_WARNING << "Linked object " << memoryID.str() << " is of the type "
+ << nextType->getObjectName() << ", but the link requires the type "
+ << linkTemplate;
+ return {};
+ }
+ return {{memoryID,
+ // This is currently the only method to prefix the path to the data correctly.
+ aron::data::Variant::FromAronDTO(
+ nextData->toAronDTO(),
+ linkData->getPath().withElement(memoryLinkDataPath.toString()))}};
+ }
+
+ void
+ Reader::resolveMemoryLinks(armem::wm::EntityInstance& instance,
+ armem::wm::Memory& input,
+ armem::client::MemoryNameSystem& mns,
+ int recursionDepth)
+ {
+ static const aron::Path memoryLinkDataPath{{"data"}};
+ // MemoryID is used for the template instantiation as a placeholder -
+ // you could use any type here.
+ static const std::string linkType =
+ arondto::MemoryLink<arondto::MemoryID>::ToAronType()->getFullName();
+
+ std::set<armem::MemoryID> seenIDs{instance.id()};
+ std::vector<aron::Path> currentPaths{{{""}}};
+ std::vector<aron::Path> nextPaths;
+ int depth = 0;
+
+ auto dataAndType = extractDataAndType(input, instance.id());
+ if (!dataAndType)
+ {
+ ARMARX_INFO << "Instance '" << instance.id().str() << "' does not have a defined type.";
+ return;
+ }
+ auto [instanceData, instanceType] = dataAndType.value();
+ while (!currentPaths.empty() && (recursionDepth == -1 || depth < recursionDepth))
+ {
+ for (const auto& path : currentPaths)
+ {
+ aron::SubObjectFinder finder(linkType);
+ if (path.getFirstElement().empty())
+ {
+ armarx::aron::data::visitRecursive(finder, instanceData, instanceType);
+ }
+ else
+ {
+ armarx::aron::data::visitRecursive(finder,
+ instanceData->navigateAbsolute(path),
+ instanceType->navigateAbsolute(path));
+ }
+
+ for (auto& [linkPathStr, linkDataAndType] : finder.getFoundObjects()) // NOLINT
+ {
+ auto [linkData, linkType] = linkDataAndType;
+ auto result = findDataForLink(linkData, linkType, mns);
+ if (result)
+ {
+ auto [memoryID, dataToAppend] = result.value();
+ if (seenIDs.find(memoryID) != seenIDs.end())
+ {
+ continue;
+ }
+ seenIDs.insert(memoryID);
+
+ aron::data::Dict::DynamicCastAndCheck(linkData)->setElement(
+ memoryLinkDataPath.toString(), dataToAppend);
+ nextPaths.push_back(
+ linkData->getPath().withElement(memoryLinkDataPath.toString()));
+ }
+ }
+ }
+ currentPaths = std::move(nextPaths);
+ nextPaths.clear();
+ ++depth;
+ }
+ }
+
+
QueryResult Reader::queryMemoryIDs(const std::vector<MemoryID>& ids, DataMode dataMode) const
{
using namespace client::query_fns;
diff --git a/source/RobotAPI/libraries/armem/client/Reader.h b/source/RobotAPI/libraries/armem/client/Reader.h
index e9ee1b69afef7d2befdaaf0169b0117a13edbad5..1b957fde328f8c09b1086dc7fa2f0011cecd694b 100644
--- a/source/RobotAPI/libraries/armem/client/Reader.h
+++ b/source/RobotAPI/libraries/armem/client/Reader.h
@@ -8,6 +8,7 @@
// RobotAPI
#include <RobotAPI/interface/armem/server/ReadingMemoryInterface.h>
#include <RobotAPI/interface/armem/server/StoringMemoryInterface.h>
+#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include "Query.h"
@@ -41,9 +42,60 @@ namespace armarx::armem::client
QueryResult query(const QueryBuilder& queryBuilder) const;
+ /** Perform a query with recursive memory link resolution.
+ *
+ * Resolves the links in the query result using the given MemoryNameSystem
+ * and inserts the data into the MemoryLink objects' data fields.
+ * If the inserted data also contains links, those will be resolved as well
+ * up to and including the given recursion depth. Link cycles are detected;
+ * the first repeated memory ID will not be inserted into the data.
+ * Setting the recursion depth to `-1` is equivalent to an infinite
+ * recursion depth.
+ *
+ * Standalone `MemoryID` subobjects are ignored; only MemoryIDs inside of
+ * MemoryLink subobjects are resolved. Empty or unresolvable MemoryIDs
+ * are ignored - this includes MemoryIDs whose Entity fields are not set.
+ * If the data associated with a MemoryID could not be retrieved or
+ * its type does not match the template type of the MemoryLink,
+ * it is ignored.
+ *
+ * @param input the query to perform
+ * @param mns the MemoryNameSystem to use when resolving MemoryLinks
+ * @param recursionDepth how many layers of MemoryLinks to resolve
+ */
+ QueryResult query(const QueryInput& input,
+ armem::client::MemoryNameSystem& mns,
+ int recursionDepth = -1) const;
+ /**
+ * @sa Reader::query(const QueryInput&, armem::client::MemoryNameSystem, int)
+ */
+ armem::query::data::Result query(const armem::query::data::Input& input,
+ armem::client::MemoryNameSystem& mns,
+ int recursionDepth = -1) const;
+
+ /**
+ * @sa Reader::query(const QueryInput&, armem::client::MemoryNameSystem, int)
+ */
+ QueryResult query(armem::query::data::MemoryQueryPtr query,
+ armem::client::MemoryNameSystem& mns,
+ int recursionDepth = -1) const;
+ /**
+ * @sa Reader::query(const QueryInput&, armem::client::MemoryNameSystem, int)
+ */
+ QueryResult query(const armem::query::data::MemoryQuerySeq& queries,
+ armem::client::MemoryNameSystem& mns,
+ int recursionDepth = -1) const;
+
+ /**
+ * @sa Reader::query(const QueryInput&, armem::client::MemoryNameSystem, int)
+ */
+ QueryResult query(const QueryBuilder& queryBuilder,
+ armem::client::MemoryNameSystem& mns,
+ int recursionDepth = -1) const;
+
/**
- * @brief Qeury a specific set of memory IDs.
+ * @brief Query a specific set of memory IDs.
*
* Each ID can refer to an entity, a snapshot or an instance. When not
* referring to an entity instance, the latest snapshot and first
@@ -116,10 +168,16 @@ namespace armarx::armem::client
return bool(memoryPrx);
}
+ private:
+ static void resolveMemoryLinks(armem::wm::EntityInstance& instance,
+ armem::wm::Memory& input,
+ armem::client::MemoryNameSystem& mns,
+ int recursionDepth);
+
public:
server::ReadingMemoryInterfacePrx memoryPrx;
};
-}
+} // namespace armarx::armem::client
diff --git a/source/RobotAPI/libraries/armem/client/Writer.cpp b/source/RobotAPI/libraries/armem/client/Writer.cpp
index 7ffeeca7a71a8ea312565b4e96cf3833300f0fcd..3c4edce62f6cbc0b2d2dc908e673fbe06afe6f53 100644
--- a/source/RobotAPI/libraries/armem/client/Writer.cpp
+++ b/source/RobotAPI/libraries/armem/client/Writer.cpp
@@ -1,6 +1,7 @@
#include "Writer.h"
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/core/time/ice_conversions.h>
#include "../error.h"
@@ -111,10 +112,10 @@ namespace armarx::armem::client
* anyway.
*/
- const Time timeSent = armem::Time::now();
+ const Time timeSent = armem::Time::Now();
for (data::EntityUpdate& update : commit.updates)
{
- update.timeSentMicroSeconds = timeSent.toMicroSeconds();
+ toIce(update.timeSent, timeSent);
}
data::CommitResult result;
diff --git a/source/RobotAPI/libraries/armem/client/query/selectors.cpp b/source/RobotAPI/libraries/armem/client/query/selectors.cpp
index 0ea7000b229edce38d8a797d3b542d180c2de17a..791a6190c9d344c35113fdb388c8d98f9cdf931b 100644
--- a/source/RobotAPI/libraries/armem/client/query/selectors.cpp
+++ b/source/RobotAPI/libraries/armem/client/query/selectors.cpp
@@ -1,6 +1,9 @@
#include "selectors.h"
-#include <RobotAPI/libraries/armem/core/ice_conversions.h>
+#include <ArmarXCore/core/time/ice_conversions.h>
+
+#include <RobotAPI/libraries/armem/core/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/ice_conversions_templates.h>
#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
@@ -24,7 +27,7 @@ namespace armarx::armem::client::query
SnapshotSelector& SnapshotSelector::latest()
{
auto& q = _addQuery<dq::entity::Single>();
- q.timestamp = -1;
+ toIce(q.timestamp, Time::Invalid());
return *this;
}
diff --git a/source/RobotAPI/libraries/armem/client/util/MemoryListener.cpp b/source/RobotAPI/libraries/armem/client/util/MemoryListener.cpp
index a305de2cbcdd9aa040e6f8b14eb33a905519ec05..bc180c726f4d573fe69a3a77bfba2b0be12fe2c8 100644
--- a/source/RobotAPI/libraries/armem/client/util/MemoryListener.cpp
+++ b/source/RobotAPI/libraries/armem/client/util/MemoryListener.cpp
@@ -5,6 +5,7 @@
#include <ArmarXCore/core/exceptions/LocalException.h>
#include <ArmarXCore/core/logging/Logging.h>
#include <RobotAPI/libraries/armem/core/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/ice_conversions_templates.h>
#include <RobotAPI/libraries/armem/core/error.h>
diff --git a/source/RobotAPI/libraries/armem/core/Commit.h b/source/RobotAPI/libraries/armem/core/Commit.h
index 433703a5ac8bc3f05727cffa86be073781c4dcf1..8a1da207528940d0db22dd004faae5b15e3d07f3 100644
--- a/source/RobotAPI/libraries/armem/core/Commit.h
+++ b/source/RobotAPI/libraries/armem/core/Commit.h
@@ -36,7 +36,7 @@ namespace armarx::armem
* @brief Time when this entity update was created (e.g. time of image recording).
* This is the key of the entity's history.
*/
- Time timeCreated = Time::microSeconds(-1);
+ Time timeCreated = Time::Invalid();
// OPTIONAL
@@ -52,14 +52,14 @@ namespace armarx::armem
*
* Set automatically when sending the commit.
*/
- Time timeSent = Time::microSeconds(-1);
+ Time timeSent = Time::Invalid();
/**
* @brief Time when this update arrived at the memory server.
*
* Set by memory server on arrival.
*/
- Time timeArrived = Time::microSeconds(-1);
+ Time timeArrived = Time::Invalid();
friend std::ostream& operator<<(std::ostream& os, const EntityUpdate& rhs);
@@ -74,7 +74,7 @@ namespace armarx::armem
bool success = false;
MemoryID snapshotID;
- Time timeArrived = Time::microSeconds(-1);
+ Time timeArrived = Time::Invalid();
std::string errorMessage;
diff --git a/source/RobotAPI/libraries/armem/core/MemoryID.cpp b/source/RobotAPI/libraries/armem/core/MemoryID.cpp
index f3b8c662ddef099b18dc09e03a81f21bd7de2bde..c2a59ff9cb7e653f74153ced3eb73d00ed7572c4 100644
--- a/source/RobotAPI/libraries/armem/core/MemoryID.cpp
+++ b/source/RobotAPI/libraries/armem/core/MemoryID.cpp
@@ -13,6 +13,7 @@
namespace armarx::armem
{
+ // This is constant, not a variable.
const std::string MemoryID::delimiter = "/";
@@ -251,7 +252,7 @@ namespace armarx::armem
{
return getEntitySnapshotID();
}
- if (timestamp != Time::microSeconds(-1))
+ if (timestamp.isValid())
{
return getEntityID();
}
@@ -350,7 +351,7 @@ namespace armarx::armem
std::string MemoryID::timestampStr() const
{
- return hasTimestamp() ? std::to_string(timestamp.toMicroSeconds()) : "";
+ return hasTimestamp() ? std::to_string(timestamp.toMicroSecondsSinceEpoch()) : "";
}
std::string MemoryID::instanceIndexStr() const
@@ -358,9 +359,9 @@ namespace armarx::armem
return hasInstanceIndex() ? std::to_string(instanceIndex) : "";
}
- IceUtil::Time MemoryID::timestampFromStr(const std::string& string)
+ Time MemoryID::timestampFromStr(const std::string& string)
{
- return Time::microSeconds(parseInteger(string, "timestamp"));
+ return Time(Duration::MicroSeconds(parseInteger(string, "timestamp")));
}
int MemoryID::instanceIndexFromStr(const std::string& string)
@@ -416,7 +417,7 @@ namespace armarx::armem
{
if (string.empty())
{
- return -1;
+ return std::numeric_limits<long>::min();
}
try
{
@@ -506,7 +507,7 @@ namespace armarx::armem
return false;
}
- if (general.timestamp.toMicroSeconds() < 0)
+ if (general.timestamp.isInvalid())
{
return true;
}
diff --git a/source/RobotAPI/libraries/armem/core/MemoryID.h b/source/RobotAPI/libraries/armem/core/MemoryID.h
index d583e752258d69e8271e30be2a2d091493aa18cc..64850ddefa9d2e92cc924e33d765317a8895c067 100644
--- a/source/RobotAPI/libraries/armem/core/MemoryID.h
+++ b/source/RobotAPI/libraries/armem/core/MemoryID.h
@@ -1,5 +1,6 @@
#pragma once
+#include <functional> // for std::hash
#include <string>
#include <vector>
@@ -52,7 +53,7 @@ namespace armarx::armem
std::string coreSegmentName = "";
std::string providerSegmentName = "";
std::string entityName = "";
- Time timestamp = Time::microSeconds(-1);
+ Time timestamp = Time::Invalid();
int instanceIndex = -1;
@@ -67,7 +68,7 @@ namespace armarx::armem
const std::string& coreSegmentName,
const std::string& providerSegmentName = "",
const std::string& entityName = "",
- Time timestamp = Time::microSeconds(-1),
+ Time timestamp = Time::Invalid(),
int instanceIndex = -1);
@@ -97,27 +98,27 @@ namespace armarx::armem
bool hasMemoryName() const
{
- return !memoryName.empty();
+ return not memoryName.empty();
}
bool hasCoreSegmentName() const
{
- return !coreSegmentName.empty();
+ return not coreSegmentName.empty();
}
bool hasProviderSegmentName() const
{
- return !providerSegmentName.empty();
+ return not providerSegmentName.empty();
}
bool hasEntityName() const
{
- return !entityName.empty();
+ return not entityName.empty();
}
bool hasTimestamp() const
{
- return timestamp.toMicroSeconds() >= 0;
+ return timestamp.isValid();
}
void clearTimestamp()
{
- timestamp = Time::microSeconds(-1);
+ timestamp = Time::Invalid();
}
bool hasInstanceIndex() const
{
@@ -208,7 +209,7 @@ namespace armarx::armem
bool operator ==(const MemoryID& other) const;
inline bool operator !=(const MemoryID& other) const
{
- return !(*this == other);
+ return not (*this == other);
}
bool operator< (const MemoryID& rhs) const;
@@ -218,11 +219,11 @@ namespace armarx::armem
}
inline bool operator<=(const MemoryID& rhs) const
{
- return !operator> (rhs);
+ return not operator> (rhs);
}
inline bool operator>=(const MemoryID& rhs) const
{
- return !operator< (rhs);
+ return not operator< (rhs);
}
friend std::ostream& operator<<(std::ostream& os, const MemoryID id);
diff --git a/source/RobotAPI/libraries/armem/core/Time.cpp b/source/RobotAPI/libraries/armem/core/Time.cpp
index 25bd9a8dc09fcda3c1f86d765e1bbd74f87c6525..80933ac0bd178a17f49c50fe8c89931177d496d5 100644
--- a/source/RobotAPI/libraries/armem/core/Time.cpp
+++ b/source/RobotAPI/libraries/armem/core/Time.cpp
@@ -11,12 +11,12 @@ namespace armarx
std::string armem::toStringMilliSeconds(const Time& time, int decimals)
{
std::stringstream ss;
- ss << time.toMilliSeconds();
+ ss << time.toMicroSecondsSinceEpoch() / 1000;
if (decimals > 0)
{
int div = int(std::pow(10, 3 - decimals));
ss << "." << std::setfill('0') << std::setw(decimals)
- << (time.toMicroSeconds() % 1000) / div;
+ << (time.toMicroSecondsSinceEpoch() % 1000) / div;
}
ss << " ms";
return ss.str();
@@ -27,7 +27,7 @@ namespace armarx
{
static const char* mu = "\u03BC";
std::stringstream ss;
- ss << time.toMicroSeconds() << " " << mu << "s";
+ ss << time.toMicroSecondsSinceEpoch() << " " << mu << "s";
return ss.str();
}
@@ -40,7 +40,7 @@ namespace armarx
{
int div = int(std::pow(10, 6 - decimals));
ss << "." << std::setfill('0') << std::setw(decimals)
- << (time.toMicroSeconds() % int(1e6)) / div;
+ << (time.toMicroSecondsSinceEpoch() % int(1e6)) / div;
}
return ss.str();
@@ -49,7 +49,7 @@ namespace armarx
armem::Time armem::timeFromStringMicroSeconds(const std::string& microSeconds)
{
- return Time::microSeconds(std::stol(microSeconds));
+ return Time(Duration::MicroSeconds(std::stol(microSeconds)), ClockType::Virtual);
}
}
diff --git a/source/RobotAPI/libraries/armem/core/Time.h b/source/RobotAPI/libraries/armem/core/Time.h
index f76f7657dda6e14a9c35bb4ad5edf58471680144..b4e100e91334abeedac42b62efbcfa79ad6b40c6 100644
--- a/source/RobotAPI/libraries/armem/core/Time.h
+++ b/source/RobotAPI/libraries/armem/core/Time.h
@@ -2,13 +2,14 @@
#include <string>
-#include <IceUtil/Time.h>
+#include <ArmarXCore/core/time/DateTime.h>
+#include <ArmarXCore/core/time/Duration.h>
+
+#include "forward_declarations.h"
namespace armarx::armem
{
- using Time = IceUtil::Time;
- using Duration = IceUtil::Time;
/**
* @brief Returns `time` as e.g. "123456789.012 ms".
diff --git a/source/RobotAPI/libraries/armem/core/aron_conversions.cpp b/source/RobotAPI/libraries/armem/core/aron_conversions.cpp
index 4eafef35a33f746b5c8b898598ac6273cce7030e..62ff85270b07c63907d6a264eee2f73fb0d3c472 100644
--- a/source/RobotAPI/libraries/armem/core/aron_conversions.cpp
+++ b/source/RobotAPI/libraries/armem/core/aron_conversions.cpp
@@ -1,5 +1,6 @@
#include "aron_conversions.h"
+#include <RobotAPI/libraries/aron/common/aron_conversions/armarx.h>
#include <RobotAPI/libraries/armem/core/MemoryID.h>
#include <RobotAPI/libraries/armem/aron/MemoryID.aron.generated.h>
@@ -10,7 +11,7 @@ void armarx::armem::fromAron(const arondto::MemoryID& dto, MemoryID& bo)
bo.coreSegmentName = dto.coreSegmentName;
bo.providerSegmentName = dto.providerSegmentName;
bo.entityName = dto.entityName;
- bo.timestamp = dto.timestamp;
+ fromAron(dto.timestamp, bo.timestamp);
bo.instanceIndex = dto.instanceIndex;
}
@@ -20,7 +21,7 @@ void armarx::armem::toAron(arondto::MemoryID& dto, const MemoryID& bo)
dto.coreSegmentName = bo.coreSegmentName;
dto.providerSegmentName = bo.providerSegmentName;
dto.entityName = bo.entityName;
- dto.timestamp = bo.timestamp;
+ toAron(dto.timestamp, bo.timestamp);
dto.instanceIndex = bo.instanceIndex;
}
diff --git a/source/RobotAPI/libraries/armem/core/aron_conversions.h b/source/RobotAPI/libraries/armem/core/aron_conversions.h
index 064aafe8d7bd4ea964aa1e020ca692d8eed45bf2..f0b1a26591333440dd41dcd5471a30c061e48f38 100644
--- a/source/RobotAPI/libraries/armem/core/aron_conversions.h
+++ b/source/RobotAPI/libraries/armem/core/aron_conversions.h
@@ -1,12 +1,16 @@
#pragma once
-#include "forward_declarations.h"
-
#include <ostream>
+#include "forward_declarations.h"
+
namespace armarx::armem
{
+ // Implemented in <RobotAPI/libraries/aron/common/aron_conversions/armarx.h>
+ // void fromAron(const IceUtil::Time& dto, Time& bo);
+ // void toAron(IceUtil::Time& dto, const Time& bo);
+
void fromAron(const arondto::MemoryID& dto, MemoryID& bo);
void toAron(arondto::MemoryID& dto, const MemoryID& bo);
}
diff --git a/source/RobotAPI/libraries/armem/core/base/EntityBase.h b/source/RobotAPI/libraries/armem/core/base/EntityBase.h
index 9b34e11bd3d53e896f38cd2c3301c2c35dcdffd9..7395f1447d568aebfa7b1bcbf10325c0ab6728ec 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntityBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/EntityBase.h
@@ -311,7 +311,7 @@ namespace armarx::armem::base
*/
const EntitySnapshotT* findLatestSnapshotBeforeOrAt(const Time& time) const
{
- return findLatestSnapshotBefore(time + Time::microSeconds(1));
+ return findLatestSnapshotBefore(time + Duration::MicroSeconds(1));
}
/**
@@ -339,7 +339,7 @@ namespace armarx::armem::base
*/
const EntitySnapshotT* findFirstSnapshotAfter(const Time& time) const
{
- return findFirstSnapshotAfter(time - Time::microSeconds(1));
+ return findFirstSnapshotAfter(time - Duration::MicroSeconds(1));
}
@@ -418,7 +418,7 @@ namespace armarx::armem::base
template <class FunctionT>
void forEachSnapshotBeforeOrAt(const Time& time, FunctionT&& func) const
{
- getSnapshotsBefore(time + Time::microSeconds(1), func);
+ getSnapshotsBefore(time + Duration::MicroSeconds(1), func);
}
@@ -432,9 +432,9 @@ namespace armarx::armem::base
void forEachSnapshotInTimeRange(const Time& min, const Time& max, FunctionT&& func) const
{
// Returns an iterator pointing to the first element that is not less than (i.e. greater or equal to) key.
- auto begin = min.toMicroSeconds() > 0 ? this->_container.lower_bound(min) : this->_container.begin();
+ auto begin = min.toMicroSecondsSinceEpoch() > 0 ? this->_container.lower_bound(min) : this->_container.begin();
// Returns an iterator pointing to the first element that is *greater than* key.
- auto end = max.toMicroSeconds() > 0 ? this->_container.upper_bound(max) : this->_container.end();
+ auto end = max.toMicroSecondsSinceEpoch() > 0 ? this->_container.upper_bound(max) : this->_container.end();
for (auto it = begin; it != end && it != this->_container.end(); ++it)
{
diff --git a/source/RobotAPI/libraries/armem/core/base/ice_conversions.cpp b/source/RobotAPI/libraries/armem/core/base/ice_conversions.cpp
index 1e19f25a7b08671b1e3f65ea2649f056a107361a..a71881a57851833f91debb68c1f026f2b1fb7859 100644
--- a/source/RobotAPI/libraries/armem/core/base/ice_conversions.cpp
+++ b/source/RobotAPI/libraries/armem/core/base/ice_conversions.cpp
@@ -1,5 +1,7 @@
#include "ice_conversions.h"
+#include <ArmarXCore/core/time/ice_conversions.h>
+
#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
#include <RobotAPI/libraries/aron/core/type/variant/container/Object.h>
@@ -50,19 +52,20 @@ namespace armarx::armem::base
}
namespace armarx::armem
{
+
void base::toIce(data::EntityInstanceMetadata& ice, const EntityInstanceMetadata& metadata)
{
ice.confidence = metadata.confidence;
- toIce(ice.timeArrivedMicroSeconds, metadata.timeArrived);
- toIce(ice.timeCreatedMicroSeconds, metadata.timeCreated);
- toIce(ice.timeSentMicroSeconds, metadata.timeSent);
+ toIce(ice.timeArrived, metadata.timeArrived);
+ toIce(ice.timeCreated, metadata.timeCreated);
+ toIce(ice.timeSent, metadata.timeSent);
}
void base::fromIce(const data::EntityInstanceMetadata& ice, EntityInstanceMetadata& metadata)
{
metadata.confidence = ice.confidence;
- fromIce(ice.timeArrivedMicroSeconds, metadata.timeArrived);
- fromIce(ice.timeCreatedMicroSeconds, metadata.timeCreated);
- fromIce(ice.timeSentMicroSeconds, metadata.timeSent);
+ fromIce(ice.timeArrived, metadata.timeArrived);
+ fromIce(ice.timeCreated, metadata.timeCreated);
+ fromIce(ice.timeSent, metadata.timeSent);
}
diff --git a/source/RobotAPI/libraries/armem/core/base/ice_conversions.h b/source/RobotAPI/libraries/armem/core/base/ice_conversions.h
index 21316623c9484f46db177d122642170822561c13..b58e820917bd8784f355793c308a8f5fe4d0efdb 100644
--- a/source/RobotAPI/libraries/armem/core/base/ice_conversions.h
+++ b/source/RobotAPI/libraries/armem/core/base/ice_conversions.h
@@ -15,6 +15,7 @@
#include <RobotAPI/interface/armem/memory.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/core/time/ice_conversions.h>
namespace armarx::armem::base::detail
@@ -86,7 +87,7 @@ namespace armarx::armem::base
ice.history.clear();
entity.forEachSnapshot([&ice](const auto & snapshot)
{
- armem::toIce(ice.history[armem::toIce<long>(snapshot.time())], snapshot);
+ armem::toIce(ice.history[armem::toIce<dto::Time>(snapshot.time())], snapshot);
});
}
template <class ...Args>
diff --git a/source/RobotAPI/libraries/armem/core/forward_declarations.h b/source/RobotAPI/libraries/armem/core/forward_declarations.h
index 04cfbfae26533af158ad52c6c39fd49c837f1afb..283988be5244c8b9f49af8ea474faa6713439183 100644
--- a/source/RobotAPI/libraries/armem/core/forward_declarations.h
+++ b/source/RobotAPI/libraries/armem/core/forward_declarations.h
@@ -1,15 +1,17 @@
#pragma once
+#include <ArmarXCore/core/time/forward_declarations.h>
-namespace IceUtil
+
+namespace IceInternal
{
- class Time;
+ template<typename T> class Handle;
}
namespace armarx::armem
{
- using Time = IceUtil::Time;
- using Duration = IceUtil::Time;
+ using Time = armarx::core::time::DateTime;
+ using Duration = armarx::core::time::Duration;
class MemoryID;
class Commit;
@@ -17,6 +19,11 @@ namespace armarx::armem
class CommitResult;
class EntityUpdateResult;
}
+namespace armarx::armem::dto
+{
+ using Time = armarx::core::time::dto::DateTime;
+ using Duration = armarx::core::time::dto::Duration;
+}
namespace armarx::armem::arondto
{
@@ -62,3 +69,22 @@ namespace armarx::armem::server::wm
class Memory;
}
+namespace armarx::armem::data
+{
+ struct MemoryID;
+ struct Commit;
+ struct CommitResult;
+ struct EntityUpdate;
+ struct EntityUpdateResult;
+}
+
+namespace armarx::armem::actions
+{
+ class Menu;
+}
+
+namespace armarx::armem::actions::data
+{
+ class Menu;
+ using MenuPtr = ::IceInternal::Handle<Menu>;
+}
diff --git a/source/RobotAPI/libraries/armem/core/ice_conversions.cpp b/source/RobotAPI/libraries/armem/core/ice_conversions.cpp
index 20df9176bb562ab9025c001451d6fef23793d504..1dd76ae471eab7f3041b7ea835891f53d6df3f3f 100644
--- a/source/RobotAPI/libraries/armem/core/ice_conversions.cpp
+++ b/source/RobotAPI/libraries/armem/core/ice_conversions.cpp
@@ -1,17 +1,20 @@
#include "ice_conversions.h"
+#include <ArmarXCore/core/time/ice_conversions.h>
+
#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
+#include <RobotAPI/interface/armem/actions.h>
+#include <RobotAPI/interface/armem/commit.h>
+#include <RobotAPI/interface/armem/memory.h>
-void IceUtil::toIce(long& ice, const IceUtil::Time& time)
-{
- ice = time.toMicroSeconds();
-}
+#include "ice_conversions_templates.h"
+
+#include "actions.h"
+#include "Commit.h"
+#include "MemoryID.h"
+#include "Time.h"
-void IceUtil::fromIce(const long& ice, IceUtil::Time& time)
-{
- time = Time::microSeconds(ice);
-}
namespace armarx
{
@@ -22,7 +25,7 @@ namespace armarx
ice.coreSegmentName = id.coreSegmentName;
ice.providerSegmentName = id.providerSegmentName;
ice.entityName = id.entityName;
- toIce(ice.timestampMicroSeconds, id.timestamp);
+ toIce(ice.timestamp, id.timestamp);
ice.instanceIndex = id.instanceIndex;
}
@@ -32,7 +35,7 @@ namespace armarx
id.coreSegmentName = ice.coreSegmentName;
id.providerSegmentName = ice.providerSegmentName;
id.entityName = ice.entityName;
- fromIce(ice.timestampMicroSeconds, id.timestamp);
+ fromIce(ice.timestamp, id.timestamp);
id.instanceIndex = ice.instanceIndex;
}
@@ -85,10 +88,10 @@ namespace armarx
std::transform(ice.instancesData.begin(), ice.instancesData.end(), std::back_inserter(update.instancesData),
aron::data::Dict::FromAronDictDTO);
- update.timeCreated = Time::microSeconds(ice.timeCreatedMicroSeconds);
+ fromIce(ice.timeCreated, update.timeCreated);
update.confidence = ice.confidence;
- update.timeSent = Time::microSeconds(ice.timeSentMicroSeconds);
+ fromIce(ice.timeSent, update.timeSent);
}
void armem::toIce(data::EntityUpdate& ice, const EntityUpdate& update)
@@ -100,17 +103,17 @@ namespace armarx
std::transform(update.instancesData.begin(), update.instancesData.end(), std::back_inserter(ice.instancesData),
aron::data::Dict::ToAronDictDTO);
- ice.timeCreatedMicroSeconds = update.timeCreated.toMicroSeconds();
+ toIce(ice.timeCreated, update.timeCreated);
ice.confidence = update.confidence;
- ice.timeSentMicroSeconds = update.timeSent.toMicroSeconds();
+ toIce(ice.timeSent, update.timeSent);
}
void armem::fromIce(const data::EntityUpdateResult& ice, EntityUpdateResult& result)
{
result.success = ice.success;
fromIce(ice.snapshotID, result.snapshotID);
- result.timeArrived = Time::microSeconds(ice.timeArrivedMicroSeconds);
+ fromIce(ice.timeArrived, result.timeArrived);
result.errorMessage = ice.errorMessage;
}
@@ -118,7 +121,7 @@ namespace armarx
{
ice.success = result.success;
toIce(ice.snapshotID, result.snapshotID);
- ice.timeArrivedMicroSeconds = result.timeArrived.toMicroSeconds();
+ toIce(ice.timeArrived, result.timeArrived);
ice.errorMessage = result.errorMessage;
}
diff --git a/source/RobotAPI/libraries/armem/core/ice_conversions.h b/source/RobotAPI/libraries/armem/core/ice_conversions.h
index a8ef35e7938f07f14a81b8ecb731e2470b395c97..2a4daf725a32bb9ca12a5865be8207b87076871a 100644
--- a/source/RobotAPI/libraries/armem/core/ice_conversions.h
+++ b/source/RobotAPI/libraries/armem/core/ice_conversions.h
@@ -1,23 +1,6 @@
#pragma once
-#include <RobotAPI/interface/armem/actions.h>
-#include <RobotAPI/interface/armem/commit.h>
-#include <RobotAPI/interface/armem/memory.h>
-
-#include "ice_conversions_templates.h"
-
-#include "actions.h"
-#include "Commit.h"
-#include "MemoryID.h"
-#include "Time.h"
-
-
-namespace IceUtil
-{
- // Define in original namespace to allow ADL.
- void toIce(long& ice, const Time& time);
- void fromIce(const long& ice, Time& time);
-}
+#include "forward_declarations.h"
namespace armarx::armem
@@ -48,5 +31,6 @@ namespace armarx::armem
void fromIce(const actions::data::MenuPtr& ice, actions::Menu& menu);
void toIce(actions::data::MenuPtr& ice, const actions::Menu& menu);
+
}
diff --git a/source/RobotAPI/libraries/armem/core/json_conversions.cpp b/source/RobotAPI/libraries/armem/core/json_conversions.cpp
index e4da9d89b5e04351e5e528132406a962470364e3..2a6f2a1f6cbff1d7d348d92f9ea7b482b6c25b3b 100644
--- a/source/RobotAPI/libraries/armem/core/json_conversions.cpp
+++ b/source/RobotAPI/libraries/armem/core/json_conversions.cpp
@@ -9,7 +9,7 @@ void armarx::armem::to_json(nlohmann::json& j, const MemoryID& bo)
j["coreSegmentName"] = bo.coreSegmentName;
j["providerSegmentName"] = bo.providerSegmentName;
j["entityName"] = bo.entityName;
- j["timestamp_usec"] = bo.timestamp.toMicroSeconds();
+ j["timestamp_usec"] = bo.timestamp.toMicroSecondsSinceEpoch();
j["timestamp_datetime"] = toDateTimeMilliSeconds(bo.timestamp);
j["instanceIndex"] = bo.instanceIndex;
}
@@ -20,7 +20,7 @@ void armarx::armem::from_json(const nlohmann::json& j, MemoryID& bo)
j.at("coreSegmentName").get_to(bo.coreSegmentName);
j.at("providerSegmentName").get_to(bo.providerSegmentName);
j.at("entityName").get_to(bo.entityName);
- bo.timestamp = Time::microSeconds(j.at("timestamp_usec").get<int64_t>());
+ bo.timestamp = Time(Duration::MicroSeconds(j.at("timestamp_usec").get<int64_t>()));
// j.at("timestamp_datetime").get_to(toDateTimeMilliSeconds(bo.timestamp));
j.at("instanceIndex").get_to(bo.instanceIndex);
}
diff --git a/source/RobotAPI/libraries/armem/core/wm/aron_conversions.cpp b/source/RobotAPI/libraries/armem/core/wm/aron_conversions.cpp
index dacedd5e05177028fea42114a3dd02d4b609ad9a..d24ce36b544670f5e24e72177f64b839be52fc0d 100644
--- a/source/RobotAPI/libraries/armem/core/wm/aron_conversions.cpp
+++ b/source/RobotAPI/libraries/armem/core/wm/aron_conversions.cpp
@@ -23,13 +23,13 @@ void armarx::armem::from_aron(const aron::data::DictPtr& metadata, const aron::d
e.data() = data;
auto timeCreated = aron::data::Long::DynamicCastAndCheck(metadata->getElement(DATA_WRAPPER_TIME_CREATED_FIELD));
- m.timeCreated = Time::microSeconds(timeCreated->toAronLongDTO()->value);
+ m.timeCreated = Time(Duration::MicroSeconds(timeCreated->toAronLongDTO()->value));
auto timeSent = aron::data::Long::DynamicCastAndCheck(metadata->getElement(DATA_WRAPPER_TIME_SENT_FIELD));
- m.timeSent = Time::microSeconds(timeSent->toAronLongDTO()->value);
+ m.timeSent = Time(Duration::MicroSeconds(timeSent->toAronLongDTO()->value));
auto timeArrived = aron::data::Long::DynamicCastAndCheck(metadata->getElement(DATA_WRAPPER_TIME_ARRIVED_FIELD));
- m.timeArrived = Time::microSeconds(timeArrived->toAronLongDTO()->value);
+ m.timeArrived = Time(Duration::MicroSeconds(timeArrived->toAronLongDTO()->value));
auto confidence = aron::data::Double::DynamicCastAndCheck(metadata->getElement(DATA_WRAPPER_CONFIDENCE_FIELD));
m.confidence = static_cast<float>(confidence->toAronDoubleDTO()->value);
@@ -42,20 +42,20 @@ void armarx::armem::to_aron(aron::data::DictPtr& metadata, aron::data::DictPtr&
metadata = std::make_shared<aron::data::Dict>();
auto timeWrapped = std::make_shared<aron::data::Long>();
- timeWrapped->setValue(Time::now().toMicroSeconds());
+ timeWrapped->setValue(Time::Now().toMicroSecondsSinceEpoch());
metadata->addElement(DATA_WRAPPER_TIME_STORED_FIELD, timeWrapped);
const wm::EntityInstanceMetadata& m = e.metadata();
auto timeCreated = std::make_shared<aron::data::Long>();
- timeCreated->setValue(m.timeCreated.toMicroSeconds());
+ timeCreated->setValue(m.timeCreated.toMicroSecondsSinceEpoch());
metadata->addElement(DATA_WRAPPER_TIME_CREATED_FIELD, timeCreated);
auto timeSent = std::make_shared<aron::data::Long>();
- timeSent->setValue(m.timeSent.toMicroSeconds());
+ timeSent->setValue(m.timeSent.toMicroSecondsSinceEpoch());
metadata->addElement(DATA_WRAPPER_TIME_SENT_FIELD, timeSent);
auto timeArrived = std::make_shared<aron::data::Long>();
- timeArrived->setValue(m.timeArrived.toMicroSeconds());
+ timeArrived->setValue(m.timeArrived.toMicroSecondsSinceEpoch());
metadata->addElement(DATA_WRAPPER_TIME_ARRIVED_FIELD, timeArrived);
auto confidence = std::make_shared<aron::data::Double>();
diff --git a/source/RobotAPI/libraries/armem/core/wm/ice_conversions.cpp b/source/RobotAPI/libraries/armem/core/wm/ice_conversions.cpp
index ba6c9782e0e2663ee9395fde31956d5fdbfc2ad2..826bf6d9f2f980cd99bbd35a38a2357f585b5f79 100644
--- a/source/RobotAPI/libraries/armem/core/wm/ice_conversions.cpp
+++ b/source/RobotAPI/libraries/armem/core/wm/ice_conversions.cpp
@@ -1,5 +1,6 @@
#include "ice_conversions.h"
+#include <RobotAPI/libraries/armem/core/ice_conversions.h>
#include <RobotAPI/libraries/armem/core/base/ice_conversions.h>
diff --git a/source/RobotAPI/libraries/armem/mns/Registry.cpp b/source/RobotAPI/libraries/armem/mns/Registry.cpp
index b8b2d02c807750aad2cb36c28cd55013b2a0b496..ad3a8e54a3a292f8dfc8dd72ac72b2a7b5564041 100644
--- a/source/RobotAPI/libraries/armem/mns/Registry.cpp
+++ b/source/RobotAPI/libraries/armem/mns/Registry.cpp
@@ -53,7 +53,7 @@ namespace armarx::armem::mns
ServerInfo& info = it->second;
info.name = input.name;
info.server = input.server;
- info.timeRegistered = armem::Time::now();
+ info.timeRegistered = armem::Time::Now();
ARMARX_DEBUG << "Registered memory '" << info.name << "'.";
result.success = true;
diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
index d5318d3f7e457065493ba38cfcdc671a29e2b9fb..a838e9e0f173de79b0a89a9d14bf103757d5b531 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
@@ -10,8 +10,9 @@
#include <RobotAPI/libraries/aron/core/Exception.h>
-#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/core/logging/Logging.h>
+#include <ArmarXCore/core/time/ice_conversions.h>
namespace armarx::armem::server
@@ -147,7 +148,7 @@ namespace armarx::armem::server
MemoryToIceAdapter::commit(const data::Commit& commitIce)
{
ARMARX_TRACE;
- return commit(commitIce, armem::Time::now());
+ return commit(commitIce, armem::Time::Now());
}
diff --git a/source/RobotAPI/libraries/armem/server/RemoteGuiAronDataVisitor.h b/source/RobotAPI/libraries/armem/server/RemoteGuiAronDataVisitor.h
index dfe5299f7bf37780a034b83f807496c3636728de..d77f34eb719b46c117c64a2e9ec09cd43780dad9 100644
--- a/source/RobotAPI/libraries/armem/server/RemoteGuiAronDataVisitor.h
+++ b/source/RobotAPI/libraries/armem/server/RemoteGuiAronDataVisitor.h
@@ -3,6 +3,8 @@
#include <sstream>
#include <stack>
+#include <ArmarXCore/core/logging/Logging.h>
+
#include <ArmarXGui/libraries/RemoteGui/Client/Widgets.h>
#include <RobotAPI/libraries/aron/core/data/variant/All.h>
@@ -106,6 +108,12 @@ namespace armarx::armem::server
this->addValueLabel(key, *aron::data::NDArray::DynamicCastAndCheck(array), "ND Array");
}
+ void visitUnknown(const aron::data::VariantPtr& unknown) override
+ {
+ ARMARX_IMPORTANT << "Unknown data encountered: "
+ << (unknown ? unknown->getFullName() : "nullptr");
+ }
+
private:
template <class DataT>
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/filter/equalityFilter/EqualityFilter.cpp b/source/RobotAPI/libraries/armem/server/ltm/base/filter/equalityFilter/EqualityFilter.cpp
index ec52015e2c9ca62a3815dc3c9f62634078e2ba59..6ca0a944c2f2bd59681128ac22f86eaa58e50b51 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/filter/equalityFilter/EqualityFilter.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/filter/equalityFilter/EqualityFilter.cpp
@@ -7,7 +7,7 @@ namespace armarx::armem::server::ltm::filter
bool SnapshotEqualityFilter::accept(const armem::wm::EntitySnapshot& e)
{
auto entityID = e.id().getEntityID();
- auto genMs = e.time().toMilliSeconds();
+ auto genMs = e.time().toMilliSecondsSinceEpoch();
long lastMs = 0;
std::vector<aron::data::DictPtr> lastData;
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/filter/frequencyFilter/FrequencyFilter.cpp b/source/RobotAPI/libraries/armem/server/ltm/base/filter/frequencyFilter/FrequencyFilter.cpp
index 5650c836523a90c48d5cfb50b9b9e6ef8b307af9..a98aab7f756e42be8d995401964170e64c83e537 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/filter/frequencyFilter/FrequencyFilter.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/filter/frequencyFilter/FrequencyFilter.cpp
@@ -6,7 +6,7 @@ namespace armarx::armem::server::ltm::filter
{
bool MemoryFrequencyFilter::accept(const armem::wm::Memory& e)
{
- auto now = armem::Time::now().toMilliSeconds();
+ auto now = armem::Time::Now().toMilliSecondsSinceEpoch();
if (waitingTimeInMs < 0 || (now - timestampLastCommitInMs) > waitingTimeInMs)
{
timestampLastCommitInMs = now;
@@ -18,7 +18,7 @@ namespace armarx::armem::server::ltm::filter
bool SnapshotFrequencyFilter::accept(const armem::wm::EntitySnapshot& e)
{
auto entityID = e.id().getEntityID();
- auto genMs = e.time().toMilliSeconds();
+ auto genMs = e.time().toMilliSecondsSinceEpoch();
long lastMs = 0;
if (timestampLastCommitInMs.count(entityID) > 0)
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.cpp b/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.cpp
index ac1703ac910796f139b81b39aa3504e1fa21b731..b64531211cff4343271561180dd312707f1f9847 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.cpp
@@ -81,7 +81,8 @@ namespace armarx::armem::server::ltm::disk
bool Entity::forEachSnapshotInTimeRange(const Time& min, const Time& max, std::function<void(EntitySnapshot&)>&& func) const
{
- auto f = [&](EntitySnapshot& e) {
+ auto f = [&](EntitySnapshot& e)
+ {
auto ts = e.id().timestamp;
if (ts >= min && ts <= max)
{
@@ -94,7 +95,8 @@ namespace armarx::armem::server::ltm::disk
bool Entity::forEachSnapshotBeforeOrAt(const Time& time, std::function<void(EntitySnapshot&)>&& func) const
{
- auto f = [&](EntitySnapshot& e) {
+ auto f = [&](EntitySnapshot& e)
+ {
auto ts = e.id().timestamp;
if (ts <= time)
{
@@ -107,7 +109,8 @@ namespace armarx::armem::server::ltm::disk
bool Entity::forEachSnapshotBefore(const Time& time, std::function<void(EntitySnapshot&)>&& func) const
{
- auto f = [&](EntitySnapshot& e) {
+ auto f = [&](EntitySnapshot& e)
+ {
auto ts = e.id().timestamp;
if (ts < time)
{
@@ -138,7 +141,7 @@ namespace armarx::armem::server::ltm::disk
std::shared_ptr<EntitySnapshot> Entity::findLatestSnapshot() const
{
- Time bestMatch = Time::microSeconds(-1);
+ Time bestMatch = Time::Invalid();
auto f = [&](EntitySnapshot& e) {
auto ts = e.id().timestamp;
if (ts > bestMatch)
@@ -149,7 +152,7 @@ namespace armarx::armem::server::ltm::disk
forEachSnapshot(std::move(f));
- if (bestMatch == Time::microSeconds(-1))
+ if (bestMatch == Time::Invalid())
{
return nullptr;
}
@@ -159,7 +162,7 @@ namespace armarx::armem::server::ltm::disk
std::shared_ptr<EntitySnapshot> Entity::findLatestSnapshotBefore(const Time& time) const
{
- Time bestMatch = Time::microSeconds(-1);
+ Time bestMatch = Time::Invalid();
auto f = [&](EntitySnapshot& e) {
auto ts = e.id().timestamp;
if (ts < time && ts > bestMatch)
@@ -170,7 +173,7 @@ namespace armarx::armem::server::ltm::disk
forEachSnapshot(std::move(f));
- if (bestMatch == Time::microSeconds(-1))
+ if (bestMatch == Time::Invalid())
{
return nullptr;
}
@@ -180,7 +183,7 @@ namespace armarx::armem::server::ltm::disk
std::shared_ptr<EntitySnapshot> Entity::findLatestSnapshotBeforeOrAt(const Time& time) const
{
- Time bestMatch = Time::microSeconds(-1);
+ Time bestMatch = Time::Invalid();
auto f = [&](EntitySnapshot& e) {
auto ts = e.id().timestamp;
if (ts <= time && ts > bestMatch)
@@ -191,7 +194,7 @@ namespace armarx::armem::server::ltm::disk
forEachSnapshot(std::move(f));
- if (bestMatch == Time::microSeconds(-1))
+ if (bestMatch == Time::Invalid())
{
return nullptr;
}
@@ -201,8 +204,9 @@ namespace armarx::armem::server::ltm::disk
std::shared_ptr<EntitySnapshot> Entity::findFirstSnapshotAfter(const Time& time) const
{
- Time bestMatch = Time::microSeconds(std::numeric_limits<long>::max());
- auto f = [&](EntitySnapshot& e) {
+ Time bestMatch { Duration::MicroSeconds(std::numeric_limits<long>::max()) };
+ auto f = [&](EntitySnapshot& e)
+ {
auto ts = e.id().timestamp;
if (ts > time && ts < bestMatch)
{
@@ -212,7 +216,7 @@ namespace armarx::armem::server::ltm::disk
forEachSnapshot(std::move(f));
- if (bestMatch == Time::microSeconds(std::numeric_limits<long>::max()))
+ if (bestMatch == Time(Duration::MicroSeconds(std::numeric_limits<long>::max())))
{
return nullptr;
}
@@ -222,8 +226,9 @@ namespace armarx::armem::server::ltm::disk
std::shared_ptr<EntitySnapshot> Entity::findFirstSnapshotAfterOrAt(const Time& time) const
{
- Time bestMatch = Time::microSeconds(std::numeric_limits<long>::max());
- auto f = [&](EntitySnapshot& e) {
+ Time bestMatch { Duration::MicroSeconds(std::numeric_limits<long>::max()) };
+ auto f = [&](EntitySnapshot& e)
+ {
auto ts = e.id().timestamp;
if (ts >= time && ts < bestMatch)
{
@@ -233,7 +238,7 @@ namespace armarx::armem::server::ltm::disk
forEachSnapshot(std::move(f));
- if (bestMatch == Time::microSeconds(std::numeric_limits<long>::max()))
+ if (bestMatch == Time(Duration::MicroSeconds(std::numeric_limits<long>::max())))
{
return nullptr;
}
@@ -252,7 +257,8 @@ namespace armarx::armem::server::ltm::disk
e.id() = id();
- forEachSnapshot([&e](auto& x) {
+ forEachSnapshot([&e](auto& x)
+ {
if (!e.hasSnapshot(x.id().timestamp)) // we only load the references if the snapshot is not existant
{
armem::wm::EntitySnapshot s;
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.cpp b/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.cpp
index a4aece1fdc87714ffa91452d44ef573dc31b3e1d..3d43ea8a0b3540afb32863937f4d8114bc9b09cf 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.cpp
@@ -14,7 +14,12 @@ namespace armarx::armem::server::ltm::disk
{
EntitySnapshot::EntitySnapshot(const std::filesystem::path& p, const MemoryID& id, const std::shared_ptr<Processors>& filters, const DiskMemoryItem::MemoryEncodingMode mode, const unsigned long e) :
EntitySnapshotBase(id, filters),
- DiskMemoryItem(p, EscapeSegmentName(id.memoryName), std::filesystem::path(EscapeSegmentName(id.coreSegmentName)) / EscapeSegmentName(id.providerSegmentName) / EscapeSegmentName(id.entityName) / std::to_string(id.timestamp.toSeconds() / 3600 /* hours */) / std::to_string(id.timestamp.toSeconds()) / id.timestampStr()),
+ DiskMemoryItem(p, EscapeSegmentName(id.memoryName),
+ std::filesystem::path(EscapeSegmentName(id.coreSegmentName))
+ / EscapeSegmentName(id.providerSegmentName)
+ / EscapeSegmentName(id.entityName)
+ / std::to_string(id.timestamp.toSecondsSinceEpoch() / 3600 /* hours */)
+ / std::to_string(id.timestamp.toSecondsSinceEpoch()) / id.timestampStr()),
currentMode(mode),
currentExport(e)
{
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/detail/util/filesystem_util.cpp b/source/RobotAPI/libraries/armem/server/ltm/disk/detail/util/filesystem_util.cpp
index eceff8d47b41654b64e78212e125aafd7196dfa3..daea3fcfc439326545a79ad00ac53e9133afa195 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/detail/util/filesystem_util.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/detail/util/filesystem_util.cpp
@@ -1,5 +1,8 @@
#include "filesystem_util.h"
+#include <RobotAPI/libraries/armem/core/error/ArMemError.h>
+
+
namespace armarx::armem::server::ltm::disk
{
namespace filesystem::util
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/detail/util/filesystem_util.h b/source/RobotAPI/libraries/armem/server/ltm/disk/detail/util/filesystem_util.h
index b229a7b7f8ac115318fb142c7a6d0f065b344d86..78a8f4b1399b8112e204fb891277ed7d52d75ba6 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/detail/util/filesystem_util.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/detail/util/filesystem_util.h
@@ -1,11 +1,10 @@
#pragma once
-// STD / STL
#include <filesystem>
-#include <iostream>
#include <fstream>
+#include <iostream>
+#include <vector>
-#include "../../../../../core/error.h"
namespace armarx::armem::server::ltm::disk
{
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.cpp b/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.cpp
index d9df528842d11fd66ba38877318785d6c4dd5263..645b8aaa33fa6669135caeb49031e11ca2d8bb6c 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.cpp
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.cpp
@@ -7,6 +7,6 @@ namespace armarx::armem::server::query_proc::base
{
void detail::checkReferenceTimestampNonNegative(const Time& timestamp)
{
- ARMARX_CHECK_NONNEGATIVE(timestamp.toMicroSeconds()) << "Reference timestamp must be non-negative.";
+ ARMARX_CHECK_NONNEGATIVE(timestamp.toMicroSecondsSinceEpoch()) << "Reference timestamp must be non-negative.";
}
}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.h
index 6179467a77fa12246df6dd65c6ba9a766c5ef31f..73a77eddd0d7efab69dc16f37e544049e743fc43 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.h
@@ -2,9 +2,12 @@
#include "BaseQueryProcessorBase.h"
+#include <ArmarXCore/core/time/ice_conversions.h>
+
#include <RobotAPI/libraries/armem/core/Time.h>
#include <RobotAPI/libraries/armem/core/error.h>
#include <RobotAPI/libraries/armem/core/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/ice_conversions_templates.h>
#include <RobotAPI/interface/armem/query.h>
@@ -96,7 +99,7 @@ namespace armarx::armem::server::query_proc::base
const armem::query::data::entity::Single& query,
const EntityT& entity) const
{
- if (query.timestamp < 0)
+ if (query.timestamp.timeSinceEpoch.microSeconds < 0)
{
if (auto snapshot = entity.findLatestSnapshot())
{
@@ -105,7 +108,7 @@ namespace armarx::armem::server::query_proc::base
}
else
{
- const Time time = fromIce<Time>(query.timestamp);
+ const Time time = armem::fromIce<Time>(query.timestamp);
if (auto snapshot = entity.findSnapshot(time))
{
this->addResultSnapshot(result, *snapshot);
@@ -134,10 +137,12 @@ namespace armarx::armem::server::query_proc::base
const armem::query::data::entity::TimeRange& query,
const EntityT& entity) const
{
- if (query.minTimestamp <= query.maxTimestamp || query.minTimestamp < 0 || query.maxTimestamp < 0)
+ if (query.minTimestamp.timeSinceEpoch.microSeconds <= query.maxTimestamp.timeSinceEpoch.microSeconds
+ || query.minTimestamp.timeSinceEpoch.microSeconds < 0
+ || query.maxTimestamp.timeSinceEpoch.microSeconds < 0)
{
- Time min = fromIce<Time>(query.minTimestamp);
- Time max = fromIce<Time>(query.maxTimestamp);
+ const Time min = fromIce<Time>(query.minTimestamp);
+ const Time max = fromIce<Time>(query.maxTimestamp);
process(result, min, max, entity, query);
}
}
@@ -224,18 +229,11 @@ namespace armarx::armem::server::query_proc::base
const Time referenceTimestamp = fromIce<Time>(query.timestamp);
base::detail::checkReferenceTimestampNonNegative(referenceTimestamp);
- const float referenceTimestampMicroSeconds = referenceTimestamp.toMicroSeconds();
- const float epsDuration = fromIce<Time>(query.eps).toMicroSeconds();
-
// elements have to be in range [t_ref - eps, t_ref + eps] if eps is positive
const auto isInRange = [&](const Time & t) -> bool
{
- if (epsDuration <= 0)
- {
- return true;
- }
-
- return std::abs(t.toMicroSeconds() - referenceTimestampMicroSeconds) <= epsDuration;
+ return query.eps.microSeconds <= 0
+ or std::abs((t - referenceTimestamp).toMicroSeconds()) <= query.eps.microSeconds;
};
// last element before or at timestamp
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/wm/wm.cpp b/source/RobotAPI/libraries/armem/server/query_proc/wm/wm.cpp
index b8d25db27074f2033fd2791aa9aca787607d8da5..0a50a1c4fb7baec68c752895eb966d9f689f5778 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/wm/wm.cpp
+++ b/source/RobotAPI/libraries/armem/server/query_proc/wm/wm.cpp
@@ -1,5 +1,6 @@
#include "wm.h"
+#include <ArmarXCore/core/time/ice_conversions.h>
namespace armarx::armem::server::query_proc::wm::detail
diff --git a/source/RobotAPI/libraries/armem/server/test/ArMemLTMBenchmark.cpp b/source/RobotAPI/libraries/armem/server/test/ArMemLTMBenchmark.cpp
index 8aded460e730d913f523c44a379c069bb70c41a6..ecf13ddc3a54c6000ae7e9d6abcbfa32bec84057 100644
--- a/source/RobotAPI/libraries/armem/server/test/ArMemLTMBenchmark.cpp
+++ b/source/RobotAPI/libraries/armem/server/test/ArMemLTMBenchmark.cpp
@@ -80,7 +80,7 @@ namespace ArMemLTMBenchmark
std::cout << "Store instance " << i << " of memory " << memoryName << std::endl;
en.clear();
- auto& snap = en.addSnapshot(IceUtil::Time::now());
+ auto& snap = en.addSnapshot(armem::Time::Now());
auto& ins = snap.addInstance();
auto cloned = aron::data::Dict::DynamicCastAndCheck(dict->clone());
ins.data() = cloned;
diff --git a/source/RobotAPI/libraries/armem/server/test/ArMemLTMTest.cpp b/source/RobotAPI/libraries/armem/server/test/ArMemLTMTest.cpp
index 85096741e92f5ede902cdd55879545476cb3facd..7999a6a5752cd1bc9432f9caec95a6f928645a20 100644
--- a/source/RobotAPI/libraries/armem/server/test/ArMemLTMTest.cpp
+++ b/source/RobotAPI/libraries/armem/server/test/ArMemLTMTest.cpp
@@ -116,7 +116,7 @@ namespace ArMemLTMTest
}
update.entityID = armem::MemoryID::fromString(memoryName + "/TestCoreSegment/TestProvider/TestEntity");
update.instancesData = q;
- update.timeCreated = armem::Time::now();
+ update.timeCreated = armem::Time::Now();
BOOST_CHECK_NO_THROW(providerSegment.update(update));
BOOST_CHECK_EQUAL(providerSegment.size(), 1);
}
diff --git a/source/RobotAPI/libraries/armem/server/test/ArMemMemoryTest.cpp b/source/RobotAPI/libraries/armem/server/test/ArMemMemoryTest.cpp
index 3ec604f35f2e586e4cc022a9248e479491b7ecad..8c3052e7d3abebf761431789865f4d0f46633cc7 100644
--- a/source/RobotAPI/libraries/armem/server/test/ArMemMemoryTest.cpp
+++ b/source/RobotAPI/libraries/armem/server/test/ArMemMemoryTest.cpp
@@ -45,7 +45,7 @@ namespace wm = armarx::armem::wm;
BOOST_AUTO_TEST_CASE(test_time_to_string)
{
// 111111: seconds, 345: milliseconds, 789: microseconds
- armem::Time time = armem::Time::microSeconds(111111345789);
+ armem::Time time { armem::Duration::MicroSeconds(111111345789) };
BOOST_CHECK_EQUAL(armem::toStringMilliSeconds(time), "111111345.789 ms");
BOOST_CHECK_EQUAL(armem::toStringMilliSeconds(time, 0), "111111345 ms");
@@ -61,7 +61,7 @@ BOOST_AUTO_TEST_CASE(test_time_to_string)
BOOST_CHECK_EQUAL(armem::toDateTimeMilliSeconds(time, 6), "1970-01-02 07:51:51.345789");
// 111111: seconds, 000: milliseconds, 789: microseconds
- time = armem::Time::microSeconds(111111000789);
+ time = armem::Time(armem::Duration::MicroSeconds(111111000789));
BOOST_CHECK_EQUAL(armem::toStringMilliSeconds(time), "111111000.789 ms");
BOOST_CHECK_EQUAL(armem::toStringMicroSeconds(time), "111111000789 " "\u03BC" "s");
BOOST_CHECK_EQUAL(armem::toDateTimeMilliSeconds(time), "1970-01-02 07:51:51.000789");
@@ -69,9 +69,8 @@ BOOST_AUTO_TEST_CASE(test_time_to_string)
BOOST_CHECK_EQUAL(armem::toDateTimeMilliSeconds(time, 3), "1970-01-02 07:51:51.000");
BOOST_CHECK_EQUAL(armem::toDateTimeMilliSeconds(time, 6), "1970-01-02 07:51:51.000789");
-
// 111111: seconds, 345: milliseconds, 000: microseconds
- time = armem::Time::microSeconds(111111345000);
+ time = armem::Time(armem::Duration::MicroSeconds(111111345000));
BOOST_CHECK_EQUAL(armem::toStringMilliSeconds(time), "111111345.000 ms");
BOOST_CHECK_EQUAL(armem::toStringMicroSeconds(time), "111111345000 " "\u03BC" "s");
BOOST_CHECK_EQUAL(armem::toDateTimeMilliSeconds(time), "1970-01-02 07:51:51.345000");
@@ -89,7 +88,7 @@ namespace ArMemMemoryTest
struct APITestFixture
{
wm::EntityInstance instance { 0 };
- wm::EntitySnapshot snapshot { armem::Time::microSeconds(1000) };
+ wm::EntitySnapshot snapshot { armem::Time(armem::Duration::MicroSeconds(1000)) };
wm::Entity entity { "entity" };
wm::ProviderSegment provSeg { "provider" };
wm::CoreSegment coreSeg { "core" };
@@ -111,7 +110,7 @@ namespace ArMemMemoryTest
{
BOOST_TEST_CONTEXT("Added: " << armem::print(added) << "\n Parent: " << armem::print(parent))
{
- const armem::Time time = armem::Time::microSeconds(1000);
+ const armem::Time time = armem::Time(armem::Duration::MicroSeconds(1000));
BOOST_CHECK_EQUAL(added.time(), time);
BOOST_CHECK_EQUAL(parent.size(), 1);
BOOST_CHECK(parent.hasSnapshot(time));
@@ -174,7 +173,7 @@ BOOST_AUTO_TEST_CASE(test_add_instance_move)
BOOST_AUTO_TEST_CASE(test_add_snapshot_time)
{
- test_add_snapshot(entity.addSnapshot(armem::Time::microSeconds(1000)), entity);
+ test_add_snapshot(entity.addSnapshot(armem::Time(armem::Duration::MicroSeconds(1000))), entity);
}
BOOST_AUTO_TEST_CASE(test_add_snapshot_copy)
{
@@ -386,8 +385,8 @@ BOOST_AUTO_TEST_CASE(test_key_ctors)
wm::EntityInstance instance(10);
BOOST_CHECK_EQUAL(instance.index(), 10);
- wm::EntitySnapshot snapshot(armem::Time::milliSeconds(100));
- BOOST_CHECK_EQUAL(snapshot.time(), armem::Time::milliSeconds(100));
+ wm::EntitySnapshot snapshot(armem::Time(armem::Duration::MilliSeconds(100)));
+ BOOST_CHECK_EQUAL(snapshot.time(), armem::Time(armem::Duration::MilliSeconds(100)));
wm::Entity entity("entity");
BOOST_CHECK_EQUAL(entity.name(), "entity");
@@ -518,8 +517,8 @@ struct CustomChecks<armem::d_ltm::Memory>
struct CopyMoveCtorsOpsTestBase
{
- const armem::MemoryID id {"M", "C", "P", "E", armem::Time::microSeconds(123000), 1};
- //const armem::MemoryID idMoved {"", "", "", "", armem::Time::microSeconds(123000), 1};
+ const armem::MemoryID id {"M", "C", "P", "E", armem::Time(armem::Duration::MicroSeconds(123000)), 1};
+ //const armem::MemoryID idMoved {"", "", "", "", armem::Time(armem::Duration::MicroSeconds(123000), 1};
armem::MemoryID idMoved = id;
std::string typeName;
@@ -653,7 +652,7 @@ struct CopyMoveCtorsOpsTest : public CopyMoveCtorsOpsTestBase
}
{
armem::EntityUpdate update;
- update.entityID = armem::MemoryID("M", "C", "P", "E", armem::Time::microSeconds(123000), 0);
+ update.entityID = armem::MemoryID("M", "C", "P", "E", armem::Time(armem::Duration::MicroSeconds(123000)), 0);
update.timeCreated = update.entityID.timestamp;
update.instancesData.emplace_back();
in.update(update);
@@ -815,7 +814,7 @@ BOOST_AUTO_TEST_CASE(test_segment_setup)
std::make_shared<aron::data::Dict>(),
std::make_shared<aron::data::Dict>()
};
- update.timeCreated = armem::Time::milliSeconds(1000);
+ update.timeCreated = armem::Time(armem::Duration::MilliSeconds(1000));
BOOST_CHECK_NO_THROW(providerSegment.update(update));
BOOST_CHECK_EQUAL(providerSegment.size(), 1);
@@ -834,7 +833,7 @@ BOOST_AUTO_TEST_CASE(test_segment_setup)
// Another update (on memory).
update.instancesData = { std::make_shared<aron::data::Dict>() };
- update.timeCreated = armem::Time::milliSeconds(2000);
+ update.timeCreated = armem::Time(armem::Duration::MilliSeconds(2000));
memory.update(update);
BOOST_CHECK_EQUAL(entity.size(), 2);
BOOST_CHECK(entity.hasSnapshot(update.timeCreated));
@@ -843,7 +842,7 @@ BOOST_AUTO_TEST_CASE(test_segment_setup)
// A third update (on entity).
update.instancesData = { std::make_shared<aron::data::Dict>() };
- update.timeCreated = armem::Time::milliSeconds(3000);
+ update.timeCreated = armem::Time(armem::Duration::MilliSeconds(3000));
entity.update(update);
BOOST_CHECK_EQUAL(entity.size(), 3);
@@ -859,38 +858,38 @@ BOOST_AUTO_TEST_CASE(test_history_size_in_entity)
update.entityID.entityName = entity.name();
// With unlimited history.
- update.timeCreated = armem::Time::milliSeconds(1000);
+ update.timeCreated = armem::Time(armem::Duration::MilliSeconds(1000));
entity.update(update);
- update.timeCreated = armem::Time::milliSeconds(2000);
+ update.timeCreated = armem::Time(armem::Duration::MilliSeconds(2000));
entity.update(update);
- update.timeCreated = armem::Time::milliSeconds(3000);
+ update.timeCreated = armem::Time(armem::Duration::MilliSeconds(3000));
entity.update(update);
BOOST_CHECK_EQUAL(entity.size(), 3);
// Now with maximum history size.
entity.setMaxHistorySize(2);
BOOST_CHECK_EQUAL(entity.size(), 2);
- BOOST_CHECK(not entity.hasSnapshot(armem::Time::milliSeconds(1000)));
- BOOST_CHECK(entity.hasSnapshot(armem::Time::milliSeconds(2000)));
- BOOST_CHECK(entity.hasSnapshot(armem::Time::milliSeconds(3000)));
+ BOOST_CHECK(not entity.hasSnapshot(armem::Time(armem::Duration::MilliSeconds(1000))));
+ BOOST_CHECK(entity.hasSnapshot(armem::Time(armem::Duration::MilliSeconds(2000))));
+ BOOST_CHECK(entity.hasSnapshot(armem::Time(armem::Duration::MilliSeconds(3000))));
- update.timeCreated = armem::Time::milliSeconds(4000);
+ update.timeCreated = armem::Time(armem::Duration::MilliSeconds(4000));
entity.update(update);
BOOST_CHECK_EQUAL(entity.size(), 2);
- BOOST_CHECK(not entity.hasSnapshot(armem::Time::milliSeconds(2000)));
- BOOST_CHECK(entity.hasSnapshot(armem::Time::milliSeconds(3000)));
- BOOST_CHECK(entity.hasSnapshot(armem::Time::milliSeconds(4000)));
+ BOOST_CHECK(not entity.hasSnapshot(armem::Time(armem::Duration::MilliSeconds(2000))));
+ BOOST_CHECK(entity.hasSnapshot(armem::Time(armem::Duration::MilliSeconds(3000))));
+ BOOST_CHECK(entity.hasSnapshot(armem::Time(armem::Duration::MilliSeconds(4000))));
// Disable maximum history size.
entity.setMaxHistorySize(-1);
- update.timeCreated = armem::Time::milliSeconds(5000);
+ update.timeCreated = armem::Time(armem::Duration::MilliSeconds(5000));
entity.update(update);
BOOST_CHECK_EQUAL(entity.size(), 3);
- BOOST_CHECK(entity.hasSnapshot(armem::Time::milliSeconds(3000)));
- BOOST_CHECK(entity.hasSnapshot(armem::Time::milliSeconds(4000)));
- BOOST_CHECK(entity.hasSnapshot(armem::Time::milliSeconds(5000)));
+ BOOST_CHECK(entity.hasSnapshot(armem::Time(armem::Duration::MilliSeconds(3000))));
+ BOOST_CHECK(entity.hasSnapshot(armem::Time(armem::Duration::MilliSeconds(4000))));
+ BOOST_CHECK(entity.hasSnapshot(armem::Time(armem::Duration::MilliSeconds(5000))));
}
@@ -908,15 +907,15 @@ BOOST_AUTO_TEST_CASE(test_history_size_in_provider_segment)
{
update.entityID.entityName = name;
- update.timeCreated = armem::Time::milliSeconds(1000);
+ update.timeCreated = armem::Time(armem::Duration::MilliSeconds(1000));
providerSegment.update(update);
- update.timeCreated = armem::Time::milliSeconds(2000);
+ update.timeCreated = armem::Time(armem::Duration::MilliSeconds(2000));
providerSegment.update(update);
- update.timeCreated = armem::Time::milliSeconds(3000);
+ update.timeCreated = armem::Time(armem::Duration::MilliSeconds(3000));
providerSegment.update(update);
}
update.entityID.entityName = entityNames.back();
- update.timeCreated = armem::Time::milliSeconds(4000);
+ update.timeCreated = armem::Time(armem::Duration::MilliSeconds(4000));
providerSegment.update(update);
BOOST_CHECK_EQUAL(providerSegment.getEntity("A").size(), 3);
@@ -940,11 +939,11 @@ BOOST_AUTO_TEST_CASE(test_history_size_in_provider_segment)
providerSegment.setMaxHistorySize(2);
update.entityID.entityName = "C";
- update.timeCreated = armem::Time::milliSeconds(1000);
+ update.timeCreated = armem::Time(armem::Duration::MilliSeconds(1000));
providerSegment.update(update);
- update.timeCreated = armem::Time::milliSeconds(2000);
+ update.timeCreated = armem::Time(armem::Duration::MilliSeconds(2000));
providerSegment.update(update);
- update.timeCreated = armem::Time::milliSeconds(3000);
+ update.timeCreated = armem::Time(armem::Duration::MilliSeconds(3000));
providerSegment.update(update);
// Check correctly inherited history size.
@@ -959,7 +958,7 @@ BOOST_AUTO_TEST_CASE(test_history_size_in_provider_segment)
for (const std::string& name : entityNames)
{
update.entityID.entityName = name;
- update.timeCreated = armem::Time::milliSeconds(5000);
+ update.timeCreated = armem::Time(armem::Duration::MilliSeconds(5000));
providerSegment.update(update);
BOOST_CHECK_EQUAL(providerSegment.getEntity(name).getMaxHistorySize(), -1);
BOOST_CHECK_EQUAL(providerSegment.getEntity(name).size(), 3);
diff --git a/source/RobotAPI/libraries/armem/server/test/ArMemQueryTest.cpp b/source/RobotAPI/libraries/armem/server/test/ArMemQueryTest.cpp
index 191cfb6256257006a27bcd46bd25667e0d8b1bb8..c778cbc4fb09e2a590f7a4aa20085f19998e78f4 100644
--- a/source/RobotAPI/libraries/armem/server/test/ArMemQueryTest.cpp
+++ b/source/RobotAPI/libraries/armem/server/test/ArMemQueryTest.cpp
@@ -65,15 +65,15 @@ namespace ArMemQueryTest
entity = armem::wm::Entity("entity");
armem::wm::EntitySnapshot snapshot;
- snapshot.time() = armem::Time::microSeconds(1000);
+ snapshot.time() = armem::Time(armem::Duration::MicroSeconds(1000));
entity.addSnapshot(snapshot);
- snapshot.time() = armem::Time::microSeconds(2000);
+ snapshot.time() = armem::Time(armem::Duration::MicroSeconds(2000));
entity.addSnapshot(snapshot);
- snapshot.time() = armem::Time::microSeconds(3000);
+ snapshot.time() = armem::Time(armem::Duration::MicroSeconds(3000));
entity.addSnapshot(snapshot);
- snapshot.time() = armem::Time::microSeconds(4000);
+ snapshot.time() = armem::Time(armem::Duration::MicroSeconds(4000));
entity.addSnapshot(snapshot);
- snapshot.time() = armem::Time::microSeconds(5000);
+ snapshot.time() = armem::Time(armem::Duration::MicroSeconds(5000));
entity.addSnapshot(snapshot);
}
~Fixture()
@@ -125,30 +125,44 @@ BOOST_AUTO_TEST_CASE(test_entity_Single_latest)
{
BOOST_CHECK_EQUAL(result.name(), entity.name());
BOOST_CHECK_EQUAL(result.size(), 1);
- const armem::wm::EntitySnapshot* first = result.findFirstSnapshotAfterOrAt(armem::Time::microSeconds(0));
+ const armem::wm::EntitySnapshot* first = result.findFirstSnapshotAfterOrAt(armem::Time(armem::Duration::MicroSeconds(0)));
BOOST_REQUIRE_NE(first, nullptr);
- BOOST_CHECK_EQUAL(first->time(), armem::Time::microSeconds(5000));
+ BOOST_CHECK_EQUAL(first->time(), armem::Time(armem::Duration::MicroSeconds(5000)));
}
}
+static armem::dto::Time
+t_usec(long usec)
+{
+ armem::dto::Time t;
+ t.timeSinceEpoch.microSeconds = usec;
+ return t;
+}
+static armem::dto::Duration
+d_usec(long usec)
+{
+ armem::dto::Duration d;
+ d.microSeconds = usec;
+ return d;
+}
BOOST_AUTO_TEST_CASE(test_entity_Single_existing)
{
- addResults(query::entity::Single({query::QueryTarget::WM, query::QueryTarget::LTM}, 3000));
+ addResults(query::entity::Single({query::QueryTarget::WM, query::QueryTarget::LTM}, t_usec(3000)));
BOOST_REQUIRE_GT(results.size(), 0);
for (const armem::wm::Entity& result : results)
{
BOOST_CHECK_EQUAL(result.name(), entity.name());
BOOST_REQUIRE_EQUAL(result.size(), 1);
- BOOST_CHECK_EQUAL(result.getFirstSnapshot().time(), armem::Time::microSeconds(3000));
+ BOOST_CHECK_EQUAL(result.getFirstSnapshot().time(), armem::Time(armem::Duration::MicroSeconds(3000)));
}
}
BOOST_AUTO_TEST_CASE(test_entity_Single_non_existing)
{
- addResults(query::entity::Single({query::QueryTarget::WM, query::QueryTarget::LTM}, 3500));
+ addResults(query::entity::Single({query::QueryTarget::WM, query::QueryTarget::LTM}, t_usec(3500)));
BOOST_REQUIRE_GT(results.size(), 0);
for (const armem::wm::Entity& result : results)
@@ -183,7 +197,8 @@ BOOST_AUTO_TEST_CASE(test_entity_All)
BOOST_AUTO_TEST_CASE(test_entity_TimeRange_slice)
{
- addResults(query::entity::TimeRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 1500, 3500));
+ addResults(query::entity::TimeRange({query::QueryTarget::WM, query::QueryTarget::LTM},
+ t_usec(1500), t_usec(3500)));
BOOST_REQUIRE_GT(results.size(), 0);
for (const armem::wm::Entity& result : results)
@@ -195,7 +210,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_slice)
std::vector<armem::Time> times = result.getTimestamps();
std::vector<armem::Time> expected
{
- armem::Time::microSeconds(2000), armem::Time::microSeconds(3000)
+ armem::Time(armem::Duration::MicroSeconds(2000)), armem::Time(armem::Duration::MicroSeconds(3000))
};
BOOST_CHECK_EQUAL_COLLECTIONS(times.begin(), times.end(), expected.begin(), expected.end());
}
@@ -204,7 +219,8 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_slice)
BOOST_AUTO_TEST_CASE(test_entity_TimeRange_exact)
{
- addResults(query::entity::TimeRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 2000, 4000));
+ addResults(query::entity::TimeRange({query::QueryTarget::WM, query::QueryTarget::LTM},
+ t_usec(2000), t_usec(4000)));
BOOST_REQUIRE_GT(results.size(), 0);
for (const armem::wm::Entity& result : results)
@@ -216,7 +232,9 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_exact)
std::vector<armem::Time> times = result.getTimestamps();
std::vector<armem::Time> expected
{
- armem::Time::microSeconds(2000), armem::Time::microSeconds(3000), armem::Time::microSeconds(4000)
+ armem::Time(armem::Duration::MicroSeconds(2000)),
+ armem::Time(armem::Duration::MicroSeconds(3000)),
+ armem::Time(armem::Duration::MicroSeconds(4000))
};
BOOST_CHECK_EQUAL_COLLECTIONS(times.begin(), times.end(), expected.begin(), expected.end());
}
@@ -224,14 +242,15 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_exact)
BOOST_AUTO_TEST_CASE(test_entity_TimeRange_all)
{
- addResults(query::entity::TimeRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 0, 10000));
- addResults(query::entity::TimeRange({query::QueryTarget::WM, query::QueryTarget::LTM}, -1, -1));
+ addResults(query::entity::TimeRange({query::QueryTarget::WM, query::QueryTarget::LTM},
+ t_usec(0), t_usec(10000)));
+ addResults(query::entity::TimeRange({query::QueryTarget::WM, query::QueryTarget::LTM},
+ t_usec(-1), t_usec(-1)));
BOOST_REQUIRE_GT(results.size(), 0);
for (const armem::wm::Entity& result : results)
{
BOOST_CHECK_EQUAL(result.name(), entity.name());
-
BOOST_CHECK_EQUAL(result.size(), entity.size());
const std::vector<armem::Time> times = result.getTimestamps();
@@ -243,8 +262,10 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_all)
BOOST_AUTO_TEST_CASE(test_entity_TimeRange_empty)
{
- addResults(query::entity::TimeRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 2400, 2600));
- addResults(query::entity::TimeRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 6000, 1000));
+ addResults(query::entity::TimeRange({query::QueryTarget::WM, query::QueryTarget::LTM},
+ t_usec(2400), t_usec(2600)));
+ addResults(query::entity::TimeRange({query::QueryTarget::WM, query::QueryTarget::LTM},
+ t_usec(6000), t_usec(1000)));
BOOST_REQUIRE_GT(results.size(), 0);
for (const armem::wm::Entity& result : results)
@@ -258,7 +279,8 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_empty)
BOOST_AUTO_TEST_CASE(test_entity_TimeRange_from_start)
{
- addResults(query::entity::TimeRange({query::QueryTarget::WM, query::QueryTarget::LTM}, -1, 2500));
+ addResults(query::entity::TimeRange({query::QueryTarget::WM, query::QueryTarget::LTM},
+ t_usec(-1), t_usec(2500)));
BOOST_REQUIRE_GT(results.size(), 0);
for (const armem::wm::Entity& result : results)
@@ -270,7 +292,8 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_from_start)
const std::vector<armem::Time> times = result.getTimestamps();
std::vector<armem::Time> expected
{
- armem::Time::microSeconds(1000), armem::Time::microSeconds(2000)
+ armem::Time(armem::Duration::MicroSeconds(1000)),
+ armem::Time(armem::Duration::MicroSeconds(2000))
};
BOOST_CHECK_EQUAL_COLLECTIONS(times.begin(), times.end(), expected.begin(), expected.end());
}
@@ -279,7 +302,8 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_from_start)
BOOST_AUTO_TEST_CASE(test_entity_TimeRange_to_end)
{
- addResults(query::entity::TimeRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 2500, -1));
+ addResults(query::entity::TimeRange({query::QueryTarget::WM, query::QueryTarget::LTM},
+ t_usec(2500), t_usec(-1)));
BOOST_REQUIRE_GT(results.size(), 0);
for (const armem::wm::Entity& result : results)
@@ -290,7 +314,9 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_to_end)
const std::vector<armem::Time> times = result.getTimestamps();
std::vector<armem::Time> expected
{
- armem::Time::microSeconds(3000), armem::Time::microSeconds(4000), armem::Time::microSeconds(5000)
+ armem::Time(armem::Duration::MicroSeconds(3000)),
+ armem::Time(armem::Duration::MicroSeconds(4000)),
+ armem::Time(armem::Duration::MicroSeconds(5000))
};
BOOST_CHECK_EQUAL_COLLECTIONS(times.begin(), times.end(), expected.begin(), expected.end());
}
@@ -302,7 +328,8 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_to_end)
BOOST_AUTO_TEST_CASE(test_entity_BeforeTime_1)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::BeforeTime({query::QueryTarget::WM, query::QueryTarget::LTM}, 3500, 1));
+ addResults(query::entity::BeforeTime({query::QueryTarget::WM, query::QueryTarget::LTM},
+ t_usec(3500), 1));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -310,14 +337,15 @@ BOOST_AUTO_TEST_CASE(test_entity_BeforeTime_1)
const std::vector<armem::Time> times = result.getTimestamps();
BOOST_REQUIRE_EQUAL(times.size(), 1);
- BOOST_CHECK_EQUAL(times.front(), armem::Time::microSeconds(3000));
+ BOOST_CHECK_EQUAL(times.front(), armem::Time(armem::Duration::MicroSeconds(3000)));
}
}
BOOST_AUTO_TEST_CASE(test_entity_BeforeTime_2)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::BeforeTime({query::QueryTarget::WM, query::QueryTarget::LTM}, 3500, 2));
+ addResults(query::entity::BeforeTime({query::QueryTarget::WM, query::QueryTarget::LTM},
+ t_usec(3500), 2));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -327,7 +355,8 @@ BOOST_AUTO_TEST_CASE(test_entity_BeforeTime_2)
std::vector<armem::Time> expected
{
- armem::Time::microSeconds(2000), armem::Time::microSeconds(3000)
+ armem::Time(armem::Duration::MicroSeconds(2000)),
+ armem::Time(armem::Duration::MicroSeconds(3000))
};
BOOST_CHECK_EQUAL_COLLECTIONS(times.begin(), times.end(), expected.begin(), expected.end());
@@ -342,7 +371,8 @@ BOOST_AUTO_TEST_CASE(test_entity_BeforeTime_2)
BOOST_AUTO_TEST_CASE(test_entity_BeforeOrAtTime_before)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::BeforeOrAtTime({query::QueryTarget::WM, query::QueryTarget::LTM}, 3500));
+ addResults(query::entity::BeforeOrAtTime({query::QueryTarget::WM, query::QueryTarget::LTM},
+ t_usec(3500)));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -350,14 +380,15 @@ BOOST_AUTO_TEST_CASE(test_entity_BeforeOrAtTime_before)
std::vector<armem::Time> times = result.getTimestamps();
BOOST_REQUIRE_EQUAL(times.size(), 1);
- BOOST_REQUIRE_EQUAL(times.front(), armem::Time::microSeconds(3000));
+ BOOST_REQUIRE_EQUAL(times.front(), armem::Time(armem::Duration::MicroSeconds(3000)));
}
}
BOOST_AUTO_TEST_CASE(test_entity_BeforeOrAtTime_at)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::BeforeOrAtTime({query::QueryTarget::WM, query::QueryTarget::LTM}, 3000));
+ addResults(query::entity::BeforeOrAtTime({query::QueryTarget::WM, query::QueryTarget::LTM},
+ t_usec(3000)));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -365,14 +396,15 @@ BOOST_AUTO_TEST_CASE(test_entity_BeforeOrAtTime_at)
std::vector<armem::Time> times = result.getTimestamps();
BOOST_REQUIRE_EQUAL(times.size(), 1);
- BOOST_REQUIRE_EQUAL(times.front(), armem::Time::microSeconds(3000));
+ BOOST_REQUIRE_EQUAL(times.front(), armem::Time(armem::Duration::MicroSeconds(3000)));
}
}
BOOST_AUTO_TEST_CASE(test_entity_BeforeOrAtTime_lookup_past)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::BeforeOrAtTime({query::QueryTarget::WM, query::QueryTarget::LTM}, 1));
+ addResults(query::entity::BeforeOrAtTime({query::QueryTarget::WM, query::QueryTarget::LTM},
+ t_usec(1)));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -392,7 +424,8 @@ BOOST_AUTO_TEST_CASE(test_entity_BeforeOrAtTime_lookup_past)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_no_limit)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM}, 3500, -1));
+ addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM},
+ t_usec(3500), d_usec(-1)));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -402,7 +435,8 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_no_limit)
std::vector<armem::Time> expected
{
- armem::Time::microSeconds(3000), armem::Time::microSeconds(4000)
+ armem::Time(armem::Duration::MicroSeconds(3000)),
+ armem::Time(armem::Duration::MicroSeconds(4000))
};
BOOST_CHECK_EQUAL_COLLECTIONS(times.begin(), times.end(), expected.begin(), expected.end());
@@ -418,7 +452,8 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_no_limit)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_600)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM}, 3500, 600));
+ addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM},
+ t_usec(3500), d_usec(600)));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -428,7 +463,8 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_600)
std::vector<armem::Time> expected
{
- armem::Time::microSeconds(3000), armem::Time::microSeconds(4000)
+ armem::Time(armem::Duration::MicroSeconds(3000)),
+ armem::Time(armem::Duration::MicroSeconds(4000))
};
BOOST_CHECK_EQUAL_COLLECTIONS(times.begin(), times.end(), expected.begin(), expected.end());
@@ -444,7 +480,8 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_600)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_too_small)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM}, 3500, 100));
+ addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM},
+ t_usec(3500), d_usec(100)));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -463,7 +500,8 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_too_small)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_only_next)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM}, 3700, 400));
+ addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM},
+ t_usec(3700), d_usec(400)));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -473,7 +511,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_only_next)
std::vector<armem::Time> expected
{
- armem::Time::microSeconds(4000)
+ armem::Time(armem::Duration::MicroSeconds(4000))
};
BOOST_CHECK_EQUAL_COLLECTIONS(times.begin(), times.end(), expected.begin(), expected.end());
@@ -488,7 +526,8 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_only_next)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_only_previous)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM}, 3300, 400));
+ addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM},
+ t_usec(3300), d_usec(400)));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -498,7 +537,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_only_previous)
std::vector<armem::Time> expected
{
- armem::Time::microSeconds(3000)
+ armem::Time(armem::Duration::MicroSeconds(3000))
};
BOOST_CHECK_EQUAL_COLLECTIONS(times.begin(), times.end(), expected.begin(), expected.end());
@@ -513,7 +552,8 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_only_previous)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_perfect_match)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM}, 3000, -1));
+ addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM},
+ t_usec(3000), d_usec(-1)));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -523,7 +563,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_perfect_match)
std::vector<armem::Time> expected
{
- armem::Time::microSeconds(3000)
+ armem::Time(armem::Duration::MicroSeconds(3000))
};
BOOST_CHECK_EQUAL_COLLECTIONS(times.begin(), times.end(), expected.begin(), expected.end());
@@ -538,7 +578,8 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_perfect_match)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_lookup_past)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM}, 1, 1));
+ addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM},
+ t_usec(1), d_usec(1)));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -556,7 +597,8 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_lookup_past)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_lookup_future)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM}, 10'000, 1));
+ addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM},
+ t_usec(10'000), d_usec(1)));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -574,7 +616,8 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_lookup_future)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_lookup_future_valid)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM}, 10'000, -1));
+ addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM},
+ t_usec(10'000), d_usec(-1)));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -584,7 +627,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_lookup_future_valid)
std::vector<armem::Time> expected
{
- armem::Time::microSeconds(5'000)
+ armem::Time(armem::Duration::MicroSeconds(5'000))
};
BOOST_CHECK_EQUAL_COLLECTIONS(times.begin(), times.end(), expected.begin(), expected.end());
@@ -593,7 +636,8 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_lookup_future_valid)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_lookup_invalid_timestamp)
{
- BOOST_REQUIRE_THROW(addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM}, -1, 1)), ::armarx::LocalException);
+ BOOST_REQUIRE_THROW(addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM},
+ t_usec(-1), d_usec(1))), ::armarx::LocalException);
}
@@ -668,7 +712,9 @@ BOOST_AUTO_TEST_CASE(test_entity_IndexRange_slice)
std::vector<armem::Time> times = result.getTimestamps();
std::vector<armem::Time> expected
{
- armem::Time::microSeconds(2000), armem::Time::microSeconds(3000), armem::Time::microSeconds(4000)
+ armem::Time(armem::Duration::MicroSeconds(2000)),
+ armem::Time(armem::Duration::MicroSeconds(3000)),
+ armem::Time(armem::Duration::MicroSeconds(4000))
};
BOOST_CHECK_EQUAL_COLLECTIONS(times.begin(), times.end(), expected.begin(), expected.end());
}
diff --git a/source/RobotAPI/libraries/armem/test/ArMemForEachTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemForEachTest.cpp
index 9c29804ebdc56444b175b3de0abd115b3a1067c0..8cb721c4b724e0c6f307a6ee6b796c01c974680a 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemForEachTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemForEachTest.cpp
@@ -70,7 +70,7 @@ BOOST_AUTO_TEST_CASE(test_forEach)
eids.insert(eid);
for (size_t s = 0; s <= e; ++s)
{
- const MemoryID sid = eid.withTimestamp(Time::microSeconds(int(s)));
+ const MemoryID sid = eid.withTimestamp(Time(Duration::MicroSeconds(int(s))));
sids.insert(sid);
EntityUpdate update;
@@ -176,8 +176,8 @@ BOOST_AUTO_TEST_CASE(test_forEach_non_bool_func)
// Check whether this compiles + runs without break.
armem::wm::Entity entity;
- entity.addSnapshot(armem::Time::microSeconds(500));
- entity.addSnapshot(armem::Time::microSeconds(1500));
+ entity.addSnapshot(armem::Time(armem::Duration::MicroSeconds(500)));
+ entity.addSnapshot(armem::Time(armem::Duration::MicroSeconds(1500)));
int i = 0;
entity.forEachSnapshot([&i](const armem::wm::EntitySnapshot&) -> void
diff --git a/source/RobotAPI/libraries/armem/test/ArMemGetFindTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemGetFindTest.cpp
index 29c12884d15292706ac2be33410352fe832dbc2a..f03b02052ef9956aab079dda96677acaf5aca48d 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemGetFindTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemGetFindTest.cpp
@@ -58,7 +58,7 @@ namespace ArMemGetFindTest
Fixture()
{
{
- snapshot.time() = armem::Time::microSeconds(1000);
+ snapshot.time() = armem::Time(armem::Duration::MicroSeconds(1000));
snapshot.addInstance();
}
{
@@ -123,14 +123,14 @@ namespace ArMemGetFindTest
{
BOOST_TEST_CONTEXT("Parent: " << armem::print(parent))
{
- BOOST_CHECK_EQUAL(parent.hasSnapshot(entityID.withTimestamp(armem::Time::microSeconds(1000))), true);
- BOOST_CHECK_EQUAL(parent.hasSnapshot(entityID.withTimestamp(armem::Time::microSeconds(2000))), false);
+ BOOST_CHECK_EQUAL(parent.hasSnapshot(entityID.withTimestamp(armem::Time(armem::Duration::MicroSeconds(1000)))), true);
+ BOOST_CHECK_EQUAL(parent.hasSnapshot(entityID.withTimestamp(armem::Time(armem::Duration::MicroSeconds(2000)))), false);
- BOOST_CHECK_NE(parent.findSnapshot(entityID.withTimestamp(armem::Time::microSeconds(1000))), nullptr);
- BOOST_CHECK_EQUAL(parent.findSnapshot(entityID.withTimestamp(armem::Time::microSeconds(2000))), nullptr);
+ BOOST_CHECK_NE(parent.findSnapshot(entityID.withTimestamp(armem::Time(armem::Duration::MicroSeconds(1000)))), nullptr);
+ BOOST_CHECK_EQUAL(parent.findSnapshot(entityID.withTimestamp(armem::Time(armem::Duration::MicroSeconds(2000)))), nullptr);
- BOOST_CHECK_NO_THROW(parent.getSnapshot(entityID.withTimestamp(armem::Time::microSeconds(1000))));
- BOOST_CHECK_THROW(parent.getSnapshot(entityID.withTimestamp(armem::Time::microSeconds(2000))), armem::error::MissingEntry);
+ BOOST_CHECK_NO_THROW(parent.getSnapshot(entityID.withTimestamp(armem::Time(armem::Duration::MicroSeconds(1000)))));
+ BOOST_CHECK_THROW(parent.getSnapshot(entityID.withTimestamp(armem::Time(armem::Duration::MicroSeconds(2000)))), armem::error::MissingEntry);
}
}
@@ -223,14 +223,14 @@ BOOST_AUTO_TEST_CASE(test_snapshot_get_find_instance_by_key)
BOOST_AUTO_TEST_CASE(test_entity_get_find_snapshot_by_key)
{
- BOOST_CHECK_EQUAL(entity.hasSnapshot(armem::Time::microSeconds(1000)), true);
- BOOST_CHECK_EQUAL(entity.hasSnapshot(armem::Time::microSeconds(2000)), false);
+ BOOST_CHECK_EQUAL(entity.hasSnapshot(armem::Time(armem::Duration::MicroSeconds(1000))), true);
+ BOOST_CHECK_EQUAL(entity.hasSnapshot(armem::Time(armem::Duration::MicroSeconds(2000))), false);
- BOOST_CHECK_NE(entity.findSnapshot(armem::Time::microSeconds(1000)), nullptr);
- BOOST_CHECK_EQUAL(entity.findSnapshot(armem::Time::microSeconds(2000)), nullptr);
+ BOOST_CHECK_NE(entity.findSnapshot(armem::Time(armem::Duration::MicroSeconds(1000))), nullptr);
+ BOOST_CHECK_EQUAL(entity.findSnapshot(armem::Time(armem::Duration::MicroSeconds(2000))), nullptr);
- BOOST_CHECK_NO_THROW(entity.getSnapshot(armem::Time::microSeconds(1000)));
- BOOST_CHECK_THROW(entity.getSnapshot(armem::Time::microSeconds(2000)), armem::error::MissingEntry);
+ BOOST_CHECK_NO_THROW(entity.getSnapshot(armem::Time(armem::Duration::MicroSeconds(1000))));
+ BOOST_CHECK_THROW(entity.getSnapshot(armem::Time(armem::Duration::MicroSeconds(2000))), armem::error::MissingEntry);
}
diff --git a/source/RobotAPI/libraries/armem/test/ArMemIceConversionsTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemIceConversionsTest.cpp
index 9fd00a4cf944f50cbd1c0d7bd06b9b56d812c161..07ea4e3acc307aa3d7abb97c7f9bd3f450a4129e 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemIceConversionsTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemIceConversionsTest.cpp
@@ -26,7 +26,7 @@
#include <RobotAPI/Test.h>
#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
-
+#include <RobotAPI/libraries/armem/core/ice_conversions_templates.h>
#include <iostream>
#include <SimoxUtility/algorithm/get_map_keys_values.h>
@@ -43,11 +43,11 @@ BOOST_AUTO_TEST_CASE(test_entity)
std::vector<armem::Time> expectedTimestamps;
armem::wm::EntitySnapshot snapshot;
- snapshot.time() = armem::Time::milliSeconds(100);
+ snapshot.time() = armem::Time(armem::Duration::MilliSeconds(100));
expectedTimestamps.push_back(snapshot.time());
entity.addSnapshot(snapshot);
- snapshot.time() = armem::Time::milliSeconds(300);
+ snapshot.time() = armem::Time(armem::Duration::MilliSeconds(300));
expectedTimestamps.push_back(snapshot.time());
entity.addSnapshot(snapshot);
diff --git a/source/RobotAPI/libraries/armem/test/ArMemMemoryIDTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemMemoryIDTest.cpp
index 72f09fb225aa22b50ed55a9482e7f973acbf0fd2..987cf20c980e0478056dd529d4ad877de2499ba4 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemMemoryIDTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemMemoryIDTest.cpp
@@ -101,7 +101,7 @@ BOOST_AUTO_TEST_CASE(test_MemoryID_from_to_string)
BOOST_CHECK_EQUAL(idIn.coreSegmentName, "Core");
BOOST_CHECK_EQUAL(idIn.providerSegmentName, "Prov");
BOOST_CHECK_EQUAL(idIn.entityName, "entity");
- BOOST_CHECK_EQUAL(idIn.timestamp, IceUtil::Time::microSeconds(2810381));
+ BOOST_CHECK_EQUAL(idIn.timestamp, armem::Time(armem::Duration::MicroSeconds(2810381)));
BOOST_CHECK_EQUAL(idIn.instanceIndex, 2);
@@ -126,7 +126,7 @@ BOOST_AUTO_TEST_CASE(test_MemoryID_from_to_string)
BOOST_CHECK_EQUAL(idIn.coreSegmentName, "AtTheEnd/");
BOOST_CHECK_EQUAL(idIn.providerSegmentName, "/AtTheStart");
BOOST_CHECK_EQUAL(idIn.entityName, "YCB/sugar/-1");
- BOOST_CHECK_EQUAL(idIn.timestamp, IceUtil::Time::microSeconds(-1));
+ BOOST_CHECK_EQUAL(idIn.timestamp, armem::Time::Invalid());
BOOST_CHECK_EQUAL(idIn.instanceIndex, 2);
BOOST_TEST_CONTEXT(VAROUT(idIn.str()))
@@ -134,7 +134,6 @@ BOOST_AUTO_TEST_CASE(test_MemoryID_from_to_string)
armem::MemoryID idOut(idIn.str());
BOOST_CHECK_EQUAL(idOut, idIn);
}
-
}
diff --git a/source/RobotAPI/libraries/armem/test/ArMemQueryBuilderTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemQueryBuilderTest.cpp
index 78d3077c082e41f32bf6dfd398e9e7d474e19dc3..535ce2b80b6b9b5ac7c95fcf3f9847ab943d1729 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemQueryBuilderTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemQueryBuilderTest.cpp
@@ -25,10 +25,12 @@
#define ARMARX_BOOST_TEST
#include <RobotAPI/Test.h>
+
+#include <ArmarXCore/core/time/ice_conversions.h>
+
+#include <RobotAPI/libraries/armem/core/ice_conversions_templates.h>
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/client/query/query_fns.h>
-#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
-
#include <iostream>
@@ -97,9 +99,10 @@ BOOST_AUTO_TEST_CASE(test_mixed)
.entities(withName(entityNames.at(0)),
withName(entityNames.at(1)))
.snapshots(latest(),
- atTime(armem::Time::milliSeconds(3000)),
+ atTime(armem::Time(armem::Duration::MilliSeconds(3000))),
indexRange(5, -10),
- timeRange(armem::Time::milliSeconds(1000), armem::Time::milliSeconds(2000)))
+ timeRange(armem::Time(armem::Duration::MilliSeconds(1000)),
+ armem::Time(armem::Duration::MilliSeconds(2000))))
;
@@ -138,13 +141,13 @@ BOOST_AUTO_TEST_CASE(test_mixed)
{
auto latest = query::entity::SinglePtr::dynamicCast(*it);
BOOST_REQUIRE(latest);
- BOOST_CHECK_EQUAL(latest->timestamp, -1);
+ BOOST_CHECK_EQUAL(latest->timestamp.timeSinceEpoch.microSeconds, armem::Time::Invalid().toMicroSecondsSinceEpoch());
++it;
}
{
auto atTime = query::entity::SinglePtr::dynamicCast(*it);
BOOST_REQUIRE(atTime);
- BOOST_CHECK_EQUAL(atTime->timestamp, armem::toIce<long>(armem::Time::milliSeconds(3000)));
+ BOOST_CHECK_EQUAL(atTime->timestamp, armem::toIce<armem::dto::Time>(armem::Time(armem::Duration::MilliSeconds(3000))));
++it;
}
{
@@ -157,12 +160,11 @@ BOOST_AUTO_TEST_CASE(test_mixed)
{
auto timeRange = query::entity::TimeRangePtr::dynamicCast(*it);
BOOST_REQUIRE(timeRange);
- BOOST_CHECK_EQUAL(timeRange->minTimestamp, armem::toIce<long>(armem::Time::milliSeconds(1000)));
- BOOST_CHECK_EQUAL(timeRange->maxTimestamp, armem::toIce<long>(armem::Time::milliSeconds(2000)));
+ BOOST_CHECK_EQUAL(timeRange->minTimestamp, armem::toIce<armem::dto::Time>(armem::Time(armem::Duration::MilliSeconds(1000))));
+ BOOST_CHECK_EQUAL(timeRange->maxTimestamp, armem::toIce<armem::dto::Time>(armem::Time(armem::Duration::MilliSeconds(2000))));
++it;
}
}
-
}
@@ -187,6 +189,7 @@ BOOST_AUTO_TEST_CASE(test_branched_hierarchy)
.snapshots().latest();
+ BOOST_TEST_MESSAGE(std::numeric_limits<long>::min());
armem::client::QueryInput input = qb.buildQueryInput();
const query::ProviderSegmentQuerySeq& provQueries = input.memoryQueries.front()->coreSegmentQueries.front()->providerSegmentQueries;
@@ -211,7 +214,7 @@ BOOST_AUTO_TEST_CASE(test_branched_hierarchy)
BOOST_CHECK_EQUAL(regex->entityQueries.size(), 1);
auto snapshotLatest = query::entity::SinglePtr::dynamicCast(regex->entityQueries.at(0));
BOOST_CHECK(snapshotLatest);
- BOOST_CHECK_EQUAL(snapshotLatest->timestamp, -1);
+ BOOST_CHECK_EQUAL(snapshotLatest->timestamp.timeSinceEpoch.microSeconds, armem::Time::Invalid().toMicroSecondsSinceEpoch());
++it;
}
diff --git a/source/RobotAPI/libraries/armem/util/util.cpp b/source/RobotAPI/libraries/armem/util/util.cpp
index 34f0e2f56d9d47ea7db8b54e198e6faa9d0b25d9..fcaab64e05b6eb35e9c516a9637f77a97b210952 100644
--- a/source/RobotAPI/libraries/armem/util/util.cpp
+++ b/source/RobotAPI/libraries/armem/util/util.cpp
@@ -1,3 +1,68 @@
#include "util.h"
-// intentionally left blank
\ No newline at end of file
+#include <RobotAPI/libraries/armem/client.h>
+#include <RobotAPI/libraries/armem/core/error/mns.h>
+
+namespace armarx::armem
+{
+
+ std::optional<armarx::armem::wm::Memory>
+ resolveID(armarx::armem::client::MemoryNameSystem& mns, const armarx::armem::MemoryID& memoryID)
+ {
+ armarx::armem::client::Reader reader;
+ try
+ {
+ reader = mns.getReader(memoryID);
+ }
+ catch (const armarx::armem::error::CouldNotResolveMemoryServer& e)
+ {
+ ARMARX_WARNING << armarx::armem::error::CouldNotResolveMemoryServer::makeMsg(memoryID);
+ return {};
+ }
+
+ const armarx::armem::ClientQueryResult result = reader.queryMemoryIDs({memoryID});
+ if (result.success)
+ {
+ return result.memory;
+ }
+ ARMARX_WARNING << "Could not query memory for ID " << memoryID << ", "
+ << result.errorMessage;
+ return {};
+ }
+
+
+ std::optional<std::pair<armarx::aron::data::DictPtr, armarx::aron::type::ObjectPtr>>
+ extractDataAndType(const armarx::armem::wm::Memory& memory,
+ const armarx::armem::MemoryID& memoryID)
+ {
+ const auto* instance = memory.findLatestInstance(memoryID);
+ if (instance == nullptr)
+ {
+ return {};
+ }
+
+ armarx::aron::data::DictPtr aronData = instance->data();
+ armarx::aron::type::ObjectPtr aronType;
+ const auto* providerSegment = memory.findProviderSegment(memoryID);
+ if (providerSegment == nullptr)
+ {
+ return {};
+ }
+
+ if (!providerSegment->hasAronType())
+ {
+ const auto* coreSegment = memory.findCoreSegment(memoryID);
+ if (coreSegment == nullptr || !coreSegment->hasAronType())
+ {
+ return {};
+ }
+ aronType = coreSegment->aronType();
+ }
+ else
+ {
+ aronType = providerSegment->aronType();
+ }
+
+ return {{aronData, aronType}};
+ }
+} // namespace armarx::armem
diff --git a/source/RobotAPI/libraries/armem/util/util.h b/source/RobotAPI/libraries/armem/util/util.h
index a337bfafb784725dbfdd7cef9e158361a8911c97..7ffdfbfdc4f874ce264d9a61e2ffb030291827d9 100644
--- a/source/RobotAPI/libraries/armem/util/util.h
+++ b/source/RobotAPI/libraries/armem/util/util.h
@@ -26,6 +26,7 @@
#include <ArmarXCore/core/logging/Logging.h>
+#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/AronGeneratedClass.h>
@@ -165,4 +166,37 @@ namespace armarx::armem
return outV;
}
+ /**
+ * @brief resolve a single MemoryID with the given MemoryNameSystem.
+ *
+ * Returns a Memory containing only the desired segment / entity if it was
+ * successfully queried. If the query was unsuccessful (the MNS could not
+ * resolve the memory server, the MemoryID does not exist, etc.),
+ * nothing is returned.
+ *
+ * @param mns the MemoryNameSystem to use for the query
+ * @param memoryID the MemoryID to query for
+ * @return memory containing the object referenced by the MemoryID if available
+ */
+ std::optional<armarx::armem::wm::Memory>
+ resolveID(armarx::armem::client::MemoryNameSystem& mns,
+ const armarx::armem::MemoryID& memoryID);
+
+
+ /**
+ * @brief get the data and type of the given MemoryID in the given Memory.
+ *
+ * Returns the data and the type of the latest instance corresponding to
+ * the given MemoryID (whatever `memory.findLatestInstance(memoryID)` returns).
+ * If no such instance exists in the memory or no type for the instance is available,
+ * nothing is returned.
+ *
+ * @param memory the Memory to extract the data and type from
+ * @param memoryID the MemoryID of the instance to extract
+ * @return pair of data and type for the instance if available
+ */
+ std::optional<std::pair<armarx::aron::data::DictPtr, armarx::aron::type::ObjectPtr>>
+ extractDataAndType(const armarx::armem::wm::Memory& memory,
+ const armarx::armem::MemoryID& memoryID);
+
} // namespace armarx::armem
diff --git a/source/RobotAPI/libraries/armem_grasping/server/KnownGraspProviderSegment.cpp b/source/RobotAPI/libraries/armem_grasping/server/KnownGraspProviderSegment.cpp
index e66a190bdf75e652c6505d91f7aae4fe9ae9649a..f1ad93a2c87396e2f178d2ed522d39dcd7de95b9 100644
--- a/source/RobotAPI/libraries/armem_grasping/server/KnownGraspProviderSegment.cpp
+++ b/source/RobotAPI/libraries/armem_grasping/server/KnownGraspProviderSegment.cpp
@@ -110,7 +110,7 @@ namespace armarx::armem::grasping::segment
{
// load data from prior knowledge
ObjectFinder objectFinder;
- const auto now = armem::Time::now();
+ const auto now = armem::Time::Now();
const bool checkPaths = false;
std::vector<ObjectInfo> infos = objectFinder.findAllObjects(checkPaths);
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
index f16545280290edb77d0d41dc61a6d3cb916fe9a0..0d89cd82cce205a1032dfe9d895bb4845f7bdc53 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
+++ b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
@@ -234,7 +234,7 @@ namespace armarx::armem::gui
void MemoryViewer::commit()
{
TIMING_START(Commit);
- auto now = armem::Time::now();
+ auto now = armem::Time::Now();
const std::string memoryIDStr = memoryGroup->commitWidget()->getMemoryID();
const std::string aronJSONStr = memoryGroup->commitWidget()->getAronJSON();
@@ -357,24 +357,41 @@ namespace armarx::armem::gui
void
- MemoryViewer::startDueQueries(std::map<std::string, Ice::AsyncResultPtr>& queries,
- const std::map<std::string, armem::client::Reader>& readers)
+ MemoryViewer::startDueQueries(
+ std::map<std::string, std::future<armem::query::data::Result>>& queries,
+ const std::map<std::string, armem::client::Reader>& readers)
{
armem::client::QueryInput input = memoryGroup->queryWidget()->queryInput();
+ int recursionDepth = memoryGroup->queryWidget()->queryLinkRecursionDepth();
- for (auto& [name, reader] : readers)
+ // Can't use a structured binding here because you can't capture those in a lambda
+ // according to the C++ standard.
+ for (const auto& pair : readers)
{
+ const auto& name = pair.first;
+ const auto& reader = pair.second;
if (queries.count(name) == 0)
{
- queries[name] = reader.memoryPrx->begin_query(input.toIce());
+ // You could pass the query function itself to async here,
+ // but that caused severe template headaches when I tried it.
+ queries[name] =
+ std::async(std::launch::async,
+ [&reader, input, recursionDepth, this]()
+ {
+ // Can't resolve MemoryLinks without data
+ return recursionDepth == 0 || input.dataMode == DataMode::NoData
+ ? reader.query(input.toIce())
+ : reader.query(input.toIce(), mns, recursionDepth);
+ });
}
}
}
std::map<std::string, client::QueryResult>
- MemoryViewer::collectQueryResults(std::map<std::string, Ice::AsyncResultPtr>& queries,
- const std::map<std::string, client::Reader>& readers)
+ MemoryViewer::collectQueryResults(
+ std::map<std::string, std::future<armem::query::data::Result>>& queries,
+ const std::map<std::string, client::Reader>& readers)
{
TIMING_START(tCollectQueryResults)
@@ -382,16 +399,15 @@ namespace armarx::armem::gui
for (auto it = queries.begin(); it != queries.end();)
{
const std::string& name = it->first;
- Ice::AsyncResultPtr& queryPromise = it->second;
+ std::future<armem::query::data::Result>* queryPromise = &it->second;
- if (queryPromise->isCompleted())
+ if (queryPromise->wait_for(std::chrono::seconds(0)) == std::future_status::ready)
{
if (auto jt = memoryReaders.find(name); jt != readers.end())
{
try
{
- results[name] = client::QueryResult::fromIce(
- jt->second.memoryPrx->end_query(queryPromise));
+ results[name] = client::QueryResult::fromIce(queryPromise->get());
}
catch (const Ice::ConnectionRefusedException&)
{
@@ -401,7 +417,7 @@ namespace armarx::armem::gui
// else: Server is gone (MNS knew about it) => Skip result.
// Promise is completed => Clean up in any case.
- it = runningQueries.erase(it);
+ it = queries.erase(it);
}
else
{
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryViewer.h b/source/RobotAPI/libraries/armem_gui/MemoryViewer.h
index 51cda4cb797911c3afcd1afaf43657b145b9a140..9b0d2a8fff364cd2f702c11a1769243b435ac0ce 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryViewer.h
+++ b/source/RobotAPI/libraries/armem_gui/MemoryViewer.h
@@ -1,5 +1,6 @@
#pragma once
+#include <future>
#include <string>
#include <QObject>
@@ -120,12 +121,12 @@ namespace armarx::armem::gui
/// Start a query for each entry in `memoryReaders` which is not in `runningQueries`.
void startDueQueries(
- std::map<std::string, Ice::AsyncResultPtr>& queries,
+ std::map<std::string, std::future<armem::query::data::Result>>& queries,
const std::map<std::string, armem::client::Reader>& readers);
std::map<std::string, client::QueryResult>
collectQueryResults(
- std::map<std::string, Ice::AsyncResultPtr>& queries,
+ std::map<std::string, std::future<armem::query::data::Result>>& queries,
const std::map<std::string, armem::client::Reader>& readers);
void applyQueryResults(
@@ -142,7 +143,7 @@ namespace armarx::armem::gui
std::map<std::string, armem::client::Writer> memoryWriters;
std::map<std::string, armem::wm::Memory> memoryData;
- std::map<std::string, Ice::AsyncResultPtr> runningQueries;
+ std::map<std::string, std::future<armem::query::data::Result>> runningQueries;
/// Periodically triggers query result collection.
QTimer* processQueryResultTimer;
diff --git a/source/RobotAPI/libraries/armem_gui/instance/MemoryIDTreeWidgetItem.cpp b/source/RobotAPI/libraries/armem_gui/instance/MemoryIDTreeWidgetItem.cpp
index ebb4473bb1941a713526d646b37744f5a3314c1c..5cde16500c5e1dbd05f9f376ccf84f3bd2504f39 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/MemoryIDTreeWidgetItem.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/MemoryIDTreeWidgetItem.cpp
@@ -36,7 +36,7 @@ namespace armarx::armem::gui::instance
static const char* mu = "\u03BC";
std::stringstream ss;
ss << toDateTimeMilliSeconds(id.timestamp)
- << " (" << id.timestamp.toMicroSeconds() << " " << mu << "s)";
+ << " (" << id.timestamp.toMicroSecondsSinceEpoch() << " " << mu << "s)";
child(4)->setText(valueColumn, QString::fromStdString(ss.str()));
}
}
diff --git a/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.cpp b/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.cpp
index 6a132629b65031c1b27225528872bcb4c20cd611..eed9bb9ef66902f3ed15a5ad238bdc24c01b2595 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.cpp
@@ -87,7 +87,7 @@ namespace armarx::aron
void TypedDataDisplayVisitor::visitTime(const data::VariantPtr& data, const type::VariantPtr& type)
{
auto l = data::Long::DynamicCastAndCheck(data);
- armem::Time time = armem::Time::microSeconds(l->getValue());
+ armem::Time time { armem::Duration::MicroSeconds(l->getValue()) };
value << armem::toDateTimeMilliSeconds(time);
}
diff --git a/source/RobotAPI/libraries/armem_gui/instance/tree_builders/DataTreeBuilder.cpp b/source/RobotAPI/libraries/armem_gui/instance/tree_builders/DataTreeBuilder.cpp
index 5ed578979d2516f3c089685c1bf5bc44843ad157..27cb691cf870d1663305cb25a60f2541dc29e7c6 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/tree_builders/DataTreeBuilder.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/tree_builders/DataTreeBuilder.cpp
@@ -18,7 +18,7 @@ namespace armarx::armem::gui::instance
builder.setUpdateItemFn([this, &data](const std::string & key, QTreeWidgetItem * item)
{
auto child = data->getElement(key);
- this->update(item, key, child);
+ this->update(item, key, child, data->getPath());
return true;
});
@@ -27,20 +27,24 @@ namespace armarx::armem::gui::instance
void DataTreeBuilder::updateTree(QTreeWidgetItem* parent, const aron::data::ListPtr& data)
{
- auto children = data->getChildren();
ListBuilder builder = getListBuilder();
- builder.setUpdateItemFn([this, &children](size_t key, QTreeWidgetItem * item)
+ builder.setUpdateItemFn([this, &data](size_t key, QTreeWidgetItem * item)
{
- this->update(item, std::to_string(key), children.at(key));
+ auto child = data->getElement(key);
+ this->update(item, std::to_string(key), child, data->getPath());
return true;
});
- builder.updateTreeWithContainer(parent, getIndex(children.size()));
+ builder.updateTreeWithContainer(parent, getIndex(data->childrenSize()));
}
- void DataTreeBuilder::update(QTreeWidgetItem* item, const std::string& key, const aron::data::VariantPtr& data)
+ void
+ DataTreeBuilder::update(QTreeWidgetItem* item,
+ const std::string& key,
+ const aron::data::VariantPtr& data,
+ const aron::Path& parentPath)
{
if (data)
{
@@ -59,8 +63,9 @@ namespace armarx::armem::gui::instance
{
// Optional data?
this->setRowTexts(item, key, "(none)");
+ auto empty = std::make_shared<aron::data::Dict>(parentPath.withElement(key));
+ updateTree(item, empty);
}
- }
-
+ }
}
diff --git a/source/RobotAPI/libraries/armem_gui/instance/tree_builders/DataTreeBuilder.h b/source/RobotAPI/libraries/armem_gui/instance/tree_builders/DataTreeBuilder.h
index 4ae61c3036195e08055582d5e7251857a30ca650..80773c86aa7074b88b962fa2ae44c7b4f54e65f1 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/tree_builders/DataTreeBuilder.h
+++ b/source/RobotAPI/libraries/armem_gui/instance/tree_builders/DataTreeBuilder.h
@@ -22,9 +22,9 @@ namespace armarx::armem::gui::instance
protected:
-
- void update(QTreeWidgetItem* item, const std::string& key, const aron::data::VariantPtr& data);
-
+ void update(QTreeWidgetItem* item,
+ const std::string& key,
+ const aron::data::VariantPtr& data,
+ const aron::Path& parentPath);
};
-
}
diff --git a/source/RobotAPI/libraries/armem_gui/instance/tree_builders/TypedDataTreeBuilder.cpp b/source/RobotAPI/libraries/armem_gui/instance/tree_builders/TypedDataTreeBuilder.cpp
index de85c11c08080c88c5f5d72f5b00900547a66fbc..70edd5a5149617618e8ab023a8ccb48f4a629dee 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/tree_builders/TypedDataTreeBuilder.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/tree_builders/TypedDataTreeBuilder.cpp
@@ -213,31 +213,31 @@ namespace armarx::armem::gui::instance
}
}
- if (data)
+ // We pass empty containers if data is null so that subitems of the data are deleted.
+ auto emptyDict = aron::data::Dict(type->getPath());
+ auto emptyList = aron::data::List(type->getPath());
+ if (const auto d = aron::data::Dict::DynamicCast(data); const auto t = type::Object::DynamicCast(type))
{
- if (const auto d = aron::data::Dict::DynamicCast(data); const auto t = type::Object::DynamicCast(type))
- {
- _updateTree(item, *t, *d);
- }
- else if (const auto d = aron::data::Dict::DynamicCast(data); const auto t = type::Dict::DynamicCast(type))
- {
- _updateTree(item, *t, *d);
- }
- else if (const auto d = aron::data::List::DynamicCast(data); const auto t = type::List::DynamicCast(type))
- {
- _updateTree(item, *t, *d);
- }
- else if (const auto d = aron::data::List::DynamicCast(data); const auto t = type::Pair::DynamicCast(type))
- {
- _updateTree(item, *t, *d);
- }
- else if (const auto d = aron::data::List::DynamicCast(data); const auto t = type::Tuple::DynamicCast(type))
- {
- _updateTree(item, *t, *d);
- }
- // else???
- // phesch: else we stop here, since there's no container to recurse into.
+ _updateTree(item, *t, d ? *d : emptyDict);
+ }
+ else if (const auto d = aron::data::Dict::DynamicCast(data); const auto t = type::Dict::DynamicCast(type))
+ {
+ _updateTree(item, *t, d ? *d : emptyDict);
+ }
+ else if (const auto d = aron::data::List::DynamicCast(data); const auto t = type::List::DynamicCast(type))
+ {
+ _updateTree(item, *t, d ? *d : emptyList);
+ }
+ else if (const auto d = aron::data::List::DynamicCast(data); const auto t = type::Pair::DynamicCast(type))
+ {
+ _updateTree(item, *t, d ? *d : emptyList);
+ }
+ else if (const auto d = aron::data::List::DynamicCast(data); const auto t = type::Tuple::DynamicCast(type))
+ {
+ _updateTree(item, *t, d ? *d : emptyList);
}
+ // else???
+ // phesch: else we stop here, since there's no container to recurse into.
}
diff --git a/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedDataVisitor.cpp b/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedDataVisitor.cpp
index 3a3a3b4d6f007a92a009df9d59ddd5ad65d9c070..bc8c27104f78f11547ecc72c6dbc93cded31893b 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedDataVisitor.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedDataVisitor.cpp
@@ -24,7 +24,7 @@ namespace armarx::armem::gui::instance
void TreeTypedDataVisitor::streamValueText(const aron::data::Long& data, const aron::type::Time& type, std::stringstream& ss) const
{
(void) type;
- armem::Time time = armem::Time::microSeconds(data.getValue());
+ armem::Time time { armem::Duration::MicroSeconds(data.getValue()) };
armem::toDateTimeMilliSeconds(time);
ss << armem::toDateTimeMilliSeconds(time);
}
diff --git a/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedJSONConverter.cpp b/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedJSONConverter.cpp
index f80717342b3bc98dc1ebf9b7a72a4b274ede768a..950f034f8596fe7f3f6034ee675f3f45ffc5f08c 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedJSONConverter.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedJSONConverter.cpp
@@ -275,7 +275,7 @@ namespace armarx::armem::gui::instance
{
const std::string key = elementData->getPath().getLastElement();
int64_t l = *aron::data::Long::DynamicCastAndCheck(elementData);
- armem::Time time = armem::Time::microSeconds(l);
+ armem::Time time { armem::Duration::MicroSeconds(l) };
insertIntoJSON(key, l);
if (!jsonStack.top().second.is_array())
{
diff --git a/source/RobotAPI/libraries/armem_gui/memory/TreeWidget.cpp b/source/RobotAPI/libraries/armem_gui/memory/TreeWidget.cpp
index 858c932bdba6825696a99de538bbdf02284c159c..f5ec0c9139e8db63acdb2ad006b15ec4ab1e32cb 100644
--- a/source/RobotAPI/libraries/armem_gui/memory/TreeWidget.cpp
+++ b/source/RobotAPI/libraries/armem_gui/memory/TreeWidget.cpp
@@ -116,12 +116,12 @@ namespace armarx::armem::gui::memory
snapshotBuilder.setMakeItemFn([this](const wm::EntitySnapshot & snapshot)
{
QTreeWidgetItem* item = makeItem(toDateTimeMilliSeconds(snapshot.time()), snapshot);
- item->setData(int(Columns::KEY), Qt::ItemDataRole::UserRole, QVariant(static_cast<qlonglong>(snapshot.time().toMicroSeconds())));
+ item->setData(int(Columns::KEY), Qt::ItemDataRole::UserRole, QVariant(static_cast<qlonglong>(snapshot.time().toMicroSecondsSinceEpoch())));
return item;
});
snapshotBuilder.setCompareFn([](const wm::EntitySnapshot & snapshot, QTreeWidgetItem * item)
{
- return armarx::detail::compare(static_cast<qlonglong>(snapshot.time().toMicroSeconds()),
+ return armarx::detail::compare(static_cast<qlonglong>(snapshot.time().toMicroSecondsSinceEpoch()),
item->data(int(Columns::KEY), Qt::ItemDataRole::UserRole).toLongLong());
});
snapshotBuilder.setUpdateItemFn([this](const wm::EntitySnapshot & snapshot, QTreeWidgetItem * snapshotItem)
diff --git a/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.cpp b/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.cpp
index 2bdef0d95aa45845d27170508f83aed51a3e7829..82a8cca0b365cbdb367d28cff620864c72c570f6 100644
--- a/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.cpp
+++ b/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.cpp
@@ -1,12 +1,14 @@
#include "QueryWidget.h"
-#include <QWidget>
-#include <QTabWidget>
-#include <QPushButton>
#include <QCheckBox>
+#include <QGroupBox>
#include <QHBoxLayout>
+#include <QLabel>
+#include <QPushButton>
+#include <QSpinBox>
+#include <QTabWidget>
#include <QVBoxLayout>
-#include <QGroupBox>
+#include <QWidget>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
@@ -23,14 +25,20 @@ namespace armarx::armem::gui
_dataCheckBox = new QCheckBox("Get Data");
_dataCheckBox->setChecked(true);
- _storeInLTMButton = new QPushButton("Store query result in LTM");
+ _recursionDepthSpinner = new QSpinBox();
+ _recursionDepthSpinner->setMinimum(-1);
+ _recursionDepthSpinner->setValue(0);
+ _recursionDepthSpinner->setEnabled(_dataCheckBox->isChecked());
- //_tabWidget = new QTabWidget();
+ _recursionDepthLabel = new QLabel("Link resolution depth");
+
+ _storeInLTMButton = new QPushButton("Store query result in LTM");
_snapshotSelectorWidget = new SnapshotSelectorWidget();
- //_tabWidget->addTab(_snapshotSelectorWidget, QString("Snapshots"));
hlayout1->addWidget(_dataCheckBox);
+ hlayout1->addWidget(_recursionDepthSpinner);
+ hlayout1->addWidget(_recursionDepthLabel);
hlayout1->addWidget(_storeInLTMButton);
hlayout2->addWidget(_snapshotSelectorWidget);
@@ -44,6 +52,10 @@ namespace armarx::armem::gui
// Public connections.
connect(_storeInLTMButton, &QPushButton::pressed, this, &This::storeInLTM);
+ // Private connections.
+ connect(
+ _dataCheckBox, &QCheckBox::stateChanged, this, &This::setRecursionDepthSpinnerEnabled);
+
setLayout(vlayout);
}
@@ -55,6 +67,11 @@ namespace armarx::armem::gui
: armem::DataMode::NoData;
}
+ int QueryWidget::queryLinkRecursionDepth() const
+ {
+ return _recursionDepthSpinner->value();
+ }
+
armem::client::QueryInput QueryWidget::queryInput()
{
armem::client::query::Builder qb(dataMode());
@@ -67,4 +84,18 @@ namespace armarx::armem::gui
return qb.buildQueryInput();
}
+ void
+ QueryWidget::setRecursionDepthSpinnerEnabled(int state)
+ {
+ switch (state)
+ {
+ case Qt::Checked:
+ _recursionDepthSpinner->setEnabled(true);
+ break;
+ case Qt::Unchecked:
+ default:
+ _recursionDepthSpinner->setEnabled(false);
+ break;
+ }
+ }
}
diff --git a/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.h b/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.h
index 2bc7f223d5db52435b7571970bb4cd398aaeec49..3b950acf05899e1e187273d1a2d7da57def4de1e 100644
--- a/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.h
+++ b/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.h
@@ -23,6 +23,8 @@ namespace armarx::armem::gui
armem::DataMode dataMode() const;
+ int queryLinkRecursionDepth() const;
+
armem::client::QueryInput queryInput();
@@ -36,6 +38,7 @@ namespace armarx::armem::gui
private slots:
+ void setRecursionDepthSpinnerEnabled(int state);
signals:
@@ -44,10 +47,10 @@ namespace armarx::armem::gui
private:
QCheckBox* _dataCheckBox;
+ QLabel* _recursionDepthLabel;
+ QSpinBox* _recursionDepthSpinner;
QPushButton* _storeInLTMButton;
- QTabWidget* _tabWidget;
-
SnapshotSelectorWidget* _snapshotSelectorWidget;
};
diff --git a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotForm.cpp b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotForm.cpp
index 1d6c0cff39fd69da5e7f29844c64fabc1843f9a4..e6ed6aaaf3d6860c2960dbb83215b5791b8b53de 100644
--- a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotForm.cpp
+++ b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotForm.cpp
@@ -99,9 +99,9 @@ namespace armarx::armem::gui
void SnapshotFormSingle::fillEntitySelector(client::query::SnapshotSelector& selector)
{
const Time time = latest->isChecked()
- ? Time::microSeconds(-1)
- : (Time::seconds(dateTime->dateTime().toSecsSinceEpoch()))
- + Time::microSeconds(microseconds->value());
+ ? Time::Invalid()
+ : (Time(Duration::Seconds(dateTime->dateTime().toSecsSinceEpoch()))
+ + Duration::MicroSeconds(microseconds->value()));
selector.atTime(time);
}
@@ -152,17 +152,17 @@ namespace armarx::armem::gui
void SnapshotFormTimeRange::fillEntitySelector(client::query::SnapshotSelector& selector)
{
- Time defaults = Time::microSeconds(-1);
+ Time defaults = Time::Invalid();
Time min = defaults, max = defaults;
if (!fromBegin->isChecked())
{
- min = Time::milliSeconds(fromDateTime->dateTime().toMSecsSinceEpoch());
+ min = Time(Duration::MilliSeconds(fromDateTime->dateTime().toMSecsSinceEpoch()));
}
if (!toEnd->isChecked())
{
- max = Time::milliSeconds(toDateTime->dateTime().toMSecsSinceEpoch())
- + Time::microSeconds(int(1e6) - 1);
+ max = Time(Duration::MilliSeconds(toDateTime->dateTime().toMSecsSinceEpoch()))
+ + Duration::MicroSeconds(int(1e6) - 1);
}
selector.timeRange(min, max);
diff --git a/source/RobotAPI/libraries/armem_motions/server/MotionSegment.cpp b/source/RobotAPI/libraries/armem_motions/server/MotionSegment.cpp
index 7b83360d50562977bf629a9ca4116f1c91089219..195cc6ebcecdc851b3c259d02172cfd43d6f7d7c 100644
--- a/source/RobotAPI/libraries/armem_motions/server/MotionSegment.cpp
+++ b/source/RobotAPI/libraries/armem_motions/server/MotionSegment.cpp
@@ -5,6 +5,7 @@
#include "mdb_conversions.h"
#include <RobotAPI/libraries/PriorKnowledge/motions/MotionFinder.h>
+#include <RobotAPI/libraries/aron/common/aron_conversions.h>
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
@@ -70,14 +71,14 @@ namespace armarx::armem::server::motions::mdb::segment
ss << "\n" << attachedFile.fileName << " (" << key << ")";
}
}
- ARMARX_INFO << ss.str();
+ ARMARX_INFO << ss.str(); // ToDo @Fabian PK: Remove
auto& entity = this->segmentPtr->addEntity(std::to_string(op->id));
- auto& snapshot = entity.addSnapshot(op->createdDate);
+ auto& snapshot = entity.addSnapshot(aron::fromAron<armem::Time>(op->createdDate));
armem::wm::EntityInstance& instance = snapshot.addInstance();
- instance.metadata().timeCreated = op->createdDate;
- instance.metadata().timeSent = IceUtil::Time::now();
- instance.metadata().timeArrived = IceUtil::Time::now();
+ instance.metadata().timeCreated = aron::fromAron<armem::Time>(op->createdDate);
+ instance.metadata().timeSent = Time::Now();
+ instance.metadata().timeArrived = Time::Now();
instance.metadata().confidence = 1.0;
instance.data() = op->toAron();
}
@@ -86,7 +87,6 @@ namespace armarx::armem::server::motions::mdb::segment
ARMARX_WARNING << "Found an invalid path to a motion file: " << pathToInfoJson;
}
}
- IceUtil::Time::now();
loadedMotions += allMotions.size();
}
diff --git a/source/RobotAPI/libraries/armem_mps/server/MotionPrimitives/Segment.cpp b/source/RobotAPI/libraries/armem_mps/server/MotionPrimitives/Segment.cpp
index 579e921ca55cb32ebb8031202572ee0b0238390f..a45cd788ff673d0e5a9c78e5a92940d0d2daf3c9 100644
--- a/source/RobotAPI/libraries/armem_mps/server/MotionPrimitives/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_mps/server/MotionPrimitives/Segment.cpp
@@ -56,21 +56,22 @@ namespace armarx::armem::server::motions::mps::segment
auto allMotions = motionFinder.findAll("trajectories");
for (const auto& motionFinderInfo : allMotions)
{
- auto pathToInfoJson = motionFinderInfo.getFullPath() / motionFinderInfo.getID();// / (motionFinderInfo.getID() + ".csv"); // todo: needs to be adapted, account for task and joint space
- for(const auto & entry: std::filesystem::directory_iterator(pathToInfoJson)){
- if(std::string(entry.path().filename()).rfind("taskspace", 0) == 0){
+ auto pathToInfoJson = motionFinderInfo.getFullPath() / motionFinderInfo.getID();// / (motionFinderInfo.getID() + ".csv"); // todo: needs to be adapted, account for task and joint space
+ for (const auto & entry: std::filesystem::directory_iterator(pathToInfoJson))
+ {
+ if (std::string(entry.path().filename()).rfind("taskspace", 0) == 0)
+ {
//ARMARX_IMPORTANT << entry.path().filename();
loadSingleMotionFinder(entry.path(), motionFinderInfo.getID(), true);
loadedMotions += allMotions.size();
- }
- /*else if(std::string(entry.path().filename()).rfind("joint-trajectory", 0) == 0){
+ }
+ /*else if (std::string(entry.path().filename()).rfind("joint-trajectory", 0) == 0)
+ {
loadSingleMotionFinder(entry.path(), motionFinderInfo.getID(), false);
loadedMotions += allMotions.size();
- }*/
- }
-
+ }*/
+ }
}
- IceUtil::Time::now();
loadedMotions += allMotions.size();
}
@@ -81,46 +82,49 @@ namespace armarx::armem::server::motions::mps::segment
void MPSegment::loadSingleMotionFinder(const std::string &pathToInfoJson, const std::string &entityName, bool taskspace)
{
if (auto op = util::createFromFile(pathToInfoJson, taskspace); op.has_value())
- {
- std::stringstream ss;
- ss << "Found valid instance at: " << pathToInfoJson << ". The motionID is: ";
-
- armem::wm::EntityInstance instance;
- instance.metadata().timeCreated = IceUtil::Time::now();//op->createdDate;
- instance.metadata().timeSent = IceUtil::Time::now();
- instance.metadata().timeArrived = IceUtil::Time::now();
- instance.metadata().confidence = 1.0;
-
- if(taskspace){
- std::filesystem::path path(pathToInfoJson);
- for(const auto & entry: std::filesystem::directory_iterator(path.parent_path())){
- std::string newname = "joint-trajectory" + std::string(path.filename()).erase(0, 20);
- if(std::string(entry.path().filename()).rfind(newname, 0) == 0){
- if (auto op2 = util::createFromFile(entry.path(), false); op.has_value()) // here now mps::createFromFile(pathToInfoJson)
- {
- op->jointSpace = op2->jointSpace;
- instance.data() = op->toAron();
- if(this->segmentPtr->hasEntity(entityName)){
- auto& entity = this->segmentPtr->getEntity(entityName);
- auto& snapshot = entity.addSnapshot(IceUtil::Time::now());
- snapshot.addInstance(instance);
- }else{
- auto& entity = this->segmentPtr->addEntity(entityName);
- auto& snapshot = entity.addSnapshot(IceUtil::Time::now());
- snapshot.addInstance(instance);
- }
- ARMARX_IMPORTANT << "Full content trajectory: " << op->name;
- }
- }
- }
- }
-
-
-
- }
- else
- {
- ARMARX_WARNING << "Found an invalid path to a motion file: " << pathToInfoJson;
- }
+ {
+ std::stringstream ss;
+ ss << "Found valid instance at: " << pathToInfoJson << ". The motionID is: ";
+
+ armem::wm::EntityInstance instance;
+ instance.metadata().timeCreated = armem::Time::Now(); //op->createdDate;
+ instance.metadata().timeSent = armem::Time::Now();
+ instance.metadata().timeArrived = armem::Time::Now();
+ instance.metadata().confidence = 1.0;
+
+ if(taskspace)
+ {
+ std::filesystem::path path(pathToInfoJson);
+ for (const auto & entry: std::filesystem::directory_iterator(path.parent_path()))
+ {
+ std::string newname = "joint-trajectory" + std::string(path.filename()).erase(0, 20);
+ if (std::string(entry.path().filename()).rfind(newname, 0) == 0)
+ {
+ if (auto op2 = util::createFromFile(entry.path(), false); op.has_value()) // here now mps::createFromFile(pathToInfoJson)
+ {
+ op->jointSpace = op2->jointSpace;
+ instance.data() = op->toAron();
+ if (this->segmentPtr->hasEntity(entityName))
+ {
+ auto& entity = this->segmentPtr->getEntity(entityName);
+ auto& snapshot = entity.addSnapshot(armem::Time::Now());
+ snapshot.addInstance(instance);
+ }
+ else
+ {
+ auto& entity = this->segmentPtr->addEntity(entityName);
+ auto& snapshot = entity.addSnapshot(armem::Time::Now());
+ snapshot.addInstance(instance);
+ }
+ ARMARX_IMPORTANT << "Full content trajectory: " << op->name;
+ }
+ }
+ }
+ }
+ }
+ else
+ {
+ ARMARX_WARNING << "Found an invalid path to a motion file: " << pathToInfoJson;
+ }
}
}
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectReader.cpp b/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectReader.cpp
index f26a62736999d28a55001dbaee56d515c6cdd16c..c16ff257603b9fded0a5ea72737b92b40667fdb6 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectReader.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectReader.cpp
@@ -24,10 +24,11 @@
namespace armarx::armem::articulated_object
{
- VirtualRobot::RobotPtr ArticulatedObjectReader::getArticulatedObject(const std::string& name,
+ VirtualRobot::RobotPtr ArticulatedObjectReader::getArticulatedObject(
+ const std::string& name,
const armem::Time& timestamp)
{
- const auto descriptions = queryDescriptions(IceUtil::Time::now());
+ const auto descriptions = queryDescriptions(armem::Time::Now());
ARMARX_INFO << "Found " << descriptions.size() << " articulated object descriptions";
@@ -45,9 +46,9 @@ namespace armarx::armem::articulated_object
ARMARX_DEBUG << "Object " << name << " available";
- auto obj =
- VirtualRobot::RobotIO::loadRobot(ArmarXDataPath::resolvePath(it->xml.serialize().path),
- VirtualRobot::RobotIO::eStructure);
+ auto obj = VirtualRobot::RobotIO::loadRobot(
+ ArmarXDataPath::resolvePath(it->xml.serialize().path),
+ VirtualRobot::RobotIO::eStructure);
if (not obj)
{
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectReader.h b/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectReader.h
index 5d918ddf474bfb110afaede2c4ce765ae446e931..65e8f2fba2ba962429e040e1d0e1eefc514e2355 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectReader.h
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectReader.h
@@ -10,7 +10,8 @@ namespace armarx::armem::articulated_object
public:
using Reader::Reader;
- VirtualRobot::RobotPtr getArticulatedObject(const std::string& name,
+ VirtualRobot::RobotPtr getArticulatedObject(
+ const std::string& name,
const armem::Time& timestamp);
};
} // namespace armarx::armem::articulated_object
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.cpp b/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.cpp
index 8caad31be27b227a8df1eb482f568ccf023b0f33..6cbb3ecdcfee0334df79a9d6728080c5bce55f5f 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.cpp
@@ -12,7 +12,8 @@
namespace armarx::armem::articulated_object
{
- armem::articulated_object::ArticulatedObject convert(const VirtualRobot::Robot& obj,
+ armem::articulated_object::ArticulatedObject convert(
+ const VirtualRobot::Robot& obj,
const armem::Time& timestamp)
{
ARMARX_DEBUG << "Filename is " << obj.getFilename();
@@ -37,14 +38,15 @@ namespace armarx::armem::articulated_object
}
bool
- ArticulatedObjectWriter::storeArticulatedObject(const VirtualRobot::RobotPtr& articulatedObject,
+ ArticulatedObjectWriter::storeArticulatedObject(
+ const VirtualRobot::RobotPtr& articulatedObject,
const armem::Time& timestamp)
{
ARMARX_CHECK_NOT_NULL(articulatedObject);
armarx::armem::articulated_object::ArticulatedObject armemArticulatedObject =
- convert(*articulatedObject, IceUtil::Time::now());
+ convert(*articulatedObject, Time::Now());
return store(armemArticulatedObject);
}
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
index 05506152012d6527110801adb5bfe5b015a42d1b..fbce08b6323e1a1235bd000aadbd4e73ff6cbf8c 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
@@ -97,7 +97,7 @@ namespace armarx::armem::articulated_object
void Writer::updateKnownObjects()
{
- knownObjects = queryDescriptions(IceUtil::Time::now());
+ knownObjects = queryDescriptions(Time::Now());
ARMARX_INFO << "Known articulated objects " << simox::alg::get_keys(knownObjects);
}
diff --git a/source/RobotAPI/libraries/armem_objects/client/instance/ObjectWriter.cpp b/source/RobotAPI/libraries/armem_objects/client/instance/ObjectWriter.cpp
index ad9c8c83f2ca8889292c8a2023a74fd54528e04a..84b1e4613b8b4bbe8a72938949d503276500e407 100644
--- a/source/RobotAPI/libraries/armem_objects/client/instance/ObjectWriter.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/instance/ObjectWriter.cpp
@@ -65,7 +65,7 @@ namespace armarx::armem::obj::instance
e.entityID.providerSegmentName = provider;
e.entityID.entityName = inst.pose.objectID.dataset + "/" + inst.pose.objectID.className + "/" + inst.pose.objectID.instanceName;
e.timeCreated = t;
- e.timeSent = IceUtil::Time::now();
+ e.timeSent = armem::Time::Now();
e.instancesData = { inst.toAron() };
auto res = memoryWriter.commit(c);
diff --git a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
index a0e9bce51558d7fb39caf50a331919dc16034793..3250a1cca34d47df08e4d9218c0bfeda729163b0 100644
--- a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
@@ -79,7 +79,7 @@ namespace armarx::armem::server::obj::clazz
void Segment::loadByObjectFinder()
{
- const Time now = TimeUtil::GetTime();
+ const Time now = Time::Now();
const bool checkPaths = false;
std::vector<ObjectInfo> infos = objectFinder.findAllObjects(checkPaths);
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Decay.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Decay.cpp
index df3728fb3bbc6149fb329e60a3a94083caa6a441..ac072e19693c213989cd5f6fc8acfb3de1cc8380 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Decay.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Decay.cpp
@@ -3,6 +3,7 @@
#include <SimoxUtility/math/scale_value.h>
#include <ArmarXCore/core/time/TimeUtil.h>
+#include <ArmarXCore/core/time/DateTime.h>
namespace armarx::armem::server::obj::instance
@@ -24,7 +25,7 @@ namespace armarx::armem::server::obj::instance
"Remove objects whose confidence is lower than this value.");
}
- void Decay::updateConfidence(objpose::ObjectPose& pose, IceUtil::Time now) const
+ void Decay::updateConfidence(objpose::ObjectPose& pose, const DateTime& now) const
{
if (pose.attachment or pose.isStatic)
{
@@ -36,7 +37,7 @@ namespace armarx::armem::server::obj::instance
}
}
- void Decay::updateConfidences(objpose::ObjectPoseSeq& objectPoses, IceUtil::Time now) const
+ void Decay::updateConfidences(objpose::ObjectPoseSeq& objectPoses, const DateTime& now) const
{
for (objpose::ObjectPose& pose : objectPoses)
{
@@ -44,7 +45,7 @@ namespace armarx::armem::server::obj::instance
}
}
- float Decay::calculateConfidence(IceUtil::Time localization, IceUtil::Time now) const
+ float Decay::calculateConfidence(const DateTime& localization, const DateTime& now) const
{
const float duration = static_cast<float>((now - localization).toSecondsDouble());
if (duration < delaySeconds)
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Decay.h b/source/RobotAPI/libraries/armem_objects/server/instance/Decay.h
index a44652d5528bceefed921dec184fe8b87fd19bfe..4adf757da588b0c0525a526e70ccd707f95de9a2 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Decay.h
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Decay.h
@@ -1,9 +1,8 @@
#pragma once
-#include <IceUtil/Time.h>
-
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/services/tasks/TaskUtil.h>
+#include <ArmarXCore/core/time/forward_declarations.h>
#include <ArmarXGui/libraries/RemoteGui/Client/Widgets.h>
@@ -23,12 +22,12 @@ namespace armarx::armem::server::obj::instance
void defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix = "decay.");
- void updateConfidence(objpose::ObjectPose& pose, IceUtil::Time now) const;
- void updateConfidences(objpose::ObjectPoseSeq& objectPoses, IceUtil::Time now) const;
+ void updateConfidence(objpose::ObjectPose& pose, const DateTime& now) const;
+ void updateConfidences(objpose::ObjectPoseSeq& objectPoses, const DateTime& now) const;
private:
- float calculateConfidence(IceUtil::Time localization, IceUtil::Time now) const;
+ float calculateConfidence(const DateTime& localization, const DateTime& now) const;
public:
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/RobotHeadMovement.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/RobotHeadMovement.cpp
index 973cf5a551228705b918560ad48648db5795ab1f..d1a6c91672c595f2ceba9fa5840f30347d586fff 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/RobotHeadMovement.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/RobotHeadMovement.cpp
@@ -74,27 +74,27 @@ namespace armarx::armem::server::obj::instance
void RobotHeadMovement::movementStarts(long discardIntervalMs)
{
- return movementStarts(IceUtil::Time::milliSeconds(discardIntervalMs));
+ return movementStarts(Duration::MilliSeconds(discardIntervalMs));
}
- void RobotHeadMovement::movementStarts(IceUtil::Time discardInterval)
+ void RobotHeadMovement::movementStarts(const Duration& discardInterval)
{
- discardUpdatesUntil = TimeUtil::GetTime() + discardInterval;
+ discardUpdatesUntil = DateTime::Now() + discardInterval;
}
void RobotHeadMovement::movementStops(long discardIntervalMs)
{
- return movementStops(IceUtil::Time::milliSeconds(discardIntervalMs));
+ return movementStops(Duration::MilliSeconds(discardIntervalMs));
}
- void RobotHeadMovement::movementStops(IceUtil::Time discardInterval)
+ void RobotHeadMovement::movementStops(const Duration& discardInterval)
{
if (discardInterval.toMilliSeconds() < 0)
{
// Stop discarding.
- discardUpdatesUntil = IceUtil::Time::milliSeconds(-1);
+ discardUpdatesUntil = DateTime::Invalid();
}
else
{
// Basically the same as starting.
- discardUpdatesUntil = TimeUtil::GetTime() + discardInterval;
+ discardUpdatesUntil = DateTime::Now() + discardInterval;
}
}
@@ -115,7 +115,7 @@ namespace armarx::armem::server::obj::instance
ARMARX_UNEXPECTED_ENUM_VALUE(objpose::HeadMovementAction, input.action);
break;
}
- output.discardUpdatesUntilMilliSeconds = this->discardUpdatesUntil.toMilliSeconds();
+ output.discardUpdatesUntilMilliSeconds = this->discardUpdatesUntil.toMilliSecondsSinceEpoch();
return output;
}
@@ -131,7 +131,7 @@ namespace armarx::armem::server::obj::instance
// ARMARX_IMPORTANT << "Ignoring pose update because robot head is moving! until " << discardUpdatesUntil;
discard.all = true;
}
- else if (TimeUtil::GetTime() < discardUpdatesUntil)
+ else if (DateTime::Now() < discardUpdatesUntil)
{
discard.all = true;
// ARMARX_IMPORTANT << "Ignoring pose update because robot head has moved until: " << discardUpdatesUntil;
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/RobotHeadMovement.h b/source/RobotAPI/libraries/armem_objects/server/instance/RobotHeadMovement.h
index b6b0acb6da46d593f2da2677e9e7258ce6d7e0c2..b4da82e8239494f191cad7a1da79c39585f4b13d 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/RobotHeadMovement.h
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/RobotHeadMovement.h
@@ -4,10 +4,9 @@
#include <vector>
#include <optional>
-#include <IceUtil/Time.h>
-
#include <ArmarXCore/interface/observers/ObserverInterface.h>
#include <ArmarXCore/core/logging/Logging.h>
+#include <ArmarXCore/core/time/DateTime.h>
#include <ArmarXCore/observers/variant/DatafieldRef.h>
#include <ArmarXGui/libraries/RemoteGui/Client/Widgets.h>
@@ -34,16 +33,16 @@ namespace armarx::armem::server::obj::instance
bool isMoving() const;
void movementStarts(long discardIntervalMs);
- void movementStarts(IceUtil::Time discardInterval);
+ void movementStarts(const Duration& discardInterval);
void movementStops(long discardIntervalMs);
- void movementStops(IceUtil::Time discardInterval);
+ void movementStops(const Duration& discardInterval);
objpose::SignalHeadMovementOutput signalHeadMovement(const objpose::SignalHeadMovementInput& input);
struct Discard
{
- std::optional<IceUtil::Time> updatesUntil;
+ std::optional<DateTime> updatesUntil;
bool all = false;
};
Discard getDiscard();
@@ -60,7 +59,7 @@ namespace armarx::armem::server::obj::instance
KinematicUnitObserverInterfacePrx kinematicUnitObserver;
std::vector<DatafieldRefPtr> jointVelocitiesDatafields;
- IceUtil::Time discardUpdatesUntil = IceUtil::Time::seconds(-1);
+ DateTime discardUpdatesUntil = DateTime::Invalid();
DebugObserverInterfacePrx debugObserver;
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
index 351d0f5ac4ef71a4e2af10a460bb796e227370f5..60fd8f1b5dd3767083ef4c41c8a52ea2188e6dde 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
@@ -9,6 +9,7 @@
#include <RobotAPI/libraries/armem/core/aron_conversions.h>
#include <RobotAPI/libraries/armem/core/error.h>
+#include <RobotAPI/libraries/armem/core/ice_conversions_templates.h>
#include <RobotAPI/libraries/armem/client/Writer.h>
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/client/query/query_fns.h>
@@ -29,21 +30,19 @@
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
-#include <ArmarXCore/core/time/TimeUtil.h>
+#include <ArmarXCore/core/time/DateTime.h>
+#include <ArmarXCore/core/time/ice_conversions.h>
#include <SimoxUtility/algorithm/get_map_keys_values.h>
#include <SimoxUtility/algorithm/string.h>
#include <SimoxUtility/json.h>
#include <SimoxUtility/math/pose/pose.h>
-
#include <Eigen/Geometry>
-#include <IceUtil/Time.h>
#include <sstream>
-
namespace armarx::armem::server::obj::instance
{
@@ -148,7 +147,7 @@ namespace armarx::armem::server::obj::instance
stats.numUpdated = 0;
for (const objpose::data::ProvidedObjectPose& provided : providedPoses)
{
- const Time timestamp = Time::microSeconds(provided.timestampMicroSeconds);
+ const Time timestamp = armem::fromIce<Time>(provided.timestamp);
// Check whether we have an old snapshot for this object.
std::optional<objpose::ObjectPose> previousPose;
@@ -230,7 +229,7 @@ namespace armarx::armem::server::obj::instance
void Segment::commitObjectPoses(const ObjectPoseSeq& objectPoses, const std::string& providerName)
{
- Time now = TimeUtil::GetTime();
+ Time now = Time::Now();
ARMARX_CHECK_NOT_NULL(segmentPtr);
const MemoryID coreSegmentID = segmentPtr->id();
@@ -269,7 +268,7 @@ namespace armarx::armem::server::obj::instance
objpose::ObjectPoseMap
- Segment::getObjectPoses(IceUtil::Time now)
+ Segment::getObjectPoses(const DateTime& now)
{
ObjectPoseMap objectPoses = getLatestObjectPoses();
updateObjectPoses(objectPoses, now);
@@ -281,7 +280,7 @@ namespace armarx::armem::server::obj::instance
objpose::ObjectPoseMap
Segment::getObjectPosesByProvider(
const std::string& providerName,
- IceUtil::Time now)
+ const DateTime& now)
{
ARMARX_CHECK_NOT_NULL(segmentPtr);
ObjectPoseMap objectPoses = getLatestObjectPoses(segmentPtr->getProviderSegment(providerName));
@@ -325,7 +324,7 @@ namespace armarx::armem::server::obj::instance
}
- void Segment::updateObjectPoses(ObjectPoseMap& objectPoses, IceUtil::Time now)
+ void Segment::updateObjectPoses(ObjectPoseMap& objectPoses, const DateTime& now)
{
bool agentSynchronized = false;
@@ -338,7 +337,7 @@ namespace armarx::armem::server::obj::instance
void Segment::updateObjectPoses(
ObjectPoseMap& objectPoses,
- IceUtil::Time now,
+ const DateTime& now,
VirtualRobot::RobotPtr agent,
bool& agentSynchronized) const
{
@@ -351,7 +350,7 @@ namespace armarx::armem::server::obj::instance
void Segment::updateObjectPose(
ObjectPose& objectPose,
- IceUtil::Time now,
+ const DateTime& now,
VirtualRobot::RobotPtr agent,
bool& agentSynchronized) const
{
@@ -493,7 +492,7 @@ namespace armarx::armem::server::obj::instance
::armarx::armem::articulated_object::ArticulatedObjects
Segment::getArticulatedObjects()
{
- objpose::ObjectPoseMap objectPoses = getObjectPoses(IceUtil::Time::now());
+ objpose::ObjectPoseMap objectPoses = getObjectPoses(Time::Now());
ARMARX_INFO << "Found " << objectPoses.size() << " object poses";
@@ -507,7 +506,6 @@ namespace armarx::armem::server::obj::instance
articulatedObject.instance = objectPose.objectID.instanceName();
articulatedObject.timestamp = objectPose.timestamp;
-
ARMARX_INFO << "Object id is " << objectId.str();
ARMARX_INFO << "Object id for objectPose is " << objectPose.objectID.str();
@@ -537,8 +535,6 @@ namespace armarx::armem::server::obj::instance
continue;
}
-
-
if (not articulatedObject.config.jointMap.empty())
{
objects.push_back(articulatedObject);
@@ -578,7 +574,7 @@ namespace armarx::armem::server::obj::instance
objpose::AttachObjectToRobotNodeOutput
Segment::attachObjectToRobotNode(const objpose::AttachObjectToRobotNodeInput& input)
{
- const armem::Time now = armem::Time::now();
+ const armem::Time now = armem::Time::Now();
objpose::AttachObjectToRobotNodeOutput output;
output.success = false; // We are not successful until proven otherwise.
@@ -670,7 +666,7 @@ namespace armarx::armem::server::obj::instance
Segment::detachObjectFromRobotNode(
const objpose::DetachObjectFromRobotNodeInput& input)
{
- const armem::Time now = armem::Time::now();
+ const armem::Time now = armem::Time::Now();
ObjectID objectID = armarx::fromIce(input.objectID);
std::string providerName = input.providerName;
@@ -720,7 +716,7 @@ namespace armarx::armem::server::obj::instance
{
ARMARX_CHECK_NOT_NULL(segmentPtr);
- const armem::Time now = armem::Time::now();
+ const armem::Time now = armem::Time::Now();
objpose::DetachAllObjectsFromRobotNodesOutput output;
output.numDetached = 0;
@@ -867,7 +863,7 @@ namespace armarx::armem::server::obj::instance
std::string filename = _filename;
filename = simox::alg::replace_all(filename, timestampPlaceholder,
- Time::now().toString("%Y-%m-%d_%H-%M-%S"));
+ Time::Now().toString("%Y-%m-%d_%H-%M-%S"));
if (not simox::alg::ends_with(filename, ".json"))
{
filename += ".json";
@@ -925,7 +921,7 @@ namespace armarx::armem::server::obj::instance
void Segment::commitSceneSnapshot(const armarx::objects::Scene& scene, const std::string& sceneName)
{
- const Time now = TimeUtil::GetTime();
+ const Time now = Time::Now();
std::map<ObjectID, int> idCounters;
objpose::ObjectPoseSeq objectPoses;
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
index 24f80704f8580c386bfaf346502cccd9fa86c1c6..da97aac841559b845fb308e93ac572739efb7c3c 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
@@ -16,6 +16,7 @@
#include <RobotAPI/libraries/ArmarXObjects/ObjectID.h>
#include <RobotAPI/libraries/ArmarXObjects/ObjectPose.h>
#include <RobotAPI/libraries/ArmarXObjects/ObjectFinder.h>
+#include <RobotAPI/libraries/ArmarXObjects/forward_declarations.h>
#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/server/segment/SpecializedSegment.h>
@@ -24,10 +25,6 @@
#include "Decay.h"
-namespace armarx::objects
-{
- struct Scene;
-}
namespace armarx::armem::arondto
{
class ObjectInstance;
@@ -68,8 +65,8 @@ namespace armarx::armem::server::obj::instance
void commitObjectPoses(const ObjectPoseSeq& objectPoses, const std::string& providerName = "");
- objpose::ObjectPoseMap getObjectPoses(IceUtil::Time now);
- objpose::ObjectPoseMap getObjectPosesByProvider(const std::string& providerName, IceUtil::Time now);
+ objpose::ObjectPoseMap getObjectPoses(const DateTime& now);
+ objpose::ObjectPoseMap getObjectPosesByProvider(const std::string& providerName, const DateTime& now);
wm::Entity* findObjectEntity(const ObjectID& objectID, const std::string& providerName = "");
std::optional<simox::OrientedBoxf> getObjectOOBB(const ObjectID& id);
@@ -115,16 +112,16 @@ namespace armarx::armem::server::obj::instance
void updateObjectPoses(
ObjectPoseMap& objectPoses,
- IceUtil::Time now);
+ const DateTime& now);
void updateObjectPoses(
ObjectPoseMap& objectPoses,
- IceUtil::Time now,
+ const DateTime& now,
VirtualRobot::RobotPtr agent,
bool& agentSynchronized
) const;
void updateObjectPose(
ObjectPose& objectPose,
- IceUtil::Time now,
+ const DateTime& now,
VirtualRobot::RobotPtr agent,
bool& agentSynchronized
) const;
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp
index ef00638e9ed76d0bbe05de3ab6af98f3687fe9d7..b7f7a63085b31cb3672ad6c0307fc5afe2096c4e 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp
@@ -218,7 +218,7 @@ namespace armarx::armem::server::obj::instance
{
TIMING_START(tGetObjectPoses);
- const IceUtil::Time now = TimeUtil::GetTime();
+ const Time now = Time::Now();
const objpose::ObjectPoseSeq objectPoses = segment.doLocked([this, &now]()
{
return simox::alg::get_values(segment.getObjectPoses(now));
@@ -242,7 +242,7 @@ namespace armarx::armem::server::obj::instance
{
TIMING_START(GetObjectPoses);
- const IceUtil::Time now = TimeUtil::GetTime();
+ const Time now = Time::Now();
const objpose::ObjectPoseSeq objectPoses = segment.doLocked([this, &now, &providerName]()
{
return simox::alg::get_values(segment.getObjectPosesByProvider(providerName, now));
@@ -451,7 +451,7 @@ namespace armarx::armem::server::obj::instance
segment.doLocked([this, &objectPoses, &objectFinder]()
{
- const IceUtil::Time now = TimeUtil::GetTime();
+ const Time now = Time::Now();
// Also include decayed objects in result
// Store original setting.
diff --git a/source/RobotAPI/libraries/armem_robot/aron_conversions.cpp b/source/RobotAPI/libraries/armem_robot/aron_conversions.cpp
index 0ab9ff1a46f9e756471ccf8d257e966dcfb7f2ef..5db2b55603580aa42450938630483d2e8c4270f5 100644
--- a/source/RobotAPI/libraries/armem_robot/aron_conversions.cpp
+++ b/source/RobotAPI/libraries/armem_robot/aron_conversions.cpp
@@ -53,14 +53,14 @@ namespace armarx::armem::robot
void fromAron(const arondto::RobotState& dto, RobotState& bo)
{
- bo.timestamp = dto.timestamp;
+ fromAron(dto.timestamp, bo.timestamp);
bo.globalPose.matrix() = dto.globalPose;
bo.jointMap = dto.jointMap;
}
void toAron(arondto::RobotState& dto, const RobotState& bo)
{
- dto.timestamp = bo.timestamp;
+ toAron(dto.timestamp, bo.timestamp);
dto.globalPose = bo.globalPose.matrix();
dto.jointMap = bo.jointMap;
}
@@ -97,14 +97,14 @@ namespace armarx::armem
void robot::fromAron(const objpose::arondto::ObjectPose& dto, RobotState& bo)
{
- bo.timestamp = dto.timestamp;
+ fromAron(dto.timestamp, bo.timestamp);
bo.globalPose = dto.objectPoseGlobal;
bo.jointMap = dto.objectJointValues;
}
void robot::toAron(objpose::arondto::ObjectPose& dto, const RobotState& bo)
{
- dto.timestamp = bo.timestamp;
+ toAron(dto.timestamp, bo.timestamp);
dto.objectPoseGlobal = bo.globalPose.matrix();
dto.objectJointValues = bo.jointMap;
}
diff --git a/source/RobotAPI/libraries/armem_robot/types.cpp b/source/RobotAPI/libraries/armem_robot/types.cpp
index 01847402c1e1bdde24956203620c13e15328e913..6f09eee1acef62472a1e8cc0027f49c9db6efe46 100644
--- a/source/RobotAPI/libraries/armem_robot/types.cpp
+++ b/source/RobotAPI/libraries/armem_robot/types.cpp
@@ -1,11 +1,24 @@
#include "types.h"
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+
namespace armarx::armem::robot
{
- std::ostream& operator<<(std::ostream &os, const RobotDescription &rhs)
- {
- os << "RobotDescription { name: '" << rhs.name << "', xml: '" << rhs.xml << "' }";
- return os;
- }
+
+ std::ostream& operator<<(std::ostream &os, const RobotDescription &rhs)
+ {
+ os << "RobotDescription { name: '" << rhs.name << "', xml: '" << rhs.xml << "' }";
+ return os;
+ }
+
+
+ std::string Robot::name() const
+ {
+ ARMARX_CHECK_NOT_EMPTY(description.name) << "The robot name must be set!";
+ ARMARX_CHECK_NOT_EMPTY(instance) << "The robot instance name must be provided!";
+
+ return description.name + "/" + instance;
+ }
}
diff --git a/source/RobotAPI/libraries/armem_robot/types.h b/source/RobotAPI/libraries/armem_robot/types.h
index 10ca7475f0d119aeb8f40e2f0d674bb3a6450691..345564d4b859af306acecdc82d00096c4a559351 100644
--- a/source/RobotAPI/libraries/armem_robot/types.h
+++ b/source/RobotAPI/libraries/armem_robot/types.h
@@ -1,23 +1,22 @@
#pragma once
+#include <filesystem>
#include <map>
#include <vector>
-#include <filesystem>
#include <Eigen/Geometry>
-#include <IceUtil/Time.h>
+#include <ArmarXCore/core/PackagePath.h>
+#include <ArmarXCore/core/time/DateTime.h>
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <RobotAPI/libraries/ArmarXObjects/ObjectID.h>
-#include <ArmarXCore/core/PackagePath.h>
namespace armarx::armem::robot
{
struct RobotDescription
{
- // IceUtil::Time timestamp;
+ // DateTime timestamp;
std::string name;
PackagePath xml{"", std::filesystem::path("")};
@@ -46,7 +45,7 @@ namespace armarx::armem::robot
using JointMap = std::map<std::string, float>;
using Pose = Eigen::Affine3f;
- IceUtil::Time timestamp;
+ DateTime timestamp;
Pose globalPose;
JointMap jointMap;
@@ -60,15 +59,9 @@ namespace armarx::armem::robot
RobotState config;
- IceUtil::Time timestamp;
-
- std::string name() const
- {
- ARMARX_CHECK_NOT_EMPTY(description.name) << "The robot name must be set!";
- ARMARX_CHECK_NOT_EMPTY(instance) << "The robot instance name must be provided!";
+ DateTime timestamp;
- return description.name + "/" + instance;
- }
+ std::string name() const;
};
using Robots = std::vector<Robot>;
diff --git a/source/RobotAPI/libraries/armem_robot_state/aron_conversions.cpp b/source/RobotAPI/libraries/armem_robot_state/aron_conversions.cpp
index 03a578fab3b9250f724efcd646c24400d8a898d2..30f3a489cc9b7b2e8bc8f6e80c76d7bbccf15142 100644
--- a/source/RobotAPI/libraries/armem_robot_state/aron_conversions.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/aron_conversions.cpp
@@ -2,15 +2,15 @@
#include <string>
-#include <IceUtil/Time.h>
-
#include <ArmarXCore/core/logging/Logging.h>
+
#include <RobotAPI/libraries/armem_robot_state/aron/JointState.aron.generated.h>
#include <RobotAPI/libraries/armem_robot_state/aron/Proprioception.aron.generated.h>
#include <RobotAPI/libraries/armem_robot_state/aron/Transform.aron.generated.h>
#include <RobotAPI/libraries/armem_robot_state/types.h>
#include <RobotAPI/libraries/aron/common/aron_conversions.h>
+
namespace armarx::armem
{
@@ -38,7 +38,7 @@ namespace armarx::armem
aron::toAron(dto.parentFrame, bo.parentFrame);
aron::toAron(dto.frame, bo.frame);
aron::toAron(dto.agent, bo.agent);
- dto.timestamp = bo.timestamp;
+ toAron(dto.timestamp, bo.timestamp);
}
void
@@ -47,7 +47,7 @@ namespace armarx::armem
aron::fromAron(dto.parentFrame, bo.parentFrame);
aron::fromAron(dto.frame, bo.frame);
aron::fromAron(dto.agent, bo.agent);
- bo.timestamp = dto.timestamp;
+ fromAron(dto.timestamp, bo.timestamp);
}
/* JointState */
diff --git a/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp b/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp
index b3dee3440967cf79ae9feee73403116345a23cbf..7a4305c6fe26ea6bf54aab17e9e87843688aa0a1 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp
@@ -9,6 +9,7 @@
#include <ArmarXCore/core/exceptions/LocalException.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <ArmarXCore/core/logging/Logging.h>
+#include <ArmarXCore/core/time/Clock.h>
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/core/Time.h>
@@ -94,13 +95,13 @@ namespace armarx::armem::robot_state
}
void
- RobotReader::setSyncTimeout(const armem::Time& duration)
+ RobotReader::setSyncTimeout(const armem::Duration& duration)
{
syncTimeout = duration;
}
void
- RobotReader::setSleepAfterSyncFailure(const armem::Time& duration)
+ RobotReader::setSleepAfterSyncFailure(const armem::Duration& duration)
{
ARMARX_CHECK_NONNEGATIVE(duration.toMicroSeconds());
sleepAfterFailure = duration;
@@ -109,7 +110,7 @@ namespace armarx::armem::robot_state
bool
RobotReader::synchronize(robot::Robot& obj, const armem::Time& timestamp)
{
- const auto tsStartFunctionInvokation = armem::Time::now();
+ const auto tsStartFunctionInvokation = armem::Time::Now();
while (true)
{
@@ -120,7 +121,7 @@ namespace armarx::armem::robot_state
ARMARX_VERBOSE << "Could not synchronize object " << obj.description.name;
// if the syncTime is non-positive there will be no retry
- const auto elapsedTime = armem::Time::now() - tsStartFunctionInvokation;
+ const auto elapsedTime = armem::Time::Now() - tsStartFunctionInvokation;
if (elapsedTime > syncTimeout)
{
ARMARX_WARNING << "Could not synchronize object " << obj.description.name;
@@ -128,8 +129,7 @@ namespace armarx::armem::robot_state
}
ARMARX_INFO << "Retrying to query robot state after failure";
- std::this_thread::sleep_for(
- std::chrono::microseconds(sleepAfterFailure.toMicroSeconds()));
+ Clock::WaitFor(sleepAfterFailure);
}
obj.config = std::move(*state);
diff --git a/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.h b/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.h
index 46b0924fc2cb06ebee34ff8b61174746939dd7dc..6682fcd79130501530d54f770d342d02676fd069 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.h
+++ b/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.h
@@ -24,7 +24,7 @@
#include <mutex>
#include <optional>
-#include "RobotAPI/libraries/armem/core/Time.h"
+#include <RobotAPI/libraries/armem/core/Time.h>
#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
#include <RobotAPI/libraries/armem/client/Reader.h>
#include <RobotAPI/libraries/armem_robot/client/interfaces.h>
@@ -81,8 +81,8 @@ namespace armarx::armem::robot_state
queryPlatformState(const robot::RobotDescription& description,
const armem::Time& timestamp) const;
- void setSyncTimeout(const armem::Time& duration);
- void setSleepAfterSyncFailure(const armem::Time& duration);
+ void setSyncTimeout(const armem::Duration& duration);
+ void setSleepAfterSyncFailure(const armem::Duration& duration);
enum class Hand
{
@@ -101,8 +101,8 @@ namespace armarx::armem::robot_state
protected:
// by default, no timeout mechanism
- armem::Time syncTimeout = armem::Time::microSeconds(0);
- armem::Time sleepAfterFailure = armem::Time::microSeconds(0);
+ armem::Duration syncTimeout = armem::Duration::MicroSeconds(0);
+ armem::Duration sleepAfterFailure = armem::Duration::MicroSeconds(0);
private:
std::optional<robot::RobotState> getRobotState(const armarx::armem::wm::Memory& memory,
diff --git a/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp b/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp
index 5ef7564f8a0e374060114d0391bfaeebf1df6198..6eeb7e2e9503dd6cf0f876bc4676dc50effc3b50 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp
@@ -11,6 +11,7 @@
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/system/ArmarXDataPath.h>
#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
+#include <ArmarXCore/core/time/Clock.h>
namespace armarx::armem::robot_state
@@ -100,8 +101,7 @@ namespace armarx::armem::robot_state
}
ARMARX_INFO << "Retrying to query robot after failure";
- std::this_thread::sleep_for(
- std::chrono::microseconds(sleepAfterFailure.toMicroSeconds()));
+ Clock::WaitFor(sleepAfterFailure);
}
ARMARX_WARNING << "Failed to get synchronized robot `" << name << "`";
diff --git a/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformWriter.cpp b/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformWriter.cpp
index ba34586a1e77390efbecd18abba1e726db6f7467..932f55b0a6ea2ff74762a62ffa74f88d0ff18422 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformWriter.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformWriter.cpp
@@ -94,7 +94,7 @@ namespace armarx::armem::client::robot_state::localization
// const auto& timestamp = transform.header.timestamp;
const MemoryID entityID = providerId.withEntityName(
transform.header.parentFrame + "," + transform.header.frame);
- const Time timestamp = Time::now(); // FIXME remove
+ const Time timestamp = Time::Now(); // FIXME remove
armem::EntityUpdate update;
update.entityID = entityID;
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/common/Visu.cpp b/source/RobotAPI/libraries/armem_robot_state/server/common/Visu.cpp
index 67d537d19cf74af3da62dc72ae217f996977433f..e68119affae5664f232dba25c679a8cce9fbdd10 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/common/Visu.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/common/Visu.cpp
@@ -123,7 +123,7 @@ namespace armarx::armem::server::robot_state
{
if (p.enabled)
{
- const Time timestamp = Time::now();
+ const Time timestamp = Time::Now();
ARMARX_DEBUG << "Visu task at " << armem::toStringMilliSeconds(timestamp);
try
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp b/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
index 185356425ca3d657014f2b0e0b2e56631e443f4f..f6cba1d8c22086497f7eb537c6a3e16fa2e2faf4 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
@@ -44,7 +44,7 @@ namespace armarx::armem::server::robot_state::description
void Segment::commitRobotDescription(const robot::RobotDescription& robotDescription)
{
- const Time now = TimeUtil::GetTime();
+ const Time now = Time::Now();
const MemoryID providerID = segmentPtr->id().withProviderSegmentName(robotDescription.name);
segmentPtr->addProviderSegment(providerID.providerSegmentName, arondto::RobotDescription::ToAronType());
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitReader.cpp b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitReader.cpp
index 12638d84e18a8a3439b560fb9e2287c3fe233c79..f50c4e5619d70b7910d6d3ef544c2ca4f9d7fdc9 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitReader.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitReader.cpp
@@ -89,7 +89,7 @@ namespace armarx::armem::server::robot_state::proprioception
RobotUnitData result;
result.proprioception = converter->convert(data.value(), description);
- result.timestamp = Time::microSeconds(data->timestampUSec);
+ result.timestamp = Time(Duration::MicroSeconds(data->timestampUSec));
auto stop = std::chrono::high_resolution_clock::now();
auto duration = std::chrono::duration_cast<std::chrono::microseconds>(stop - start);
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp
index 9bf3f1e8129fe0d2f2194d1f9e223077678e93f0..ca9e43ed9d4a7022dd4c6a4eecba530e81bf7b21 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp
@@ -78,7 +78,7 @@ namespace armarx::armem::server::robot_state::proprioception
RobotJointPositionMap jointMap;
int i = 0;
- Duration tFindData = Duration::milliSeconds(0), tReadJointPositions = Duration::milliSeconds(0);
+ Duration tFindData = Duration::MilliSeconds(0), tReadJointPositions = Duration::MilliSeconds(0);
TIMING_START(tProcessEntities)
segmentPtr->forEachEntity([&](const wm::Entity & entity)
{
@@ -97,8 +97,8 @@ namespace armarx::armem::server::robot_state::proprioception
data = snapshot->findInstanceData();
}
- TIMING_END_COMMENT_STREAM(_tFindData, "tFindData " + std::to_string(i), ARMARX_DEBUG)
- tFindData += _tFindData;
+ TIMING_END_COMMENT_STREAM(_tFindData, "tFindData " + std::to_string(i), ARMARX_DEBUG);
+ tFindData += Duration::MicroSeconds(_tFindData.toMicroSeconds());
}
if (data)
{
@@ -107,7 +107,7 @@ namespace armarx::armem::server::robot_state::proprioception
jointMap.emplace(entity.id().providerSegmentName, readJointPositions(*data));
TIMING_END_COMMENT_STREAM(_tReadJointPositions, "tReadJointPositions " + std::to_string(i), ARMARX_DEBUG)
- tReadJointPositions += _tReadJointPositions;
+ tReadJointPositions += Duration::MicroSeconds(_tReadJointPositions.toMicroSeconds());
}
++i;
});
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.cpp b/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.cpp
index 7a4b75514d9dde08b6fbd098f77547d626cb1b82..745968174eff5fbd83b4d2147fa24a7931515797 100644
--- a/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.cpp
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.cpp
@@ -49,7 +49,7 @@ namespace armarx::skills::segment
armem::Commit commit;
auto& entityUpdate = commit.add();
entityUpdate.confidence = 1.0;
- entityUpdate.timeCreated = armem::Time::now();
+ entityUpdate.timeCreated = armem::Time::Now();
entityUpdate.instancesData = {skillDescription.toAron()};
entityUpdate.entityID = provId.withEntityName(skillDescription.skillName);
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.cpp b/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.cpp
index 47270f33b3c20872b2d7a1d5c35058a3b618acd6..af8af24c230d36a91a52e9b15528a6fa9eff7f3a 100644
--- a/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.cpp
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.cpp
@@ -54,7 +54,7 @@ namespace armarx::skills::segment
armem::Commit comm;
auto& entityUpdate = comm.add();
entityUpdate.confidence = 1.0;
- entityUpdate.timeCreated = armem::Time::now();
+ entityUpdate.timeCreated = armem::Time::Now();
entityUpdate.instancesData = { aron };
entityUpdate.entityID = commitId;
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp b/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp
index 39b2ace4b719802477139cd917fff15a627e18e5..9c43b717aca7503962c1eb096202eee2e767bd00 100644
--- a/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp
@@ -65,7 +65,7 @@ namespace armarx::skills::segment
entityUpdate.entityID = skillExecutionMemID;
entityUpdate.instancesData = { aron };
entityUpdate.confidence = 1.0;
- entityUpdate.timeCreated = armem::Time::now();
+ entityUpdate.timeCreated = armem::Time::Now();
iceMemory.commit(comm);
}
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/StatechartListenerSegment.cpp b/source/RobotAPI/libraries/armem_skills/server/segment/StatechartListenerSegment.cpp
index cee0e3a18293dfa15534ece89c8d40f6afdca8cd..46629f7cd066751e6286cb38cb081f5442b6b869 100644
--- a/source/RobotAPI/libraries/armem_skills/server/segment/StatechartListenerSegment.cpp
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/StatechartListenerSegment.cpp
@@ -26,7 +26,7 @@ namespace armarx::skills::segment
void StatechartListenerProviderSegment::reportStatechartTransitionWithParameters(const ProfilerStatechartTransitionWithParameters& t)
{
const std::string& entityName = getStatechartName(t.targetStateIdentifier);
- IceUtil::Time transitionTime = IceUtil::Time::microSeconds(t.timestamp);
+ armem::Time transitionTime = armem::Time(armem::Duration::MicroSeconds(t.timestamp));
armem::EntityUpdate update;
update.entityID = segmentPtr->id().withEntityName(entityName);
diff --git a/source/RobotAPI/libraries/armem_system_state/server/CPUSegment.cpp b/source/RobotAPI/libraries/armem_system_state/server/CPUSegment.cpp
index 426ab0822c7542b00f38a15cc27d36edf5da6265..fa392c615789ffac9e8ae2b9fd70eda0052e6d27 100644
--- a/source/RobotAPI/libraries/armem_system_state/server/CPUSegment.cpp
+++ b/source/RobotAPI/libraries/armem_system_state/server/CPUSegment.cpp
@@ -63,7 +63,7 @@ namespace armarx::armem::server::systemstate::segment
EntityUpdate update;
update.entityID = providerId.withEntityName("CurrentCpuLoad");
update.confidence = 1.0;
- update.timeCreated = armem::Time::now();
+ update.timeCreated = armem::Time::Now();
update.instancesData = { data };
segmentPtr->update(update);
diff --git a/source/RobotAPI/libraries/armem_system_state/server/RAMSegment.cpp b/source/RobotAPI/libraries/armem_system_state/server/RAMSegment.cpp
index a99e1c0b1b407e000ffdd4dee8ec988a1769b5e1..f02b8f4fa263687d52336012322ca640ecd84f1d 100644
--- a/source/RobotAPI/libraries/armem_system_state/server/RAMSegment.cpp
+++ b/source/RobotAPI/libraries/armem_system_state/server/RAMSegment.cpp
@@ -54,7 +54,7 @@ namespace armarx::armem::server::systemstate::segment
EntityUpdate update;
update.entityID = providerId.withEntityName("CurrentMemoryLoad");
update.confidence = 1.0;
- update.timeCreated = armem::Time::now();
+ update.timeCreated = armem::Time::Now();
update.instancesData = { data };
segmentPtr->update(update);
diff --git a/source/RobotAPI/libraries/armem_vision/aron_conversions.cpp b/source/RobotAPI/libraries/armem_vision/aron_conversions.cpp
index b4caa2632769a098c970b7ec378bceb49e54f051..4819a27abc53f7b10696da6d452bb2d133a82fd4 100644
--- a/source/RobotAPI/libraries/armem_vision/aron_conversions.cpp
+++ b/source/RobotAPI/libraries/armem_vision/aron_conversions.cpp
@@ -6,12 +6,14 @@
#include <RobotAPI/interface/units/LaserScannerUnit.h>
#include <RobotAPI/libraries/armem_vision/aron/LaserScan.aron.generated.h>
+#include <RobotAPI/libraries/armem/core/aron_conversions.h>
#include <RobotAPI/libraries/aron/common/aron_conversions.h>
#include <RobotAPI/libraries/aron/converter/common/Converter.h>
#include <RobotAPI/libraries/aron/core/data/variant/complex/NDArray.h>
#include "types.h"
+
namespace armarx::armem
{
@@ -20,7 +22,7 @@ namespace armarx::armem
{
return {.agent = aronSensorHeader.agent,
.frame = aronSensorHeader.frame,
- .timestamp = aronSensorHeader.timestamp};
+ .timestamp = aron::fromAron<Time>(aronSensorHeader.timestamp)};
}
void fromAron(const arondto::LaserScanStamped& aronLaserScan,
@@ -40,7 +42,7 @@ namespace armarx::armem
// laserScan = fromAron(aronLaserScan.data);
- timestamp = header.timestamp.toMicroSeconds();
+ timestamp = header.timestamp.toMicroSecondsSinceEpoch();
frame = header.frame;
agentName = header.agent;
}
@@ -54,7 +56,7 @@ namespace armarx::armem
int64_t toAron(const armem::Time& timestamp)
{
- return timestamp.toMicroSeconds();
+ return timestamp.toMicroSecondsSinceEpoch();
}
arondto::SensorHeader toAron(const SensorHeader& sensorHeader)
@@ -63,7 +65,7 @@ namespace armarx::armem
aronSensorHeader.agent = sensorHeader.agent;
aronSensorHeader.frame = sensorHeader.frame;
- aronSensorHeader.timestamp = sensorHeader.timestamp;
+ toAron(aronSensorHeader.timestamp, sensorHeader.timestamp);
return aronSensorHeader;
}
diff --git a/source/RobotAPI/libraries/armem_vision/client/laser_scans/Writer.cpp b/source/RobotAPI/libraries/armem_vision/client/laser_scans/Writer.cpp
index 861e02c4c9fcabbc40caebba3451b69e81e5016c..0cfe7fb95f4abdf1d5065a6d0f245e516644bc8f 100644
--- a/source/RobotAPI/libraries/armem_vision/client/laser_scans/Writer.cpp
+++ b/source/RobotAPI/libraries/armem_vision/client/laser_scans/Writer.cpp
@@ -65,7 +65,7 @@ namespace armarx::armem::vision::laser_scans::client
return false;
}
- const auto iceTimestamp = Time::microSeconds(timestamp);
+ const auto iceTimestamp = Time(Duration::MicroSeconds(timestamp));
const auto providerId = armem::MemoryID(result.segmentID);
const auto entityID =
diff --git a/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.cpp b/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.cpp
index 3275d888db9c8841e1dd7a8baf45582d27ab03ed..e781a2582e511b59f3ebefe9cde4a35d425da60a 100644
--- a/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.cpp
+++ b/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.cpp
@@ -25,7 +25,7 @@ namespace armarx::armem::vision::occupancy_grid::client
return false;
}
- const auto iceTimestamp = Time::microSeconds(timestamp);
+ const auto iceTimestamp = Time(Duration::MicroSeconds(timestamp));
const auto providerId = armem::MemoryID(result.segmentID);
const auto entityID = providerId.withEntityName(frame).withTimestamp(iceTimestamp);
diff --git a/source/RobotAPI/libraries/aron/common/CMakeLists.txt b/source/RobotAPI/libraries/aron/common/CMakeLists.txt
index 463f59dd1454c0f23fde9b304b5de1b29ae4345b..98cfb29ec529238b6e76c50c51e6563cb4fb4dcb 100644
--- a/source/RobotAPI/libraries/aron/common/CMakeLists.txt
+++ b/source/RobotAPI/libraries/aron/common/CMakeLists.txt
@@ -18,6 +18,7 @@ armarx_add_library(
aron_conversions/simox.h
aron_conversions/stl.h
aron_conversions/eigen.h
+ util/object_finders.h
SOURCES
aron_conversions/core.cpp
@@ -25,6 +26,7 @@ armarx_add_library(
aron_conversions/simox.cpp
aron_conversions/stl.cpp
aron_conversions/eigen.cpp
+ util/object_finders.cpp
)
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.cpp b/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.cpp
index 13535b2449250b9c3991accdee2d9289d16fbfaf..beb2f7a552e27e239c9f3b4514cfa4170bd6828a 100644
--- a/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.cpp
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.cpp
@@ -1,116 +1,128 @@
#include "armarx.h"
+#include <IceUtil/Time.h>
+
+#include <ArmarXCore/core/time/ice_conversions.h>
#include <RobotAPI/libraries/aron/common/aron_conversions/core.h>
#include <RobotAPI/libraries/aron/common/aron_conversions/stl.h>
-namespace armarx
+
+void IceUtil::fromAron(const long& dto, IceUtil::Time& bo)
{
+ bo = IceUtil::Time::microSeconds(dto);
+}
- /* PackagePath */
+void IceUtil::toAron(long& dto, const IceUtil::Time& bo)
+{
+ dto = bo.toMicroSeconds();
+}
- void fromAron(const arondto::PackagePath& dto, PackagePath& bo)
- {
- bo = {dto.package, dto.path};
- }
- void toAron(arondto::PackagePath& dto, const PackagePath& bo)
- {
- const data::PackagePath icedto = bo.serialize();
- dto.package = icedto.package;
- dto.path = icedto.path;
- }
+void IceUtil::fromAron(const IceUtil::Time& dto, armarx::DateTime& bo)
+{
+ fromIce(dto, bo);
+}
- void fromAron(const long& dto, IceUtil::Time& bo)
- {
- bo = IceUtil::Time::microSeconds(dto);
- }
+void IceUtil::toAron(IceUtil::Time& dto, const armarx::DateTime& bo)
+{
+ toIce(dto, bo);
+}
- void toAron(long& dto, const IceUtil::Time& bo)
- {
- dto = bo.toMicroSeconds();
- }
- void fromAron(const arondto::ClockType& dto, ClockType& bo)
- {
- switch (dto.value)
- {
- case arondto::ClockType::Realtime:
- bo = ClockType::Realtime;
- break;
- case arondto::ClockType::Monotonic:
- bo = ClockType::Monotonic;
- break;
- case arondto::ClockType::Virtual:
- bo = ClockType::Virtual;
- break;
- case arondto::ClockType::Unknown:
- bo = ClockType::Unknown;
- break;
- }
- }
+/* PackagePath */
- void toAron(arondto::ClockType& dto, const ClockType& bo)
- {
- switch (bo)
- {
- case ClockType::Realtime:
- dto = arondto::ClockType::Realtime;
- break;
- case ClockType::Monotonic:
- dto = arondto::ClockType::Monotonic;
- break;
- case ClockType::Virtual:
- dto = arondto::ClockType::Virtual;
- break;
- case ClockType::Unknown:
- dto = arondto::ClockType::Unknown;
- break;
- }
- }
+void armarx::fromAron(const arondto::PackagePath& dto, PackagePath& bo)
+{
+ bo = {dto.package, dto.path};
+}
- void fromAron(const arondto::Duration& dto, Duration& bo)
- {
- bo = Duration::MicroSeconds(dto.microSeconds);
- }
+void armarx::toAron(arondto::PackagePath& dto, const PackagePath& bo)
+{
+ const data::PackagePath icedto = bo.serialize();
+ dto.package = icedto.package;
+ dto.path = icedto.path;
+}
- void toAron(arondto::Duration& dto, const Duration& bo)
- {
- dto.microSeconds = bo.toMicroSeconds();
- }
- void fromAron(const arondto::Frequency& dto, Frequency& bo)
+void armarx::fromAron(const arondto::ClockType& dto, ClockType& bo)
+{
+ switch (dto.value)
{
- Duration cycleDuration;
- fromAron(dto.cycleDuration, cycleDuration);
- bo = Frequency(cycleDuration);
+ case arondto::ClockType::Realtime:
+ bo = ClockType::Realtime;
+ break;
+ case arondto::ClockType::Monotonic:
+ bo = ClockType::Monotonic;
+ break;
+ case arondto::ClockType::Virtual:
+ bo = ClockType::Virtual;
+ break;
+ case arondto::ClockType::Unknown:
+ bo = ClockType::Unknown;
+ break;
}
+}
- void toAron(arondto::Frequency& dto, const Frequency& bo)
+void armarx::toAron(arondto::ClockType& dto, const ClockType& bo)
+{
+ switch (bo)
{
- arondto::Duration cycleDuration;
- toAron(cycleDuration, bo.toCycleDuration());
- dto.cycleDuration = cycleDuration;
+ case ClockType::Realtime:
+ dto = arondto::ClockType::Realtime;
+ break;
+ case ClockType::Monotonic:
+ dto = arondto::ClockType::Monotonic;
+ break;
+ case ClockType::Virtual:
+ dto = arondto::ClockType::Virtual;
+ break;
+ case ClockType::Unknown:
+ dto = arondto::ClockType::Unknown;
+ break;
}
+}
- void fromAron(const arondto::DateTime& dto, DateTime& bo)
- {
- Duration timeSinceEpoch;
- fromAron(dto.timeSinceEpoch, timeSinceEpoch);
- ClockType clockType;
- fromAron(dto.clockType, clockType);
- bo = DateTime(timeSinceEpoch, clockType, dto.hostname);
- }
+void armarx::fromAron(const arondto::Duration& dto, Duration& bo)
+{
+ bo = Duration::MicroSeconds(dto.microSeconds);
+}
- void toAron(arondto::DateTime& dto, const DateTime& bo)
- {
- arondto::Duration timeSinceEpoch;
- toAron(timeSinceEpoch, bo.toDurationSinceEpoch());
- dto.timeSinceEpoch = timeSinceEpoch;
- arondto::ClockType clockType;
- toAron(clockType, bo.clockType());
- dto.clockType = clockType;
- dto.hostname = bo.hostname();
- }
+void armarx::toAron(arondto::Duration& dto, const Duration& bo)
+{
+ dto.microSeconds = bo.toMicroSeconds();
+}
+
+void armarx::fromAron(const arondto::Frequency& dto, Frequency& bo)
+{
+ Duration cycleDuration;
+ fromAron(dto.cycleDuration, cycleDuration);
+ bo = Frequency(cycleDuration);
+}
-} // namespace armarx
+void armarx::toAron(arondto::Frequency& dto, const Frequency& bo)
+{
+ arondto::Duration cycleDuration;
+ toAron(cycleDuration, bo.toCycleDuration());
+ dto.cycleDuration = cycleDuration;
+}
+
+void armarx::fromAron(const arondto::DateTime& dto, DateTime& bo)
+{
+ Duration timeSinceEpoch;
+ fromAron(dto.timeSinceEpoch, timeSinceEpoch);
+ ClockType clockType;
+ fromAron(dto.clockType, clockType);
+ bo = DateTime(timeSinceEpoch, clockType, dto.hostname);
+}
+
+void armarx::toAron(arondto::DateTime& dto, const DateTime& bo)
+{
+ arondto::Duration timeSinceEpoch;
+ toAron(timeSinceEpoch, bo.toDurationSinceEpoch());
+ dto.timeSinceEpoch = timeSinceEpoch;
+ arondto::ClockType clockType;
+ toAron(clockType, bo.clockType());
+ dto.clockType = clockType;
+ dto.hostname = bo.hostname();
+}
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.h b/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.h
index 3f66752a865a0cfe2a0cb7e790e232f087751e2b..807605ec099b5e41110992d28c23bcecb0b92be0 100644
--- a/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.h
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.h
@@ -3,21 +3,27 @@
#include <ArmarXCore/core/PackagePath.h>
#include <ArmarXCore/core/time_minimal.h>
-#include <IceUtil/Time.h>
-
#include <RobotAPI/libraries/aron/common/aron/PackagePath.aron.generated.h>
#include <RobotAPI/libraries/aron/common/aron/time.aron.generated.h>
#include <RobotAPI/libraries/aron/common/aron/framed.aron.generated.h>
+
+namespace IceUtil
+{
+ class Time;
+
+ void fromAron(const long& dto, IceUtil::Time& bo);
+ void toAron(long& dto, const IceUtil::Time& bo);
+
+ void fromAron(const IceUtil::Time& dto, armarx::DateTime& bo);
+ void toAron(IceUtil::Time& dto, const armarx::DateTime& bo);
+}
namespace armarx
{
void fromAron(const arondto::PackagePath& dto, PackagePath& bo);
void toAron(arondto::PackagePath& dto, const PackagePath& bo);
- void fromAron(const long& dto, IceUtil::Time& bo);
- void toAron(long& dto, const IceUtil::Time& bo);
-
void fromAron(const arondto::ClockType& dto, ClockType& bo);
void toAron(arondto::ClockType& dto, const ClockType& bo);
diff --git a/source/RobotAPI/libraries/aron/common/util/object_finders.cpp b/source/RobotAPI/libraries/aron/common/util/object_finders.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e6bba147d3f274652f3e173667013383d5d56697
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/common/util/object_finders.cpp
@@ -0,0 +1,60 @@
+/**
+ * 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/>.
+ *
+ * @package RobotAPI::libraries::aron
+ * @author Philip Scherer ( ulila@student.kit.edu )
+ * @date 2021
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "object_finders.h"
+
+namespace armarx::aron
+{
+ SubObjectFinder::SubObjectFinder(const std::string& typeNamePrefix) :
+ typeNamePrefix(typeNamePrefix)
+ {
+ }
+
+ const std::map<std::string, std::pair<aron::data::VariantPtr, aron::type::VariantPtr>>&
+ SubObjectFinder::getFoundObjects()
+ {
+ return foundSubObjects;
+ }
+
+ void
+ SubObjectFinder::visitObjectOnEnter(DataInput& elementData, TypeInput& elementType)
+ {
+ if (elementType && simox::alg::starts_with(elementType->getFullName(), typeNamePrefix))
+ {
+ foundSubObjects.emplace(elementData->getPath().toString(),
+ std::make_pair(elementData, elementType));
+ }
+ }
+
+ void
+ SubObjectFinder::visitUnknown(DataInput& elementData, TypeInput& elementType)
+ {
+ // Ignore (the base class throws an exception here)
+ }
+
+ SubObjectFinder::MapElements
+ SubObjectFinder::getObjectElements(DataInput& elementData, TypeInput& elementType)
+ {
+ return RecursiveConstTypedVariantVisitor::GetObjectElementsWithNullType(elementData,
+ elementType);
+ }
+} // namespace armarx::aron
diff --git a/source/RobotAPI/libraries/aron/common/util/object_finders.h b/source/RobotAPI/libraries/aron/common/util/object_finders.h
new file mode 100644
index 0000000000000000000000000000000000000000..ff67043de5cea4e608dd3f9d488130d80255005d
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/common/util/object_finders.h
@@ -0,0 +1,132 @@
+/**
+ * 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/>.
+ *
+ * @package RobotAPI::libraries::aron
+ * @author Philip Scherer ( ulila@student.kit.edu )
+ * @date 2021
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <map>
+#include <vector>
+
+#include <SimoxUtility/algorithm/string.h>
+
+#include <RobotAPI/libraries/aron/common/aron_conversions/core.h>
+#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
+#include <RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.h>
+
+namespace armarx::aron
+{
+ /**
+ * Finds aron objects with a given type name prefix in aron variants.
+ *
+ * Construct it with the prefix you want to search for,
+ * then use `visitRecursive` to run the finder over the variant to search.
+ * Get a map of paths to data and type of the found objects using `getFoundObjects`.
+ */
+ class SubObjectFinder : public armarx::aron::data::RecursiveConstTypedVariantVisitor
+ {
+ public:
+ SubObjectFinder(const std::string& typeNamePrefix);
+
+ ~SubObjectFinder() override = default;
+
+ /**
+ * Get the objects that have been found.
+ *
+ * The keys are strings instead of `aron::Path`s because those don't support comparisons.
+ *
+ * @return map of paths to pair of data and type variants
+ */
+ const std::map<std::string, std::pair<aron::data::VariantPtr, aron::type::VariantPtr>>&
+ getFoundObjects();
+
+ void visitObjectOnEnter(DataInput& elementData, TypeInput& elementType) override;
+
+ void visitUnknown(DataInput& elementData, TypeInput& elementType) override;
+
+ MapElements getObjectElements(DataInput& elementData, TypeInput& elementType) override;
+
+ private:
+ std::string typeNamePrefix;
+ std::map<std::string, std::pair<aron::data::VariantPtr, aron::type::VariantPtr>>
+ foundSubObjects;
+ };
+
+ /**
+ * Finds aron objects with a given type name prefix in aron variants and returns them as BOs.
+ *
+ * Construct it with the prefix you want to search for,
+ * then use `visitRecursive` to run the finder over the variant to search.
+ * Get a map of paths to your BOs using `getFoundObjects`.
+ *
+ * \tparam DTOType the _generated_ aron type of your data.
+ * \tparam BOType the type of your final BO.
+ */
+ template <typename DTOType, typename BOType>
+ class BOSubObjectFinder : public armarx::aron::data::RecursiveConstTypedVariantVisitor
+ {
+ public:
+ BOSubObjectFinder() = default;
+ ~BOSubObjectFinder() override = default;
+
+ /**
+ * Get the objects that have been found.
+ *
+ * The keys are strings instead of `aron::Path`s because those don't support comparisons.
+ *
+ * @return map of paths to BOs.
+ */
+ const std::map<std::string, BOType>&
+ getFoundObjects()
+ {
+ return foundSubObjects;
+ }
+
+ void
+ visitObjectOnEnter(DataInput& elementData, TypeInput& elementType) override
+ {
+ if (elementType->getFullName() == DTOType::ToAronType()->getFullName())
+ {
+ auto dict = armarx::aron::data::Dict::DynamicCastAndCheck(elementData);
+ DTOType dto;
+ dto.fromAron(dict);
+ BOType boObj = armarx::aron::fromAron<BOType, DTOType>(dto);
+ foundSubObjects.emplace(elementData->getPath().toString(), boObj);
+ }
+ }
+
+ void
+ visitUnknown(DataInput& elementData, TypeInput& elementType) override
+ {
+ // Ignore (the base class throws an exception here)
+ }
+
+ MapElements
+ getObjectElements(DataInput& elementData, TypeInput& elementType) override
+ {
+ return RecursiveConstTypedVariantVisitor::GetObjectElementsWithNullType(elementData,
+ elementType);
+ }
+
+ private:
+ std::map<std::string, BOType> foundSubObjects;
+ };
+
+} // namespace armarx::aron
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/Generator.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/Generator.cpp
index 8e437dd62935c3de5fadf1c93daf10d89270c813..4c0969f0de800c66a6a766fa4a4a80ebf21f6c64 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/Generator.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/Generator.cpp
@@ -211,7 +211,7 @@ namespace armarx::aron::codegenerator::cpp
CppMethodPtr m = CppMethodPtr(new CppMethod("template<class WriterT>\nstatic typename WriterT::ReturnType writeType(WriterT& " + ARON_WRITER_ACCESSOR + ", std::vector<std::string> " + ARON_TEMPLATE_INSTANTIATIONS_ACCESSOR + " = {}, armarx::aron::type::Maybe "+ ARON_MAYBE_TYPE_ACCESSOR +" = armarx::aron::type::Maybe::eNone, const armarx::aron::Path& "+ARON_PATH_ACCESSOR+" = armarx::aron::Path())", doc.str()));
CppBlockPtr b = std::make_shared<CppBlock>();
- b->addLine("using T [[maybe_unused]] = typename WriterT::ReturnType;");
+ b->addLine("using _Aron_T [[maybe_unused]] = typename WriterT::ReturnType;");
std::string dummy;
b->appendBlock(this->getWriteTypeBlock("", "", Path(), dummy));
@@ -228,7 +228,7 @@ namespace armarx::aron::codegenerator::cpp
CppMethodPtr m = CppMethodPtr(new CppMethod("template<class WriterT>\ntypename WriterT::ReturnType write(WriterT& " + ARON_WRITER_ACCESSOR + ", const armarx::aron::Path& "+ARON_PATH_ACCESSOR+" = armarx::aron::Path()) const", doc.str()));
CppBlockPtr b = std::make_shared<CppBlock>();
- b->addLine("using T [[maybe_unused]] = typename WriterT::ReturnType;");
+ b->addLine("using _Aron_T [[maybe_unused]] = typename WriterT::ReturnType;");
std::string dummy;
b->appendBlock(this->getWriteBlock("", Path(), dummy));
@@ -245,8 +245,8 @@ namespace armarx::aron::codegenerator::cpp
CppMethodPtr m = CppMethodPtr(new CppMethod("template<class ReaderT>\nvoid read(ReaderT& " + ARON_READER_ACCESSOR + ", typename ReaderT::InputType& input)", doc.str()));
CppBlockPtr b = std::make_shared<CppBlock>();
- b->addLine("using T [[maybe_unused]] = typename ReaderT::InputType;");
- b->addLine("using TNonConst [[maybe_unused]] = typename ReaderT::InputTypeNonConst;");
+ b->addLine("using _Aron_T [[maybe_unused]] = typename ReaderT::InputType;");
+ b->addLine("using _Aron_TNonConst [[maybe_unused]] = typename ReaderT::InputTypeNonConst;");
b->addLine("this->resetSoft();");
b->addLine("if (" + ARON_READER_ACCESSOR + ".readNull(input))");
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Dict.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Dict.cpp
index 16d73e0611df481b0139d895ab10529c2577387e..5d50b76c48b3aaf664722d97152e6390b8145b0e 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Dict.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Dict.cpp
@@ -72,7 +72,7 @@ namespace armarx::aron::codegenerator::cpp::generator
variantAccessor = ARON_VARIANT_RETURN_ACCESSOR+ "_" + escaped_accessor;
const std::string elementsAccessor = variantAccessor + "_dictElements";
- block_if_data->addLine("std::map<std::string, T> " + elementsAccessor + ";");
+ block_if_data->addLine("std::map<std::string, _Aron_T> " + elementsAccessor + ";");
std::string accessor_iterator_key = ARON_VARIABLE_PREFIX + "_" + escaped_accessor + "_key";
std::string accessor_iterator_val = ARON_VARIABLE_PREFIX + "_" + escaped_accessor + "_value";
@@ -107,7 +107,7 @@ namespace armarx::aron::codegenerator::cpp::generator
std::string accessor_iterator_value = ARON_VARIABLE_PREFIX + "_" + escaped_accessor + "_dictValue";
std::string accessor_iterator_key = ARON_VARIABLE_PREFIX + "_" + escaped_accessor + "_dictKey";
- block_if_data->addLine("std::map<std::string, TNonConst> " + elements_accessor + ";");
+ block_if_data->addLine("std::map<std::string, _Aron_TNonConst> " + elements_accessor + ";");
block_if_data->addLine("" + ARON_READER_ACCESSOR + ".readDict(" + variantAccessor + ", " + elements_accessor + ");");
block_if_data->addLine("for (const auto& [" + accessor_iterator_key + ", " + accessor_iterator_value + "] : " + elements_accessor + ")");
{
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/List.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/List.cpp
index a69f1767565aa2ea8f242c27a4fd03b4450567c3..76094035446a7f90a3d39afe85a8d1bd16ae3e23 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/List.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/List.cpp
@@ -71,7 +71,7 @@ namespace armarx::aron::codegenerator::cpp::generator
variantAccessor = ARON_VARIANT_RETURN_ACCESSOR+ "_" + escaped_accessor;
const std::string elementsAccessor = variantAccessor + "_listElements";
- block_if_data->addLine("std::vector<T> " + elementsAccessor + ";");
+ block_if_data->addLine("std::vector<_Aron_T> " + elementsAccessor + ";");
std::string accessor_iterator = ARON_VARIABLE_PREFIX + "_" + escaped_accessor + "_it";
@@ -102,7 +102,7 @@ namespace armarx::aron::codegenerator::cpp::generator
std::string elements_accessor = ARON_VARIABLE_PREFIX + "_" + escaped_accessor + "_listElements";
std::string accessor_iterator_value = ARON_VARIABLE_PREFIX + "_" + escaped_accessor + "_listValue";
- block_if_data->addLine("std::vector<TNonConst> " + elements_accessor + ";");
+ block_if_data->addLine("std::vector<_Aron_TNonConst> " + elements_accessor + ";");
block_if_data->addLine("" + ARON_READER_ACCESSOR + ".readList(" + variantAccessor + ", " + elements_accessor + ");");
block_if_data->addLine("for (const auto& " + accessor_iterator_value + " : " + elements_accessor + ")");
{
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Pair.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Pair.cpp
index 4f7cde8f0582a191037c5cd49532f785221394e9..d4edd5476373c0c49029c39ccc7537259116192f 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Pair.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Pair.cpp
@@ -114,7 +114,7 @@ namespace armarx::aron::codegenerator::cpp::generator
std::string escaped_accessor = EscapeAccessor(cppAccessor);
std::string elements_accessor = ARON_VARIABLE_PREFIX + "_" + escaped_accessor + "_pairElements";
- block_if_data->addLine("std::vector<TNonConst> " + elements_accessor + ";");
+ block_if_data->addLine("std::vector<_Aron_TNonConst> " + elements_accessor + ";");
block_if_data->addLine("" + ARON_READER_ACCESSOR + ".readList("+elements_accessor+"); // of " + cppAccessor);
auto child_s1 = FromAronType(*type.getFirstAcceptedType());
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Tuple.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Tuple.cpp
index 5f2c241cb9024f721f867a54c1bad9a30db96759..84db8b60aab51848000f36d38cc85c8ad6889151 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Tuple.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/container/Tuple.cpp
@@ -60,7 +60,7 @@ namespace armarx::aron::codegenerator::cpp::generator
variantAccessor = ARON_VARIANT_RETURN_ACCESSOR+ "_" + escaped_accessor;
const std::string acceptedTypesAccessor = variantAccessor + "_tupleAcceptedTypes";
- block_if_data->addLine("std::vector<T> " + acceptedTypesAccessor + ";");
+ block_if_data->addLine("std::vector<_Aron_T> " + acceptedTypesAccessor + ";");
unsigned int i = 0;
for (const auto& type : type.getAcceptedTypes())
@@ -87,7 +87,7 @@ namespace armarx::aron::codegenerator::cpp::generator
variantAccessor = ARON_VARIANT_RETURN_ACCESSOR+ "_" + escaped_accessor;
const std::string elementsAccessor = variantAccessor + "_tupleElements";
- block_if_data->addLine("std::vector<T> " + elementsAccessor + ";");
+ block_if_data->addLine("std::vector<_Aron_T> " + elementsAccessor + ";");
unsigned int i = 0;
for (const auto& type : type.getAcceptedTypes())
@@ -114,7 +114,7 @@ namespace armarx::aron::codegenerator::cpp::generator
std::string resolved_accessor = resolveMaybeAccessor(cppAccessor);
std::string elements_accessor = ARON_VARIABLE_PREFIX + "_" + escaped_accessor + "_tupleElements";
- block_if_data->addLine("std::vector<TNonConst> " + elements_accessor + ";");
+ block_if_data->addLine("std::vector<_Aron_TNonConst> " + elements_accessor + ";");
block_if_data->addLine("" + ARON_READER_ACCESSOR + ".readList("+elements_accessor+"); // of " + cppAccessor);
unsigned int i = 0;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.cpp
index 70df7d108e582d0badc09abd7922296fba769dd5..cf15c169b4afec4e5fd833e40bb16b6e74672dc8 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.cpp
@@ -97,7 +97,7 @@ namespace armarx::aron::codegenerator::cpp::generator
static const std::string OBJECT_EXTENDS_ACCESSOR = ARON_VARIABLE_PREFIX + "_objectExtends";
CppBlockPtr b = std::make_shared<CppBlock>();
- b->addLine("std::map<std::string, T> " + OBJECT_MEMBERS_ACCESSOR + ";");
+ b->addLine("std::map<std::string, _Aron_T> " + OBJECT_MEMBERS_ACCESSOR + ";");
if (type.getExtends() != nullptr)
{
@@ -152,9 +152,9 @@ namespace armarx::aron::codegenerator::cpp::generator
CppBlockPtr block_if_data = std::make_shared<CppBlock>();
- block_if_data->addLine("std::map<std::string, T> " + OBJECT_MEMBERS_ACCESSOR + ";");
+ block_if_data->addLine("std::map<std::string, _Aron_T> " + OBJECT_MEMBERS_ACCESSOR + ";");
- block_if_data->addLine("std::optional<T> " + OBJECT_EXTENDS_ACCESSOR + ";");
+ block_if_data->addLine("std::optional<_Aron_T> " + OBJECT_EXTENDS_ACCESSOR + ";");
if (type.getExtends() != nullptr)
{
const auto extends_s = FromAronType(*type.getExtends());
@@ -187,7 +187,7 @@ namespace armarx::aron::codegenerator::cpp::generator
static const std::string OBJECT_EXTENDS_ACCESSOR = ARON_VARIABLE_PREFIX + "_objectExtends";
CppBlockPtr block_if_data = std::make_shared<CppBlock>();
- block_if_data->addLine("std::map<std::string, TNonConst> " + OBJECT_MEMBERS_ACCESSOR + ";");
+ block_if_data->addLine("std::map<std::string, _Aron_TNonConst> " + OBJECT_MEMBERS_ACCESSOR + ";");
if (type.getExtends() != nullptr)
{
diff --git a/source/RobotAPI/libraries/aron/core/data/rw/writer/variant/VariantWriter.h b/source/RobotAPI/libraries/aron/core/data/rw/writer/variant/VariantWriter.h
index 4ff55335a50edba6543b171a6bdc323dc50823e6..0be0b34898308d217d221659d3524d77b2cf8f5c 100644
--- a/source/RobotAPI/libraries/aron/core/data/rw/writer/variant/VariantWriter.h
+++ b/source/RobotAPI/libraries/aron/core/data/rw/writer/variant/VariantWriter.h
@@ -51,5 +51,7 @@ namespace armarx::aron::data::writer
data::VariantPtr writeDouble(const double i, const Path& p = Path()) override;
data::VariantPtr writeString(const std::string& i, const Path& p = Path()) override;
data::VariantPtr writeBool(const bool i, const Path& p = Path()) override;
+
+ using WriterInterface<data::VariantPtr>::writeDict;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.cpp b/source/RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.cpp
index a91f1ac118ba3525ee8a1030915711fb28448c5f..0f6f90a193a9391f943fca4466c294f6ac9d69e9 100644
--- a/source/RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.cpp
@@ -536,6 +536,31 @@ namespace armarx::aron::data
return ret;
}
+ RecursiveConstTypedVariantVisitor::MapElements
+ RecursiveConstTypedVariantVisitor::GetObjectElementsWithNullType(DataInput& o, TypeInput& t)
+ {
+ std::map<std::string, std::pair<aron::data::VariantPtr, aron::type::VariantPtr>> ret;
+ auto data = aron::data::Dict::DynamicCastAndCheck(o);
+ auto type = aron::type::Object::DynamicCastAndCheck(t);
+
+ if (data)
+ {
+ for (const auto& [key, e] : data->getElements())
+ {
+ if (type && type->hasMemberType(key))
+ {
+ auto memberType = type->getMemberType(key);
+ ret.insert({key, {e, memberType}});
+ }
+ else
+ {
+ ret.insert({key, {e, nullptr}});
+ }
+ }
+ }
+ return ret;
+ }
+
RecursiveConstTypedVariantVisitor::MapElements
RecursiveConstTypedVariantVisitor::GetDictElements(DataInput& o, TypeInput& t)
{
diff --git a/source/RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.h b/source/RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.h
index 8a8cc2a906bfc2e3e37734670468ff8207d308f7..389db80a53d43bdb0514f39cbd5276b8f71291bb 100644
--- a/source/RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.h
+++ b/source/RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.h
@@ -201,6 +201,12 @@ namespace armarx::aron::data
{
type::Descriptor getDescriptor(DataInput& o, TypeInput& n) override;
static MapElements GetObjectElements(DataInput& o, TypeInput& t);
+ /* This override exists for visitors that need to handle untyped members in the hierarchy.
+ * Using it instead of `GetObjectElements` will allow your visitor to visit objects with
+ * a nullptr as their type. However, you will have to handle nullptr types in your
+ * visitor's methods.
+ */
+ static MapElements GetObjectElementsWithNullType(DataInput& o, TypeInput& t);
static MapElements GetDictElements(DataInput& o, TypeInput& t);
static ListElements GetListElements(DataInput& o, TypeInput& t);
static PairElements GetPairElements(DataInput& o, TypeInput& t);