diff --git a/source/RobotAPI/libraries/armem/CMakeLists.txt b/source/RobotAPI/libraries/armem/CMakeLists.txt
index 0e3d33e1950ebaade350c516dd9e6e66dab1fce4..be30284443c02aa0c4a90225855df5b2d753f6aa 100644
--- a/source/RobotAPI/libraries/armem/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem/CMakeLists.txt
@@ -23,7 +23,7 @@ set(LIB_FILES
core/base/detail/MaxHistorySize.cpp
core/base/detail/MemoryContainerBase.cpp
core/base/detail/EntityContainerBase.cpp
- core/base/detail/TypedEntityContainerBase.cpp
+ core/base/detail/AronTyped.cpp
core/base/CoreSegmentBase.cpp
core/base/EntityBase.cpp
@@ -33,9 +33,7 @@ set(LIB_FILES
core/base/ProviderSegmentBase.cpp
core/workingmemory/ice_conversions.cpp
- core/workingmemory/detail/MemoryContainer.cpp
- core/workingmemory/detail/EntityContainer.cpp
- core/workingmemory/detail/TypedEntityContainer.cpp
+ core/workingmemory/detail/CopyWithoutData.cpp
core/workingmemory/CoreSegment.cpp
core/workingmemory/Entity.cpp
core/workingmemory/EntityInstance.cpp
@@ -52,6 +50,7 @@ set(LIB_FILES
core/longtermmemory/Memory.cpp
core/longtermmemory/ProviderSegment.cpp
+ core/diskmemory/TypeIO.cpp
core/diskmemory/CoreSegment.cpp
core/diskmemory/Entity.cpp
core/diskmemory/EntityInstance.cpp
@@ -119,7 +118,7 @@ set(LIB_HEADERS
core/base/detail/MaxHistorySize.h
core/base/detail/MemoryContainerBase.h
core/base/detail/EntityContainerBase.h
- core/base/detail/TypedEntityContainerBase.h
+ core/base/detail/AronTyped.h
core/base/CoreSegmentBase.h
core/base/EntityBase.h
@@ -128,9 +127,7 @@ set(LIB_HEADERS
core/base/MemoryBase.h
core/base/ProviderSegmentBase.h
- core/workingmemory/detail/MemoryContainer.h
- core/workingmemory/detail/EntityContainer.h
- core/workingmemory/detail/TypedEntityContainer.h
+ core/workingmemory/detail/CopyWithoutData.h
core/workingmemory/CoreSegment.h
core/workingmemory/Entity.h
core/workingmemory/EntityInstance.h
@@ -148,7 +145,7 @@ set(LIB_HEADERS
core/longtermmemory/ProviderSegment.h
core/longtermmemory/mongodb/MongoDBConnectionManager.h
- core/diskmemory/detail/TypedEntityContainer.h
+ core/diskmemory/TypeIO.h
core/diskmemory/CoreSegment.h
core/diskmemory/Entity.h
core/diskmemory/EntityInstance.h
diff --git a/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h b/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h
index 326a251a6a3a0a62034f01a9c11553bf8f180ec1..8b3d0ee2c00d8dad8c40bfbecb67b53bb1606b50 100644
--- a/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h
@@ -4,8 +4,9 @@
#include <string>
#include "ProviderSegmentBase.h"
+#include "detail/AronTyped.h"
+#include "detail/EntityContainerBase.h"
#include "detail/MaxHistorySize.h"
-#include "detail/TypedEntityContainerBase.h"
namespace armarx::armem::base
@@ -16,10 +17,11 @@ namespace armarx::armem::base
*/
template <class _ProviderSegmentT, class _Derived>
class CoreSegmentBase :
- virtual public detail::TypedEntityContainerBase<_ProviderSegmentT, typename _ProviderSegmentT::EntityT, _Derived>,
- virtual public detail::MaxHistorySize
+ public detail::EntityContainerBase<_ProviderSegmentT, typename _ProviderSegmentT::EntityT, _Derived>,
+ public detail::MaxHistorySize,
+ public detail::AronTyped
{
- using Base = detail::TypedEntityContainerBase<_ProviderSegmentT, typename _ProviderSegmentT::EntityT, _Derived>;
+ using Base = detail::EntityContainerBase<_ProviderSegmentT, typename _ProviderSegmentT::EntityT, _Derived>;
public:
@@ -34,11 +36,36 @@ namespace armarx::armem::base
public:
+ CoreSegmentBase()
+ {
+ }
+ CoreSegmentBase(const std::string& name, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr) :
+ CoreSegmentBase(MemoryID().withCoreSegmentName(name), aronType)
+ {
+ }
+ CoreSegmentBase(const std::string& name, const MemoryID& parentID, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr) :
+ CoreSegmentBase(parentID.withProviderSegmentName(name), aronType)
+ {
+ }
+ CoreSegmentBase(const MemoryID& id, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr) :
+ Base(id),
+ AronTyped(aronType)
+ {
+ }
+
+ /*
+ CoreSegmentBase(const CoreSegmentBase& other) :
+ Base(other),
+ AronTyped(other)
+ {
+ }
+
CoreSegmentBase& operator=(const CoreSegmentBase& other)
{
other._copySelf(*this);
return *this;
}
+ */
inline const std::string& name() const
{
@@ -52,7 +79,7 @@ namespace armarx::armem::base
inline const std::map<std::string, ProviderSegmentT>& providerSegments() const
{
- return _container;
+ return this->_container;
}
inline std::map<std::string, ProviderSegmentT>& providerSegments()
{
@@ -62,7 +89,7 @@ namespace armarx::armem::base
bool hasProviderSegment(const std::string& name) const
{
- return _container.count(name) > 0;
+ return this->_container.count(name) > 0;
}
ProviderSegmentT& getProviderSegment(const std::string& name)
@@ -73,7 +100,7 @@ namespace armarx::armem::base
const ProviderSegmentT& getProviderSegment(const std::string& name) const
{
auto it = this->_container.find(name);
- if (it != _container.end())
+ if (it != this->_container.end())
{
return it->second;
}
@@ -95,7 +122,7 @@ namespace armarx::armem::base
this->_checkContainerName(update.entityID.coreSegmentName, this->name());
auto it = this->_container.find(update.entityID.providerSegmentName);
- if (it != _container.end())
+ if (it != this->_container.end())
{
return it->second.update(update);
}
@@ -132,7 +159,7 @@ namespace armarx::armem::base
providerSegment.getLevelName(), providerSegment.name(), getLevelName(), this->getKeyString());
}
- auto it = _container.emplace(providerSegment.name(), std::move(providerSegment)).first;
+ auto it = this->_container.emplace(providerSegment.name(), std::move(providerSegment)).first;
it->second.id().setCoreSegmentID(this->id());
it->second.setMaxHistorySize(_maxHistorySize);
return it->second;
@@ -147,7 +174,7 @@ namespace armarx::armem::base
void setMaxHistorySize(long maxSize) override
{
MaxHistorySize::setMaxHistorySize(maxSize);
- for (auto& [name, seg] : _container)
+ for (auto& [name, seg] : this->_container)
{
seg.setMaxHistorySize(maxSize);
}
@@ -160,7 +187,7 @@ namespace armarx::armem::base
{
return false;
}
- for (const auto& [key, provider] : _container)
+ for (const auto& [key, provider] : this->_container)
{
if (not other.hasProviderSegment(key))
{
@@ -187,7 +214,11 @@ namespace armarx::armem::base
protected:
- using Base::_container;
+ virtual void _copySelf(DerivedT& other) const override
+ {
+ Base::_copySelf(other);
+ other.aronType() = _aronType;
+ }
};
diff --git a/source/RobotAPI/libraries/armem/core/base/EntityBase.h b/source/RobotAPI/libraries/armem/core/base/EntityBase.h
index fa884ee115624b437182f35df5744863f206ddb2..90cd503a1c5763d24ae5d72bff891c943b76bef9 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntityBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/EntityBase.h
@@ -39,8 +39,8 @@ namespace armarx::armem::base
*/
template <class _EntitySnapshotT, class _Derived>
class EntityBase :
- virtual public detail::MemoryContainerBase<std::map<Time, _EntitySnapshotT>, _Derived>,
- virtual public detail::MaxHistorySize
+ public detail::MemoryContainerBase<std::map<Time, _EntitySnapshotT>, _Derived>,
+ public detail::MaxHistorySize
{
using Base = detail::MemoryContainerBase<std::map<Time, _EntitySnapshotT>, _Derived>;
@@ -55,11 +55,31 @@ namespace armarx::armem::base
public:
+ EntityBase()
+ {
+ }
+ EntityBase(const std::string& name, const MemoryID& parentID = {}) :
+ EntityBase(parentID.withEntityName(name))
+ {
+ }
+ EntityBase(const MemoryID& id) :
+ Base(id)
+ {
+ }
+
+ /*
+ EntityBase(const EntityBase& other) :
+ Base(other)
+ {
+ }
+
+
EntityBase& operator=(const EntityBase& other)
{
other._copySelf(*this);
return *this;
}
+ */
virtual bool equalsDeep(const EntityBase& other) const
@@ -69,7 +89,7 @@ namespace armarx::armem::base
{
return false;
}
- for (const auto& [key, snapshot] : _container)
+ for (const auto& [key, snapshot] : this->_container)
{
if (not other.hasSnapshot(key))
{
@@ -96,7 +116,7 @@ namespace armarx::armem::base
inline const std::map<Time, EntitySnapshotT>& history() const
{
- return _container;
+ return this->_container;
}
inline std::map<Time, EntitySnapshotT>& history()
{
@@ -109,7 +129,7 @@ namespace armarx::armem::base
*/
bool hasSnapshot(Time time) const
{
- return _container.count(time) > 0;
+ return this->_container.count(time) > 0;
}
/**
@@ -126,7 +146,7 @@ namespace armarx::armem::base
*/
std::vector<Time> getTimestamps() const
{
- return simox::alg::get_keys(_container);
+ return simox::alg::get_keys(this->_container);
}
@@ -145,8 +165,8 @@ namespace armarx::armem::base
const EntitySnapshotT& getSnapshot(Time time) const
{
- auto it = _container.find(time);
- if (it != _container.end())
+ auto it = this->_container.find(time);
+ if (it != this->_container.end())
{
return it->second;
}
@@ -196,8 +216,8 @@ namespace armarx::armem::base
EntitySnapshotT* snapshot;
- auto it = _container.find(update.timeCreated);
- if (it == _container.end())
+ auto it = this->_container.find(update.timeCreated);
+ if (it == this->_container.end())
{
// Insert into history.
snapshot = &addSnapshot(update.timeCreated);
@@ -225,7 +245,7 @@ namespace armarx::armem::base
EntitySnapshotT& addSnapshot(EntitySnapshotT&& snapshot)
{
- auto it = _container.emplace(snapshot.time(), std::move(snapshot)).first;
+ auto it = this->_container.emplace(snapshot.time(), std::move(snapshot)).first;
it->second.id().setEntityID(this->id());
return it->second;
}
@@ -291,11 +311,11 @@ namespace armarx::armem::base
{
if (_maxHistorySize >= 0)
{
- while (_container.size() > size_t(_maxHistorySize))
+ while (this->_container.size() > size_t(_maxHistorySize))
{
- _container.erase(_container.begin());
+ this->_container.erase(this->_container.begin());
}
- ARMARX_CHECK_LESS_EQUAL(_container.size(), _maxHistorySize);
+ ARMARX_CHECK_LESS_EQUAL(this->_container.size(), _maxHistorySize);
}
}
@@ -314,18 +334,13 @@ namespace armarx::armem::base
*/
const typename std::map<Time, EntitySnapshotT>::value_type& getLatestItem() const
{
- if (_container.empty())
+ if (this->_container.empty())
{
throw armem::error::EntityHistoryEmpty(name(), "when getting the latest snapshot.");
}
- return *_container.rbegin();
+ return *this->_container.rbegin();
}
-
- protected:
-
- using Base::_container;
-
};
}
diff --git a/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h b/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h
index d385ee26bb9a17f73535d15b68822c17c5bfd278..fdf8d2be748fcacf94735db4ed570a154f2662a3 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h
@@ -13,7 +13,7 @@ namespace armarx::armem::base
*/
template <class _DerivedT>
class EntityInstanceBase :
- virtual public detail::MemoryItem
+ public detail::MemoryItem
{
using Base = detail::MemoryItem;
@@ -24,11 +24,25 @@ namespace armarx::armem::base
public:
- EntityInstanceBase& operator=(const EntityInstanceBase& other)
+ EntityInstanceBase()
{
- //other._copySelf(*this);
- return *this;
}
+ EntityInstanceBase(int index, const MemoryID& parentID = {}) :
+ EntityInstanceBase(parentID.withInstanceIndex(index))
+ {
+ }
+ EntityInstanceBase(const MemoryID& id) :
+ Base(id)
+ {
+ }
+
+ /*
+ EntityInstanceBase& operator=(const EntityInstanceBase& other)
+ {
+ other._copySelf(*this);
+ return *this;
+ }
+ */
inline int& index()
diff --git a/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h b/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h
index 094608e2927991f5593922887ec17e11fe6ce440..db1370f1ba081bfc35466698bdb70f9b5b07193d 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h
@@ -17,7 +17,7 @@ namespace armarx::armem::base
*/
template <class _EntityInstanceT, class _Derived>
class EntitySnapshotBase :
- virtual public detail::MemoryContainerBase<std::vector<_EntityInstanceT>, _Derived>
+ public detail::MemoryContainerBase<std::vector<_EntityInstanceT>, _Derived>
{
using Base = detail::MemoryContainerBase<std::vector<_EntityInstanceT>, _Derived>;
@@ -31,11 +31,31 @@ namespace armarx::armem::base
public:
+ EntitySnapshotBase()
+ {
+ }
+ EntitySnapshotBase(Time time, const MemoryID& parentID = {}) :
+ EntitySnapshotBase(parentID.withTimestamp(time))
+ {
+ }
+ EntitySnapshotBase(const MemoryID& id) :
+ Base(id)
+ {
+ }
+
+ /*
+ EntitySnapshotBase(const EntitySnapshotBase& other) :
+ Base(other)
+ {
+ }
+
EntitySnapshotBase& operator=(const EntitySnapshotBase& other)
{
- other._copySelf(*this);
+ Base::operator=(other);
return *this;
}
+ */
+
virtual bool equalsDeep(const EntitySnapshotBase& other) const
{
@@ -45,7 +65,7 @@ namespace armarx::armem::base
return false;
}
int i = 0;
- for (const auto& instance : _container)
+ for (const auto& instance : this->_container)
{
if (not instance.equalsDeep(other.getInstance(i)))
{
@@ -69,7 +89,7 @@ namespace armarx::armem::base
inline const std::vector<EntityInstanceT>& instances() const
{
- return _container;
+ return this->_container;
}
inline std::vector<EntityInstanceT>& instances()
{
@@ -85,10 +105,10 @@ namespace armarx::armem::base
}
time() = update.timeCreated;
- _container.clear();
+ this->_container.clear();
for (int i = 0; i < int(update.instancesData.size()); ++i)
{
- EntityInstanceT& data = _container.emplace_back(i, this->id());
+ EntityInstanceT& data = this->_container.emplace_back(i, this->id());
data.update(update, i);
}
}
@@ -97,7 +117,7 @@ namespace armarx::armem::base
bool hasInstance(int index) const
{
size_t si = size_t(index);
- return index >= 0 && si < _container.size();
+ return index >= 0 && si < this->_container.size();
}
/**
@@ -115,7 +135,7 @@ namespace armarx::armem::base
{
if (hasInstance(index))
{
- return _container[static_cast<size_t>(index)];
+ return this->_container[static_cast<size_t>(index)];
}
else
{
@@ -158,19 +178,19 @@ namespace armarx::armem::base
EntityInstanceT& addInstance(EntityInstanceT&& instance)
{
- if (instance.index() > 0 && static_cast<size_t>(instance.index()) < _container.size())
+ if (instance.index() > 0 && static_cast<size_t>(instance.index()) < this->_container.size())
{
throw error::InvalidArgument(std::to_string(instance.index()), "EntitySnapshot::addInstance",
"Cannot add an EntityInstance because its index already exists.");
}
- if (instance.index() > 0 && static_cast<size_t>(instance.index()) > _container.size())
+ if (instance.index() > 0 && static_cast<size_t>(instance.index()) > this->_container.size())
{
throw error::InvalidArgument(std::to_string(instance.index()), "EntitySnapshot::addInstance",
"Cannot add an EntityInstance because its index is too big.");
}
- int new_index = _container.size();
- auto& it = _container.emplace_back(std::move(instance));
+ int new_index = this->_container.size();
+ auto& it = this->_container.emplace_back(std::move(instance));
it.index() = new_index;
return it;
}
@@ -185,11 +205,6 @@ namespace armarx::armem::base
return "entity snapshot";
}
-
- protected:
-
- using Base::_container;
-
};
}
diff --git a/source/RobotAPI/libraries/armem/core/base/MemoryBase.h b/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
index 60f7ee86098c26463ffe14007362eadc114f3e9e..b97faceca4e1bf693ec265002e69f922dd83dda5 100644
--- a/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
@@ -17,7 +17,7 @@ namespace armarx::armem::base
*/
template <class _CoreSegmentT, class _Derived>
class MemoryBase :
- virtual public detail::EntityContainerBase<_CoreSegmentT, typename _CoreSegmentT::ProviderSegmentT::EntityT, _Derived>
+ public detail::EntityContainerBase<_CoreSegmentT, typename _CoreSegmentT::ProviderSegmentT::EntityT, _Derived>
{
using Base = detail::EntityContainerBase<_CoreSegmentT, typename _CoreSegmentT::ProviderSegmentT::EntityT, _Derived>;
@@ -35,11 +35,31 @@ namespace armarx::armem::base
public:
+ MemoryBase()
+ {
+ }
+ MemoryBase(const std::string& name) :
+ MemoryBase(MemoryID().withMemoryName(name))
+ {
+ }
+ MemoryBase(const MemoryID& id) :
+ Base(id)
+ {
+ }
+
+ /*
+ MemoryBase(const MemoryBase& other) :
+ Base(other)
+ {
+ }
+
+
MemoryBase& operator=(const MemoryBase& other)
{
other._copySelf(*this);
return *this;
}
+ */
inline const std::string& name() const
@@ -54,7 +74,7 @@ namespace armarx::armem::base
inline const std::map<std::string, CoreSegmentT>& coreSegments() const
{
- return _container;
+ return this->_container;
}
inline std::map<std::string, CoreSegmentT>& coreSegments()
{
@@ -64,7 +84,7 @@ namespace armarx::armem::base
bool hasCoreSegment(const std::string& name) const
{
- return _container.count(name) > 0;
+ return this->_container.count(name) > 0;
}
CoreSegmentT& getCoreSegment(const std::string& name)
@@ -75,7 +95,7 @@ namespace armarx::armem::base
const CoreSegmentT& getCoreSegment(const std::string& name) const
{
auto it = this->_container.find(name);
- if (it != _container.end())
+ if (it != this->_container.end())
{
return it->second;
}
@@ -110,12 +130,12 @@ namespace armarx::armem::base
/// Move and insert a core segment.
CoreSegmentT& addCoreSegment(CoreSegmentT&& coreSegment)
{
- if (_container.count(coreSegment.name()) > 0)
+ if (this->_container.count(coreSegment.name()) > 0)
{
throw armem::error::ContainerEntryAlreadyExists(coreSegment.getLevelName(), coreSegment.name(),
this->getLevelName(), this->name());
}
- auto it = _container.emplace(coreSegment.name(), std::move(coreSegment)).first;
+ auto it = this->_container.emplace(coreSegment.name(), std::move(coreSegment)).first;
it->second.id().setMemoryID(this->id());
return it->second;
}
@@ -146,8 +166,8 @@ namespace armarx::armem::base
{
this->_checkContainerName(update.entityID.memoryName, this->name());
- auto it = _container.find(update.entityID.coreSegmentName);
- if (it != _container.end())
+ auto it = this->_container.find(update.entityID.coreSegmentName);
+ if (it != this->_container.end())
{
return it->second.update(update);
}
@@ -164,7 +184,7 @@ namespace armarx::armem::base
{
return false;
}
- for (const auto& [key, core] : _container)
+ for (const auto& [key, core] : this->_container)
{
if (not other.hasCoreSegment(key))
{
@@ -191,7 +211,6 @@ namespace armarx::armem::base
protected:
- using Base::_container;
};
}
diff --git a/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h b/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h
index 9cbfd4facde379fc5d3cc1f8f0d26631899e5811..5e29186c17cfede91af9de96e9c9dd4089382406 100644
--- a/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h
@@ -4,7 +4,8 @@
#include <string>
#include "EntityBase.h"
-#include "detail/TypedEntityContainerBase.h"
+#include "detail/AronTyped.h"
+#include "detail/EntityContainerBase.h"
#include "detail/MaxHistorySize.h"
@@ -16,10 +17,11 @@ namespace armarx::armem::base
*/
template <class _EntityT, class _Derived>
class ProviderSegmentBase :
- virtual public detail::TypedEntityContainerBase<_EntityT, _EntityT, _Derived>,
- virtual public detail::MaxHistorySize
+ public detail::EntityContainerBase<_EntityT, _EntityT, _Derived>,
+ public detail::MaxHistorySize,
+ public detail::AronTyped
{
- using Base = detail::TypedEntityContainerBase<_EntityT, _EntityT, _Derived>;
+ using Base = detail::EntityContainerBase<_EntityT, _EntityT, _Derived>;
public:
@@ -33,11 +35,38 @@ namespace armarx::armem::base
public:
+ ProviderSegmentBase()
+ {
+ }
+
+ ProviderSegmentBase(const std::string& name, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr) :
+ ProviderSegmentBase(MemoryID().withProviderSegmentName(name), aronType)
+ {
+ }
+ ProviderSegmentBase(const std::string& name, const MemoryID parentID, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr) :
+ ProviderSegmentBase(parentID.withProviderSegmentName(name), aronType)
+ {
+ }
+ ProviderSegmentBase(const MemoryID id, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr) :
+ Base(id),
+ AronTyped(aronType)
+ {
+ }
+
+ /*
+ ProviderSegmentBase(const ProviderSegmentBase& other) :
+ Base(other),
+ AronTyped(other)
+ {
+ }
+
+
ProviderSegmentBase& operator=(const ProviderSegmentBase& other)
{
other._copySelf(*this);
return *this;
}
+ */
inline const std::string& name() const
@@ -52,7 +81,7 @@ namespace armarx::armem::base
inline const std::map<std::string, EntityT>& entities() const
{
- return _container;
+ return this->_container;
}
inline std::map<std::string, EntityT>& entities()
{
@@ -62,7 +91,7 @@ namespace armarx::armem::base
bool hasEntity(const std::string& name) const
{
- return _container.count(name) > 0;
+ return this->_container.count(name) > 0;
}
using Base::getEntity;
@@ -80,7 +109,7 @@ namespace armarx::armem::base
const EntityT& getEntity(const std::string& name) const
{
auto it = this->_container.find(name);
- if (it != _container.end())
+ if (it != this->_container.end())
{
return it->second;
}
@@ -101,7 +130,7 @@ namespace armarx::armem::base
EntityT* entity;
auto it = this->_container.find(update.entityID.providerSegmentName);
- if (it == _container.end())
+ if (it == this->_container.end())
{
// Add entity entry.
entity = &addEntity(update.entityID.entityName);
@@ -128,7 +157,7 @@ namespace armarx::armem::base
/// Move and insert an entity.
EntityT& addEntity(EntityT&& entity)
{
- auto it = _container.emplace(entity.name(), std::move(entity)).first;
+ auto it = this->_container.emplace(entity.name(), std::move(entity)).first;
it->second.id().setProviderSegmentID(this->id());
return it->second;
}
@@ -142,7 +171,7 @@ namespace armarx::armem::base
void setMaxHistorySize(long maxSize) override
{
MaxHistorySize::setMaxHistorySize(maxSize);
- for (auto& [name, entity] : _container)
+ for (auto& [name, entity] : this->_container)
{
entity.setMaxHistorySize(maxSize);
}
@@ -156,7 +185,7 @@ namespace armarx::armem::base
{
return false;
}
- for (const auto& [key, value] : _container)
+ for (const auto& [key, value] : this->_container)
{
if (not other.hasEntity(key))
{
@@ -184,7 +213,11 @@ namespace armarx::armem::base
protected:
- using Base::_container;
+ virtual void _copySelf(DerivedT& other) const override
+ {
+ Base::_copySelf(other);
+ other.aronType() = _aronType;
+ }
};
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/AronTyped.cpp b/source/RobotAPI/libraries/armem/core/base/detail/AronTyped.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..ec7ca0402ad128dc6d342aa28279929c376df557
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/base/detail/AronTyped.cpp
@@ -0,0 +1,26 @@
+#include "AronTyped.h"
+
+namespace armarx::armem::base::detail
+{
+
+ AronTyped::AronTyped(aron::typenavigator::ObjectNavigatorPtr aronType) :
+ _aronType(aronType)
+ {}
+
+ bool AronTyped::hasAronType() const
+ {
+ return _aronType != nullptr;
+ }
+
+ aron::typenavigator::ObjectNavigatorPtr& AronTyped::aronType()
+ {
+ return _aronType;
+ }
+
+ aron::typenavigator::ObjectNavigatorPtr AronTyped::aronType() const
+ {
+ return _aronType;
+ }
+
+
+}
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/AronTyped.h b/source/RobotAPI/libraries/armem/core/base/detail/AronTyped.h
new file mode 100644
index 0000000000000000000000000000000000000000..fb0ad088fb4fb27ca39cf09f034ea7eb3b202cfe
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/base/detail/AronTyped.h
@@ -0,0 +1,32 @@
+#pragma once
+
+#include <RobotAPI/libraries/aron/core/navigator/type/container/Object.h>
+
+
+namespace armarx::armem::base::detail
+{
+
+ /**
+ * @brief Something with a specific ARON type.
+ */
+ class AronTyped
+ {
+ public:
+
+ AronTyped(aron::typenavigator::ObjectNavigatorPtr aronType = nullptr);
+
+
+ bool hasAronType() const;
+ aron::typenavigator::ObjectNavigatorPtr& aronType();
+ aron::typenavigator::ObjectNavigatorPtr aronType() const;
+
+
+ protected:
+
+ /// The expected Aron type. May be nullptr, in which case no type information is available.
+ aron::typenavigator::ObjectNavigatorPtr _aronType;
+
+ };
+
+
+}
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/EntityContainerBase.h b/source/RobotAPI/libraries/armem/core/base/detail/EntityContainerBase.h
index ba4f8cf9b7d3d975a63eff763c49f546dcae6ac7..4aafc3df39f1ae964d7188eab3e694ab457f8f1a 100644
--- a/source/RobotAPI/libraries/armem/core/base/detail/EntityContainerBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/detail/EntityContainerBase.h
@@ -19,7 +19,7 @@ namespace armarx::armem::base::detail
*/
template <class _ValueT, class _EntityT, class _Derived>
class EntityContainerBase :
- virtual public MemoryContainerBase<std::map<std::string, _ValueT>, _Derived>
+ public MemoryContainerBase<std::map<std::string, _ValueT>, _Derived>
{
using Base = MemoryContainerBase<std::map<std::string, _ValueT>, _Derived>;
@@ -35,11 +35,16 @@ namespace armarx::armem::base::detail
public:
+ using Base::MemoryContainerBase;
+
+ /*
EntityContainerBase& operator=(const EntityContainerBase& other)
{
other._copySelf(*this);
return *this;
}
+ */
+
/**
* @brief Store all updates in `commit`.
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/MemoryContainerBase.h b/source/RobotAPI/libraries/armem/core/base/detail/MemoryContainerBase.h
index 233985ebab9bee9353fd23f1b5e92ed570b0ccd2..9c4596a979173414e7a79840472dd6a0deb95612 100644
--- a/source/RobotAPI/libraries/armem/core/base/detail/MemoryContainerBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/detail/MemoryContainerBase.h
@@ -14,7 +14,7 @@ namespace armarx::armem::base::detail
*/
template <class _ContainerT, class _DerivedT>
class MemoryContainerBase :
- virtual public MemoryItem
+ public MemoryItem
{
using Base = MemoryItem;
@@ -26,11 +26,17 @@ namespace armarx::armem::base::detail
public:
+
MemoryContainerBase()
{}
- MemoryContainerBase(const MemoryContainerBase<ContainerT, DerivedT>& o) :
- MemoryItem(o.id),
- _container(o._container)
+ MemoryContainerBase(const MemoryID& id) :
+ MemoryItem(id)
+ {
+ }
+ /*
+ MemoryContainerBase(const MemoryContainerBase& other) :
+ MemoryItem(other),
+ _container(other._container)
{}
@@ -39,6 +45,7 @@ namespace armarx::armem::base::detail
other._copySelf(*this);
return *this;
}
+ */
// Container methods
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/MemoryItem.cpp b/source/RobotAPI/libraries/armem/core/base/detail/MemoryItem.cpp
index 76cb4215475417ec15345067f5eab980bca96887..a6a9f73e17443091503c09472bc3cee7259644ac 100644
--- a/source/RobotAPI/libraries/armem/core/base/detail/MemoryItem.cpp
+++ b/source/RobotAPI/libraries/armem/core/base/detail/MemoryItem.cpp
@@ -13,20 +13,24 @@ namespace armarx::armem::base::detail
{
}
+ /*
MemoryItem::MemoryItem(const MemoryItem& other) :
_id(other.id())
{}
+ */
MemoryItem::~MemoryItem()
{
}
+ /*
MemoryItem& MemoryItem::operator=(const MemoryItem& other)
{
other._copySelf(*this);
return *this;
}
+ */
void MemoryItem::_copySelf(MemoryItem& other) const
{
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/MemoryItem.h b/source/RobotAPI/libraries/armem/core/base/detail/MemoryItem.h
index 7867f645e39b9c6fca6ba7a92def993bb2f3fc40..07e799a13d083ea25b46e726f7ecabfaee472b1e 100644
--- a/source/RobotAPI/libraries/armem/core/base/detail/MemoryItem.h
+++ b/source/RobotAPI/libraries/armem/core/base/detail/MemoryItem.h
@@ -17,12 +17,12 @@ namespace armarx::armem::base::detail
MemoryItem();
MemoryItem(const MemoryID& id);
- MemoryItem(const MemoryItem& other);
+ //MemoryItem(const MemoryItem& other);
virtual ~MemoryItem();
- MemoryItem& operator=(const MemoryItem& other);
+ //MemoryItem& operator=(const MemoryItem& other);
inline MemoryID& id()
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/TypedEntityContainerBase.cpp b/source/RobotAPI/libraries/armem/core/base/detail/TypedEntityContainerBase.cpp
deleted file mode 100644
index cd42021d8a566ecca4a5e4662a560660d08b3630..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/base/detail/TypedEntityContainerBase.cpp
+++ /dev/null
@@ -1 +0,0 @@
-#include "TypedEntityContainerBase.h"
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/TypedEntityContainerBase.h b/source/RobotAPI/libraries/armem/core/base/detail/TypedEntityContainerBase.h
deleted file mode 100644
index 81f21797dfd4ca8972efd736ba8660b5e48a68f8..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/base/detail/TypedEntityContainerBase.h
+++ /dev/null
@@ -1,96 +0,0 @@
-#pragma once
-
-#include "EntityContainerBase.h"
-
-#include <RobotAPI/libraries/aron/core/navigator/type/container/Object.h>
-
-namespace armarx::armem::base::detail
-{
-
- /**
- * @brief An entity container with a specific (Aron) type.
- */
- template <class _ValueT, class _EntityT, class _Derived>
- class TypedEntityContainerBase :
- virtual public EntityContainerBase<_ValueT, _EntityT, _Derived>
- {
- using Base = EntityContainerBase<_ValueT, _EntityT, _Derived>;
-
-
- public:
-
- using typename Base::DerivedT;
- using typename Base::ValueT;
- using typename Base::EntityT;
- using typename Base::EntitySnapshotT;
- using typename Base::EntityInstanceT;
-
-
- TypedEntityContainerBase(aron::typenavigator::ObjectNavigatorPtr aronType = nullptr) :
- _aronType(aronType)
- {}
-
- TypedEntityContainerBase(const TypedEntityContainerBase<_ValueT, _EntityT, DerivedT>& other) :
- MemoryItem(other),
- MemoryContainerBase<std::map<std::string, _ValueT>, DerivedT>(other),
- _aronType(other._aronType)
- {}
-
- TypedEntityContainerBase(const MemoryID& id, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr) :
- MemoryItem(id),
- _aronType(aronType)
- {}
-
-
- TypedEntityContainerBase& operator=(const TypedEntityContainerBase& other)
- {
- other._copySelf(*this);
- return *this;
- }
-
-
- bool hasAronType() const
- {
- return _aronType != nullptr;
- }
- aron::typenavigator::ObjectNavigatorPtr& aronType()
- {
- return _aronType;
- }
- aron::typenavigator::ObjectNavigatorPtr aronType() const
- {
- return _aronType;
- }
-
- virtual DerivedT copyEmpty() const override
- {
- DerivedT d;
- this->_copySelfEmpty(d);
- return d;
- }
-
-
- protected:
-
- virtual void _copySelf(DerivedT& other) const override
- {
- Base::_copySelf(other);
- other._aronType = _aronType;
- }
-
- virtual void _copySelfEmpty(DerivedT& other) const override
- {
- Base::_copySelfEmpty(other);
- other._aronType = _aronType;
- }
-
-
- protected:
-
- /// The expected Aron type. May be nullptr, in which case no type information is available.
- aron::typenavigator::ObjectNavigatorPtr _aronType;
-
- };
-
-
-}
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.cpp
index bc3104b74ea8c1f396dc6ce0aee5742cdafd7e94..d98f3a339835faf7066c2f1f3d5a3c8da6251f3a 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.cpp
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.cpp
@@ -2,38 +2,15 @@
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-#include "error.h"
+#include "TypeIO.h"
namespace armarx::armem::d_ltm
{
- CoreSegment::CoreSegment()
- {
- }
-
- CoreSegment::CoreSegment(const std::string& name, aron::typenavigator::ObjectNavigatorPtr aronType) :
- base::detail::MemoryItem(MemoryID().withCoreSegmentName(name)),
- base::detail::TypedEntityContainerBase<ProviderSegment, Entity, CoreSegment>(MemoryID().withCoreSegmentName(name), aronType)
- {
- }
-
- CoreSegment::CoreSegment(const std::string& name, const MemoryID& parentID, aron::typenavigator::ObjectNavigatorPtr aronType) :
- base::detail::MemoryItem(MemoryID().withCoreSegmentName(name)),
- base::detail::TypedEntityContainerBase<ProviderSegment, Entity, CoreSegment>(parentID.withCoreSegmentName(name), aronType)
- {
- }
-
- CoreSegment::CoreSegment(const MemoryID& id, aron::typenavigator::ObjectNavigatorPtr aronType) :
- base::detail::MemoryItem(id),
- base::detail::TypedEntityContainerBase<ProviderSegment, Entity, CoreSegment>(id, aronType)
- {
- }
-
CoreSegment::CoreSegment(const CoreSegment& other) :
- base::detail::MemoryItem(other),
- base::detail::MemoryContainerBase<std::map<std::string, ProviderSegment>, CoreSegment>(other),
- base::detail::TypedEntityContainerBase<ProviderSegment, Entity, CoreSegment>(other)
+ Base(other),
+ path(other.path)
{
}
@@ -99,7 +76,10 @@ namespace armarx::armem::d_ltm
if (d.is_regular_file())
{
- readAronType(d.path());
+ if (auto type = TypeIO::readAronType(d.path()))
+ {
+ _aronType = type;
+ }
}
}
}
@@ -108,7 +88,7 @@ namespace armarx::armem::d_ltm
void CoreSegment::append(const wm::CoreSegment& m)
{
std::filesystem::create_directories(_fullPath());
- writeAronType(_fullPath());
+ TypeIO::writeAronType(_aronType, _fullPath());
for (const auto& [k, s] : m)
{
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.h b/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.h
index f26c01c67ed90ab5467b32e4ed755b3ddee2e1cf..896be97761041fb45ef29f00b5c1f64e29581051 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.h
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.h
@@ -3,12 +3,10 @@
#include <filesystem>
#include "../base/CoreSegmentBase.h"
-#include "detail/TypedEntityContainer.h"
+#include "../workingmemory/CoreSegment.h"
#include "ProviderSegment.h"
-#include "../workingmemory/CoreSegment.h"
-
namespace armarx::armem::d_ltm
{
@@ -17,16 +15,13 @@ namespace armarx::armem::d_ltm
* @brief Data of a core segment containing multiple provider segments.
*/
class CoreSegment :
- virtual public base::CoreSegmentBase<ProviderSegment, CoreSegment>,
- virtual public detail::TypedEntityContainer<ProviderSegment, CoreSegment>
+ public base::CoreSegmentBase<ProviderSegment, CoreSegment>
{
using Base = base::CoreSegmentBase<ProviderSegment, CoreSegment>;
public:
- CoreSegment();
- CoreSegment(const std::string& name, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr);
- CoreSegment(const std::string& name, const MemoryID& parentID, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr);
- CoreSegment(const MemoryID& id, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr);
+
+ using Base::CoreSegmentBase;
CoreSegment(const CoreSegment& other);
CoreSegment& operator=(const CoreSegment& other);
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/Entity.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/Entity.cpp
index 77ff0d95f4cf7ac7b81ac933d478ce47ae1010a6..bf14fe6464532ad02857696ac8fe2c31e9aaaed9 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/Entity.cpp
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/Entity.cpp
@@ -3,23 +3,9 @@
namespace armarx::armem::d_ltm
{
- Entity::Entity()
- {
- }
-
- Entity::Entity(const std::string& name, const MemoryID& parentID) :
- base::detail::MemoryItem(parentID.withEntityName(name))
- {
- }
-
- Entity::Entity(const MemoryID& id) :
- base::detail::MemoryItem(id)
- {
- }
-
Entity::Entity(const Entity& other) :
- base::detail::MemoryItem(other),
- base::detail::MemoryContainerBase<std::map<Time, EntitySnapshot>, Entity>(other)
+ Base(other),
+ path(other.path)
{
}
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/Entity.h b/source/RobotAPI/libraries/armem/core/diskmemory/Entity.h
index 756f3eb69dd3499333532187ee207fd4cec4e102..9174ffb73d326ec947ac7c8265f26b12b07805bc 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/Entity.h
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/Entity.h
@@ -3,10 +3,10 @@
#include <filesystem>
#include "../base/EntityBase.h"
+#include "../workingmemory/Entity.h"
#include "EntitySnapshot.h"
-#include "../workingmemory/Entity.h"
namespace armarx::armem::d_ltm
@@ -31,18 +31,15 @@ namespace armarx::armem::d_ltm
* each containing a single `AronData` object of a specific `AronType`.
*/
class Entity :
- virtual public base::EntityBase<EntitySnapshot, Entity>
+ public base::EntityBase<EntitySnapshot, Entity>
{
using Base = base::EntityBase<EntitySnapshot, Entity>;
public:
- Entity();
- Entity(const std::string& name, const MemoryID& parentID = {});
- Entity(const MemoryID& id);
- /// Copy the history from `other` to this.
+ using Base::EntityBase;
+
Entity(const Entity& other);
- /// Copy the history from `other` to this.
Entity& operator=(const Entity& other);
// Conversion
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.cpp
index 28bcf696369fedfa9bd39ab9cce3f694033211d6..1ee7691f41d3d55c903d70bf9cd144bb62765d06 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.cpp
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.cpp
@@ -13,22 +13,9 @@
namespace armarx::armem::d_ltm
{
- EntityInstance::EntityInstance()
- {
- }
-
EntityInstance::EntityInstance(const EntityInstance& other) :
- base::detail::MemoryItem(other.id())
- {
- }
-
- EntityInstance::EntityInstance(int index, const MemoryID& parentID) :
- EntityInstance(parentID.withInstanceIndex(index))
- {
- }
-
- EntityInstance::EntityInstance(const MemoryID& id) :
- base::detail::MemoryItem(id)
+ Base(other),
+ path(other.path)
{
}
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.h b/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.h
index 8e7a0fed18959090f05196ba32565f507e19faf4..37bebb7b64cad3c07ffecb88ad1ccacda6db37ce 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.h
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.h
@@ -3,25 +3,24 @@
#include <filesystem>
#include "../base/EntityInstanceBase.h"
-
#include "../workingmemory/EntityInstance.h"
+
namespace armarx::armem::d_ltm
{
/**
* @brief Data of a single entity instance.
*/
class EntityInstance :
- virtual public base::EntityInstanceBase<EntityInstance>
+ public base::EntityInstanceBase<EntityInstance>
{
using Base = base::EntityInstanceBase<EntityInstance>;
public:
- EntityInstance();
- EntityInstance(const EntityInstance&);
- EntityInstance(int index, const MemoryID& parentID = {});
- EntityInstance(const MemoryID& id);
+ using Base::EntityInstanceBase;
+
+ EntityInstance(const EntityInstance&);
EntityInstance& operator=(const EntityInstance& other);
/**
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.cpp
index 98654d7a854b4247d515887ba3e9e4d5996b46d8..8de49551aeeea65331240123b3c3e8c5e72c003d 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.cpp
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.cpp
@@ -8,24 +8,9 @@
namespace armarx::armem::d_ltm
{
-
- EntitySnapshot::EntitySnapshot()
- {
- }
-
- EntitySnapshot::EntitySnapshot(Time time, const MemoryID& parentID) :
- EntitySnapshot(parentID.withTimestamp(time))
- {
- }
-
- EntitySnapshot::EntitySnapshot(const MemoryID& id) :
- base::detail::MemoryItem(id)
- {
- }
-
EntitySnapshot::EntitySnapshot(const EntitySnapshot& other) :
- base::detail::MemoryItem(other),
- base::detail::MemoryContainerBase<std::vector<EntityInstance>, EntitySnapshot>(other)
+ Base(other),
+ path(other.path)
{
}
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.h b/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.h
index 5c3cf02ff6cb452797ac0c0433bbef294d92a29f..d3402d634218d9afaffd46aa5c0bf62525b9f1f7 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.h
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.h
@@ -3,11 +3,10 @@
#include <filesystem>
#include "../base/EntitySnapshotBase.h"
+#include "../workingmemory/EntitySnapshot.h"
#include "EntityInstance.h"
-#include "../workingmemory/EntitySnapshot.h"
-
namespace armarx::armem::d_ltm
{
@@ -16,19 +15,15 @@ namespace armarx::armem::d_ltm
* @brief Data of an entity at one point in time.
*/
class EntitySnapshot :
- virtual public base::EntitySnapshotBase<EntityInstance, EntitySnapshot>
+ public base::EntitySnapshotBase<EntityInstance, EntitySnapshot>
{
using Base = base::EntitySnapshotBase<EntityInstance, EntitySnapshot>;
public:
- EntitySnapshot();
- EntitySnapshot(Time time, const MemoryID& parentID = {});
- EntitySnapshot(const MemoryID& id);
- /// Copy the instances from `other` to this.
- EntitySnapshot(const EntitySnapshot& other);
+ using Base::EntitySnapshotBase;
- /// Copy the instances from `other` to this.
+ EntitySnapshot(const EntitySnapshot& other);
EntitySnapshot& operator=(const EntitySnapshot& other);
// Conversion
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/Memory.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/Memory.cpp
index 70ed79acc064f4c0fb3a222c75bd90321c39f0e2..f7461b4cf9633e6b722fa97fda6aa5debee632d0 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/Memory.cpp
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/Memory.cpp
@@ -8,26 +8,10 @@
namespace armarx::armem::d_ltm
{
-
- Memory::Memory()
- {
- }
-
- Memory::Memory(const std::string& name) :
- base::detail::MemoryItem(MemoryID().withMemoryName(name))
- {
- }
-
- Memory::Memory(const MemoryID& id) :
- base::detail::MemoryItem(id)
- {
- }
-
Memory::Memory(const Memory& other) :
- base::detail::MemoryItem(other),
- base::detail::MemoryContainerBase<std::map<std::string, CoreSegment>, Memory>(other)
+ Base(other),
+ path(other.path)
{
- *this = other;
}
Memory& Memory::operator=(const Memory& other)
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/Memory.h b/source/RobotAPI/libraries/armem/core/diskmemory/Memory.h
index 32bd30fa69c4dff87ef9d13e599cac8442936003..f1a9d446dcf982c9bb9e44d08a7ea9d8e3bfcc5e 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/Memory.h
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/Memory.h
@@ -3,10 +3,10 @@
#include <filesystem>
#include "../base/MemoryBase.h"
+#include "../workingmemory/Memory.h"
#include "CoreSegment.h"
-#include "../workingmemory/Memory.h"
namespace armarx::armem::d_ltm
{
@@ -15,14 +15,13 @@ namespace armarx::armem::d_ltm
* @brief Data of a memory consisting of multiple core segments.
*/
class Memory :
- virtual public base::MemoryBase<CoreSegment, Memory>
+ public base::MemoryBase<CoreSegment, Memory>
{
using Base = base::MemoryBase<CoreSegment, Memory>;
public:
- Memory();
- Memory(const std::string& name);
- Memory(const MemoryID& id);
+
+ using Base::MemoryBase;
Memory(const Memory& other);
Memory& operator=(const Memory& other);
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.cpp
index ae84449bb7a55ccf5d7a525b5b27f50c34fb3815..04d906cca6fd8429e848662ae8685d9da19e7056 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.cpp
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.cpp
@@ -2,38 +2,15 @@
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-#include "error.h"
+#include "TypeIO.h"
namespace armarx::armem::d_ltm
{
- ProviderSegment::ProviderSegment()
- {
- }
-
- ProviderSegment::ProviderSegment(const std::string& name, aron::typenavigator::ObjectNavigatorPtr aronType) :
- base::detail::MemoryItem(MemoryID().withProviderSegmentName(name)),
- base::detail::TypedEntityContainerBase<Entity, Entity, ProviderSegment>(MemoryID().withProviderSegmentName(name), aronType)
- {
- }
-
- ProviderSegment::ProviderSegment(const std::string& name, const MemoryID parentID, aron::typenavigator::ObjectNavigatorPtr aronType) :
- base::detail::MemoryItem(parentID.withProviderSegmentName(name)),
- base::detail::TypedEntityContainerBase<Entity, Entity, ProviderSegment>(parentID.withProviderSegmentName(name), aronType)
- {
- }
-
- ProviderSegment::ProviderSegment(const MemoryID id, aron::typenavigator::ObjectNavigatorPtr aronType) :
- base::detail::MemoryItem(id),
- base::detail::TypedEntityContainerBase<Entity, Entity, ProviderSegment>(id, aronType)
- {
- }
-
ProviderSegment::ProviderSegment(const ProviderSegment& other) :
- base::detail::MemoryItem(other),
- base::detail::MemoryContainerBase<std::map<std::string, Entity>, ProviderSegment>(other),
- base::detail::TypedEntityContainerBase<Entity, Entity, ProviderSegment>(other)
+ Base(other),
+ path(other.path)
{
}
@@ -106,7 +83,10 @@ namespace armarx::armem::d_ltm
if (d.is_regular_file())
{
- readAronType(d.path());
+ if (auto type = TypeIO::readAronType(d.path()))
+ {
+ _aronType = type;
+ }
}
}
}
@@ -115,7 +95,7 @@ namespace armarx::armem::d_ltm
void ProviderSegment::append(const wm::ProviderSegment& m)
{
std::filesystem::create_directories(_fullPath());
- writeAronType(_fullPath());
+ TypeIO::writeAronType(_aronType, _fullPath());
for (const auto& [k, s] : m.container())
{
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.h b/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.h
index c3a5f1dfd2b75e49d8d20c54816a793c0ba85c4b..0be4a70c1acbfa81492ef279189f4b7bac2165b7 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.h
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.h
@@ -3,12 +3,10 @@
#include <filesystem>
#include "../base/ProviderSegmentBase.h"
-#include "detail/TypedEntityContainer.h"
+#include "../workingmemory/ProviderSegment.h"
#include "Entity.h"
-#include "../workingmemory/ProviderSegment.h"
-
namespace armarx::armem::d_ltm
{
@@ -17,16 +15,13 @@ namespace armarx::armem::d_ltm
* @brief Data of a provider segment containing multiple entities.
*/
class ProviderSegment :
- virtual public base::ProviderSegmentBase<Entity, ProviderSegment>,
- virtual public detail::TypedEntityContainer<Entity, ProviderSegment>
+ public base::ProviderSegmentBase<Entity, ProviderSegment>
{
using Base = base::ProviderSegmentBase<Entity, ProviderSegment>;
public:
- ProviderSegment();
- ProviderSegment(const std::string& name, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr);
- ProviderSegment(const std::string& name, const MemoryID parentID, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr);
- ProviderSegment(const MemoryID id, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr);
+
+ using Base::ProviderSegmentBase;
ProviderSegment(const ProviderSegment& other);
ProviderSegment& operator=(const ProviderSegment& other);
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/TypeIO.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/TypeIO.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..dc7f7a83706c7b9f69cc05a6e81bcf810c10a249
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/TypeIO.cpp
@@ -0,0 +1,71 @@
+#include "TypeIO.h"
+
+#include <iostream>
+#include <fstream>
+#include <filesystem>
+
+#include <RobotAPI/libraries/aron/core/navigator/type/container/Object.h>
+#include <RobotAPI/libraries/aron/core/io/typeIO/visitor/Visitor.h>
+#include <RobotAPI/libraries/aron/core/io/typeIO/converter/Converter.h>
+#include <RobotAPI/libraries/aron/core/io/typeIO/reader/nlohmannJSON/NlohmannJSONReader.h>
+#include <RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.h>
+#include <RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.h>
+
+
+namespace armarx::armem::d_ltm
+{
+
+ aron::typenavigator::ObjectNavigatorPtr TypeIO::unwrapType(const aron::typenavigator::ObjectNavigatorPtr& type)
+ {
+ return aron::typenavigator::ObjectNavigator::DynamicCastAndCheck(type->getMemberType(TYPE_WRAPPER_DATA_FIELD));
+ }
+
+ aron::typenavigator::ObjectNavigatorPtr TypeIO::wrapType(const aron::typenavigator::ObjectNavigatorPtr& type)
+ {
+ aron::typenavigator::ObjectNavigatorPtr typeWrapped(new aron::typenavigator::ObjectNavigator());
+ typeWrapped->setObjectName(type->getObjectName() + "__ltm_type_export");
+ typeWrapped->addMemberType(TYPE_WRAPPER_DATA_FIELD, type);
+
+ typeWrapped->addMemberType(TYPE_WRAPPER_TIME_STORED_FIELD, std::make_shared<aron::typenavigator::LongNavigator>());
+ typeWrapped->addMemberType(TYPE_WRAPPER_TIME_CREATED_FIELD, std::make_shared<aron::typenavigator::LongNavigator>());
+ typeWrapped->addMemberType(TYPE_WRAPPER_TIME_SENT_FIELD, std::make_shared<aron::typenavigator::LongNavigator>());
+ typeWrapped->addMemberType(TYPE_WRAPPER_TIME_ARRIVED_FIELD, std::make_shared<aron::typenavigator::LongNavigator>());
+ typeWrapped->addMemberType(TYPE_WRAPPER_CONFIDENCE_FIELD, std::make_shared<aron::typenavigator::DoubleNavigator>());
+
+ return typeWrapped;
+ }
+
+ aron::typenavigator::ObjectNavigatorPtr TypeIO::readAronType(const std::filesystem::__cxx11::path& filepath)
+ {
+ if (std::filesystem::is_regular_file(filepath))
+ {
+ if (filepath.filename() == (std::string(TYPE_FILENAME) + ".json"))
+ {
+ std::ifstream ifs(filepath);
+ std::string file_content((std::istreambuf_iterator<char>(ifs)), (std::istreambuf_iterator<char>()));
+
+ aron::typeIO::reader::NlohmannJSONReader typeReader(file_content);
+ aron::typeIO::writer::NavigatorWriter navWriter;
+ aron::typeIO::Converter::ReadAndConvert(typeReader, navWriter);
+ return aron::typenavigator::ObjectNavigator::DynamicCastAndCheck(navWriter.getResult());
+ }
+ }
+ return nullptr;
+ }
+
+ void TypeIO::writeAronType(const aron::typenavigator::ObjectNavigatorPtr& type, const std::filesystem::__cxx11::path& filepath)
+ {
+ if (type)
+ {
+ std::ofstream ofs(filepath);
+
+ aron::typeIO::writer::NlohmannJSONWriter typeWriter;
+ aron::typeIO::Visitor::VisitAndSetup(typeWriter, type);
+ std::string new_file_full_content = typeWriter.getResult().dump(2);
+
+ ofs << new_file_full_content;
+ }
+ }
+
+
+}
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/TypeIO.h b/source/RobotAPI/libraries/armem/core/diskmemory/TypeIO.h
new file mode 100644
index 0000000000000000000000000000000000000000..4311bdcd7034a08b30b7c7f6ae9ee3eab0952fac
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/TypeIO.h
@@ -0,0 +1,37 @@
+#pragma once
+
+#include <filesystem>
+
+#include <RobotAPI/libraries/aron/core/navigator/type/container/Object.h>
+
+
+namespace armarx::armem::d_ltm
+{
+
+ /**
+ * @brief An entity container with a specific (Aron) type.
+ */
+ class TypeIO
+ {
+ public:
+
+ static aron::typenavigator::ObjectNavigatorPtr unwrapType(const aron::typenavigator::ObjectNavigatorPtr& type);
+ static aron::typenavigator::ObjectNavigatorPtr wrapType(const aron::typenavigator::ObjectNavigatorPtr& type);
+
+ static aron::typenavigator::ObjectNavigatorPtr readAronType(const std::filesystem::path& filepath);
+ static void writeAronType(const aron::typenavigator::ObjectNavigatorPtr& type, const std::filesystem::path& filepath);
+
+
+ private:
+
+ static const constexpr char* TYPE_FILENAME = "type";
+ static constexpr const char* TYPE_WRAPPER_DATA_FIELD = "__ARON_DATA";
+ static constexpr const char* TYPE_WRAPPER_TIME_STORED_FIELD = "__WRITER_METADATA__TIME_STORED";
+ static constexpr const char* TYPE_WRAPPER_TIME_CREATED_FIELD = "__ENTITY_METADATA__TIME_CREATED";
+ static constexpr const char* TYPE_WRAPPER_TIME_SENT_FIELD = "__ENTITY_METADATA__TIME_SENT";
+ static constexpr const char* TYPE_WRAPPER_TIME_ARRIVED_FIELD = "__ENTITY_METADATA__TIME_ARRIVED";
+ static constexpr const char* TYPE_WRAPPER_CONFIDENCE_FIELD = "__ENTITY_METADATA__CONFIDENCE";
+
+ };
+
+}
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/detail/TypedEntityContainer.h b/source/RobotAPI/libraries/armem/core/diskmemory/detail/TypedEntityContainer.h
deleted file mode 100644
index 9163b9482dc880a667f810e43039a1ac81d52f0a..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/diskmemory/detail/TypedEntityContainer.h
+++ /dev/null
@@ -1,100 +0,0 @@
-#pragma once
-
-#include <iostream>
-#include <fstream>
-
-#include "../../base/detail/TypedEntityContainerBase.h"
-#include "../Entity.h"
-
-#include <RobotAPI/libraries/aron/core/navigator/type/container/Object.h>
-#include <RobotAPI/libraries/aron/core/io/typeIO/visitor/Visitor.h>
-#include <RobotAPI/libraries/aron/core/io/typeIO/converter/Converter.h>
-#include <RobotAPI/libraries/aron/core/io/typeIO/reader/nlohmannJSON/NlohmannJSONReader.h>
-#include <RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.h>
-#include <RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.h>
-
-namespace armarx::armem::d_ltm::detail
-{
-
- /**
- * @brief An entity container with a specific (Aron) type.
- */
- template <class _ValueT, class Derived>
- class TypedEntityContainer :
- virtual public base::detail::TypedEntityContainerBase<_ValueT, Entity, Derived>
- {
- using Base = base::detail::TypedEntityContainerBase<_ValueT, Entity, Derived>;
-
- public:
- TypedEntityContainer& operator=(const TypedEntityContainer& other)
- {
- other._copySelf(*this);
- return *this;
- }
-
- protected:
- aron::typenavigator::ObjectNavigatorPtr unwrapType(const aron::typenavigator::ObjectNavigatorPtr& t) const
- {
- return aron::typenavigator::ObjectNavigator::DynamicCastAndCheck(t->getMemberType(TYPE_WRAPPER_DATA_FIELD));
- }
-
- aron::typenavigator::ObjectNavigatorPtr wrapType(const aron::typenavigator::ObjectNavigatorPtr& t) const
- {
- aron::typenavigator::ObjectNavigatorPtr typeWrapped(new aron::typenavigator::ObjectNavigator());
- typeWrapped->setObjectName(t->getObjectName() + "__ltm_type_export");
- typeWrapped->addMemberType(TYPE_WRAPPER_DATA_FIELD, t);
-
- typeWrapped->addMemberType(TYPE_WRAPPER_TIME_STORED_FIELD, std::make_shared<aron::typenavigator::LongNavigator>());
- typeWrapped->addMemberType(TYPE_WRAPPER_TIME_CREATED_FIELD, std::make_shared<aron::typenavigator::LongNavigator>());
- typeWrapped->addMemberType(TYPE_WRAPPER_TIME_SENT_FIELD, std::make_shared<aron::typenavigator::LongNavigator>());
- typeWrapped->addMemberType(TYPE_WRAPPER_TIME_ARRIVED_FIELD, std::make_shared<aron::typenavigator::LongNavigator>());
- typeWrapped->addMemberType(TYPE_WRAPPER_CONFIDENCE_FIELD, std::make_shared<aron::typenavigator::DoubleNavigator>());
-
- return typeWrapped;
- }
-
- using Base::aronType;
- void readAronType(const std::filesystem::path& d)
- {
- if (std::filesystem::is_regular_file(d))
- {
- if (d.filename() == (std::string(TYPE_FILENAME) + ".json"))
- {
- std::ifstream ifs(d);
- std::string file_content((std::istreambuf_iterator<char>(ifs)), (std::istreambuf_iterator<char>()));
-
- aron::typeIO::reader::NlohmannJSONReader typeReader(file_content);
- aron::typeIO::writer::NavigatorWriter navWriter;
- aron::typeIO::Converter::ReadAndConvert(typeReader, navWriter);
- this->aronType() = aron::typenavigator::ObjectNavigator::DynamicCastAndCheck(navWriter.getResult());
- }
- }
- }
-
- using Base::hasAronType;
- void writeAronType(const std::filesystem::path& d)
- {
- if (hasAronType())
- {
- std::ofstream ofs;
- ofs.open(d);
-
- aron::typeIO::writer::NlohmannJSONWriter typeWriter;
- aron::typeIO::Visitor::VisitAndSetup(typeWriter, this->aronType());
- std::string new_file_full_content = typeWriter.getResult().dump(2);
-
- ofs << new_file_full_content;
- ofs.close();
- }
- }
-
- private:
- static const constexpr char* TYPE_FILENAME = "type";
- static constexpr const char* TYPE_WRAPPER_DATA_FIELD = "__ARON_DATA";
- static constexpr const char* TYPE_WRAPPER_TIME_STORED_FIELD = "__WRITER_METADATA__TIME_STORED";
- static constexpr const char* TYPE_WRAPPER_TIME_CREATED_FIELD = "__ENTITY_METADATA__TIME_CREATED";
- static constexpr const char* TYPE_WRAPPER_TIME_SENT_FIELD = "__ENTITY_METADATA__TIME_SENT";
- static constexpr const char* TYPE_WRAPPER_TIME_ARRIVED_FIELD = "__ENTITY_METADATA__TIME_ARRIVED";
- static constexpr const char* TYPE_WRAPPER_CONFIDENCE_FIELD = "__ENTITY_METADATA__CONFIDENCE";
- };
-}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.cpp
index 6bebc718e499ed311d3090aacd3dd6b71bc5078f..2cd7aa55c3b369a0b73dd787399db44f550b97c7 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.cpp
@@ -8,35 +8,6 @@
namespace armarx::armem::ltm
{
- CoreSegment::CoreSegment()
- {
- }
-
- CoreSegment::CoreSegment(const std::string& name, aron::typenavigator::ObjectNavigatorPtr aronType) :
- base::detail::MemoryItem(MemoryID().withCoreSegmentName(name)),
- base::detail::TypedEntityContainerBase<ProviderSegment, Entity, CoreSegment>(MemoryID().withCoreSegmentName(name), aronType)
- {
- }
-
- CoreSegment::CoreSegment(const std::string& name, const MemoryID& parentID, aron::typenavigator::ObjectNavigatorPtr aronType) :
- base::detail::MemoryItem(MemoryID().withCoreSegmentName(name)),
- base::detail::TypedEntityContainerBase<ProviderSegment, Entity, CoreSegment>(parentID.withCoreSegmentName(name), aronType)
- {
- }
-
- CoreSegment::CoreSegment(const MemoryID& id, aron::typenavigator::ObjectNavigatorPtr aronType) :
- base::detail::MemoryItem(id),
- base::detail::TypedEntityContainerBase<ProviderSegment, Entity, CoreSegment>(id, aronType)
- {
- }
-
- CoreSegment::CoreSegment(const CoreSegment& other) :
- base::detail::MemoryItem(other),
- base::detail::MemoryContainerBase<std::map<std::string, ProviderSegment>, CoreSegment>(other),
- base::detail::TypedEntityContainerBase<ProviderSegment, Entity, CoreSegment>(other)
- {
- }
-
CoreSegment& CoreSegment::operator=(const CoreSegment& other)
{
other._copySelf(*this);
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.h b/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.h
index 59bb7830d66e1b5ec2e15c904ae967a93534b8a3..f2ee3dc7298e5921f62e98e6f6f70e0228fefc7f 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.h
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.h
@@ -14,17 +14,14 @@ namespace armarx::armem::ltm
* @brief Data of a core segment containing multiple provider segments.
*/
class CoreSegment :
- virtual public base::CoreSegmentBase<ProviderSegment, CoreSegment>
+ public base::CoreSegmentBase<ProviderSegment, CoreSegment>
{
using Base = base::CoreSegmentBase<ProviderSegment, CoreSegment>;
public:
- CoreSegment();
- CoreSegment(const std::string& name, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr);
- CoreSegment(const std::string& name, const MemoryID& parentID, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr);
- CoreSegment(const MemoryID& id, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr);
- CoreSegment(const CoreSegment& other);
+ using Base::CoreSegmentBase;
+
CoreSegment& operator=(const CoreSegment& other);
// Conversion
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.cpp
index 30c578d82a61a556720cb7089d033dc9120a16c8..92eb8e29be2d6a74303534b4ed3f825f3ba183a6 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.cpp
@@ -3,26 +3,6 @@
namespace armarx::armem::ltm
{
- Entity::Entity()
- {
- }
-
- Entity::Entity(const std::string& name, const MemoryID& parentID) :
- base::detail::MemoryItem(parentID.withEntityName(name))
- {
- }
-
- Entity::Entity(const MemoryID& id) :
- base::detail::MemoryItem(id)
- {
- }
-
- Entity::Entity(const Entity& other) :
- base::detail::MemoryItem(other),
- base::detail::MemoryContainerBase<std::map<Time, EntitySnapshot>, Entity>(other)
- {
- }
-
Entity& Entity::operator=(const Entity& other)
{
other._copySelf(*this);
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.h b/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.h
index 79d81340e35381228ffa8875c8723a349bdb4035..7bce33fe15f5a012313105a3f39a7fade99cacb7 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.h
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.h
@@ -29,17 +29,14 @@ namespace armarx::armem::ltm
* each containing a single `AronData` object of a specific `AronType`.
*/
class Entity :
- virtual public base::EntityBase<EntitySnapshot, Entity>
+ public base::EntityBase<EntitySnapshot, Entity>
{
using Base = base::EntityBase<EntitySnapshot, Entity>;
public:
- Entity();
- Entity(const std::string& name, const MemoryID& parentID = {});
- Entity(const MemoryID& id);
- /// Copy the history from `other` to this.
- Entity(const Entity& other);
+ using Base::EntityBase;
+
/// Copy the history from `other` to this.
Entity& operator=(const Entity& other);
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.cpp
index 17535db36fda2e165df2e7a41489193699ac4754..b83f77e74c84563764ab1527f828a1e31b28a978 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.cpp
@@ -13,25 +13,12 @@ namespace armarx::armem::ltm
&& std::abs(confidence - other.confidence) < 1e-6f;
}
- EntityInstance::EntityInstance()
- {
- }
-
EntityInstance::EntityInstance(const EntityInstance& other) :
- MemoryItem(other.id()),
+ Base(other),
_metadata(other._metadata)
{
}
- EntityInstance::EntityInstance(int index, const MemoryID& parentID) :
- EntityInstance(parentID.withInstanceIndex(index))
- {
- }
-
- EntityInstance::EntityInstance(const MemoryID& id) :
- base::detail::MemoryItem(id)
- {
- }
EntityInstance& EntityInstance::operator=(const EntityInstance& other)
{
@@ -65,7 +52,7 @@ namespace armarx::armem::ltm
void EntityInstance::_copySelf(EntityInstance& other) const
{
- EntityInstanceBase<EntityInstance>::_copySelf(other);
+ Base::_copySelf(other);
other._metadata = _metadata;
}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.h b/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.h
index ee94fbfbbe9e79dd74916612e49a4a6eee0b90cc..39225dd6eecd341035b797d5fbebc80522e11148 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.h
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.h
@@ -34,16 +34,15 @@ namespace armarx::armem::ltm
* @brief Data of a single entity instance.
*/
class EntityInstance :
- virtual public base::EntityInstanceBase<EntityInstance>
+ public base::EntityInstanceBase<EntityInstance>
{
using Base = base::EntityInstanceBase<EntityInstance>;
public:
- EntityInstance();
- EntityInstance(const EntityInstance&);
- EntityInstance(int index, const MemoryID& parentID = {});
- EntityInstance(const MemoryID& id);
+ using Base::EntityInstanceBase;
+
+ EntityInstance(const EntityInstance& other);
EntityInstance& operator=(const EntityInstance& other);
EntityInstanceMetadata& metadata()
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.cpp
index 9f3272eb9ba94c5751ea0b2d4f1c0893802eb0d6..e89154efcf545b34b6c91e355b384d21df59be3e 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.cpp
@@ -8,27 +8,6 @@
namespace armarx::armem::ltm
{
-
- EntitySnapshot::EntitySnapshot()
- {
- }
-
- EntitySnapshot::EntitySnapshot(Time time, const MemoryID& parentID) :
- EntitySnapshot(parentID.withTimestamp(time))
- {
- }
-
- EntitySnapshot::EntitySnapshot(const MemoryID& id) :
- MemoryItem(id)
- {
- }
-
- EntitySnapshot::EntitySnapshot(const EntitySnapshot& other) :
- base::detail::MemoryItem(other),
- base::detail::MemoryContainerBase<std::vector<EntityInstance>, EntitySnapshot>(other)
- {
- }
-
EntitySnapshot& EntitySnapshot::operator=(const EntitySnapshot& other)
{
other._copySelf(*this);
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.h b/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.h
index b8c3f491dc8b87979856786abe931ab1fc7eaeb7..bea3c55b7981f1c4a43f15a3fe931df8043b3a9e 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.h
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.h
@@ -14,17 +14,13 @@ namespace armarx::armem::ltm
* @brief Data of an entity at one point in time.
*/
class EntitySnapshot :
- virtual public base::EntitySnapshotBase<EntityInstance, EntitySnapshot>
+ public base::EntitySnapshotBase<EntityInstance, EntitySnapshot>
{
using Base = base::EntitySnapshotBase<EntityInstance, EntitySnapshot>;
public:
- EntitySnapshot();
- EntitySnapshot(Time time, const MemoryID& parentID = {});
- EntitySnapshot(const MemoryID& id);
- /// Copy the instances from `other` to this.
- EntitySnapshot(const EntitySnapshot& other);
+ using Base::EntitySnapshotBase;
/// Copy the instances from `other` to this.
EntitySnapshot& operator=(const EntitySnapshot& other);
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.cpp
index 9f216cb0338fc9ff8b7f47fa430acf99bf0cb92c..cf012cc37baac05ccaba6f62ecb1212af98eaae6 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.cpp
@@ -9,27 +9,6 @@
namespace armarx::armem::ltm
{
- Memory::Memory()
- {
- }
-
- Memory::Memory(const std::string& name) :
- base::detail::MemoryItem(MemoryID().withMemoryName(name))
- {
- }
-
- Memory::Memory(const MemoryID& id) :
- MemoryItem(id)
- {
- }
-
- Memory::Memory(const Memory& other) :
- base::detail::MemoryItem(other),
- base::detail::MemoryContainerBase<std::map<std::string, CoreSegment>, Memory>(other)
- {
- *this = other;
- }
-
Memory& Memory::operator=(const Memory& other)
{
other._copySelf(*this);
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.h b/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.h
index 1085de776eda6ac8e913d24c840b867a7fef969d..dcf6b7e559862533818f4cadd7fdb263b41f0e88 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.h
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.h
@@ -13,16 +13,14 @@ namespace armarx::armem::ltm
* @brief Data of a memory consisting of multiple core segments.
*/
class Memory :
- virtual public base::MemoryBase<CoreSegment, Memory>
+ public base::MemoryBase<CoreSegment, Memory>
{
using Base = base::MemoryBase<CoreSegment, Memory>;
public:
- Memory();
- Memory(const std::string& name);
- Memory(const MemoryID& id);
- Memory(const Memory& other);
+ using Base::MemoryBase;
+
Memory& operator=(const Memory& other);
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.cpp
index dbdbdb1189fd2efdac397992b3cad480da77f863..80e6187864145bc60474ac2183cf8d11da857b16 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.cpp
@@ -8,35 +8,6 @@
namespace armarx::armem::ltm
{
- ProviderSegment::ProviderSegment()
- {
- }
-
- ProviderSegment::ProviderSegment(const std::string& name, aron::typenavigator::ObjectNavigatorPtr aronType) :
- base::detail::MemoryItem(MemoryID().withProviderSegmentName(name)),
- base::detail::TypedEntityContainerBase<Entity, Entity, ProviderSegment>(MemoryID().withProviderSegmentName(name), aronType)
- {
- }
-
- ProviderSegment::ProviderSegment(const std::string& name, const MemoryID parentID, aron::typenavigator::ObjectNavigatorPtr aronType) :
- base::detail::MemoryItem(parentID.withProviderSegmentName(name)),
- base::detail::TypedEntityContainerBase<Entity, Entity, ProviderSegment>(parentID.withProviderSegmentName(name), aronType)
- {
- }
-
- ProviderSegment::ProviderSegment(const MemoryID id, aron::typenavigator::ObjectNavigatorPtr aronType) :
- base::detail::MemoryItem(id),
- base::detail::TypedEntityContainerBase<Entity, Entity, ProviderSegment>(id, aronType)
- {
- }
-
- ProviderSegment::ProviderSegment(const ProviderSegment& other) :
- base::detail::MemoryItem(other),
- base::detail::MemoryContainerBase<std::map<std::string, Entity>, ProviderSegment>(other),
- base::detail::TypedEntityContainerBase<Entity, Entity, ProviderSegment>(other)
- {
- }
-
ProviderSegment& ProviderSegment::operator=(const ProviderSegment& other)
{
other._copySelf(*this);
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.h b/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.h
index 5ac77dad663e34a3b3da6d39c53629d6a9415864..7b3cbcc01e2c06da14a8325d5618c372cce0a246 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.h
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.h
@@ -14,17 +14,14 @@ namespace armarx::armem::ltm
* @brief Data of a provider segment containing multiple entities.
*/
class ProviderSegment :
- virtual public base::ProviderSegmentBase<Entity, ProviderSegment>
+ public base::ProviderSegmentBase<Entity, ProviderSegment>
{
using Base = base::ProviderSegmentBase<Entity, ProviderSegment>;
public:
- ProviderSegment();
- ProviderSegment(const std::string& name, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr);
- ProviderSegment(const std::string& name, const MemoryID parentID, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr);
- ProviderSegment(const MemoryID id, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr);
- ProviderSegment(const ProviderSegment& other);
+ using Base::ProviderSegmentBase;
+
ProviderSegment& operator=(const ProviderSegment& other);
// Conversion
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.cpp
index 4ef52fd749f9106d4ea1e9204fd0574392c18387..21889472fb1a4d963c3fb5e2a466a1b178c20860 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.cpp
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.cpp
@@ -8,54 +8,21 @@
namespace armarx::armem::wm
{
- CoreSegment::CoreSegment()
- {
- }
-
- CoreSegment::CoreSegment(const std::string& name, aron::typenavigator::ObjectNavigatorPtr aronType) :
- base::detail::MemoryItem(MemoryID().withCoreSegmentName(name)),
- base::detail::TypedEntityContainerBase<ProviderSegment, Entity, CoreSegment>(MemoryID().withCoreSegmentName(name), aronType)
- {
- }
-
- CoreSegment::CoreSegment(const std::string& name, const MemoryID& parentID, aron::typenavigator::ObjectNavigatorPtr aronType) :
- base::detail::MemoryItem(MemoryID().withCoreSegmentName(name)),
- base::detail::TypedEntityContainerBase<ProviderSegment, Entity, CoreSegment>(parentID.withCoreSegmentName(name), aronType)
- {
- }
-
- CoreSegment::CoreSegment(const MemoryID& id, aron::typenavigator::ObjectNavigatorPtr aronType) :
- base::detail::MemoryItem(id),
- base::detail::TypedEntityContainerBase<ProviderSegment, Entity, CoreSegment>(id, aronType)
- {
- }
-
- CoreSegment::CoreSegment(const CoreSegment& other) :
- base::detail::MemoryItem(other),
- base::detail::MemoryContainerBase<std::map<std::string, ProviderSegment>, CoreSegment>(other),
- base::detail::TypedEntityContainerBase<ProviderSegment, Entity, CoreSegment>(other)
- {
- }
-
- CoreSegment& CoreSegment::operator=(const CoreSegment& other)
- {
- other._copySelf(*this);
- return *this;
- }
-
- CoreSegment CoreSegment::copyWithoutData() const
- {
- CoreSegment m;
- _copySelfWithoutData(m);
- return m;
- }
+ /*
+ CoreSegment& CoreSegment::operator=(const CoreSegment& other)
+ {
+ other._copySelf(*this);
+ return *this;
+ }
+ */
- void CoreSegment::_copySelfWithoutData(CoreSegment& o) const
+ void CoreSegment::_copySelfWithoutData(CoreSegment& other) const
{
- detail::TypedEntityContainer<ProviderSegment, CoreSegment>::_copySelfWithoutData(o);
- for (const auto& [k, s] : o)
+ other.id() = _id;
+ other.setMaxHistorySize(_maxHistorySize);
+ for (const auto& [k, s] : _container)
{
- o.addProviderSegment(s.copyWithoutData());
+ other.addProviderSegment(s.copyWithoutData());
}
}
}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.h b/source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.h
index d727b408bb9672afdbf842d742f27e889ea96489..74b168235ccfa36a2cfb1788ed7bab47b28b4822 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.h
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.h
@@ -3,7 +3,7 @@
#include "../base/CoreSegmentBase.h"
#include "ProviderSegment.h"
-#include "detail/TypedEntityContainer.h"
+#include "detail/CopyWithoutData.h"
namespace armarx::armem::wm
@@ -13,24 +13,23 @@ namespace armarx::armem::wm
* @brief Data of a core segment containing multiple provider segments.
*/
class CoreSegment :
- virtual public base::CoreSegmentBase<ProviderSegment, CoreSegment>,
- virtual public detail::TypedEntityContainer<ProviderSegment, CoreSegment>
+ public base::CoreSegmentBase<ProviderSegment, CoreSegment>,
+ public detail::CopyWithoutData<CoreSegment>
{
using Base = base::CoreSegmentBase<ProviderSegment, CoreSegment>;
public:
- CoreSegment();
- CoreSegment(const std::string& name, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr);
- CoreSegment(const std::string& name, const MemoryID& parentID, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr);
- CoreSegment(const MemoryID& id, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr);
- CoreSegment(const CoreSegment& other);
- CoreSegment& operator=(const CoreSegment& other);
+ using Base::CoreSegmentBase;
+ virtual ~CoreSegment() override = default;
+
+ // CoreSegment& operator=(const CoreSegment& other);
- CoreSegment copyWithoutData() const override;
protected:
- virtual void _copySelfWithoutData(CoreSegment& o) const override;
+
+ virtual void _copySelfWithoutData(CoreSegment& other) const override;
+
};
}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/Entity.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/Entity.cpp
index 37b930656d8810ea0445c412d8992c23db2458aa..6d129eaa2f06df4ed53341bd8de6cc082d56f9f6 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/Entity.cpp
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/Entity.cpp
@@ -3,45 +3,21 @@
namespace armarx::armem::wm
{
- Entity::Entity()
- {
- }
-
- Entity::Entity(const std::string& name, const MemoryID& parentID) :
- base::detail::MemoryItem(parentID.withEntityName(name))
- {
- }
-
- Entity::Entity(const MemoryID& id) :
- base::detail::MemoryItem(id)
- {
- }
-
- Entity::Entity(const Entity& other) :
- base::detail::MemoryItem(other),
- base::detail::MemoryContainerBase<std::map<Time, EntitySnapshot>, Entity>(other)
- {
- }
-
- Entity& Entity::operator=(const Entity& other)
- {
- other._copySelf(*this);
- return *this;
- }
-
- Entity Entity::copyWithoutData() const
- {
- Entity m;
- _copySelfWithoutData(m);
- return m;
- }
+ /*
+ Entity& Entity::operator=(const Entity& other)
+ {
+ other._copySelf(*this);
+ return *this;
+ }
+ */
- void Entity::_copySelfWithoutData(Entity& o) const
+ void Entity::_copySelfWithoutData(Entity& other) const
{
- detail::MemoryContainer<std::map<Time, EntitySnapshot>, Entity>::_copySelfWithoutData(o);
- for (const auto& [k, s] : o)
+ other.id() = _id;
+ other.setMaxHistorySize(_maxHistorySize);
+ for (const auto& [k, s] : _container)
{
- o.addSnapshot(s.copyWithoutData());
+ other.addSnapshot(s.copyWithoutData());
}
}
}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/Entity.h b/source/RobotAPI/libraries/armem/core/workingmemory/Entity.h
index 9d213e92f0d6756e90cf9fd7090f472ce52effa5..a0c14ed9c7ea86a5b3697d0a303d244526f091e2 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/Entity.h
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/Entity.h
@@ -3,7 +3,7 @@
#include "../base/EntityBase.h"
#include "EntitySnapshot.h"
-#include "detail/MemoryContainer.h"
+#include "detail/CopyWithoutData.h"
namespace armarx::armem::wm
@@ -28,25 +28,23 @@ namespace armarx::armem::wm
* each containing a single `AronData` object of a specific `AronType`.
*/
class Entity :
- virtual public base::EntityBase<EntitySnapshot, Entity>,
- virtual public detail::MemoryContainer<std::map<Time, EntitySnapshot>, Entity>
+ public base::EntityBase<EntitySnapshot, Entity>,
+ public detail::CopyWithoutData<Entity>
{
using Base = base::EntityBase<EntitySnapshot, Entity>;
public:
- Entity();
- Entity(const std::string& name, const MemoryID& parentID = {});
- Entity(const MemoryID& id);
- /// Copy the history from `other` to this.
- Entity(const Entity& other);
- /// Copy the history from `other` to this.
- Entity& operator=(const Entity& other);
+ using Base::EntityBase;
+ virtual ~Entity() override = default;
+
+ //Entity& operator=(const Entity& other);
- Entity copyWithoutData() const override;
protected:
- virtual void _copySelfWithoutData(Entity& o) const override;
+
+ virtual void _copySelfWithoutData(Entity& other) const override;
+
};
}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.cpp
index cc2aed88a9dd43f326cde8cc8448bbee466369b0..4d8de5156949c61b18c059494971924df92d4a88 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.cpp
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.cpp
@@ -14,32 +14,21 @@ namespace armarx::armem::wm
&& std::abs(confidence - other.confidence) < 1e-6f;
}
- EntityInstance::EntityInstance()
- {
- }
+ /*
EntityInstance::EntityInstance(const EntityInstance& other) :
- base::detail::MemoryItem(other.id()),
+ Base(other),
_metadata(other._metadata),
_data(other._data)
{
}
- EntityInstance::EntityInstance(int index, const MemoryID& parentID) :
- EntityInstance(parentID.withInstanceIndex(index))
- {
- }
-
- EntityInstance::EntityInstance(const MemoryID& id) :
- base::detail::MemoryItem(id)
- {
- }
-
EntityInstance& EntityInstance::operator=(const EntityInstance& other)
{
other._copySelf(*this);
return *this;
}
+ */
bool EntityInstance::equalsDeep(const EntityInstance& other) const
@@ -70,22 +59,16 @@ namespace armarx::armem::wm
return d;
}
- EntityInstance EntityInstance::copyWithoutData() const
- {
- EntityInstance d;
- this->_copySelfWithoutData(d);
- return d;
- }
-
void EntityInstance::_copySelf(EntityInstance& other) const
{
- EntityInstanceBase<EntityInstance>::_copySelf(other);
+ Base::_copySelf(other);
other._metadata = _metadata;
other._data = _data;
}
void EntityInstance::_copySelfWithoutData(EntityInstance& other) const
{
- EntityInstanceBase<EntityInstance>::_copySelf(other);
+ Base::_copySelf(other);
+ other._metadata = _metadata;
}
}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h b/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h
index cbfe38200b129cdcbd32819560fda6cfb2cbdaa0..0a289c7870dd985f90d008a8fe9bca7dee1f0eb5 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h
@@ -2,6 +2,9 @@
#include "../base/EntityInstanceBase.h"
+#include "detail/CopyWithoutData.h"
+
+
namespace armarx::armem::wm
{
@@ -32,17 +35,19 @@ namespace armarx::armem::wm
* @brief Data of a single entity instance.
*/
class EntityInstance :
- virtual public base::EntityInstanceBase<EntityInstance>
+ public base::EntityInstanceBase<EntityInstance>,
+ public detail::CopyWithoutData<EntityInstance>
{
using Base = base::EntityInstanceBase<EntityInstance>;
public:
- EntityInstance();
- EntityInstance(const EntityInstance&);
- EntityInstance(int index, const MemoryID& parentID = {});
- EntityInstance(const MemoryID& id);
+ using Base::EntityInstanceBase;
+
+ /*
+ EntityInstance(const EntityInstance& other);
EntityInstance& operator=(const EntityInstance& other);
+ */
EntityInstanceMetadata& metadata()
{
@@ -74,18 +79,21 @@ namespace armarx::armem::wm
virtual bool equalsDeep(const EntityInstance& other) const override;
virtual EntityInstance copy() const override;
- virtual EntityInstance copyWithoutData() const;
+
protected:
+
virtual void _copySelf(EntityInstance& other) const override;
- virtual void _copySelfWithoutData(EntityInstance& other) const;
+ virtual void _copySelfWithoutData(EntityInstance& other) const override;
private:
+
/// The metadata.
EntityInstanceMetadata _metadata;
/// The data. May be nullptr.
armarx::aron::datanavigator::DictNavigatorPtr _data;
+
};
}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.cpp
index c33dd71b23b3c2c16c4b95894af63b46485d8ca2..6ce3103c378499124fb26d526db1ef3d936b9326 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.cpp
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.cpp
@@ -8,50 +8,20 @@
namespace armarx::armem::wm
{
+ /*
+ EntitySnapshot& EntitySnapshot::operator=(const EntitySnapshot& other)
+ {
+ other._copySelf(*this);
+ return *this;
+ }
+ */
- EntitySnapshot::EntitySnapshot()
- {
- }
-
- EntitySnapshot::EntitySnapshot(Time time, const MemoryID& parentID) :
- EntitySnapshot(parentID.withTimestamp(time))
- {
- }
-
- EntitySnapshot::EntitySnapshot(const MemoryID& id) :
- MemoryItem(id)
- {
- }
-
- EntitySnapshot::~EntitySnapshot()
- {
- }
-
- EntitySnapshot::EntitySnapshot(const EntitySnapshot& other) :
- base::detail::MemoryItem(other),
- base::detail::MemoryContainerBase<std::vector<EntityInstance>, EntitySnapshot>(other)
- {
- }
-
- EntitySnapshot& EntitySnapshot::operator=(const EntitySnapshot& other)
- {
- other._copySelf(*this);
- return *this;
- }
-
- EntitySnapshot EntitySnapshot::copyWithoutData() const
- {
- EntitySnapshot m;
- _copySelfWithoutData(m);
- return m;
- }
-
- void EntitySnapshot::_copySelfWithoutData(EntitySnapshot& o) const
+ void EntitySnapshot::_copySelfWithoutData(EntitySnapshot& other) const
{
- detail::MemoryContainer<std::vector<EntityInstance>, EntitySnapshot>::_copySelfWithoutData(o);
- for (const auto& s : o)
+ other.id() = _id;
+ for (const auto& s : _container)
{
- o.addInstance(s.copyWithoutData());
+ other.addInstance(s.copyWithoutData());
}
}
}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.h b/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.h
index 50332bf163f4b4595b0e53b64f3acf3497f3332c..5b4b80c0b8f97078c27beae30e2100510e4da449 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.h
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.h
@@ -3,7 +3,7 @@
#include "../base/EntitySnapshotBase.h"
#include "EntityInstance.h"
-#include "detail/MemoryContainer.h"
+#include "detail/CopyWithoutData.h"
namespace armarx::armem::wm
@@ -13,32 +13,25 @@ namespace armarx::armem::wm
* @brief Data of an entity at one point in time.
*/
class EntitySnapshot :
- virtual public base::EntitySnapshotBase<EntityInstance, EntitySnapshot>,
- virtual public detail::MemoryContainer<std::vector<EntityInstance>, EntitySnapshot>
+ public base::EntitySnapshotBase<EntityInstance, EntitySnapshot>,
+ public detail::CopyWithoutData<EntitySnapshot>
{
using Base = base::EntitySnapshotBase<EntityInstance, EntitySnapshot>;
public:
- EntitySnapshot();
- EntitySnapshot(Time time, const MemoryID& parentID = {});
- EntitySnapshot(const MemoryID& id);
-
- virtual ~EntitySnapshot() override;
-
-
- /// Copy the instances from `other` to this.
- EntitySnapshot(const EntitySnapshot& other);
+ using Base::EntitySnapshotBase;
+ virtual ~EntitySnapshot() override = default;
+ /*
/// Copy the instances from `other` to this.
EntitySnapshot& operator=(const EntitySnapshot& other);
-
- EntitySnapshot copyWithoutData() const override;
+ */
protected:
- virtual void _copySelfWithoutData(EntitySnapshot& o) const override;
+ virtual void _copySelfWithoutData(EntitySnapshot& other) const override;
};
}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/Memory.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/Memory.cpp
index a5b1e4ab1346ed3b3d041320c4eade4d31176ced..85aa8c394b0b641bd354ea1108aef8681e2c2724 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/Memory.cpp
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/Memory.cpp
@@ -1,54 +1,17 @@
#include "Memory.h"
-#include <ArmarXCore/core/logging/Logging.h>
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-#include "error.h"
-
namespace armarx::armem::wm
{
- Memory::Memory()
- {
- }
-
- Memory::Memory(const std::string& name) :
- base::detail::MemoryItem(MemoryID().withMemoryName(name))
- {
- }
-
- Memory::Memory(const MemoryID& id) :
- MemoryItem(id)
- {
- }
-
- Memory::Memory(const Memory& other) :
- base::detail::MemoryItem(other),
- MemoryContainerBase<std::map<std::string, CoreSegment>, Memory>(other)
- {
- *this = other;
- }
-
- Memory& Memory::operator=(const Memory& other)
- {
- other._copySelf(*this);
- return *this;
- }
-
- Memory Memory::copyWithoutData() const
- {
- Memory m;
- _copySelfWithoutData(m);
- return m;
- }
+ static Memory _memory("mymem");
- void Memory::_copySelfWithoutData(Memory& o) const
+ void Memory::_copySelfWithoutData(Memory& other) const
{
- detail::EntityContainer<CoreSegment, Memory>::_copySelfWithoutData(o);
- for (const auto& [k, s] : o)
+ other.id() = _id;
+ for (const auto& [k, s] : _container)
{
- o.addCoreSegment(s.copyWithoutData());
+ other.addCoreSegment(s.copyWithoutData());
}
}
}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/Memory.h b/source/RobotAPI/libraries/armem/core/workingmemory/Memory.h
index d747ded5ef9618a9c4a2c891c493e3816c15a851..463695b4431764b8447029c2c18b7a7035887bf8 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/Memory.h
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/Memory.h
@@ -3,7 +3,8 @@
#include "../base/MemoryBase.h"
#include "CoreSegment.h"
-#include "detail/EntityContainer.h"
+#include "detail/CopyWithoutData.h"
+
namespace armarx::armem::wm
{
@@ -12,22 +13,20 @@ namespace armarx::armem::wm
* @brief Data of a memory consisting of multiple core segments.
*/
class Memory :
- virtual public base::MemoryBase<CoreSegment, Memory>,
- virtual public detail::EntityContainer<CoreSegment, Memory>
+ public base::MemoryBase<CoreSegment, Memory>,
+ public detail::CopyWithoutData<Memory>
{
using Base = base::MemoryBase<CoreSegment, Memory>;
public:
- Memory();
- Memory(const std::string& name);
- Memory(const MemoryID& id);
- Memory(const Memory& other);
- Memory& operator=(const Memory& other);
+ using Base::MemoryBase;
+ virtual ~Memory() override = default;
- Memory copyWithoutData() const override;
protected:
- virtual void _copySelfWithoutData(Memory& o) const override;
+
+ virtual void _copySelfWithoutData(Memory& other) const override;
+
};
}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.cpp
index 3b90c745c53a60c5d95feda1adc131c300d61beb..13d70a332e3e1e95f59f205b749ede5834e25181 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.cpp
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.cpp
@@ -8,54 +8,22 @@
namespace armarx::armem::wm
{
- ProviderSegment::ProviderSegment()
- {
- }
-
- ProviderSegment::ProviderSegment(const std::string& name, aron::typenavigator::ObjectNavigatorPtr aronType) :
- base::detail::MemoryItem(MemoryID().withProviderSegmentName(name)),
- base::detail::TypedEntityContainerBase<Entity, Entity, ProviderSegment>(MemoryID().withProviderSegmentName(name), aronType)
- {
- }
-
- ProviderSegment::ProviderSegment(const std::string& name, const MemoryID parentID, aron::typenavigator::ObjectNavigatorPtr aronType) :
- base::detail::MemoryItem(parentID.withProviderSegmentName(name)),
- base::detail::TypedEntityContainerBase<Entity, Entity, ProviderSegment>(parentID.withProviderSegmentName(name), aronType)
- {
- }
-
- ProviderSegment::ProviderSegment(const MemoryID id, aron::typenavigator::ObjectNavigatorPtr aronType) :
- base::detail::MemoryItem(id),
- base::detail::TypedEntityContainerBase<Entity, Entity, ProviderSegment>(id, aronType)
- {
- }
-
- ProviderSegment::ProviderSegment(const ProviderSegment& other) :
- base::detail::MemoryItem(other),
- base::detail::MemoryContainerBase<std::map<std::string, Entity>, ProviderSegment>(other),
- base::detail::TypedEntityContainerBase<Entity, Entity, ProviderSegment>(other)
- {
- }
-
- ProviderSegment& ProviderSegment::operator=(const ProviderSegment& other)
- {
- other._copySelf(*this);
- return *this;
- }
+ /*
+ ProviderSegment& ProviderSegment::operator=(const ProviderSegment& other)
+ {
+ other._copySelf(*this);
+ return *this;
+ }
+ */
- ProviderSegment ProviderSegment::copyWithoutData() const
- {
- ProviderSegment m;
- _copySelfWithoutData(m);
- return m;
- }
- void ProviderSegment::_copySelfWithoutData(ProviderSegment& o) const
+ void ProviderSegment::_copySelfWithoutData(ProviderSegment& other) const
{
- detail::TypedEntityContainer<Entity, ProviderSegment>::_copySelfWithoutData(o);
- for (const auto& [k, s] : o)
+ other.id() = _id;
+ other.setMaxHistorySize(_maxHistorySize);
+ for (const auto& [k, s] : _container)
{
- o.addEntity(s.copyWithoutData());
+ other.addEntity(s.copyWithoutData());
}
}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.h b/source/RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.h
index 542ec3dc5ee0fc2dcbbface02bf11006eaa497a1..30e9e6e995c5a861a6e6165117c0dde703351627 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.h
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.h
@@ -3,7 +3,7 @@
#include "../base/ProviderSegmentBase.h"
#include "Entity.h"
-#include "detail/TypedEntityContainer.h"
+#include "detail/CopyWithoutData.h"
namespace armarx::armem::wm
@@ -13,24 +13,24 @@ namespace armarx::armem::wm
* @brief Data of a provider segment containing multiple entities.
*/
class ProviderSegment :
- virtual public base::ProviderSegmentBase<Entity, ProviderSegment>,
- virtual public detail::TypedEntityContainer<Entity, ProviderSegment>
+ public base::ProviderSegmentBase<Entity, ProviderSegment>,
+ public detail::CopyWithoutData<ProviderSegment>
+
{
using Base = base::ProviderSegmentBase<Entity, ProviderSegment>;
public:
- ProviderSegment();
- ProviderSegment(const std::string& name, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr);
- ProviderSegment(const std::string& name, const MemoryID parentID, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr);
- ProviderSegment(const MemoryID id, aron::typenavigator::ObjectNavigatorPtr aronType = nullptr);
- ProviderSegment(const ProviderSegment& other);
- ProviderSegment& operator=(const ProviderSegment& other);
+ using Base::ProviderSegmentBase;
+ virtual ~ProviderSegment() override = default;
+
+ // ProviderSegment& operator=(const ProviderSegment& other);
- ProviderSegment copyWithoutData() const override;
protected:
- virtual void _copySelfWithoutData(ProviderSegment& o) const override;
+
+ virtual void _copySelfWithoutData(ProviderSegment& other) const override;
+
};
}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/detail/CopyWithoutData.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/detail/CopyWithoutData.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..70441033dd0fcb24a502bcd4e552764c7c2f5d3c
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/detail/CopyWithoutData.cpp
@@ -0,0 +1 @@
+#include "CopyWithoutData.h"
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/detail/CopyWithoutData.h b/source/RobotAPI/libraries/armem/core/workingmemory/detail/CopyWithoutData.h
new file mode 100644
index 0000000000000000000000000000000000000000..caabd1e6002c803aa6a1015afd7ce660abd2482f
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/detail/CopyWithoutData.h
@@ -0,0 +1,30 @@
+#pragma once
+
+
+namespace armarx::armem::wm::detail
+{
+
+ /**
+ * @class Allows copying `*this` without data in the leaf
+ * data structures.
+ */
+ template <class DerivedT>
+ class CopyWithoutData
+ {
+ public:
+
+ /// Get a copy of `this` without data.
+ virtual DerivedT copyWithoutData() const
+ {
+ DerivedT t;
+ _copySelfWithoutData(t);
+ return t;
+ }
+
+
+ protected:
+
+ virtual void _copySelfWithoutData(DerivedT& other) const = 0;
+
+ };
+}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/detail/EntityContainer.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/detail/EntityContainer.cpp
deleted file mode 100644
index 20872a805368246aca047563e0094b055568e8db..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/workingmemory/detail/EntityContainer.cpp
+++ /dev/null
@@ -1 +0,0 @@
-#include "EntityContainer.h"
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/detail/EntityContainer.h b/source/RobotAPI/libraries/armem/core/workingmemory/detail/EntityContainer.h
deleted file mode 100644
index 431d13624ab3f004020d13ba77c3fdf4a60c380d..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/workingmemory/detail/EntityContainer.h
+++ /dev/null
@@ -1,32 +0,0 @@
-#pragma once
-
-#include "../../base/detail/EntityContainerBase.h"
-#include "MemoryContainer.h"
-
-#include "../Entity.h"
-#include "../EntitySnapshot.h"
-#include "../EntityInstance.h"
-
-
-namespace armarx::armem::wm::detail
-{
-
- /**
- * @brief A container of entities at some point in the hierarchy.
- *
- * Can be updated by multiple entity updates.
- */
- template <class _ValueT, class _Derived>
- class EntityContainer :
- virtual public base::detail::EntityContainerBase<_ValueT, Entity, _Derived>,
- virtual public MemoryContainer<std::map<std::string, _ValueT>, _Derived>
- {
- public:
- EntityContainer& operator=(const EntityContainer& other)
- {
- other._copySelf(*this);
- return *this;
- }
- };
-
-}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/detail/MemoryContainer.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/detail/MemoryContainer.cpp
deleted file mode 100644
index 733cd6f240a52944d6c18fb60bab928242b5b122..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/workingmemory/detail/MemoryContainer.cpp
+++ /dev/null
@@ -1 +0,0 @@
-#include "MemoryContainer.h"
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/detail/MemoryContainer.h b/source/RobotAPI/libraries/armem/core/workingmemory/detail/MemoryContainer.h
deleted file mode 100644
index a915c8714a299ab18a671c18814c77441d6b28af..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/workingmemory/detail/MemoryContainer.h
+++ /dev/null
@@ -1,44 +0,0 @@
-#pragma once
-
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-#include "../../error.h"
-
-#include "../../base/detail/MemoryContainerBase.h"
-
-
-namespace armarx::armem::wm::detail
-{
-
- /**
- * @class Provides default implmentations of `MemoryContainer`, as well as
- * iterators (which requires a template).
- */
- template <class _ContainerT, class _Derived>
- class MemoryContainer :
- virtual public base::detail::MemoryContainerBase<_ContainerT, _Derived>
- {
- using Base = base::detail::MemoryContainerBase<_ContainerT, _Derived>;
-
- public:
- MemoryContainer& operator=(const MemoryContainer& other)
- {
- other._copySelf(*this);
- return *this;
- }
-
- // Copying
- virtual _Derived copyWithoutData() const
- {
- _Derived t;
- _copySelfWithoutData(t);
- return t;
- }
-
- protected:
- virtual void _copySelfWithoutData(_Derived& o) const
- {
- Base::_copySelfEmpty(o);
- }
- };
-}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/detail/TypedEntityContainer.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/detail/TypedEntityContainer.cpp
deleted file mode 100644
index 7bec77f349c1e45f7a434d499a5a8b1c952b3317..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/workingmemory/detail/TypedEntityContainer.cpp
+++ /dev/null
@@ -1 +0,0 @@
-#include "TypedEntityContainer.h"
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/detail/TypedEntityContainer.h b/source/RobotAPI/libraries/armem/core/workingmemory/detail/TypedEntityContainer.h
deleted file mode 100644
index f90925ff1de57a63542dd70adadff1e762224783..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/workingmemory/detail/TypedEntityContainer.h
+++ /dev/null
@@ -1,26 +0,0 @@
-#pragma once
-
-#include "../../base/detail/TypedEntityContainerBase.h"
-#include "EntityContainer.h"
-
-#include <RobotAPI/libraries/aron/core/navigator/type/container/Object.h>
-
-namespace armarx::armem::wm::detail
-{
-
- /**
- * @brief An entity container with a specific (Aron) type.
- */
- template <class _ValueT, class _Derived>
- class TypedEntityContainer :
- virtual public base::detail::TypedEntityContainerBase<_ValueT, Entity, _Derived>,
- virtual public EntityContainer<_ValueT, _Derived>
- {
- public:
- TypedEntityContainer& operator=(const TypedEntityContainer& other)
- {
- other._copySelf(*this);
- return *this;
- }
- };
-}