From 7ddf67e6027a9528d0d8f978d4aa57faf4037dcc Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Fri, 16 Jul 2021 08:06:16 +0200
Subject: [PATCH] Move code and includes to .cpp
---
.../base/BaseQueryProcessorBase.cpp | 1 +
.../query_proc/base/BaseQueryProcessorBase.h | 3 ++
.../base/CoreSegmentQueryProcessorBase.h | 8 ++--
.../workingmemory/BaseQueryProcessor.h | 7 ++--
.../CoreSegmentQueryProcessor.cpp | 23 +++++++++++
.../workingmemory/CoreSegmentQueryProcessor.h | 24 +++++++-----
.../workingmemory/EntityQueryProcessor.cpp | 39 +++++++++++++++++++
.../workingmemory/EntityQueryProcessor.h | 32 +++++----------
.../workingmemory/MemoryQueryProcessor.cpp | 9 +++++
.../workingmemory/MemoryQueryProcessor.h | 15 ++++---
.../ProviderSegmentQueryProcessor.cpp | 24 ++++++++++++
.../ProviderSegmentQueryProcessor.h | 23 ++++++-----
12 files changed, 152 insertions(+), 56 deletions(-)
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.cpp b/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.cpp
index ce437fd67..34e2abd99 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.cpp
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.cpp
@@ -1 +1,2 @@
#include "BaseQueryProcessorBase.h"
+
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.h
index f71aede29..95943dd2f 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.h
@@ -19,6 +19,9 @@ namespace armarx::armem::base::query_proc
public:
+ virtual ~BaseQueryProcessorBase() = default;
+
+
DataT process(const QueryT& query, const DataT& data, const query::data::QueryTargets& executeIf = {}) const
{
DataT result = data.copyEmpty();
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/CoreSegmentQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/base/CoreSegmentQueryProcessorBase.h
index f8ab8c113..d334019c4 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/CoreSegmentQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/CoreSegmentQueryProcessorBase.h
@@ -1,17 +1,15 @@
#pragma once
-#include <RobotAPI/interface/armem/query.h>
-
-#include "BaseQueryProcessorBase.h"
-#include "ProviderSegmentQueryProcessorBase.h"
-
#include <regex>
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <RobotAPI/interface/armem/query.h>
#include <RobotAPI/libraries/armem/core/error.h>
+#include "BaseQueryProcessorBase.h"
+#include "ProviderSegmentQueryProcessorBase.h"
namespace armarx::armem::base::query_proc
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/BaseQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/BaseQueryProcessor.h
index 99811dcc7..708157ab6 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/BaseQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/BaseQueryProcessor.h
@@ -1,11 +1,9 @@
#pragma once
-#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
-
#include <RobotAPI/interface/armem/query.h>
#include <RobotAPI/libraries/armem/core/DataMode.h>
-#include "../base/BaseQueryProcessorBase.h"
+#include <RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.h>
namespace armarx::armem::wm::query_proc
@@ -20,11 +18,14 @@ namespace armarx::armem::wm::query_proc
using Base = base::query_proc::BaseQueryProcessorBase<DataT, QueryT>;
public:
+
BaseQueryProcessor(DataMode dataMode = DataMode::WithData) :
dataMode(dataMode)
{}
protected:
+
DataMode dataMode;
+
};
}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/CoreSegmentQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/CoreSegmentQueryProcessor.cpp
index afbe35ad1..52efc9cc4 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/CoreSegmentQueryProcessor.cpp
+++ b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/CoreSegmentQueryProcessor.cpp
@@ -1 +1,24 @@
#include "CoreSegmentQueryProcessor.h"
+
+#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
+
+
+namespace armarx::armem::wm::query_proc
+{
+
+ CoreSegmentQueryProcessor::~CoreSegmentQueryProcessor() = default;
+
+ data::CoreSegment CoreSegmentQueryProcessor::processToIce(const armem::query::data::CoreSegmentQuery& query, const wm::CoreSegment& coreSegment) const
+ {
+ data::CoreSegment data;
+ toIce(data, process(query, coreSegment));
+ return data;
+ }
+
+ ProviderSegment CoreSegmentQueryProcessor::providerSegmentProcessorProcess(const armem::query::data::ProviderSegmentQuerySeq& q, const ProviderSegmentT& s) const
+ {
+ return providerSegmentProcessor.process(q, s, {armem::query::data::QueryTarget::WM});
+ }
+
+
+}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/CoreSegmentQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/CoreSegmentQueryProcessor.h
index 390ab66f6..50387e5f1 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/CoreSegmentQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/CoreSegmentQueryProcessor.h
@@ -1,8 +1,11 @@
#pragma once
-#include "BaseQueryProcessor.h"
-#include "../base/CoreSegmentQueryProcessorBase.h"
+#include <mutex>
+
+#include <RobotAPI/libraries/armem/core/workingmemory/CoreSegment.h>
+#include <RobotAPI/libraries/armem/server/query_proc/base/CoreSegmentQueryProcessorBase.h>
+#include "BaseQueryProcessor.h"
#include "ProviderSegmentQueryProcessor.h"
@@ -18,23 +21,24 @@ namespace armarx::armem::wm::query_proc
using Base = BaseQueryProcessor<wm::CoreSegment, armem::query::data::CoreSegmentQuery>;
public:
+
CoreSegmentQueryProcessor(DataMode dataMode = DataMode::WithData) :
Base(dataMode), providerSegmentProcessor(dataMode)
{}
+ virtual ~CoreSegmentQueryProcessor() override;
using Base::process;
- data::CoreSegment processToIce(const armem::query::data::CoreSegmentQuery& query, const wm::CoreSegment& coreSegment) const
- {
- return toIce<data::CoreSegment>(process(query, coreSegment));
- }
+ data::CoreSegment processToIce(const armem::query::data::CoreSegmentQuery& query, const wm::CoreSegment& coreSegment) const;
+
protected:
- virtual ProviderSegmentT providerSegmentProcessorProcess(const armem::query::data::ProviderSegmentQuerySeq& q, const ProviderSegmentT& s) const override
- {
- return providerSegmentProcessor.process(q, s, {armem::query::data::QueryTarget::WM});
- }
+
+ virtual ProviderSegment providerSegmentProcessorProcess(const armem::query::data::ProviderSegmentQuerySeq& q, const ProviderSegmentT& s) const override;
+
private:
+
ProviderSegmentQueryProcessor providerSegmentProcessor;
+
};
}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/EntityQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/EntityQueryProcessor.cpp
index c1c321b02..001bedae1 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/EntityQueryProcessor.cpp
+++ b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/EntityQueryProcessor.cpp
@@ -1 +1,40 @@
#include "EntityQueryProcessor.h"
+
+#include <RobotAPI/libraries/armem/core/workingmemory/Entity.h>
+#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
+
+
+namespace armarx::armem::wm::query_proc
+{
+
+ EntityQueryProcessor::~EntityQueryProcessor() = default;
+
+
+ void EntityQueryProcessor::addResultSnapshot(wm::Entity& result, const wm::EntitySnapshot& snapshot) const
+ {
+ bool withData = (dataMode == DataMode::WithData);
+ if (withData)
+ {
+ result.addSnapshot(snapshot.copy());
+ }
+ else
+ {
+ result.addSnapshot(snapshot.copyWithoutData());
+ }
+ }
+
+
+ data::Entity EntityQueryProcessor::processToIce(const armem::query::data::EntityQuery& query, const wm::Entity& entity) const
+ {
+ data::Entity data;
+ toIce(data, process(query, entity));
+ return data;
+ }
+
+
+ void EntityQueryProcessor::addResultSnapshot(wm::Entity& result, wm::Entity::ContainerT::const_iterator it) const
+ {
+ addResultSnapshot(result, it->second);
+ }
+
+}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/EntityQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/EntityQueryProcessor.h
index 94dc905e4..34f66237e 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/EntityQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/EntityQueryProcessor.h
@@ -1,9 +1,10 @@
#pragma once
+#include <RobotAPI/libraries/armem/core/workingmemory/Entity.h>
+#include <RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.h>
+
#include "BaseQueryProcessor.h"
-#include "../base/EntityQueryProcessorBase.h"
-#include "EntityQueryProcessor.h"
namespace armarx::armem::wm::query_proc
{
@@ -17,33 +18,18 @@ namespace armarx::armem::wm::query_proc
using Base = BaseQueryProcessor<wm::Entity, armem::query::data::EntityQuery>;
public:
+
EntityQueryProcessor(DataMode dataMode = DataMode::WithData) :
Base(dataMode)
{}
+ virtual ~EntityQueryProcessor() override;
- data::Entity processToIce(const armem::query::data::EntityQuery& query, const wm::Entity& entity) const
- {
- return toIce<data::Entity>(process(query, entity));
- }
+ data::Entity processToIce(const armem::query::data::EntityQuery& query, const wm::Entity& entity) const;
private:
- void addResultSnapshot(wm::Entity& result, wm::Entity::ContainerT::const_iterator it) const override
- {
- addResultSnapshot(result, it->second);
- }
-
- void addResultSnapshot(wm::Entity& result, const wm::EntitySnapshot& snapshot) const override
- {
- bool withData = (dataMode == DataMode::WithData);
- if (withData)
- {
- result.addSnapshot(snapshot.copy());
- }
- else
- {
- result.addSnapshot(snapshot.copyWithoutData());
- }
- }
+
+ void addResultSnapshot(wm::Entity& result, wm::Entity::ContainerT::const_iterator it) const override;
+ void addResultSnapshot(wm::Entity& result, const wm::EntitySnapshot& snapshot) const override;
};
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/MemoryQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/MemoryQueryProcessor.cpp
index 69b04de6c..cb8d94789 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/MemoryQueryProcessor.cpp
+++ b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/MemoryQueryProcessor.cpp
@@ -1 +1,10 @@
#include "MemoryQueryProcessor.h"
+
+
+namespace armarx::armem::wm::query_proc
+{
+ CoreSegment MemoryQueryProcessor::coreSegmentProcessorProcess(const armem::query::data::CoreSegmentQuerySeq& q, const CoreSegmentT& s) const
+ {
+ return coreSegmentProcessor.process(q, s, {armem::query::data::QueryTarget::WM});
+ }
+}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/MemoryQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/MemoryQueryProcessor.h
index 8284df202..674b9ede6 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/MemoryQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/MemoryQueryProcessor.h
@@ -1,10 +1,13 @@
#pragma once
+#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
+#include <RobotAPI/libraries/armem/server/query_proc/base/MemoryQueryProcessorBase.h>
+
#include "BaseQueryProcessor.h"
-#include "../base/MemoryQueryProcessorBase.h"
#include "CoreSegmentQueryProcessor.h"
+
namespace armarx::armem::wm::query_proc
{
/**
@@ -17,18 +20,20 @@ namespace armarx::armem::wm::query_proc
using Base = BaseQueryProcessor<wm::Memory, armem::query::data::MemoryQuery>;
public:
+
MemoryQueryProcessor(DataMode dataMode = DataMode::WithData) :
Base(dataMode), coreSegmentProcessor(dataMode)
{}
+
protected:
- virtual CoreSegmentT coreSegmentProcessorProcess(const armem::query::data::CoreSegmentQuerySeq& q, const CoreSegmentT& s) const override
- {
- return coreSegmentProcessor.process(q, s, {armem::query::data::QueryTarget::WM});
- }
+
+ virtual CoreSegment coreSegmentProcessorProcess(const armem::query::data::CoreSegmentQuerySeq& q, const CoreSegment& s) const override;
private:
+
CoreSegmentQueryProcessor coreSegmentProcessor;
+
};
}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/ProviderSegmentQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/ProviderSegmentQueryProcessor.cpp
index 9a2a44050..84189bf2b 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/ProviderSegmentQueryProcessor.cpp
+++ b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/ProviderSegmentQueryProcessor.cpp
@@ -1 +1,25 @@
#include "ProviderSegmentQueryProcessor.h"
+
+#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
+
+
+namespace armarx::armem::wm::query_proc
+{
+
+ ProviderSegmentQueryProcessor::~ProviderSegmentQueryProcessor() = default;
+
+
+ data::ProviderSegment ProviderSegmentQueryProcessor::processToIce(const armem::query::data::ProviderSegmentQuery& query, const wm::ProviderSegment& providerSegment) const
+ {
+ data::ProviderSegment data;
+ toIce(data, process(query, providerSegment));
+ return data;
+ }
+
+
+ Entity ProviderSegmentQueryProcessor::entityProcessorProcess(const armem::query::data::EntityQuerySeq& q, const Entity& s) const
+ {
+ return entityProcessor.process(q, s, {armem::query::data::QueryTarget::WM});
+ }
+
+}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/ProviderSegmentQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/ProviderSegmentQueryProcessor.h
index 468138d9e..adb921d02 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/ProviderSegmentQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/ProviderSegmentQueryProcessor.h
@@ -1,10 +1,12 @@
#pragma once
-#include "BaseQueryProcessor.h"
-#include "../base/ProviderSegmentQueryProcessorBase.h"
+#include <RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.h>
+#include <RobotAPI/libraries/armem/server/query_proc/base/ProviderSegmentQueryProcessorBase.h>
+#include "BaseQueryProcessor.h"
#include "EntityQueryProcessor.h"
+
namespace armarx::armem::wm::query_proc
{
/**
@@ -17,23 +19,24 @@ namespace armarx::armem::wm::query_proc
using Base = BaseQueryProcessor<wm::ProviderSegment, armem::query::data::ProviderSegmentQuery>;
public:
+
ProviderSegmentQueryProcessor(DataMode dataMode = DataMode::WithData) :
Base(dataMode), entityProcessor(dataMode)
{}
+ virtual ~ProviderSegmentQueryProcessor() override;
+
using Base::process;
- data::ProviderSegment processToIce(const armem::query::data::ProviderSegmentQuery& query, const wm::ProviderSegment& providerSegment) const
- {
- return toIce<data::ProviderSegment>(process(query, providerSegment));
- }
+ data::ProviderSegment processToIce(const armem::query::data::ProviderSegmentQuery& query, const wm::ProviderSegment& providerSegment) const;
+
protected:
- virtual EntityT entityProcessorProcess(const armem::query::data::EntityQuerySeq& q, const EntityT& s) const override
- {
- return entityProcessor.process(q, s, {armem::query::data::QueryTarget::WM});
- }
+
+ virtual Entity entityProcessorProcess(const armem::query::data::EntityQuerySeq& q, const Entity& s) const override;
private:
+
EntityQueryProcessor entityProcessor;
+
};
}
--
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