consollidate removed instances to ltm (still WIP)

source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp

@@ -186,17 +186,43 @@ namespace armarx::armem::server
                 result.snapshotID = updateResult.id;
                 result.timeArrived = update.timeArrived;
 
-                // also store in ltm if transfermode is set to always
-                // TODO: Move outside of loop?
-                if (longtermMemory)
+                for (const auto& snapshot : updateResult.removedSnapshots)
                 {
-
+                    ARMARX_DEBUG << "The id " << snapshot.id() << " was removed from wm";
                 }
 
-                // TODO: Consollidate to ltm if onFilledTransfer is enabled (fabian.peller)
-                for (const auto& snapshot : updateResult.removedSnapshots)
+                // Consollidate to ltm
+                if (longtermMemory)
                 {
-                    ARMARX_DEBUG << "The id " << snapshot.id() << " was removed from wm";
+                    //ARMARX_IMPORTANT << longtermMemory->id().str();
+                    //ARMARX_IMPORTANT << longtermMemory->getPath();
+
+                    // Create Memory out of list TODO: make nicer
+                    armem::wm::Memory m(longtermMemory->name());
+                    for (const auto& snapshot : updateResult.removedSnapshots)
+                    {
+                        if (!m.hasCoreSegment(snapshot.id().coreSegmentName))
+                        {
+                            m.addCoreSegment(snapshot.id().coreSegmentName);
+                        }
+                        auto* c = m.findCoreSegment(snapshot.id().coreSegmentName);
+
+                        if (!c->hasProviderSegment(snapshot.id().providerSegmentName))
+                        {
+                            c->addProviderSegment(snapshot.id().providerSegmentName);
+                        }
+                        auto* p = c->findProviderSegment(snapshot.id().providerSegmentName);
+
+                        if (!p->hasEntity(snapshot.id().entityName))
+                        {
+                            p->addEntity(snapshot.id().entityName);
+                        }
+                        auto* e = p->findEntity(snapshot.id().entityName);
+
+                        e->addSnapshot(snapshot);
+                    }
+                    longtermMemory->store(m);
+                    longtermMemory->storeBuffer();
                 }
 
                 if (publishUpdates)