Merge branch 'armem/dev' of https://gitlab.com/ArmarX/RobotAPI into armem/robotstatememory_updates

source/RobotAPI/libraries/armem/core/Time.h

@@ -34,4 +34,4 @@ namespace armarx::armem
      */
     Time timeFromStringMicroSeconds(const std::string& microSeconds);
 
-}
+}  // namespace armarx::armem

source/RobotAPI/libraries/armem_robot_mapping/MappingDataReader.cpp

@@ -97,9 +97,7 @@ namespace armarx::armem
             .coreSegments().withName(properties.mappingMemoryName)
             .providerSegments().withName(query.agent)
             .entities().all()
-            .snapshots().timeRange(
-                IceUtil::Time::microSeconds(query.timeRange.min),
-                IceUtil::Time::microSeconds(query.timeRange.max));
+            .snapshots().timeRange(query.timeRange.min, query.timeRange.max);
             // clang-format on
         }
         else
@@ -109,9 +107,7 @@ namespace armarx::armem
             .coreSegments().withName(properties.mappingMemoryName)
             .providerSegments().withName(query.agent)
             .entities().withNames(query.sensorList)
-            .snapshots().timeRange(
-                IceUtil::Time::microSeconds(query.timeRange.min),
-                IceUtil::Time::microSeconds(query.timeRange.max));
+            .snapshots().timeRange(query.timeRange.min,query.timeRange.max);
             // clang-format on
         }
 
@@ -128,7 +124,7 @@ namespace armarx::armem
             ARMARX_WARNING << "No entities!";
         }
 
-        const auto convert = [](const aron::LaserScanStamped & aronLaserScanStamped, const EntityInstance & ei) -> LaserScanStamped
+        const auto convert = [](const arondto::LaserScanStamped & aronLaserScanStamped, const EntityInstance & ei) -> LaserScanStamped
         {
             LaserScanStamped laserScanStamped;
             fromAron(aronLaserScanStamped, laserScanStamped);
@@ -159,7 +155,7 @@ namespace armarx::armem
             {
                 for (const auto& entityInstance : entitySnapshot.instances)
                 {
-                    const auto o = tryCast<aron::LaserScanStamped>(entityInstance);
+                    const auto o = tryCast<arondto::LaserScanStamped>(entityInstance);
 
                     if (o)
                     {

source/RobotAPI/libraries/armem_robot_mapping/MappingDataReader.h

@@ -45,8 +45,8 @@ namespace armarx::armem
 
     struct TimeRange
     {
-        std::int64_t min;
-        std::int64_t max;
+        Time min;
+        Time max;
     };
 
     /**

source/RobotAPI/libraries/armem_robot_mapping/MappingDataWriter.cpp

@@ -63,7 +63,7 @@ namespace armarx::armem
             return false;
         }
 
-        const auto iceTimestamp = IceUtil::Time::microSeconds(timestamp);
+        const auto iceTimestamp = Time::microSeconds(timestamp);
 
         const auto providerId = armem::MemoryID(result.segmentID);
         const auto entityID =
@@ -73,9 +73,9 @@ namespace armarx::armem
         update.entityID = entityID;
         update.timeCreated = armem::Time::now();
 
-        aron::LaserScanStamped aronSensorData;
+        arondto::LaserScanStamped aronSensorData;
         // currently only sets the header
-        toAron(laserScan, timestamp, frame, agentName, aronSensorData);
+        toAron(laserScan, iceTimestamp, frame, agentName, aronSensorData);
 
         auto dict = aronSensorData.toAron();
         dict->addElement("scan", toAron(laserScan));

source/RobotAPI/libraries/armem_robot_mapping/aron/LaserScan.xml

@@ -8,7 +8,7 @@
 
     <GenerateTypes>
 
-        <Object name='armarx::aron::LaserScannerInfo'>
+        <Object name='armarx::arondto::LaserScannerInfo'>
             <ObjectChild key='device'>
                 <string />
             </ObjectChild>
@@ -26,7 +26,7 @@
             </ObjectChild>
         </Object>
 
-        <Object name="armarx::aron::SensorHeader">
+        <Object name="armarx::arondto::SensorHeader">
             <ObjectChild key="agent">
                 <string/>
             </ObjectChild>
@@ -39,9 +39,9 @@
         </Object>
 
 
-        <Object name='armarx::aron::LaserScanStamped'>
+        <Object name='armarx::arondto::LaserScanStamped'>
             <ObjectChild key="header">
-                <armarx::aron::SensorHeader />
+                <armarx::arondto::SensorHeader />
             </ObjectChild>
 
             <!-- 

source/RobotAPI/libraries/armem_robot_mapping/aron_conversions.cpp

 #include "aron_conversions.h"
 
 #include <algorithm>
+#include <cstdint>
 #include <iterator>
 
 #include <RobotAPI/interface/units/LaserScannerUnit.h>
@@ -16,21 +17,27 @@ namespace armarx
 
     /************ fromAron ************/
 
-    SensorHeader fromAron(const aron::SensorHeader& aronSensorHeader)
+    armem::Time timeFromAron(const int64_t timestamp)
     {
+        return armem::Time::microSeconds(timestamp);
+    }
+
+    SensorHeader fromAron(const arondto::SensorHeader& aronSensorHeader)
+    {
+        
         return {.agent = aronSensorHeader.agent,
                 .frame = aronSensorHeader.frame,
-                .timestamp = aronSensorHeader.timestamp};
+                .timestamp = timeFromAron(aronSensorHeader.timestamp)};
     }
 
-    void fromAron(const aron::LaserScanStamped& aronLaserScan,
+    void fromAron(const arondto::LaserScanStamped& aronLaserScan,
                   LaserScanStamped& laserScan)
     {
         laserScan.header = fromAron(aronLaserScan.header);
         // laserScan.data = fromAron(aronLaserScan.data);
     }
 
-    void fromAron(const aron::LaserScanStamped& aronLaserScan, LaserScan& laserScan,
+    void fromAron(const arondto::LaserScanStamped& aronLaserScan, LaserScan& laserScan,
                   std::int64_t& timestamp, std::string& frame,
                   std::string& agentName)
     {
@@ -38,7 +45,7 @@ namespace armarx
 
         // laserScan = fromAron(aronLaserScan.data);
 
-        timestamp = header.timestamp;
+        timestamp = header.timestamp.toMicroSeconds();
         frame = header.frame;
         agentName = header.agent;
     }
@@ -52,29 +59,34 @@ namespace armarx
     //     aronLaserScan.scan = toAron(laserScan);
     // }
 
-    aron::SensorHeader toAron(const SensorHeader& sensorHeader)
+    int64_t toAron(const armem::Time& timestamp)
+    {
+        return timestamp.toMicroSeconds();
+    }
+
+    arondto::SensorHeader toAron(const SensorHeader& sensorHeader)
     {
-        aron::SensorHeader aronSensorHeader;
+        arondto::SensorHeader aronSensorHeader;
 
         aronSensorHeader.agent = sensorHeader.agent;
         aronSensorHeader.frame = sensorHeader.frame;
-        aronSensorHeader.timestamp = sensorHeader.timestamp;
+        aronSensorHeader.timestamp = toAron(sensorHeader.timestamp);
 
         return aronSensorHeader;
     }
 
     void toAron(const LaserScanStamped& laserScanStamped,
-                aron::LaserScanStamped& aronLaserScanStamped)
+                arondto::LaserScanStamped& aronLaserScanStamped)
     {
         aronLaserScanStamped.header = toAron(laserScanStamped.header);
         // toAron(laserScanStamped.data, aronLaserScanStamped.data);
     }
 
     void toAron(const LaserScan& laserScan,
-                const std::int64_t& timestamp,
+                const armem::Time& timestamp,
                 const std::string& frame,
                 const std::string& agentName,
-                aron::LaserScanStamped& aronLaserScanStamped)
+                arondto::LaserScanStamped& aronLaserScanStamped)
     {
         const SensorHeader header
         {

source/RobotAPI/libraries/armem_robot_mapping/aron_conversions.h

@@ -25,11 +25,12 @@
 #include <RobotAPI/interface/units/LaserScannerUnit.h>
 #include <RobotAPI/libraries/aron/converter/common/VectorConverter.h>
 #include <RobotAPI/libraries/aron/core/navigator/data/complex/NDArray.h>
+#include <RobotAPI/libraries/armem/core/Time.h>
 
 namespace armarx
 {
 
-    namespace aron
+    namespace arondto
     {
         struct LaserScanStamped;
     } // namespace aron
@@ -38,7 +39,7 @@ namespace armarx
     struct LaserScanStamped;
 
     void fromAron(
-        const aron::LaserScanStamped& aronLaserScan,
+        const arondto::LaserScanStamped& aronLaserScan,
         LaserScan& laserScan,
         std::int64_t& timestamp,
         std::string& frame,
@@ -51,14 +52,14 @@ namespace armarx
         return aron::converter::AronVectorConverter::ConvertToVector<T>(navigator);
     }
 
-    void fromAron(const aron::LaserScanStamped& aronLaserScan, LaserScanStamped& laserScan);
+    void fromAron(const arondto::LaserScanStamped& aronLaserScan, LaserScanStamped& laserScan);
 
     void toAron(
         const LaserScan& laserScan,
-        const std::int64_t& timestamp,
+        const armem::Time& timestamp,
         const std::string& frame,
         const std::string& agentName,
-        aron::LaserScanStamped& aronLaserScan);
+        arondto::LaserScanStamped& aronLaserScan);
 
     inline aron::datanavigator::NDArrayNavigatorPtr toAron(const LaserScan& laserScan)
     {

source/RobotAPI/libraries/armem_robot_mapping/types.h

@@ -21,6 +21,7 @@
 
 #pragma once
 
+#include <RobotAPI/libraries/armem/core/Time.h>
 #include <RobotAPI/interface/units/LaserScannerUnit.h>
 
 namespace armarx
@@ -30,7 +31,7 @@ namespace armarx
     {
         std::string agent;
         std::string frame;
-        std::int64_t timestamp;
+        armem::Time timestamp;
     };
 
     struct LaserScanStamped