From d586d79052558e8fc9653e6056c9f74f66fd68ed Mon Sep 17 00:00:00 2001
From: Fabian Peller <fabian.peller-konrad@kit.edu>
Date: Tue, 17 Oct 2023 18:32:45 +0200
Subject: [PATCH] unify interface for objectWriter
---
.../client/instance/ObjectWriter.cpp | 41 +++++++++++--------
.../client/instance/ObjectWriter.h | 21 ++++------
2 files changed, 32 insertions(+), 30 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_objects/client/instance/ObjectWriter.cpp b/source/RobotAPI/libraries/armem_objects/client/instance/ObjectWriter.cpp
index 8ee596b27..80d1af559 100644
--- a/source/RobotAPI/libraries/armem_objects/client/instance/ObjectWriter.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/instance/ObjectWriter.cpp
@@ -3,29 +3,29 @@
#include <mutex>
#include <optional>
-#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/PackagePath.h>
+#include <ArmarXCore/core/logging/Logging.h>
+#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/core/Time.h>
#include <RobotAPI/libraries/armem/core/error.h>
-#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/util/util.h>
-#include <RobotAPI/libraries/armem_robot/robot_conversions.h>
-#include <RobotAPI/libraries/armem_robot/aron_conversions.h>
-#include <RobotAPI/libraries/armem_robot/aron/Robot.aron.generated.h>
#include <RobotAPI/libraries/armem_objects/aron/Attachment.aron.generated.h>
#include <RobotAPI/libraries/armem_objects/aron_conversions.h>
+#include <RobotAPI/libraries/armem_robot/aron/Robot.aron.generated.h>
+#include <RobotAPI/libraries/armem_robot/aron_conversions.h>
+#include <RobotAPI/libraries/armem_robot/robot_conversions.h>
#include <RobotAPI/libraries/aron/common/aron_conversions.h>
-
namespace armarx::armem::obj::instance
{
- Writer::Writer(armem::client::MemoryNameSystem& memoryNameSystem) :
- memoryNameSystem(memoryNameSystem)
- {}
+ Writer::Writer()
+ {
+ }
- void Writer::registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def)
+ void
+ Writer::registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def)
{
ARMARX_DEBUG << "Writer: registerPropertyDefinitions";
@@ -38,8 +38,8 @@ namespace armarx::armem::obj::instance
"Name of the memory core segment to use for object instances.");
}
-
- void Writer::connect()
+ void
+ Writer::connect(armem::client::MemoryNameSystem& memoryNameSystem)
{
// Wait for the memory to become available and add it as dependency.
ARMARX_IMPORTANT << "Writer: Waiting for memory '" << properties.memoryName << "' ...";
@@ -55,7 +55,10 @@ namespace armarx::armem::obj::instance
}
}
- bool Writer::commitObject(const armem::arondto::ObjectInstance& inst, const std::string& provider, const armem::Time& t)
+ bool
+ Writer::commitObject(const armem::arondto::ObjectInstance& inst,
+ const std::string& provider,
+ const armem::Time& t)
{
armem::Commit c;
auto& e = c.add();
@@ -63,19 +66,21 @@ namespace armarx::armem::obj::instance
e.entityID.memoryName = properties.memoryName;
e.entityID.coreSegmentName = properties.coreSegmentName;
e.entityID.providerSegmentName = provider;
- e.entityID.entityName = inst.pose.objectID.dataset + "/" + inst.pose.objectID.className + "/" + inst.pose.objectID.instanceName;
+ e.entityID.entityName = inst.pose.objectID.dataset + "/" + inst.pose.objectID.className +
+ "/" + inst.pose.objectID.instanceName;
e.referencedTime = t;
e.sentTime = armem::Time::Now();
- e.instancesData = { inst.toAron() };
+ e.instancesData = {inst.toAron()};
auto res = memoryWriter.commit(c);
- if(!res.allSuccess())
+ if (!res.allSuccess())
{
- ARMARX_ERROR << "Failed to commit an ObjectInstance to memory: " << res.allErrorMessages();
+ ARMARX_ERROR << "Failed to commit an ObjectInstance to memory: "
+ << res.allErrorMessages();
return false;
}
return true;
}
-} // namespace armarx::armem::instance
+} // namespace armarx::armem::obj::instance
diff --git a/source/RobotAPI/libraries/armem_objects/client/instance/ObjectWriter.h b/source/RobotAPI/libraries/armem_objects/client/instance/ObjectWriter.h
index 972227993..d44950284 100644
--- a/source/RobotAPI/libraries/armem_objects/client/instance/ObjectWriter.h
+++ b/source/RobotAPI/libraries/armem_objects/client/instance/ObjectWriter.h
@@ -28,40 +28,37 @@
#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
#include <RobotAPI/libraries/armem/client/Writer.h>
-#include <RobotAPI/libraries/armem_objects/types.h>
-
#include <RobotAPI/libraries/armem_objects/aron/ObjectInstance.aron.generated.h>
-
+#include <RobotAPI/libraries/armem_objects/types.h>
namespace armarx::armem::obj::instance
{
class Writer
{
public:
- Writer(armem::client::MemoryNameSystem& memoryNameSystem);
+ Writer();
virtual ~Writer() = default;
void registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def);
- void connect();
+ void connect(armem::client::MemoryNameSystem& memoryNameSystem);
- bool commitObject(const armem::arondto::ObjectInstance& inst, const std::string& provider, const armem::Time&);
+ bool commitObject(const armem::arondto::ObjectInstance& inst,
+ const std::string& provider,
+ const armem::Time&);
private:
-
-
struct Properties
{
- std::string memoryName = "Object";
- std::string coreSegmentName = "Instance";
+ std::string memoryName = "Object";
+ std::string coreSegmentName = "Instance";
} properties;
const std::string propertyPrefix = "mem.obj.instance.";
- armem::client::MemoryNameSystem& memoryNameSystem;
armem::client::Writer memoryWriter;
mutable std::mutex memoryWriterMutex;
};
-} // namespace armarx::armem::instance
+} // namespace armarx::armem::obj::instance
--
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