Add timestamp arrived to memory commits

source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotStateWriter.cpp

@@ -167,6 +167,7 @@ namespace armarx::armem::server::robot_state::proprioception
             up.entityID.coreSegmentName =
                 ::armarx::armem::robot_state::constants::proprioceptionCoreSegment;
             up.referencedTime = data.timestamp;
+            up.arrivedTime = data.timestampArrived;
             up.instancesData = {data.proprioception};
         }
 

source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitData.h

@@ -13,6 +13,7 @@ namespace armarx::armem::server::robot_state::proprioception
     struct RobotUnitData
     {
         Time timestamp;
+        Time timestampArrived;
         aron::data::DictPtr proprioception;
         aron::data::DictPtr exteroception;
     };

source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitReader.cpp

@@ -81,11 +81,14 @@ namespace armarx::armem::server::robot_state::proprioception
     {
         ARMARX_CHECK_NOT_NULL(converterProprioception);
 
+        RobotUnitData result;
 
         std::optional<RobotUnitDataStreaming::TimeStep> data;
         {
             auto start = std::chrono::high_resolution_clock::now();
             data = fetchLatestData();
+            result.timestampArrived = armarx::DateTime::Now();
+
             auto duration = std::chrono::duration_cast<std::chrono::microseconds>(
                 std::chrono::high_resolution_clock::now() - start);
             if (debugObserver)
@@ -102,7 +105,6 @@ namespace armarx::armem::server::robot_state::proprioception
         ARMARX_DEBUG << "RobotUnitReader: Converting data current timestep to commit";
         auto start = std::chrono::high_resolution_clock::now();
 
-        RobotUnitData result;
 
         if (converterProprioception != nullptr)
         {