diff --git a/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.h b/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.h
index 157b8ec2f4caab32384515a83b156310b1ae3590..cfa58705d6f4f3c17e635f0b6a0dc1750fae6ada 100644
--- a/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.h
+++ b/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.h
@@ -98,9 +98,7 @@ namespace armarx
void run();
-
private:
-
armem::MemoryID providerID;
armem::MemoryID entityID;
@@ -108,7 +106,6 @@ namespace armarx
void example_entityUpdated(const armem::MemoryID& id);
// Examples
-
void waitForMemory();
armem::MemoryID addProviderSegment();
@@ -121,9 +118,7 @@ namespace armarx
void commitExampleData();
void queryExampleData();
-
private:
-
armarx::RunningTask<ArMemExampleClient>::pointer_type task;
armarx::DebugObserverInterfacePrx debugObserver;
@@ -131,7 +126,6 @@ namespace armarx
std::string memoryName = "Example";
armem::MemoryInterfacePrx memory;
-
struct RemoteGuiTab : RemoteGui::Client::Tab
{
std::atomic_bool rebuild = false;
@@ -140,6 +134,5 @@ namespace armarx
RemoteGui::Client::GroupBox queryResultGroup;
};
RemoteGuiTab tab;
-
};
}
diff --git a/source/RobotAPI/components/armem/ArMemExampleClient/CMakeLists.txt b/source/RobotAPI/components/armem/ArMemExampleClient/CMakeLists.txt
index 9977051593205191473f4faab5eccc46ffc4c788..01eb7b07b3fc2a9c2d48345b84a1784663958ca7 100644
--- a/source/RobotAPI/components/armem/ArMemExampleClient/CMakeLists.txt
+++ b/source/RobotAPI/components/armem/ArMemExampleClient/CMakeLists.txt
@@ -3,24 +3,21 @@ armarx_component_set_name("ArMemExampleClient")
find_package(IVT QUIET)
armarx_build_if(IVT_FOUND "IVT not available")
-
set(COMPONENT_LIBS
ArmarXCore ArmarXCoreInterfaces # for DebugObserverInterface
ArmarXGuiComponentPlugins
RobotAPICore RobotAPIInterfaces armem
- # RobotAPIComponentPlugins # for ArViz and other plugins
-
${IVT_LIBRARIES}
)
set(SOURCES
ArMemExampleClient.cpp
)
+
set(HEADERS
ArMemExampleClient.h
)
-
armarx_add_component("${SOURCES}" "${HEADERS}")
if (IVT_FOUND)
target_include_directories(${ARMARX_COMPONENT_NAME} PUBLIC ${IVT_INCLUDE_DIRS})
diff --git a/source/RobotAPI/components/units/SpeechObserver.cpp b/source/RobotAPI/components/units/SpeechObserver.cpp
index 29c03c5eefe9ff3089c662adf61bee28cd8817e7..475c331a92701ff3e326ed498de7ff0ffe9a7d47 100644
--- a/source/RobotAPI/components/units/SpeechObserver.cpp
+++ b/source/RobotAPI/components/units/SpeechObserver.cpp
@@ -36,8 +36,6 @@ void SpeechObserver::onInitObserver()
{
usingTopic(getProperty<std::string>("TextToSpeechTopicName").getValue());
usingTopic(getProperty<std::string>("TextToSpeechStateTopicName").getValue());
-
-
}
void SpeechObserver::onConnectObserver()
diff --git a/source/RobotAPI/components/units/SpeechObserver.h b/source/RobotAPI/components/units/SpeechObserver.h
index 2cf428ace331d0afc54e5e711dcd60304b542172..e7524e17c03bb9bff43719201922b3508db3f66b 100644
--- a/source/RobotAPI/components/units/SpeechObserver.h
+++ b/source/RobotAPI/components/units/SpeechObserver.h
@@ -25,7 +25,6 @@
#include <ArmarXCore/observers/Observer.h>
#include <RobotAPI/interface/observers/SpeechObserverInterface.h>
-
#include <mutex>
namespace armarx
@@ -67,6 +66,7 @@ namespace armarx
{
return "SpeechObserver";
}
+
PropertyDefinitionsPtr createPropertyDefinitions() override
{
return PropertyDefinitionsPtr(new SpeechObserverPropertyDefinitions(getConfigIdentifier()));
diff --git a/source/RobotAPI/libraries/armem/client/ComponentPlugin.h b/source/RobotAPI/libraries/armem/client/ComponentPlugin.h
index 2bcf857c26753bc5606c2d13c649784913945e87..50ee797fce5c2ca194822356bf5405a67b1486cb 100644
--- a/source/RobotAPI/libraries/armem/client/ComponentPlugin.h
+++ b/source/RobotAPI/libraries/armem/client/ComponentPlugin.h
@@ -12,11 +12,12 @@
#include <RobotAPI/libraries/armem/mns/MemoryNameSystemClientPlugin.h>
+
namespace armarx::armem::client
{
/**
- * @brief Utility for connecting a Memory to Ice.
+ * @brief Utility for connecting a Client via Ice to ArMem.
*/
class ComponentPluginUser :
virtual public ReaderComponentPluginUser,
@@ -29,7 +30,6 @@ namespace armarx::armem::client
~ComponentPluginUser() override;
protected:
-
void setMemory(MemoryInterfacePrx memory);
};
diff --git a/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.h b/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.h
index 4ed9bea8fa74e455c2ccf976eb00d97b0828295c..9d8c9bc40bbce3e81a2f6b596604894ef8ee2b41 100644
--- a/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.h
+++ b/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.h
@@ -8,6 +8,7 @@
#include <ArmarXCore/core/Component.h>
// RobotAPI
+#include <RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronAllDataNavigators.h>
#include <RobotAPI/interface/armem/MemoryInterface.h>
#include <RobotAPI/interface/armem/MemoryListenerInterface.h>
#include <RobotAPI/interface/armem/MemoryNameSystemInterface.h>
diff --git a/source/RobotAPI/libraries/armem/client/Writer.cpp b/source/RobotAPI/libraries/armem/client/Writer.cpp
index f506221179100c532d71d341b1462fa8273d5951..f0b49521629f2989faf6a2d01ad5fcaf8dc31542 100644
--- a/source/RobotAPI/libraries/armem/client/Writer.cpp
+++ b/source/RobotAPI/libraries/armem/client/Writer.cpp
@@ -20,6 +20,11 @@ namespace armarx::armem::client
return addSegment(input);
}
+ data::AddSegmentResult Writer::addSegment(const std::pair<std::string, std::string>& names)
+ {
+ return addSegment(names.first, names.second);
+ }
+
data::AddSegmentResult Writer::addSegment(const data::AddSegmentInput& input)
{
data::AddSegmentsResult results = addSegments({input});
@@ -106,6 +111,35 @@ namespace armarx::armem::client
return result.results.at(0);
}
+ armarx::armem::MemoryID
+ Writer::commit(const armem::MemoryID& entityID, const armarx::aron::datanavigator::AronDictDataNavigatorPtr& instance)
+ {
+ std::vector<armarx::aron::datanavigator::AronDictDataNavigatorPtr> data({instance});
+ return commit(entityID, data)[0];
+ }
+
+ std::vector<armarx::armem::MemoryID>
+ Writer::commit(const armem::MemoryID& entityID, const std::vector<armarx::aron::datanavigator::AronDictDataNavigatorPtr>& data)
+ {
+ armem::Commit c;
+ armem::EntityUpdate& update = c.updates.emplace_back();
+
+ update.entityID = entityID;
+ update.timeCreated = armem::Time::now();
+ update.instancesData = data;
+
+ armem::CommitResult commitResult = commit(c);
+
+ std::vector<armarx::armem::MemoryID> ret;
+ for (const auto& res : commitResult.results)
+ {
+ ARMARX_INFO << res;
+ ret.push_back(res.snapshotID);
+ }
+
+ return ret;
+ }
+
void
Writer::setWritingMemory(WritingMemoryInterfacePrx memory)
diff --git a/source/RobotAPI/libraries/armem/client/Writer.h b/source/RobotAPI/libraries/armem/client/Writer.h
index 67e7f57d0ff3733ebf6d2e7a007309875ba5c03e..71f6c17fa47d41e69894360759a811464057fd7f 100644
--- a/source/RobotAPI/libraries/armem/client/Writer.h
+++ b/source/RobotAPI/libraries/armem/client/Writer.h
@@ -23,6 +23,7 @@ namespace armarx::armem::client
data::AddSegmentResult addSegment(const std::string& coreSegmentName, const std::string& providerSegmentName);
+ data::AddSegmentResult addSegment(const std::pair<std::string, std::string>& names);
data::AddSegmentResult addSegment(const data::AddSegmentInput& input);
data::AddSegmentsResult addSegments(const data::AddSegmentsInput& input);
@@ -32,6 +33,10 @@ namespace armarx::armem::client
CommitResult commit(const Commit& commit);
EntityUpdateResult commit(const EntityUpdate& update);
+ armem::MemoryID commit(const armem::MemoryID& entityID, const armarx::aron::datanavigator::AronDictDataNavigatorPtr& instance);
+ std::vector<armarx::armem::MemoryID> commit(const armem::MemoryID& entityID, const std::vector<armarx::aron::datanavigator::AronDictDataNavigatorPtr>& data);
+
+
void setWritingMemory(WritingMemoryInterfacePrx memory);
diff --git a/source/RobotAPI/libraries/armem/client/WriterComponentPlugin.cpp b/source/RobotAPI/libraries/armem/client/WriterComponentPlugin.cpp
index 5ed4dc1f79cd130f5090411c413bd5a8122c4df3..ca49975e0bc96aef45664b051055f2d6b4427b81 100644
--- a/source/RobotAPI/libraries/armem/client/WriterComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/armem/client/WriterComponentPlugin.cpp
@@ -31,3 +31,4 @@ armarx::armem::client::WriterComponentPluginUser::setWritingMemory(WritingMemory
{
memoryWriter.setWritingMemory(memory);
}
+
diff --git a/source/RobotAPI/libraries/armem/client/WriterComponentPlugin.h b/source/RobotAPI/libraries/armem/client/WriterComponentPlugin.h
index 4f3eeb3bdcbd474bab5c1d068d31d50dc6d66f56..3278399c40bd3eae1f705472a5046bddc83f16f8 100644
--- a/source/RobotAPI/libraries/armem/client/WriterComponentPlugin.h
+++ b/source/RobotAPI/libraries/armem/client/WriterComponentPlugin.h
@@ -5,6 +5,7 @@
#include <ArmarXCore/core/Component.h>
// RobotAPI
+#include <RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronAllDataNavigators.h>
#include <RobotAPI/interface/armem/MemoryInterface.h>
#include <RobotAPI/interface/armem/MemoryNameSystemInterface.h>
#include <RobotAPI/libraries/armem/client/Writer.h>
@@ -40,6 +41,9 @@ namespace armarx::armem::client
void setWritingMemory(WritingMemoryInterfacePrx memory);
+ armem::MemoryID commitSingleSnapshot(const armem::MemoryID& entityID, const armarx::aron::datanavigator::AronDictDataNavigatorPtr& data);
+ std::vector<armarx::armem::MemoryID> commitMultipleSnapshot(const armem::MemoryID& entityID, const std::vector<armarx::aron::datanavigator::AronDictDataNavigatorPtr>& data);
+
protected:
Writer memoryWriter;
diff --git a/source/RobotAPI/libraries/armem/component/MemoryComponentPlugin.h b/source/RobotAPI/libraries/armem/component/MemoryComponentPlugin.h
index 82aaf5bc8b485463005000492d665feb92134307..43e0705b9c8bec2e75bff5a0942d068156ae3857 100644
--- a/source/RobotAPI/libraries/armem/component/MemoryComponentPlugin.h
+++ b/source/RobotAPI/libraries/armem/component/MemoryComponentPlugin.h
@@ -18,7 +18,6 @@ namespace armarx::armem
class MemoryComponentPluginUser;
}
-
namespace armarx::armem::plugins
{
@@ -97,6 +96,4 @@ namespace armarx::armem
};
-
-
}
diff --git a/source/RobotAPI/libraries/armem/core/MemoryID.cpp b/source/RobotAPI/libraries/armem/core/MemoryID.cpp
index 493a7fb2ca5df6a6761a575e2ba1d83b0b09e032..961683624b9781ec0f0b6a3d49b806c712959473 100644
--- a/source/RobotAPI/libraries/armem/core/MemoryID.cpp
+++ b/source/RobotAPI/libraries/armem/core/MemoryID.cpp
@@ -130,14 +130,14 @@ namespace armarx::armem
MemoryID MemoryID::getCoreSegmentID() const
{
MemoryID id = getMemoryID();
- id.providerSegmentName = providerSegmentName;
+ id.coreSegmentName = coreSegmentName;
return id;
}
MemoryID MemoryID::getProviderSegmentID() const
{
MemoryID id = getCoreSegmentID();
- id.coreSegmentName = coreSegmentName;
+ id.providerSegmentName = providerSegmentName;
return id;
}
diff --git a/source/RobotAPI/libraries/armem/ltm/MemoryFileSystemStorage.cpp b/source/RobotAPI/libraries/armem/ltm/MemoryFileSystemStorage.cpp
index dd9fb2bceea66868e9eab8b3eb3648673c85dca8..bc88b2ccd57bb3f59e0a95a9b8505af048ac967f 100644
--- a/source/RobotAPI/libraries/armem/ltm/MemoryFileSystemStorage.cpp
+++ b/source/RobotAPI/libraries/armem/ltm/MemoryFileSystemStorage.cpp
@@ -2,9 +2,9 @@
namespace armarx::armem::ltm
{
- MemoryFileSystemStorage::MemoryFileSystemStorage(const std::string& r, bool createFolder) :
- writer(new io::NlohmannJSONDiskWriter(r, createFolder)),
- reader(new io::NlohmannJSONDiskReader(r, createFolder))
+ MemoryFileSystemStorage::MemoryFileSystemStorage(const std::string& path, bool createFolder) :
+ writer(new io::NlohmannJSONDiskWriter(path, createFolder)),
+ reader(new io::NlohmannJSONDiskReader(path, createFolder))
{
}
diff --git a/source/RobotAPI/libraries/armem/ltm/io/DiskReader/DiskReader.h b/source/RobotAPI/libraries/armem/ltm/io/DiskReader/DiskReader.h
index 249b9c4aa132196ddcf8e0415fa1126ef40da103..7276820ab8467e1d7b7973e5a86881d36a24ca7e 100644
--- a/source/RobotAPI/libraries/armem/ltm/io/DiskReader/DiskReader.h
+++ b/source/RobotAPI/libraries/armem/ltm/io/DiskReader/DiskReader.h
@@ -36,10 +36,10 @@
#include <RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronAllDataNavigators.h>
#include <RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronAllTypeNavigators.h>
-#include <RobotAPI/libraries/aron/aroncore/io/AronDataIO/LegacyAronDataConverter/LegacyAronDataConverter.h>
+#include <RobotAPI/libraries/aron/aroncore/io/AronDataIO/AronDataConverter/AronDataConverter.h>
#include <RobotAPI/libraries/aron/aroncore/io/AronDataIO/classWriters/NavigatorWriter/AronDataNavigatorWriter.h>
-#include <RobotAPI/libraries/aron/aroncore/io/AronTypeIO/LegacyAronTypeConverter/LegacyAronTypeConverter.h>
+#include <RobotAPI/libraries/aron/aroncore/io/AronTypeIO/AronTypeConverter/AronTypeConverter.h>
#include <RobotAPI/libraries/aron/aroncore/io/AronTypeIO/classWriters/NavigatorWriter/AronTypeNavigatorWriter.h>
#include <RobotAPI/libraries/armem/ltm/FileSystemLookupMemory.h>
diff --git a/source/RobotAPI/libraries/armem/ltm/io/DiskReader/NlohmannJSONDiskReader/NlohmannJSONDiskReader.cpp b/source/RobotAPI/libraries/armem/ltm/io/DiskReader/NlohmannJSONDiskReader/NlohmannJSONDiskReader.cpp
index dc9d473694eee1b5b0761dd45f61ea48034f141a..13e415e5201d2200ab3298ae514e69c81c47b0ba 100644
--- a/source/RobotAPI/libraries/armem/ltm/io/DiskReader/NlohmannJSONDiskReader/NlohmannJSONDiskReader.cpp
+++ b/source/RobotAPI/libraries/armem/ltm/io/DiskReader/NlohmannJSONDiskReader/NlohmannJSONDiskReader.cpp
@@ -19,7 +19,7 @@ namespace armarx::armem::ltm::io
{
aron::io::AronDataNlohmannJSONReader dataReader(s);
aron::io::AronDataNavigatorWriter navWriter;
- aron::io::LegacyAronDataConverter::ConvertFromReader(dataReader, navWriter, expectedStructure);
+ aron::io::AronDataConverter::ConvertFromReader(dataReader, navWriter, expectedStructure);
return aron::datanavigator::AronDictDataNavigator::DynamicCastAndCheck(navWriter.getResult());
}
@@ -27,7 +27,7 @@ namespace armarx::armem::ltm::io
{
aron::io::AronTypeNlohmannJSONReader typeReader(s);
aron::io::AronTypeNavigatorWriter navWriter;
- aron::io::LegacyAronTypeConverter::ConvertFromReader(typeReader, navWriter);
+ aron::io::AronTypeConverter::ConvertFromReader(typeReader, navWriter);
return aron::typenavigator::AronObjectTypeNavigator::DynamicCastAndCheck(navWriter.getResult());
}
}
diff --git a/source/RobotAPI/libraries/armem/ltm/io/DiskWriter/DiskWriter.h b/source/RobotAPI/libraries/armem/ltm/io/DiskWriter/DiskWriter.h
index acb38e1f89d09b0238d112b26a2f8988aaa9dbfd..5ab8b545d7e93af133b8d752baf8a37cc08322fb 100644
--- a/source/RobotAPI/libraries/armem/ltm/io/DiskWriter/DiskWriter.h
+++ b/source/RobotAPI/libraries/armem/ltm/io/DiskWriter/DiskWriter.h
@@ -36,9 +36,9 @@
#include <RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronAllDataNavigators.h>
#include <RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronAllTypeNavigators.h>
-#include <RobotAPI/libraries/aron/aroncore/io/AronDataIO/LegacyAronDataWriter/LegacyAronDataWriter.h>
+#include <RobotAPI/libraries/aron/aroncore/io/AronDataIO/AronDataWriterVisitor/AronDataWriterVisitor.h>
#include <RobotAPI/libraries/aron/aroncore/io/AronDataIO/AronDataWriter.h>
-#include <RobotAPI/libraries/aron/aroncore/io/AronTypeIO/LegacyAronTypeWriter/LegacyAronTypeWriter.h>
+#include <RobotAPI/libraries/aron/aroncore/io/AronTypeIO/AronTypeWriterVisitor/AronTypeWriterVisitor.h>
#include <RobotAPI/libraries/aron/aroncore/io/AronTypeIO/AronTypeWriter.h>
#include <RobotAPI/libraries/armem/ltm/FileSystemLookupMemory.h>
diff --git a/source/RobotAPI/libraries/armem/ltm/io/DiskWriter/NlohmannJSONDiskWriter/NlohmannJSONDiskWriter.cpp b/source/RobotAPI/libraries/armem/ltm/io/DiskWriter/NlohmannJSONDiskWriter/NlohmannJSONDiskWriter.cpp
index ffdb1a0fb254d410feae0f7ebab73b692a4357de..6201e80f007b9dfab8f22a0e926e7716576f9a49 100644
--- a/source/RobotAPI/libraries/armem/ltm/io/DiskWriter/NlohmannJSONDiskWriter/NlohmannJSONDiskWriter.cpp
+++ b/source/RobotAPI/libraries/armem/ltm/io/DiskWriter/NlohmannJSONDiskWriter/NlohmannJSONDiskWriter.cpp
@@ -17,14 +17,14 @@ namespace armarx::armem::ltm::io
std::string NlohmannJSONDiskWriter::getDataAsString(const aron::datanavigator::AronDictDataNavigatorPtr& aronDataNav) const
{
aron::io::AronDataNlohmannJSONWriter dataWriter;
- aron::io::LegacyAronDataWriter::SetupWriterFromAronDataPtr(dataWriter, aronDataNav->getResult());
+ aron::io::AronDataWriterVisitor::SetupWriterFromAronDataPtr(dataWriter, aronDataNav->getResult());
return dataWriter.getResult().dump(4);
}
std::string NlohmannJSONDiskWriter::getTypeAsString(const aron::typenavigator::AronObjectTypeNavigatorPtr& aronTypeNav) const
{
aron::io::AronTypeNlohmannJSONWriter typeWriter;
- aron::io::LegacyAronTypeWriter::SetupWriterFromAronTypePtr(typeWriter, aronTypeNav->getResult());
+ aron::io::AronTypeWriterVisitor::SetupWriterFromAronTypePtr(typeWriter, aronTypeNav->getResult());
return typeWriter.getResult().dump(4);
}
diff --git a/source/RobotAPI/libraries/armem/mns/MemoryNameSystemClientPlugin.cpp b/source/RobotAPI/libraries/armem/mns/MemoryNameSystemClientPlugin.cpp
index 7a03801236b2167c5aead864ffe8fdb9147d016f..03a84cdc2705a6b1ddfc442649ff7e9c68803d71 100644
--- a/source/RobotAPI/libraries/armem/mns/MemoryNameSystemClientPlugin.cpp
+++ b/source/RobotAPI/libraries/armem/mns/MemoryNameSystemClientPlugin.cpp
@@ -71,6 +71,27 @@ namespace armarx::armem::plugins
: nullptr;
}
+
+ armem::data::WaitForMemoryResult MemoryNameSystemClientPluginUser::waitForMemory(const std::string& memoryName)
+ {
+ armem::data::WaitForMemoryInput input;
+ input.name = memoryName;
+ return memoryNameSystem->waitForMemory(input);
+ }
+
+ armem::data::ResolveMemoryNameResult MemoryNameSystemClientPluginUser::resolveMemoryName(const std::string& memoryName)
+ {
+ armem::data::ResolveMemoryNameInput input;
+ input.name = memoryName;
+ return memoryNameSystem->resolveMemoryName(input);
+ }
+
+ bool MemoryNameSystemClientPluginUser::isMemoryAvailable(const std::string& memoryName)
+ {
+ armem::data::ResolveMemoryNameResult result = resolveMemoryName(memoryName);
+ return result.success && result.proxy;
+ }
+
}
diff --git a/source/RobotAPI/libraries/armem/mns/MemoryNameSystemClientPlugin.h b/source/RobotAPI/libraries/armem/mns/MemoryNameSystemClientPlugin.h
index 9cf743eb84aea3a44efad94f412259671c106ffe..a40ba285261307f34a369d95217ac23378773004 100644
--- a/source/RobotAPI/libraries/armem/mns/MemoryNameSystemClientPlugin.h
+++ b/source/RobotAPI/libraries/armem/mns/MemoryNameSystemClientPlugin.h
@@ -65,8 +65,13 @@ namespace armarx::armem::plugins
*/
class MemoryNameSystemClientPluginUser
{
- public:
+ protected:
+
+ armem::data::WaitForMemoryResult waitForMemory(const std::string& memoryName);
+ armem::data::ResolveMemoryNameResult resolveMemoryName(const std::string& memoryName);
+ bool isMemoryAvailable(const std::string& memoryName);
+ public:
/// Only set when enabled.
MemoryNameSystemInterfacePrx memoryNameSystem = nullptr;
diff --git a/source/RobotAPI/libraries/armem/test/ArMemLTMTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemLTMTest.cpp
index f0e380172e36313ff883a1b05e3fcc080cb8a2a4..1ddc0fd50b3313db28570e08c7d24673f8c2d2ef 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemLTMTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemLTMTest.cpp
@@ -102,8 +102,8 @@ BOOST_AUTO_TEST_CASE(test_memory_heavy_setup_and_export)
std::cout << ltm2_str << std::endl;
BOOST_CHECK_EQUAL(ltm_str == ltm2_str, true);
- //std::map<std::string, armem::MemoryPtr> loaded_memories = ltm.getInternalMemoryAsRealMemory();
- //armem::MemoryPtr& memory2 = loaded_memories["Memory"];
+ std::map<std::string, armem::MemoryPtr> loaded_memories = ltm.getInternalMemoryAsRealMemory();
+ armem::MemoryPtr& memory2 = loaded_memories["Memory"];
- //BOOST_CHECK_EQUAL(memory->equalsDeep(*memory2), true);
+ BOOST_CHECK_EQUAL(memory->equalsDeep(*memory2), true);
}
diff --git a/source/RobotAPI/libraries/aron/aroncore/AronDebug.h b/source/RobotAPI/libraries/aron/aroncore/AronDebug.h
index 529e62f6fa0186a9c756b142cd1d8cd914524e52..aabce50117836839b609745f707372bf785ee3f9 100644
--- a/source/RobotAPI/libraries/aron/aroncore/AronDebug.h
+++ b/source/RobotAPI/libraries/aron/aroncore/AronDebug.h
@@ -33,7 +33,7 @@
#include <RobotAPI/interface/aron.h>
#include <RobotAPI/libraries/aron/aroncore/AronConfig.h>
-#include <RobotAPI/libraries/aron/aroncore/io/AronDataIO/LegacyAronDataWriter/LegacyAronDataWriter.h>
+#include <RobotAPI/libraries/aron/aroncore/io/AronDataIO/AronDataWriterVisitor/AronDataWriterVisitor.h>
#include <RobotAPI/libraries/aron/aroncore/io/AronDataIO/classWriters/NlohmannJSONWriter/AronDataNlohmannJSONWriter.h>
namespace armarx
@@ -48,7 +48,7 @@ namespace armarx
static std::string AronDataPtrToString(const data::AronDataPtr& data)
{
io::AronDataNlohmannJSONWriter w;
- io::LegacyAronDataWriter::SetupWriterFromAronDataPtr(w, data);
+ io::AronDataWriterVisitor::SetupWriterFromAronDataPtr(w, data);
return w.getResult().dump(4);
}
};
diff --git a/source/RobotAPI/libraries/aron/aroncore/CMakeLists.txt b/source/RobotAPI/libraries/aron/aroncore/CMakeLists.txt
index c512246f2793b22f8d59e078b5c54a22468a1fac..ca62febd315774ce184005fdc018a5f1187329f0 100644
--- a/source/RobotAPI/libraries/aron/aroncore/CMakeLists.txt
+++ b/source/RobotAPI/libraries/aron/aroncore/CMakeLists.txt
@@ -56,8 +56,8 @@ set(LIB_FILES
io/AronDataIO/classReaders/NavigatorReader/AronDataNavigatorReader.cpp
io/AronDataIO/classReaders/NlohmannJSONReader/AronDataNlohmannJSONReader.cpp
- io/AronDataIO/LegacyAronDataWriter/LegacyAronDataWriter.cpp
- io/AronDataIO/LegacyAronDataConverter/LegacyAronDataConverter.cpp
+ io/AronDataIO/AronDataWriterVisitor/AronDataWriterVisitor.cpp
+ io/AronDataIO/AronDataConverter/AronDataConverter.cpp
io/AronTypeIO/classWriters/NavigatorWriter/AronTypeNavigatorWriter.cpp
io/AronTypeIO/classWriters/NlohmannJSONWriter/AronTypeNlohmannJSONWriter.cpp
@@ -66,8 +66,8 @@ set(LIB_FILES
io/AronTypeIO/classReaders/NavigatorReader/AronTypeNavigatorReader.cpp
io/AronTypeIO/classReaders/NlohmannJSONReader/AronTypeNlohmannJSONReader.cpp
- io/AronTypeIO/LegacyAronTypeWriter/LegacyAronTypeWriter.cpp
- io/AronTypeIO/LegacyAronTypeConverter/LegacyAronTypeConverter.cpp
+ io/AronTypeIO/AronTypeWriterVisitor/AronTypeWriterVisitor.cpp
+ io/AronTypeIO/AronTypeConverter/AronTypeConverter.cpp
codegenerator/codeWriters/cppWriter/AronCppWriter.cpp
codegenerator/codeWriters/cppWriter/typeSerializers/AronTypeCppSerializer.cpp
@@ -148,8 +148,8 @@ set(LIB_HEADERS
io/AronDataIO/classReaders/NlohmannJSONReader/AronDataNlohmannJSONReaderToken.h
io/AronDataIO/classReaders/NlohmannJSONReader/AronDataNlohmannJSONReader.h
- io/AronDataIO/LegacyAronDataWriter/LegacyAronDataWriter.h
- io/AronDataIO/LegacyAronDataConverter/LegacyAronDataConverter.h
+ io/AronDataIO/AronDataWriterVisitor/AronDataWriterVisitor.h
+ io/AronDataIO/AronDataConverter/AronDataConverter.h
io/AronTypeIO/AronTypeReaderWriter.h
io/AronTypeIO/AronTypeWriter.h
@@ -170,8 +170,8 @@ set(LIB_HEADERS
io/AronTypeIO/classReaders/NlohmannJSONReader/AronTypeNlohmannJSONReader.h
io/AronTypeIO/classReaders/NlohmannJSONReader/AronTypeNlohmannJSONReaderToken.h
- io/AronTypeIO/LegacyAronTypeWriter/LegacyAronTypeWriter.h
- io/AronTypeIO/LegacyAronTypeConverter/LegacyAronTypeConverter.h
+ io/AronTypeIO/AronTypeWriterVisitor/AronTypeWriterVisitor.h
+ io/AronTypeIO/AronTypeConverter/AronTypeConverter.h
codegenerator/AronCppClass.h
codegenerator/AronWriterInfo.h
diff --git a/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/LegacyAronDataConverter/LegacyAronDataConverter.cpp b/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/AronDataConverter/AronDataConverter.cpp
similarity index 88%
rename from source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/LegacyAronDataConverter/LegacyAronDataConverter.cpp
rename to source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/AronDataConverter/AronDataConverter.cpp
index 90d4359dc98689650283b8b19fc5d82f19ddef44..0953d7721e58ded8927cb4464eb903c217e4c386 100644
--- a/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/LegacyAronDataConverter/LegacyAronDataConverter.cpp
+++ b/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/AronDataConverter/AronDataConverter.cpp
@@ -23,7 +23,7 @@
#include <numeric>
// Header
-#include "LegacyAronDataConverter.h"
+#include "AronDataConverter.h"
@@ -34,7 +34,7 @@ namespace armarx
{
namespace io
{
- void LegacyAronDataConverter::ConvertFromReader(AronDataReader& reader, AronDataWriter& writer, const aron::typenavigator::AronTypeNavigatorPtr& expectedStructure)
+ void AronDataConverter::ConvertFromReader(AronDataReader& reader, AronDataWriter& writer, const aron::typenavigator::AronTypeNavigatorPtr& expectedStructure)
{
AronDataDescriptor desc = reader.getTypeOfNextAron(expectedStructure != nullptr ? expectedStructure->getDescriptor() : eAronUnknownType);
switch (desc)
@@ -48,7 +48,7 @@ namespace armarx
{
std::string key = reader.readKey();
writer.writeKey(key);
- LegacyAronDataConverter::ConvertFromReader(reader, writer);
+ AronDataConverter::ConvertFromReader(reader, writer);
}
writer.writeEndDict();
@@ -63,7 +63,7 @@ namespace armarx
for(int i = 0; i < elements; ++i)
{
- LegacyAronDataConverter::ConvertFromReader(reader, writer);
+ AronDataConverter::ConvertFromReader(reader, writer);
}
writer.writeEndList();
diff --git a/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/LegacyAronDataConverter/LegacyAronDataConverter.h b/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/AronDataConverter/AronDataConverter.h
similarity index 87%
rename from source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/LegacyAronDataConverter/LegacyAronDataConverter.h
rename to source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/AronDataConverter/AronDataConverter.h
index b3b38e3e35371c026deafa59324e4c1d11ab1e56..ee7912cb2173d7208cfb323ab7df4f6577f08d1e 100644
--- a/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/LegacyAronDataConverter/LegacyAronDataConverter.h
+++ b/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/AronDataConverter/AronDataConverter.h
@@ -41,13 +41,13 @@ namespace armarx
{
namespace io
{
- class LegacyAronDataConverter;
- typedef std::shared_ptr<LegacyAronDataConverter> LegacyAronDataReaderPtr;
+ class AronDataConverter;
+ typedef std::shared_ptr<AronDataConverter> AronDataConverterPtr;
- class LegacyAronDataConverter
+ class AronDataConverter
{
private:
- LegacyAronDataConverter() = delete;
+ AronDataConverter() = delete;
public:
static void ConvertFromReader(AronDataReader&, AronDataWriter&, const aron::typenavigator::AronTypeNavigatorPtr& expectedStructure = nullptr);
diff --git a/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/LegacyAronDataWriter/LegacyAronDataWriter.cpp b/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/AronDataWriterVisitor/AronDataWriterVisitor.cpp
similarity index 86%
rename from source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/LegacyAronDataWriter/LegacyAronDataWriter.cpp
rename to source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/AronDataWriterVisitor/AronDataWriterVisitor.cpp
index d4201a143b30dd525aada69c1cbca28c091ad1ac..91633187f53627ccb31d402fa037b6ac20fbc067 100644
--- a/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/LegacyAronDataWriter/LegacyAronDataWriter.cpp
+++ b/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/AronDataWriterVisitor/AronDataWriterVisitor.cpp
@@ -23,7 +23,7 @@
#include <numeric>
// Header
-#include "LegacyAronDataWriter.h"
+#include "AronDataWriterVisitor.h"
// ArmarX
#include <RobotAPI/libraries/aron/aroncore/AronResolver.h>
@@ -37,12 +37,12 @@ namespace armarx
namespace io
{
- void LegacyAronDataWriter::SetupWriterFromAronDataPtr(AronDataWriter& writer, const datanavigator::AronDataNavigatorPtr& aron)
+ void AronDataWriterVisitor::SetupWriterFromAronDataPtr(AronDataWriter& writer, const datanavigator::AronDataNavigatorPtr& aron)
{
SetupWriterFromAronDataPtr(writer, aron->getResult());
}
- void LegacyAronDataWriter::SetupWriterFromAronDataPtr(AronDataWriter& writer, const data::AronDataPtr& aron)
+ void AronDataWriterVisitor::SetupWriterFromAronDataPtr(AronDataWriter& writer, const data::AronDataPtr& aron)
{
AronDataDescriptor desc = AronResolver::GetDescriptorForAronData(aron);
switch (desc)
@@ -54,7 +54,7 @@ namespace armarx
for (const auto& [key, value] : casted->elements)
{
writer.writeKey(key);
- LegacyAronDataWriter::SetupWriterFromAronDataPtr(writer, value);
+ AronDataWriterVisitor::SetupWriterFromAronDataPtr(writer, value);
}
writer.writeEndDict();
break;
@@ -65,7 +65,7 @@ namespace armarx
writer.writeStartList();
for (const auto& value : casted->elements)
{
- LegacyAronDataWriter::SetupWriterFromAronDataPtr(writer, value);
+ AronDataWriterVisitor::SetupWriterFromAronDataPtr(writer, value);
}
writer.writeEndList();
break;
diff --git a/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/LegacyAronDataWriter/LegacyAronDataWriter.h b/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/AronDataWriterVisitor/AronDataWriterVisitor.h
similarity index 85%
rename from source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/LegacyAronDataWriter/LegacyAronDataWriter.h
rename to source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/AronDataWriterVisitor/AronDataWriterVisitor.h
index 5bb3e3166c3cbce6738a8a6e7080be7e2de3ca69..902e9c59e7ba6ada4d18325fb1c527b2348cdf6d 100644
--- a/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/LegacyAronDataWriter/LegacyAronDataWriter.h
+++ b/source/RobotAPI/libraries/aron/aroncore/io/AronDataIO/AronDataWriterVisitor/AronDataWriterVisitor.h
@@ -40,14 +40,13 @@ namespace armarx
{
namespace io
{
- class LegacyAronDataWriter;
- typedef std::shared_ptr<LegacyAronDataWriter> LegacyAronDataWriterPtr;
+ class AronDataWriterVisitor;
+ typedef std::shared_ptr<AronDataWriterVisitor> AronDataWriterVisitorPtr;
- class LegacyAronDataWriter :
- virtual public AronDataWriter
+ class AronDataWriterVisitor
{
private:
- LegacyAronDataWriter() = delete;
+ AronDataWriterVisitor() = delete;
public:
static void SetupWriterFromAronDataPtr(AronDataWriter&, const datanavigator::AronDataNavigatorPtr&);
diff --git a/source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/LegacyAronTypeConverter/LegacyAronTypeConverter.cpp b/source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/AronTypeConverter/AronTypeConverter.cpp
similarity index 88%
rename from source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/LegacyAronTypeConverter/LegacyAronTypeConverter.cpp
rename to source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/AronTypeConverter/AronTypeConverter.cpp
index cba697d877adde64d86ea8c64a8db76e4226f893..1c677549895e0cd4c1a84869f53970b124022f8d 100644
--- a/source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/LegacyAronTypeConverter/LegacyAronTypeConverter.cpp
+++ b/source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/AronTypeConverter/AronTypeConverter.cpp
@@ -23,7 +23,7 @@
#include <numeric>
// Header
-#include "LegacyAronTypeConverter.h"
+#include "AronTypeConverter.h"
@@ -34,7 +34,7 @@ namespace armarx
{
namespace io
{
- void LegacyAronTypeConverter::ConvertFromReader(AronTypeReader& reader, AronTypeWriter& writer)
+ void AronTypeConverter::ConvertFromReader(AronTypeReader& reader, AronTypeWriter& writer)
{
AronTypeDescriptor desc = reader.getTypeOfNextAron();
switch (desc)
@@ -51,7 +51,7 @@ namespace armarx
{
std::string key = reader.readKey();
writer.writeKey(key);
- LegacyAronTypeConverter::ConvertFromReader(reader, writer);
+ AronTypeConverter::ConvertFromReader(reader, writer);
}
writer.writeEndObjectType();
@@ -63,7 +63,7 @@ namespace armarx
reader.readStartDictType();
writer.writeStartDictType();
- LegacyAronTypeConverter::ConvertFromReader(reader, writer);
+ AronTypeConverter::ConvertFromReader(reader, writer);
writer.writeEndDictType();
reader.readEndDictType();
@@ -76,7 +76,7 @@ namespace armarx
for(int i = 0; i < elements; ++i)
{
- LegacyAronTypeConverter::ConvertFromReader(reader, writer);
+ AronTypeConverter::ConvertFromReader(reader, writer);
}
writer.writeEndTupleType();
@@ -88,7 +88,7 @@ namespace armarx
reader.readStartListType();
writer.writeStartListType();
- LegacyAronTypeConverter::ConvertFromReader(reader, writer);
+ AronTypeConverter::ConvertFromReader(reader, writer);
writer.writeEndListType();
reader.readEndListType();
diff --git a/source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/LegacyAronTypeConverter/LegacyAronTypeConverter.h b/source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/AronTypeConverter/AronTypeConverter.h
similarity index 86%
rename from source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/LegacyAronTypeConverter/LegacyAronTypeConverter.h
rename to source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/AronTypeConverter/AronTypeConverter.h
index e58739ac5e3edece43cedea7007ae8dfc1c15445..133d605cb4417910933fbd4983247ddc420cebee 100644
--- a/source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/LegacyAronTypeConverter/LegacyAronTypeConverter.h
+++ b/source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/AronTypeConverter/AronTypeConverter.h
@@ -41,13 +41,13 @@ namespace armarx
{
namespace io
{
- class LegacyAronTypeConverter;
- typedef std::shared_ptr<LegacyAronTypeConverter> LegacyAronTypeReaderPtr;
+ class AronTypeConverter;
+ typedef std::shared_ptr<AronTypeConverter> AronTypeConverterPtr;
- class LegacyAronTypeConverter
+ class AronTypeConverter
{
private:
- LegacyAronTypeConverter() = delete;
+ AronTypeConverter() = delete;
public:
static void ConvertFromReader(AronTypeReader&, AronTypeWriter&);
diff --git a/source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/LegacyAronTypeWriter/LegacyAronTypeWriter.cpp b/source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/AronTypeWriterVisitor/AronTypeWriterVisitor.cpp
similarity index 84%
rename from source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/LegacyAronTypeWriter/LegacyAronTypeWriter.cpp
rename to source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/AronTypeWriterVisitor/AronTypeWriterVisitor.cpp
index efd5a1218294f047b0b2d31bd8cb088f4749dbc0..3c3d099d8df5c6a67a12c643d91490ddf4412f2f 100644
--- a/source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/LegacyAronTypeWriter/LegacyAronTypeWriter.cpp
+++ b/source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/AronTypeWriterVisitor/AronTypeWriterVisitor.cpp
@@ -23,7 +23,7 @@
#include <numeric>
// Header
-#include "LegacyAronTypeWriter.h"
+#include "AronTypeWriterVisitor.h"
// ArmarX
#include <RobotAPI/libraries/aron/aroncore/AronResolver.h>
@@ -37,12 +37,12 @@ namespace armarx
namespace io
{
- void LegacyAronTypeWriter::SetupWriterFromAronTypePtr(AronTypeWriter& writer, const typenavigator::AronTypeNavigatorPtr& aron)
+ void AronTypeWriterVisitor::SetupWriterFromAronTypePtr(AronTypeWriter& writer, const typenavigator::AronTypeNavigatorPtr& aron)
{
SetupWriterFromAronTypePtr(writer, aron->getResult());
}
- void LegacyAronTypeWriter::SetupWriterFromAronTypePtr(AronTypeWriter& writer, const type::AronTypePtr& aron)
+ void AronTypeWriterVisitor::SetupWriterFromAronTypePtr(AronTypeWriter& writer, const type::AronTypePtr& aron)
{
AronTypeDescriptor desc = AronResolver::GetDescriptorForAronType(aron);
switch (desc)
@@ -55,7 +55,7 @@ namespace armarx
for (const auto& [key, value] : casted->elementTypes)
{
writer.writeKey(key);
- LegacyAronTypeWriter::SetupWriterFromAronTypePtr(writer, value);
+ AronTypeWriterVisitor::SetupWriterFromAronTypePtr(writer, value);
}
writer.writeEndObjectType();
break;
@@ -64,7 +64,7 @@ namespace armarx
{
type::AronDictTypePtr casted = type::AronDictTypePtr::dynamicCast(aron);
writer.writeStartDictType();
- LegacyAronTypeWriter::SetupWriterFromAronTypePtr(writer, casted->acceptedType);
+ AronTypeWriterVisitor::SetupWriterFromAronTypePtr(writer, casted->acceptedType);
writer.writeEndDictType();
break;
}
@@ -74,7 +74,7 @@ namespace armarx
writer.writeStartTupleType();
for (const auto& value : casted->elementTypes)
{
- LegacyAronTypeWriter::SetupWriterFromAronTypePtr(writer, value);
+ AronTypeWriterVisitor::SetupWriterFromAronTypePtr(writer, value);
}
writer.writeEndTupleType();
break;
@@ -83,7 +83,7 @@ namespace armarx
{
type::AronListTypePtr casted = type::AronListTypePtr::dynamicCast(aron);
writer.writeStartListType();
- LegacyAronTypeWriter::SetupWriterFromAronTypePtr(writer, casted->acceptedType);
+ AronTypeWriterVisitor::SetupWriterFromAronTypePtr(writer, casted->acceptedType);
writer.writeEndListType();
break;
}
diff --git a/source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/LegacyAronTypeWriter/LegacyAronTypeWriter.h b/source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/AronTypeWriterVisitor/AronTypeWriterVisitor.h
similarity index 87%
rename from source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/LegacyAronTypeWriter/LegacyAronTypeWriter.h
rename to source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/AronTypeWriterVisitor/AronTypeWriterVisitor.h
index d1a29bddadc2752be0564388db7989e7629e098c..234a546c678bba4bd80efcae19555dd1b5c112b7 100644
--- a/source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/LegacyAronTypeWriter/LegacyAronTypeWriter.h
+++ b/source/RobotAPI/libraries/aron/aroncore/io/AronTypeIO/AronTypeWriterVisitor/AronTypeWriterVisitor.h
@@ -40,14 +40,14 @@ namespace armarx
{
namespace io
{
- class LegacyAronTypeWriter;
- typedef std::shared_ptr<LegacyAronTypeWriter> LegacyAronTypeWriterPtr;
+ class AronTypeWriterVisitor;
+ typedef std::shared_ptr<AronTypeWriterVisitor> AronTypeWriterVisitorPtr;
- class LegacyAronTypeWriter :
+ class AronTypeWriterVisitor :
virtual public AronTypeWriter
{
private:
- LegacyAronTypeWriter() = delete;
+ AronTypeWriterVisitor() = delete;
public:
static void SetupWriterFromAronTypePtr(AronTypeWriter&, const typenavigator::AronTypeNavigatorPtr&);
diff --git a/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronPrimitiveDataNavigator.cpp b/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronPrimitiveDataNavigator.cpp
index e5d5a29c29b4dbe6e7878a9c59440a3c972525c1..e51d2bfd83555d7f3b2ea4e01f4761031d50aaec 100644
--- a/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronPrimitiveDataNavigator.cpp
+++ b/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronPrimitiveDataNavigator.cpp
@@ -47,7 +47,6 @@ namespace armarx
AronDataNavigator(AronDataDescriptor::eAron##upperType, path), \
aron(new data::Aron##upperType()) \
{ \
- aron->value = {}; \
} \
\
Aron##upperType##DataNavigator::Aron##upperType##DataNavigator(const lowerType& d, const AronPath& path) : \
diff --git a/source/RobotAPI/libraries/aron/aroncore/test/aronTest.cpp b/source/RobotAPI/libraries/aron/aroncore/test/aronTest.cpp
index a4bb8061f36c6b6f63d8ecde6c13c25695725652..9693f8c451924017dfb00eb43109a6729ed323cf 100644
--- a/source/RobotAPI/libraries/aron/aroncore/test/aronTest.cpp
+++ b/source/RobotAPI/libraries/aron/aroncore/test/aronTest.cpp
@@ -146,7 +146,7 @@ void runTestWithInstances(T& k1, T& k2)
std::string k1_aron_json_str = k1_aron_json.dump(4);
armarx::aron::io::AronDataNlohmannJSONWriter direct_json_writer_for_k1;
- armarx::aron::io::LegacyAronDataWriter::SetupWriterFromAronDataPtr(direct_json_writer_for_k1, k1_aron);
+ armarx::aron::io::AronDataWriterVisitor::SetupWriterFromAronDataPtr(direct_json_writer_for_k1, k1_aron);
nlohmann::json direct_k1_aron_json = direct_json_writer_for_k1.getResult();
std::string direct_k1_aron_json_str = direct_k1_aron_json.dump(4);
BOOST_CHECK_EQUAL((k1_aron_json_str == direct_k1_aron_json_str), true);