diff --git a/source/RobotAPI/libraries/armem/ltm/io/DiskWriter/DiskWriter.h b/source/RobotAPI/libraries/armem/ltm/io/DiskWriter/DiskWriter.h
index ee8485cc9c789815002769b0637e7714ef12a43d..4cbd3f01acf8fb033ab18b2debcdf55580a5e2a6 100644
--- a/source/RobotAPI/libraries/armem/ltm/io/DiskWriter/DiskWriter.h
+++ b/source/RobotAPI/libraries/armem/ltm/io/DiskWriter/DiskWriter.h
@@ -30,8 +30,8 @@
// ArmarX
#include <RobotAPI/interface/aron.h>
-#include <RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronDataNavigator.h>
-#include <RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronTypeNavigator.h>
+#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/AronDataWriter.h>
//#include <RobotAPI/libraries/aron/aroncore/io/AronTypeIO/
@@ -62,12 +62,12 @@ namespace armarx::armem
DiskWriter(const std::string& r) :
rootPath(r)
{
- if(!std::filesystem::exists(rootPath))
+ if (!std::filesystem::exists(rootPath))
{
std::filesystem::create_directory(rootPath);
}
- if(!std::filesystem::is_directory(rootPath))
+ if (!std::filesystem::is_directory(rootPath))
{
throw LocalException("The Path is not valid. It points to a file instead of a folder!");
}
@@ -95,12 +95,13 @@ namespace armarx::armem
for (unsigned int i = 0; i < entitySnapshot->instances.size(); ++i)
{
std::filesystem::path entityElementPath = createEntityElementPath(coreKey, providerKey, entityKey, entityHistoryTimestamp, i);
- if(!entityElementPathExists(entityElementPath))
+ if (!entityElementPathExists(entityElementPath))
{
std::ofstream ofs;
ofs.open(entityElementPath);
- ofs << getEntityAsString(entitySnapshot->instances[i]);
+
+ ofs << getDataAsString(wrapData(entitySnapshot->instances[i]));
ofs.close();
}
// check content if file already existent?
@@ -113,7 +114,20 @@ namespace armarx::armem
}
protected:
- virtual std::string getEntityAsString(const EntityInstancePtr&) = 0;
+ aron::datanavigator::AronDictDataNavigatorPtr wrapData(const EntityInstancePtr& e) const
+ {
+ aron::datanavigator::AronDictDataNavigatorPtr dataWrapped(new aron::datanavigator::AronDictDataNavigator());
+ dataWrapped->addElement("instanceData", e->data());
+
+ aron::datanavigator::AronLongDataNavigatorPtr timeWrapped(new aron::datanavigator::AronLongDataNavigator());
+ timeWrapped->setValue(Time::now().toMilliSeconds());
+ dataWrapped->addElement("timeWrapped", timeWrapped);
+
+ // TODO add more metadata
+ return dataWrapped;
+ }
+
+ virtual std::string getDataAsString(const aron::datanavigator::AronDictDataNavigatorPtr&) = 0;
std::filesystem::path createCoreSegmentPath(const std::string& name) const
{
@@ -150,7 +164,7 @@ namespace armarx::armem
}
bool ensureCoreSegmentPathExists(const std::filesystem::path& p) const
{
- if(!std::filesystem::exists(p))
+ if (!std::filesystem::exists(p))
{
return std::filesystem::create_directory(p);
}
@@ -170,7 +184,7 @@ namespace armarx::armem
}
bool ensureProviderSegmentPathExists(const std::filesystem::path& p) const
{
- if(!std::filesystem::exists(p))
+ if (!std::filesystem::exists(p))
{
return std::filesystem::create_directory(p);
}
@@ -190,7 +204,7 @@ namespace armarx::armem
}
bool ensureEntityPathExists(const std::filesystem::path& p) const
{
- if(!std::filesystem::exists(p))
+ if (!std::filesystem::exists(p))
{
return std::filesystem::create_directory(p);
}
@@ -210,7 +224,7 @@ namespace armarx::armem
}
bool ensureTimestampPathExists(const std::filesystem::path& p) const
{
- if(!std::filesystem::exists(p))
+ if (!std::filesystem::exists(p))
{
return std::filesystem::create_directory(p);
}
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 39fc7877e6a47cf26bf43efbab014337a27905cd..62ff8d75ff2b55444352fc1c908fe292e4e4a11d 100644
--- a/source/RobotAPI/libraries/armem/ltm/io/DiskWriter/NlohmannJSONDiskWriter/NlohmannJSONDiskWriter.cpp
+++ b/source/RobotAPI/libraries/armem/ltm/io/DiskWriter/NlohmannJSONDiskWriter/NlohmannJSONDiskWriter.cpp
@@ -8,10 +8,8 @@ namespace armarx::armem::ltm::io
{
}
- std::string NlohmannJSONDiskWriter::getEntityAsString(const EntityInstancePtr& i)
+ std::string NlohmannJSONDiskWriter::getDataAsString(const aron::datanavigator::AronDictDataNavigatorPtr& aronDataNav)
{
- const aron::datanavigator::AronDataNavigatorPtr aronDataNav = i->data();
-
aron::io::AronDataNlohmannJSONWriter dataWriter;
aron::io::LegacyAronDataWriter::SetupWriterFromAronDataPtr(dataWriter, aronDataNav->getResult());
return dataWriter.getResult().dump(4);
diff --git a/source/RobotAPI/libraries/armem/ltm/io/DiskWriter/NlohmannJSONDiskWriter/NlohmannJSONDiskWriter.h b/source/RobotAPI/libraries/armem/ltm/io/DiskWriter/NlohmannJSONDiskWriter/NlohmannJSONDiskWriter.h
index 1daac1f1113e016e0e39275b18388eb40e45221b..c2c2ed9c4cc27536862ca499eed28e5446afe716 100644
--- a/source/RobotAPI/libraries/armem/ltm/io/DiskWriter/NlohmannJSONDiskWriter/NlohmannJSONDiskWriter.h
+++ b/source/RobotAPI/libraries/armem/ltm/io/DiskWriter/NlohmannJSONDiskWriter/NlohmannJSONDiskWriter.h
@@ -42,13 +42,13 @@ namespace armarx::armem
typedef std::shared_ptr<NlohmannJSONDiskWriter> NlohmannJSONDiskWriterPtr;
class NlohmannJSONDiskWriter :
- virtual public DiskWriter
+ virtual public DiskWriter
{
public:
NlohmannJSONDiskWriter() = delete;
NlohmannJSONDiskWriter(const std::string& rootPath);
- virtual std::string getEntityAsString(const EntityInstancePtr&) override;
+ virtual std::string getDataAsString(const aron::datanavigator::AronDictDataNavigatorPtr&) override;
};
}
}
diff --git a/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronDataNavigator.h b/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronDataNavigator.h
index c14fede048d6c48f0817cccd52dc50d8bdac34e6..08f001f7e926ef8d84f73d73780ea084528f44b1 100644
--- a/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronDataNavigator.h
+++ b/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronDataNavigator.h
@@ -86,6 +86,61 @@ namespace armarx
private:
static const AronDataNavigatorFactoryPtr FACTORY;
};
+
+ class AronContainerDataNavigator;
+ typedef std::shared_ptr<AronContainerDataNavigator> AronContainerDataNavigatorPtr;
+
+ class AronContainerDataNavigator :
+ virtual public AronDataNavigator
+ {
+ public:
+ using PointerType = AronContainerDataNavigatorPtr;
+
+ // constructors
+ AronContainerDataNavigator() = delete;
+ AronContainerDataNavigator(const AronDataDescriptor& d, const AronPath& p = AronPath()) :
+ AronDataNavigator(d, p)
+ {
+
+ }
+ };
+
+ class AronComplexDataNavigator;
+ typedef std::shared_ptr<AronComplexDataNavigator> AronComplexDataNavigatorPtr;
+
+ class AronComplexDataNavigator :
+ virtual public AronDataNavigator
+ {
+ public:
+ using PointerType = AronComplexDataNavigatorPtr;
+
+ // constructors
+ AronComplexDataNavigator() = delete;
+ AronComplexDataNavigator(const AronDataDescriptor& d, const AronPath& p = AronPath()) :
+ AronDataNavigator(d, p)
+ {
+
+ }
+ };
+
+ class AronPrimitiveDataNavigator;
+ typedef std::shared_ptr<AronPrimitiveDataNavigator> AronPrimitiveDataNavigatorPtr;
+
+ class AronPrimitiveDataNavigator :
+ virtual public AronDataNavigator
+ {
+ public:
+ using PointerType = AronPrimitiveDataNavigatorPtr;
+
+ // constructors
+ AronPrimitiveDataNavigator() = delete;
+ AronPrimitiveDataNavigator(const AronDataDescriptor& d, const AronPath& p = AronPath()) :
+ AronDataNavigator(d, p)
+ {
+
+ }
+ };
+
}
}
}
diff --git a/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronDictDataNavigator.cpp b/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronDictDataNavigator.cpp
index b72d694a486e67e55bdcdf4f81c631de27c36f77..43f756bba635144c03c498149c9a07d383ffa257 100644
--- a/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronDictDataNavigator.cpp
+++ b/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronDictDataNavigator.cpp
@@ -40,6 +40,7 @@ namespace armarx
AronDictDataNavigator::AronDictDataNavigator(const data::AronDictPtr& o, const AronPath& path) :
AronNavigator<AronDataDescriptor, data::AronData>::AronNavigator(AronDataDescriptor::eAronDict, path),
AronDataNavigator(AronDataDescriptor::eAronDict, path),
+ AronContainerDataNavigator(AronDataDescriptor::eAronDict, path),
aron(o)
{
CheckAronPtrForNull("AronDictDataNavigator", "AronDictDataNavigator", getPath(), aron);
@@ -53,6 +54,7 @@ namespace armarx
AronDictDataNavigator::AronDictDataNavigator(const AronPath& path) :
AronNavigator<AronDataDescriptor, data::AronData>::AronNavigator(AronDataDescriptor::eAronDict, path),
AronDataNavigator(AronDataDescriptor::eAronDict, path),
+ AronContainerDataNavigator(AronDataDescriptor::eAronDict, path),
aron(new data::AronDict())
{
}
diff --git a/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronDictDataNavigator.h b/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronDictDataNavigator.h
index 3b1124c4c398f88951a8274c7be3064d7387fc5c..287718efe7b433f5c653ea83e34483d08d073762 100644
--- a/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronDictDataNavigator.h
+++ b/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronDictDataNavigator.h
@@ -42,7 +42,7 @@ namespace armarx
typedef std::shared_ptr<AronDictDataNavigator> AronDictDataNavigatorPtr;
class AronDictDataNavigator :
- virtual public AronDataNavigator
+ virtual public AronContainerDataNavigator
{
public:
using PointerType = AronDictDataNavigatorPtr;
diff --git a/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronListDataNavigator.cpp b/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronListDataNavigator.cpp
index c57bea07ff8737e66fa62c1f2a2c247f17d94c4e..63e0840087beb63471f2ad60478c0b9b75b0aa04 100644
--- a/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronListDataNavigator.cpp
+++ b/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronListDataNavigator.cpp
@@ -39,6 +39,7 @@ namespace armarx
AronListDataNavigator::AronListDataNavigator(const data::AronListPtr& l, const AronPath& path) :
AronNavigator<AronDataDescriptor, data::AronData>::AronNavigator(AronDataDescriptor::eAronList, path),
AronDataNavigator(AronDataDescriptor::eAronList, path),
+ AronContainerDataNavigator(AronDataDescriptor::eAronList, path),
aron(l)
{
CheckAronPtrForNull("AronListDataNavigator", "AronListDataNavigator", getPath(), aron);
@@ -53,6 +54,7 @@ namespace armarx
AronListDataNavigator::AronListDataNavigator(const AronPath& path) :
AronNavigator<AronDataDescriptor, data::AronData>::AronNavigator(AronDataDescriptor::eAronList, path),
AronDataNavigator(AronDataDescriptor::eAronList, path),
+ AronContainerDataNavigator(AronDataDescriptor::eAronList, path),
aron(new data::AronList())
{
}
diff --git a/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronListDataNavigator.h b/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronListDataNavigator.h
index 87b0b00d6cbd00ccb2a0c60c072b365393ab8ffc..2a7ea718f405223b7f6d11b3d53f6289f9c62a0f 100644
--- a/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronListDataNavigator.h
+++ b/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronListDataNavigator.h
@@ -41,7 +41,7 @@ namespace armarx
typedef std::shared_ptr<AronListDataNavigator> AronListDataNavigatorPtr;
class AronListDataNavigator :
- virtual public AronDataNavigator
+ virtual public AronContainerDataNavigator
{
public:
using PointerType = AronListDataNavigatorPtr;
diff --git a/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronNDArrayDataNavigator.cpp b/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronNDArrayDataNavigator.cpp
index bd252a0d7f071fd10ba6b3fbcb5377a63fa70f61..5c748218f11e8262bee7d7fbb424966e0830372a 100644
--- a/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronNDArrayDataNavigator.cpp
+++ b/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronNDArrayDataNavigator.cpp
@@ -42,6 +42,7 @@ namespace armarx
AronNDArrayDataNavigator::AronNDArrayDataNavigator(const data::AronNDArrayPtr& o, const AronPath& path) :
AronNavigator<AronDataDescriptor, data::AronData>::AronNavigator(AronDataDescriptor::eAronNDArray, path),
AronDataNavigator(AronDataDescriptor::eAronNDArray, path),
+ AronComplexDataNavigator(AronDataDescriptor::eAronNDArray, path),
aron(o)
{
CheckAronPtrForNull("AronNDArrayDataNavigator", "AronNDArrayDataNavigator", getPath(), aron);
@@ -50,6 +51,7 @@ namespace armarx
AronNDArrayDataNavigator::AronNDArrayDataNavigator(const AronPath& path) :
AronNavigator<AronDataDescriptor, data::AronData>::AronNavigator(AronDataDescriptor::eAronNDArray, path),
AronDataNavigator(AronDataDescriptor::eAronNDArray, path),
+ AronComplexDataNavigator(AronDataDescriptor::eAronNDArray, path),
aron(new data::AronNDArray())
{
diff --git a/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronNDArrayDataNavigator.h b/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronNDArrayDataNavigator.h
index 96a88acf3a06ccee70096da5c45732a6622b3ac0..3a32dd987cca25d01015ee5e15be396be9209c59 100644
--- a/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronNDArrayDataNavigator.h
+++ b/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronNDArrayDataNavigator.h
@@ -41,7 +41,7 @@ namespace armarx
typedef std::shared_ptr<AronNDArrayDataNavigator> AronNDArrayDataNavigatorPtr;
class AronNDArrayDataNavigator :
- virtual public AronDataNavigator
+ virtual public AronComplexDataNavigator
{
public:
using PointerType = AronNDArrayDataNavigatorPtr;
diff --git a/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronPrimitiveDataNavigator.cpp b/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronPrimitiveDataNavigator.cpp
index 66b98dcbc53ce24e306fabf101cc08acbfb68404..a1c14461afe71328a4d352e74840386aab42e56f 100644
--- a/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronPrimitiveDataNavigator.cpp
+++ b/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronPrimitiveDataNavigator.cpp
@@ -38,6 +38,7 @@ namespace armarx
Aron##upperType##DataNavigator::Aron##upperType##DataNavigator(const AronPath& path) : \
AronNavigator<AronDataDescriptor, data::AronData>::AronNavigator(AronDataDescriptor::eAron##upperType, path), \
AronDataNavigator(AronDataDescriptor::eAron##upperType, path), \
+ AronPrimitiveDataNavigator(AronDataDescriptor::eAron##upperType, path), \
aron(new data::Aron##upperType()) \
{ \
aron->value = {}; \
@@ -45,6 +46,7 @@ namespace armarx
Aron##upperType##DataNavigator::Aron##upperType##DataNavigator(const data::Aron##upperType##Ptr& o, const AronPath& path) : \
AronNavigator<AronDataDescriptor, data::AronData>::AronNavigator(AronDataDescriptor::eAron##upperType, path), \
AronDataNavigator(AronDataDescriptor::eAron##upperType, path), \
+ AronPrimitiveDataNavigator(AronDataDescriptor::eAron##upperType, path), \
aron(o) \
{ \
} \
diff --git a/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronPrimitiveDataNavigator.h b/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronPrimitiveDataNavigator.h
index 10f9fe6dcd1bbb4ecdf070d4a3075d3f6fbd95bb..2dc5f7a58e903b361ff9aab5a35a8207f9849519 100644
--- a/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronPrimitiveDataNavigator.h
+++ b/source/RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronPrimitiveDataNavigator.h
@@ -42,7 +42,7 @@ namespace armarx
typedef std::shared_ptr<Aron##upperType##DataNavigator> Aron##upperType##DataNavigatorPtr; \
\
class Aron##upperType##DataNavigator : \
- virtual public AronDataNavigator \
+ virtual public AronPrimitiveDataNavigator \
{ \
public: \
using PointerType = Aron##upperType##DataNavigatorPtr; \