diff --git a/scenarios/AronComponentConfigExample/config/AronComponentConfigExample.cfg b/scenarios/AronComponentConfigExample/config/AronComponentConfigExample.cfg
index dcf2233099e0acef6a620567979cc71e1da2cc29..c5122a357453ce2b9cc050e4a8a5a862534e4002 100644
--- a/scenarios/AronComponentConfigExample/config/AronComponentConfigExample.cfg
+++ b/scenarios/AronComponentConfigExample/config/AronComponentConfigExample.cfg
@@ -60,152 +60,200 @@
# ArmarX.ComponentConfigTest.RemoteGuiName = RemoteGuiProvider
-# ArmarX.ComponentConfigTest.boolMember:
+# ArmarX.ComponentConfigTest.TestConfig.boolMember:
# Attributes:
# - Default: true
# - Case sensitivity: yes
# - Required: no
# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.ComponentConfigTest.boolMember = true
+# ArmarX.ComponentConfigTest.TestConfig.boolMember = true
-# ArmarX.ComponentConfigTest.floatMember:
+# ArmarX.ComponentConfigTest.TestConfig.floatMember:
# Attributes:
# - Default: 100
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ComponentConfigTest.floatMember = 100
+# ArmarX.ComponentConfigTest.TestConfig.floatMember = 100
-# ArmarX.ComponentConfigTest.intMember:
+# ArmarX.ComponentConfigTest.TestConfig.intMember:
# Attributes:
# - Default: 1000
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ComponentConfigTest.intMember = 1000
+# ArmarX.ComponentConfigTest.TestConfig.intMember = 1000
-# ArmarX.ComponentConfigTest.stringMember:
+# ArmarX.ComponentConfigTest.TestConfig.orientation.header.agent:
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ComponentConfigTest.TestConfig.orientation.header.agent = ""
+
+
+# ArmarX.ComponentConfigTest.TestConfig.orientation.header.frame:
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ComponentConfigTest.TestConfig.orientation.header.frame = ""
+
+
+# ArmarX.ComponentConfigTest.TestConfig.pose.header.agent:
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ComponentConfigTest.TestConfig.pose.header.agent = ""
+
+
+# ArmarX.ComponentConfigTest.TestConfig.pose.header.frame:
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ComponentConfigTest.TestConfig.pose.header.frame = ""
+
+
+# ArmarX.ComponentConfigTest.TestConfig.position.header.agent:
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ComponentConfigTest.TestConfig.position.header.agent = ""
+
+
+# ArmarX.ComponentConfigTest.TestConfig.position.header.frame:
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ComponentConfigTest.TestConfig.position.header.frame = ""
+
+
+# ArmarX.ComponentConfigTest.TestConfig.stringMember:
# Attributes:
# - Default: initial
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ComponentConfigTest.stringMember = initial
+# ArmarX.ComponentConfigTest.TestConfig.stringMember = initial
-# ArmarX.ComponentConfigTest.subMember.boolMember:
+# ArmarX.ComponentConfigTest.TestConfig.subMember.boolMember:
# Attributes:
# - Default: false
# - Case sensitivity: yes
# - Required: no
# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.ComponentConfigTest.subMember.boolMember = false
+# ArmarX.ComponentConfigTest.TestConfig.subMember.boolMember = false
-# ArmarX.ComponentConfigTest.subMember.doubleMember:
+# ArmarX.ComponentConfigTest.TestConfig.subMember.doubleMember:
# Attributes:
# - Default: 0
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ComponentConfigTest.subMember.doubleMember = 0
+# ArmarX.ComponentConfigTest.TestConfig.subMember.doubleMember = 0
-# ArmarX.ComponentConfigTest.subMember.floatMember:
+# ArmarX.ComponentConfigTest.TestConfig.subMember.floatMember:
# Attributes:
# - Default: 0
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ComponentConfigTest.subMember.floatMember = 0
+# ArmarX.ComponentConfigTest.TestConfig.subMember.floatMember = 0
-# ArmarX.ComponentConfigTest.subMember.intMember:
+# ArmarX.ComponentConfigTest.TestConfig.subMember.intMember:
# Attributes:
# - Default: 0
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ComponentConfigTest.subMember.intMember = 0
+# ArmarX.ComponentConfigTest.TestConfig.subMember.intMember = 0
-# ArmarX.ComponentConfigTest.subMember.stringMember:
+# ArmarX.ComponentConfigTest.TestConfig.subMember.stringMember:
# Attributes:
# - Default: ""
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ComponentConfigTest.subMember.stringMember = ""
+# ArmarX.ComponentConfigTest.TestConfig.subMember.stringMember = ""
-# ArmarX.ComponentConfigTest.subMember.subsubMember.boolMember:
+# ArmarX.ComponentConfigTest.TestConfig.subMember.subsubMember.boolMember:
# Attributes:
# - Default: false
# - Case sensitivity: yes
# - Required: no
# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.ComponentConfigTest.subMember.subsubMember.boolMember = false
+# ArmarX.ComponentConfigTest.TestConfig.subMember.subsubMember.boolMember = false
-# ArmarX.ComponentConfigTest.subMember.subsubMember.enumMember:
+# ArmarX.ComponentConfigTest.TestConfig.subMember.subsubMember.enumMember:
# Attributes:
# - Default: 1
# - Case sensitivity: yes
# - Required: no
# - Possible values: {Bar, Baz, Foo, Qux}
-# ArmarX.ComponentConfigTest.subMember.subsubMember.enumMember = 1
+# ArmarX.ComponentConfigTest.TestConfig.subMember.subsubMember.enumMember = 1
-# ArmarX.ComponentConfigTest.subMember.subsubMember.floatMember:
+# ArmarX.ComponentConfigTest.TestConfig.subMember.subsubMember.floatMember:
# Attributes:
# - Default: 0
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ComponentConfigTest.subMember.subsubMember.floatMember = 0
+# ArmarX.ComponentConfigTest.TestConfig.subMember.subsubMember.floatMember = 0
-# ArmarX.ComponentConfigTest.subMember.subsubMember.intDictMember:
+# ArmarX.ComponentConfigTest.TestConfig.subMember.subsubMember.intDictMember:
# Attributes:
# - Default: int1:1,int2:2
# - Case sensitivity: yes
# - Required: no
-ArmarX.ComponentConfigTest.subMember.subsubMember.intDictMember = int1:1,int2:2,int3:3,int5:4
+# ArmarX.ComponentConfigTest.TestConfig.subMember.subsubMember.intDictMember = int1:1,int2:2
-# ArmarX.ComponentConfigTest.subMember.subsubMember.intListMember:
+# ArmarX.ComponentConfigTest.TestConfig.subMember.subsubMember.intListMember:
# Attributes:
# - Default: 1, 2, 3, 4, 5, 6
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ComponentConfigTest.subMember.subsubMember.intListMember = 1, 2, 3, 4, 5, 6
+# ArmarX.ComponentConfigTest.TestConfig.subMember.subsubMember.intListMember = 1, 2, 3, 4, 5, 6
-# ArmarX.ComponentConfigTest.subMember.subsubMember.intMember:
+# ArmarX.ComponentConfigTest.TestConfig.subMember.subsubMember.intMember:
# Attributes:
# - Default: 0
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ComponentConfigTest.subMember.subsubMember.intMember = 0
+# ArmarX.ComponentConfigTest.TestConfig.subMember.subsubMember.intMember = 0
-# ArmarX.ComponentConfigTest.subMember.subsubMember.stringDictMember:
+# ArmarX.ComponentConfigTest.TestConfig.subMember.subsubMember.stringDictMember:
# Attributes:
# - Default: string1:blub,string2:duh
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ComponentConfigTest.subMember.subsubMember.stringDictMember = string1:blub,string2:duh
+# ArmarX.ComponentConfigTest.TestConfig.subMember.subsubMember.stringDictMember = string1:blub,string2:duh
-# ArmarX.ComponentConfigTest.subMember.subsubMember.stringListMember:
+# ArmarX.ComponentConfigTest.TestConfig.subMember.subsubMember.stringListMember:
# Attributes:
# - Default: a, b, c, d, e
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ComponentConfigTest.subMember.subsubMember.stringListMember = a, b, c, d, e
+# ArmarX.ComponentConfigTest.TestConfig.subMember.subsubMember.stringListMember = a, b, c, d, e
-# ArmarX.ComponentConfigTest.subMember.subsubMember.stringMember:
+# ArmarX.ComponentConfigTest.TestConfig.subMember.subsubMember.stringMember:
# Attributes:
# - Default: ""
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ComponentConfigTest.subMember.subsubMember.stringMember = ""
+# ArmarX.ComponentConfigTest.TestConfig.subMember.subsubMember.stringMember = ""
# ArmarX.Config: Comma-separated list of configuration files
diff --git a/source/RobotAPI/applications/AronCodeGenerator/main.cpp b/source/RobotAPI/applications/AronCodeGenerator/main.cpp
index 8544c238abca345b587f78737198d6e5e51e7de6..05185cc8d7c1a244a9797668f91481a8d2357d5e 100644
--- a/source/RobotAPI/applications/AronCodeGenerator/main.cpp
+++ b/source/RobotAPI/applications/AronCodeGenerator/main.cpp
@@ -177,58 +177,95 @@ int main(int argc, char* argv[])
}
}
+ std::time_t current_time = std::time(0);
+ std::tm* now = std::localtime(¤t_time);
+ std::string current_year = std::to_string(now->tm_year + 1900);
+
+ std::string fileDoc = std::string("* This file is part of ArmarX. \n") +
+"* \n" +
+"* Copyright (C) 2012-" + current_year + ", High Performance Humanoid Technologies (H2T), \n" +
+"* Karlsruhe Institute of Technology (KIT), all rights reserved. \n" +
+"* \n" +
+"* ArmarX is free software; you can redistribute it and/or modify \n" +
+"* it under the terms of the GNU General Public License version 2 as \n" +
+"* published by the Free Software Foundation. \n" +
+"* \n" +
+"* ArmarX is distributed in the hope that it will be useful, but \n" +
+"* WITHOUT ANY WARRANTY; without even the implied warranty of \n" +
+"* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the \n" +
+"* GNU General Public License for more details. \n" +
+"* \n" +
+"* You should have received a copy of the GNU General Public License \n" +
+"* along with this program. If not, see <http://www.gnu.org/licenses/>. \n" +
+"* \n" +
+"* @copyright http://www.gnu.org/licenses/gpl-2.0.txt \n" +
+"* GNU General Public License \n" +
+"* *********************************************************************** \n" +
+"* WARNING: This file is autogenerated. \n" +
+"* Original file: " + filename + " \n" +
+"* Please do not edit since your changes may be overwritten on the next generation \n" +
+"* If you have any questions please contact: Fabian Peller-Konrad (fabian dot peller-konrad at kit dot edu) \n" +
+"* ***********************************************************************";
+
+ auto w = CppWriterPtr(new CppWriter(true, fileDoc));
+ w->header.line();
+ w->header.line();
+
+ // Generate enums at top of generated header file
+ std::vector<MetaEnumPtr> enums = writer.getTypeEnums();
+ if (verbose)
+ {
+ std::cout << "Now exporting enums..." << std::endl;
+ }
+
+ w->body.line("/*************************************************************************");
+ w->body.line(" * ALL GENERATED ENUMS ***************************************************");
+ w->body.line(" ************************************************************************/");
+ MetaEnum::Write(enums, w);
+ w->body.line();
+ w->body.line();
+
+ std::string enum_file_generation_content = w->getString();
+
+ if (verbose)
+ {
+ std::cout << "Now exporting enums... done!" << std::endl;
+ }
+
+ if (enums.size() > 0 && enum_file_generation_content == "")
+ {
+ std::cerr << "\033[31m" << "Error code 11 - Found error in code generation. Aborting!" << "\033[0m" << std::endl;
+ exit(1);
+ }
+
+ // Generate all classes
std::vector<MetaClassPtr> classes = writer.getTypeClasses();
if (verbose)
{
std::cout << "Now exporting classes..." << std::endl;
}
- auto w = CppWriterPtr(new CppWriter());
+ w->body.line("/* ************************************************************************");
+ w->body.line(" * ALL GENERATED CLASSES *************************************************");
+ w->body.line(" * ***********************************************************************/");
CppClass::Write(classes, w);
+ w->body.line();
+ w->body.line();
- std::string new_file_content = w->getString();
+ std::string class_file_generation_content = simox::alg::remove_prefix(w->getString(), enum_file_generation_content);
if (verbose)
{
std::cout << "Now exporting classes... done!" << std::endl;
}
- if (new_file_content == "")
+ if (classes.size() > 0 && class_file_generation_content == "")
{
- std::cerr << "Found error in code generation. Aborting!" << std::endl;
+ std::cerr << "\033[31m" << "Error code 21 - Found error in code generation. Aborting!" << "\033[0m" << std::endl;
exit(1);
}
- std::string new_file_header = "\
-/* \n\
- * This file is part of ArmarX. \n\
- * \n\
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), \n\
- * Karlsruhe Institute of Technology (KIT), all rights reserved. \n\
- * \n\
- * ArmarX is free software; you can redistribute it and/or modify \n\
- * it under the terms of the GNU General Public License version 2 as \n\
- * published by the Free Software Foundation. \n\
- * \n\
- * ArmarX is distributed in the hope that it will be useful, but \n\
- * WITHOUT ANY WARRANTY; without even the implied warranty of \n\
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the \n\
- * GNU General Public License for more details. \n\
- * \n\
- * You should have received a copy of the GNU General Public License \n\
- * along with this program. If not, see <http://www.gnu.org/licenses/>. \n\
- * \n\
- * @copyright http://www.gnu.org/licenses/gpl-2.0.txt \n\
- * GNU General Public License \n\
- ************************************************************************* \n\
- * WARNING: This file is autogenerated. \n\
- * Original file: " + filename + " \n\
- * Please do not edit since your changes may be overwritten on the next generation \n\
- * If you have any questions please contact: Fabian Peller-Konrad (fabian dot peller-konrad at kit dot edu) \n\
- ************************************************************************* \n\
- */\n\n\n";
-
- std::string new_file_full_content = new_file_header + new_file_content;
+ std::string new_file_full_content = w->getString();
std::string new_name_with_extension = input_file.filename().replace_extension("").string();
new_name_with_extension += ".aron.generated.h";
@@ -247,7 +284,7 @@ int main(int argc, char* argv[])
{
if (verbose)
{
- std::cout << "File content not changed for <" + output_file.string() + ">" << std::endl;
+ std::cout << "\033[31m" << "Error code 31 - File content not changed for <" + output_file.string() + ">" << "\033[0m" << std::endl;
}
exit(0);
}
@@ -261,12 +298,12 @@ int main(int argc, char* argv[])
if (verbose)
{
- std::cout << "Finished generating <" + output_file.string() + ">. The new file ist called <" << output_file.string() << ">" << std::endl;
+ std::cout << "\033[32m" << "Finished generating <" + output_file.string() + ">. The new file ist called <" << output_file.string() << ">" << "\033[0m" << std::endl;
}
}
catch (const cxxopts::OptionException& e)
{
- std::cerr << "Error in parsing cxxopts options: " << e.what() << std::endl;
+ std::cerr << "\033[31m" << "Error code 01 - Error in parsing cxxopts options: " << e.what() << "\033[0m" << std::endl;
exit(1);
}
exit(0);
diff --git a/source/RobotAPI/components/armem/addon/LegacyRobotStateMemoryAdapter/LegacyRobotStateMemoryAdapter.cpp b/source/RobotAPI/components/armem/addon/LegacyRobotStateMemoryAdapter/LegacyRobotStateMemoryAdapter.cpp
index ae751bb1ac1bfb0ba8e51a4fc9fc11b28c0e3cf2..c9afa372dc20c08fc6e80ce2666214618d366286 100644
--- a/source/RobotAPI/components/armem/addon/LegacyRobotStateMemoryAdapter/LegacyRobotStateMemoryAdapter.cpp
+++ b/source/RobotAPI/components/armem/addon/LegacyRobotStateMemoryAdapter/LegacyRobotStateMemoryAdapter.cpp
@@ -96,7 +96,7 @@ namespace armarx::armem
armem::EntityUpdate entityUpdate;
entityUpdate.entityID = propEntityID;
- entityUpdate.timeCreated = Time(Duration::MicroSeconds(_timestampUpdateFirstModifiedInUs)); // we take the oldest timestamp
+ entityUpdate.referencedTime = Time(Duration::MicroSeconds(_timestampUpdateFirstModifiedInUs)); // we take the oldest timestamp
entityUpdate.instancesData =
{
@@ -128,7 +128,7 @@ namespace armarx::armem
armem::EntityUpdate locUpdate;
locUpdate.entityID = locEntityID;
- locUpdate.timeCreated = Time(Duration::MicroSeconds(_timestampUpdateFirstModifiedInUs));
+ locUpdate.referencedTime = Time(Duration::MicroSeconds(_timestampUpdateFirstModifiedInUs));
locUpdate.instancesData =
{
transform.toAron()
@@ -282,7 +282,7 @@ namespace armarx::armem
entityUpdate.entityID.entityName = "Armar3";
entityUpdate.instancesData = { desc.toAron() };
- entityUpdate.timeCreated = armem::Time::Now();
+ entityUpdate.referencedTime = armem::Time::Now();
auto res = memoryWriter.commit(c);
if (!res.allSuccess())
{
diff --git a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
index c072f6fce5ef567fafb8c804e479747a895e80c6..cde81dc6801e7205867c6ff6cd679c69a1db9d92 100644
--- a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
+++ b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
@@ -218,9 +218,9 @@ namespace armarx
// Prepare the update with some empty instances.
armem::EntityUpdate update;
update.entityID = entityID;
- update.timeCreated = armem::Time::Now();
+ update.referencedTime = armem::Time::Now();
- double diff = (update.timeCreated - runStarted).toMilliSecondsDouble() / 1000;
+ double diff = (update.referencedTime - runStarted).toMilliSecondsDouble() / 1000;
auto dict1 = std::make_shared<aron::data::Dict>();
auto dict2 = std::make_shared<aron::data::Dict>();
@@ -265,7 +265,7 @@ namespace armarx
{
armem::EntityUpdate& update = commit.add();
update.entityID = entityID;
- update.timeCreated = armem::Time::Now() + armem::Duration::Seconds(i);
+ update.referencedTime = armem::Time::Now() + armem::Duration::Seconds(i);
for (int j = 0; j < i; ++j)
{
update.instancesData.push_back(std::make_shared<aron::data::Dict>());
@@ -387,7 +387,7 @@ namespace armarx
{
armem::EntityUpdate& update = commit.add();
update.entityID = exampleDataProviderID.withEntityName("default");
- update.timeCreated = time;
+ update.referencedTime = time;
armem::example::ExampleData data;
toAron(data.memoryID, armem::MemoryID());
@@ -401,7 +401,7 @@ namespace armarx
{
armem::EntityUpdate& update = commit.add();
update.entityID = exampleDataProviderID.withEntityName("the answer");
- update.timeCreated = time;
+ update.referencedTime = time;
armem::example::ExampleData data;
data.the_bool = true;
@@ -488,7 +488,7 @@ namespace armarx
{
armem::EntityUpdate& update = commit.add();
update.entityID = linkedDataProviderID.withEntityName("yet_more_data");
- update.timeCreated = time;
+ update.referencedTime = time;
armem::example::LinkedData data;
data.yet_another_int = 42;
@@ -545,7 +545,7 @@ namespace armarx
{
armem::EntityUpdate& update = commit.add();
update.entityID = exampleDataProviderID.withEntityName("id to the_answer");
- update.timeCreated = time;
+ update.referencedTime = time;
armem::example::ExampleData data;
armem::toAron(data.memoryID, theAnswerSnapshotID);
@@ -556,7 +556,7 @@ namespace armarx
{
armem::EntityUpdate& update = commit.add();
update.entityID = exampleDataProviderID.withEntityName("id to self");
- update.timeCreated = time;
+ update.referencedTime = time;
armem::example::ExampleData data;
armem::toAron(data.memoryID, update.entityID.withTimestamp(time));
@@ -568,7 +568,7 @@ namespace armarx
{
armem::EntityUpdate& update = commit.add();
update.entityID = exampleDataProviderID.withEntityName("id to previous snapshot");
- update.timeCreated = time - armem::Duration::Seconds(1); // 1 sec in the past
+ update.referencedTime = time - armem::Duration::Seconds(1); // 1 sec in the past
armem::example::ExampleData data;
armem::toAron(data.memoryID, armem::MemoryID()); // First entry - invalid link
@@ -579,7 +579,7 @@ namespace armarx
{
armem::EntityUpdate& update = commit.add();
update.entityID = exampleDataProviderID.withEntityName("id to previous snapshot");
- update.timeCreated = time;
+ update.referencedTime = time;
armem::example::ExampleData data;
armem::toAron(data.memoryID, update.entityID.withTimestamp(time - armem::Duration::Seconds(1)));
@@ -634,7 +634,7 @@ namespace armarx
{
armem::EntityUpdate& update = commit.add();
update.entityID = exampleDataProviderID.withEntityName("link to yet_more_data");
- update.timeCreated = time;
+ update.referencedTime = time;
armem::example::ExampleData data;
armem::toAron(data.memoryID, armem::MemoryID());
@@ -686,7 +686,7 @@ namespace armarx
{
armem::EntityUpdate& update = commit.add();
update.entityID = exampleDataProviderID.withEntityName("some_new_fancy_entity_id");
- update.timeCreated = time;
+ update.referencedTime = time;
auto currentFolder = std::filesystem::current_path();
auto opencv_img = cv::imread((currentFolder / "images" / (std::to_string(imageCounter + 1) + ".jpg")).string());
@@ -708,7 +708,7 @@ namespace armarx
{
armem::EntityUpdate& update = commit.add();
update.entityID = exampleDataProviderID.withEntityName("unexpected_data");
- update.timeCreated = time;
+ update.referencedTime = time;
armem::example::ExampleData data;
toAron(data.memoryID, armem::MemoryID()); // ////1/1
diff --git a/source/RobotAPI/components/armem/client/ObjectInstanceToIndex/ObjectInstanceToIndex.cpp b/source/RobotAPI/components/armem/client/ObjectInstanceToIndex/ObjectInstanceToIndex.cpp
index fedf604b04009ee1b1b3ef18e36df93f7a57b6a4..23b426f37c9dc8942a621cde3b5746e6cdb52ae3 100644
--- a/source/RobotAPI/components/armem/client/ObjectInstanceToIndex/ObjectInstanceToIndex.cpp
+++ b/source/RobotAPI/components/armem/client/ObjectInstanceToIndex/ObjectInstanceToIndex.cpp
@@ -196,7 +196,7 @@ namespace armarx
armem::EntityUpdate& update = commit.add();
update.entityID = provSegID.withEntityName(instance.id().str());
- update.timeCreated = instance.id().timestamp;
+ update.referencedTime = instance.id().timestamp;
update.instancesData = { spatial.toAron() };
return true;
diff --git a/source/RobotAPI/components/armem/client/ObjectInstanceToIndex/impl/ObjectInstanceToIndex.cpp b/source/RobotAPI/components/armem/client/ObjectInstanceToIndex/impl/ObjectInstanceToIndex.cpp
index 4498d01cec8f60ba81e864438671dc254b2bf5e9..34901591b175f4b5e09dcef339868bbe488d5b50 100644
--- a/source/RobotAPI/components/armem/client/ObjectInstanceToIndex/impl/ObjectInstanceToIndex.cpp
+++ b/source/RobotAPI/components/armem/client/ObjectInstanceToIndex/impl/ObjectInstanceToIndex.cpp
@@ -75,7 +75,7 @@ namespace armarx::armem::objects
armem::EntityUpdate& update = commit.add();
update.entityID = indexSpatialProviderSegmentID.withEntityName(
objectInstanceID.getEntityID().str());
- update.timeCreated = objectPose.timestamp;
+ update.referencedTime = objectPose.timestamp;
update.instancesData = {spatial.toAron()};
}
@@ -114,7 +114,7 @@ namespace armarx::armem::objects
armem::EntityUpdate& update = commit.add();
update.entityID = indexNamedProviderSegmentID.withEntityName(
objectInstanceID.getEntityID().str());
- update.timeCreated = objectPose.timestamp;
+ update.referencedTime = objectPose.timestamp;
update.instancesData = {named.toAron()};
}
}
diff --git a/source/RobotAPI/components/armem/client/RobotStatePredictionClientExample/RobotStatePredictionClient.cpp b/source/RobotAPI/components/armem/client/RobotStatePredictionClientExample/RobotStatePredictionClient.cpp
index 3d98d0f2717747a91f7a56c3e0c547cbb0088fbd..492c2c14214d5b1a31a8c0998843a5b799ab495b 100644
--- a/source/RobotAPI/components/armem/client/RobotStatePredictionClientExample/RobotStatePredictionClient.cpp
+++ b/source/RobotAPI/components/armem/client/RobotStatePredictionClientExample/RobotStatePredictionClient.cpp
@@ -163,7 +163,7 @@ namespace armarx::armem::robot_state
{
armem::EntityUpdate update;
update.entityID = entityID;
- update.timeCreated = predictedTime;
+ update.referencedTime = predictedTime;
update.instancesData = {result.prediction};
coreSegment->update(update);
}
diff --git a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
index 77135658d4a93d47e0b4474002b589cf569de67f..981489f8621918a733208a0dc7c6c20d274ecfe9 100644
--- a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
+++ b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
@@ -197,7 +197,7 @@ namespace armarx
.withProviderSegmentName(memoryID.providerSegmentName)
.withEntityName(memoryID.entityName);
update.entityID = newID;
- update.timeCreated = armem::Time::Now();
+ update.referencedTime = armem::Time::Now();
update.instancesData = { instance->data() };
armem::Commit newCommit;
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.cpp
index 0f45fe1f7bbd22ff33afc7859f595ecdc952ab60..3e50e1069a5ff136d8a4eba9df1c1d982ebccc2e 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.cpp
@@ -43,25 +43,31 @@ namespace armarx::RobotUnitModule::details
{
t = IceUtil::Time::seconds(0);
}
+
IceUtil::Time t;
+
void
start()
{
t -= IceUtil::Time::now();
++n;
}
+
void
stop()
{
t += IceUtil::Time::now();
}
+
double
ms() const
{
return t.toMilliSecondsDouble();
}
+
std::size_t n = 0;
};
+
DurationsEntry header;
DurationsEntry header_csv;
DurationsEntry header_stream;
@@ -389,7 +395,7 @@ namespace armarx::RobotUnitModule
DataStreamingEntry& streamingEntry = rtDataStreamingEntry[receiver];
getProperty(streamingEntry.rtStreamMaxClientErrors,
"RTLogging_StreamingDataMaxClientConnectionFailures");
-
+
getProperty(logAllEntries, "RTLogging_LogAllMessages");
ARMARX_INFO << "start data streaming to " << receiver->ice_getIdentity().name
@@ -421,8 +427,8 @@ namespace armarx::RobotUnitModule
continue; //do not add to result and skipp during processing
}
auto& descrEntr = descr.entries[valData.fields.at(i).name];
-//formatter failes here!
//*INDENT-OFF*
+// clang-format off
#define make_case(Type, TName) \
(typeid(Type) == *valData.fields.at(i).type) \
{ \
@@ -433,27 +439,26 @@ namespace armarx::RobotUnitModule
++streamingEntry.num##TName##s; \
}
if make_case (bool, Bool)
- else if make_case (Ice::Byte, Byte) else if make_case (Ice::Short, Short) else if make_case (Ice::Int, Int) else if make_case (
- Ice::Long,
- Long) else if make_case (Ice::Float,
- Float) else if make_case (Ice::Double,
- Double) else if make_case (std::
- uint16_t,
- Long) else if make_case (std::
- uint32_t,
- Long) else
- {
- ARMARX_CHECK_EXPRESSION(false)
- << "This code sould be unreachable! "
- "The type of "
- << valData.fields.at(i).name << " is not handled correctly!";
- }
+ else if make_case (Ice::Byte, Byte)
+ else if make_case (Ice::Short, Short)
+ else if make_case (Ice::Int, Int)
+ else if make_case (Ice::Long, Long)
+ else if make_case (Ice::Float, Float)
+ else if make_case (Ice::Double, Double)
+ else if make_case (std::uint16_t, Long)
+ else if make_case (std::uint32_t, Long)
+ else {
+ ARMARX_CHECK_EXPRESSION(false)
+ << "This code sould be unreachable! "
+ "The type of "
+ << valData.fields.at(i).name << " is not handled correctly!";
+ }
#undef make_case
- //*INDENT-ON*
}
return result;
};
-
+ //*INDENT-ON*
+ // clang-format on
//get logged sensor device values
{
ARMARX_TRACE;
@@ -560,10 +565,14 @@ namespace armarx::RobotUnitModule
//remove backlog entries
const auto start_time_remove_backlog_entries = IceUtil::Time::now();
{
- while (!backlog.empty() &&
- backlog.front().writeTimestamp + rtLoggingBacklogRetentionTime < now)
+ if (rtLoggingBacklogEnabled)
{
- backlog.pop_front();
+ while (!backlog.empty() &&
+ (backlog.front().writeTimestamp + rtLoggingBacklogRetentionTime < now or
+ backlog.size() > rtLoggingBacklogMaxSize))
+ {
+ backlog.pop_front();
+ }
}
}
//log all
@@ -579,7 +588,7 @@ namespace armarx::RobotUnitModule
}
- if(logAllEntries)
+ if (logAllEntries)
{
_module<ControlThreadDataBuffer>()
.getControlThreadOutputBuffer()
@@ -589,7 +598,9 @@ namespace armarx::RobotUnitModule
ARMARX_TRACE;
doLogging(dlogdurs, now, data, i, num);
});
- }else { // only log newest entry
+ }
+ else
+ { // only log newest entry
_module<ControlThreadDataBuffer>()
.getControlThreadOutputBuffer()
.forLatestLoggingEntry(
@@ -599,7 +610,6 @@ namespace armarx::RobotUnitModule
doLogging(dlogdurs, now, data, i, num);
});
}
-
}
ARMARX_DEBUG << ::deactivateSpam() << "the last " << backlog.size()
<< " iterations are stored";
@@ -657,27 +667,45 @@ namespace armarx::RobotUnitModule
}
// clang-format off
const auto end_time = IceUtil::Time::now();
- const auto time_total = (end_time - now).toMilliSecondsDouble();
+ const auto time_total = (end_time - now).toMilliSecondsDouble();
ARMARX_DEBUG << deactivateSpam(1)
<< "rtlogging time required: " << time_total << "ms\n"
- << " time_remove_backlog_entries " << (start_time_log_all - start_time_remove_backlog_entries).toMilliSecondsDouble() << "ms\n"
- << " time_log_all " << (start_time_flush_all_files - start_time_log_all).toMilliSecondsDouble() << "ms\n"
- << " header " << dlogdurs.header.ms() << "ms\t(" << dlogdurs.header.n << " calls)\n"
- << " csv " << dlogdurs.header_csv.ms() << "ms\t(" << dlogdurs.header_csv.n << " calls)\n"
- << " stream " << dlogdurs.header_stream.ms() << "ms\t(" << dlogdurs.header_stream.n << " calls)\n"
- << " sens " << dlogdurs.sens.ms() << "ms\t(" << dlogdurs.sens.n << " calls)\n"
- << " csv " << dlogdurs.sens_csv.ms() << "ms\t(" << dlogdurs.sens_csv.n << " calls)\n"
- << " stream " << dlogdurs.sens_stream.ms() << "ms\t(" << dlogdurs.sens_stream.n << " calls)\n"
- << " per elem " << dlogdurs.sens_stream_elem.ms() << "ms\t(" << dlogdurs.sens_stream_elem.n << " calls)\n"
- << " ctrl " << dlogdurs.ctrl.ms() << "ms\t(" << dlogdurs.ctrl.n << " calls)\n"
- << " csv " << dlogdurs.ctrl_csv.ms() << "ms\t(" << dlogdurs.ctrl_csv.n << " calls)\n"
- << " stream " << dlogdurs.ctrl_stream.ms() << "ms\t(" << dlogdurs.ctrl_stream.n << " calls)\n"
- << " per elem " << dlogdurs.ctrl_stream_elem.ms() << "ms\t(" << dlogdurs.ctrl_stream_elem.n << " calls)\n"
- << " backlog " << dlogdurs.backlog.ms() << "ms\t(" << dlogdurs.backlog.n << " calls)\n"
- << " msg " << dlogdurs.msg.ms() << "ms\t(" << dlogdurs.msg.n << " calls)\n"
- << " time_flush_all_files " << (start_time_remove_entries - start_time_flush_all_files).toMilliSecondsDouble() << "ms\n"
- << " time_remove_entries " << (start_time_data_streaming - start_time_remove_entries).toMilliSecondsDouble() << "ms\n"
- << " time_data_streaming " << (end_time - start_time_data_streaming).toMilliSecondsDouble() << "ms\n";
+ << " time_remove_backlog_entries "
+ << (start_time_log_all - start_time_remove_backlog_entries).toMilliSecondsDouble() << "ms\n"
+ << " time_log_all "
+ << (start_time_flush_all_files - start_time_log_all).toMilliSecondsDouble() << "ms\n"
+ << " header " << dlogdurs.header.ms() << "ms\t(" << dlogdurs.header.n
+ << " calls)\n"
+ << " csv " << dlogdurs.header_csv.ms() << "ms\t("
+ << dlogdurs.header_csv.n << " calls)\n"
+ << " stream " << dlogdurs.header_stream.ms() << "ms\t("
+ << dlogdurs.header_stream.n << " calls)\n"
+ << " sens " << dlogdurs.sens.ms() << "ms\t(" << dlogdurs.sens.n
+ << " calls)\n"
+ << " csv " << dlogdurs.sens_csv.ms() << "ms\t(" << dlogdurs.sens_csv.n
+ << " calls)\n"
+ << " stream " << dlogdurs.sens_stream.ms() << "ms\t("
+ << dlogdurs.sens_stream.n << " calls)\n"
+ << " per elem " << dlogdurs.sens_stream_elem.ms() << "ms\t("
+ << dlogdurs.sens_stream_elem.n << " calls)\n"
+ << " ctrl " << dlogdurs.ctrl.ms() << "ms\t(" << dlogdurs.ctrl.n
+ << " calls)\n"
+ << " csv " << dlogdurs.ctrl_csv.ms() << "ms\t(" << dlogdurs.ctrl_csv.n
+ << " calls)\n"
+ << " stream " << dlogdurs.ctrl_stream.ms() << "ms\t("
+ << dlogdurs.ctrl_stream.n << " calls)\n"
+ << " per elem " << dlogdurs.ctrl_stream_elem.ms() << "ms\t("
+ << dlogdurs.ctrl_stream_elem.n << " calls)\n"
+ << " backlog " << dlogdurs.backlog.ms() << "ms\t(" << dlogdurs.backlog.n
+ << " calls)\n"
+ << " msg " << dlogdurs.msg.ms() << "ms\t(" << dlogdurs.msg.n
+ << " calls)\n"
+ << " time_flush_all_files "
+ << (start_time_remove_entries - start_time_flush_all_files).toMilliSecondsDouble() << "ms\n"
+ << " time_remove_entries "
+ << (start_time_data_streaming - start_time_remove_entries).toMilliSecondsDouble() << "ms\n"
+ << " time_data_streaming "
+ << (end_time - start_time_data_streaming).toMilliSecondsDouble() << "ms\n";
// clang-format on
}
@@ -723,432 +751,434 @@ namespace armarx::RobotUnitModule
}
// Process devices.
+ {// Sensors.
+ {ARMARX_TRACE;
+ durations.sens.start();
+ //sensors
+ for (std::size_t idxDev = 0; idxDev < data.sensors.size(); ++idxDev)
{
- // Sensors.
+ const SensorValueBase* val = data.sensors.at(idxDev);
+ //dimensions of sensor value (e.g. vel, tor, f_x, f_y, ...)
+ for (std::size_t idxField = 0; idxField < val->getNumberOfDataFields(); ++idxField)
{
- ARMARX_TRACE;
- durations.sens.start();
- //sensors
- for (std::size_t idxDev = 0; idxDev < data.sensors.size(); ++idxDev)
+ if (!rtLoggingEntries.empty())
{
- const SensorValueBase* val = data.sensors.at(idxDev);
- //dimensions of sensor value (e.g. vel, tor, f_x, f_y, ...)
- for (std::size_t idxField = 0; idxField < val->getNumberOfDataFields(); ++idxField)
+ durations.sens_csv.start();
+ const auto str = val->getDataFieldAs<std::string>(idxField);
+ for (auto& [_, entry] : rtLoggingEntries)
{
- if (!rtLoggingEntries.empty())
- {
- durations.sens_csv.start();
- const auto str = val->getDataFieldAs<std::string>(idxField);
- for (auto& [_, entry] : rtLoggingEntries)
- {
- if (entry->loggedSensorDeviceValues.at(idxDev).at(idxField))
- {
- entry->stream << ";" << str;
- }
- }
- durations.sens_csv.stop();
- }
- if (!rtDataStreamingEntry.empty())
+ if (entry->loggedSensorDeviceValues.at(idxDev).at(idxField))
{
- durations.sens_stream.start();
- for (auto& [_, data] : rtDataStreamingEntry)
- {
- durations.sens_stream_elem.start();
- data.processSens(*val, idxDev, idxField);
- durations.sens_stream_elem.stop();
- }
- durations.sens_stream.stop();
+ entry->stream << ";" << str;
}
}
+ durations.sens_csv.stop();
+ }
+ if (!rtDataStreamingEntry.empty())
+ {
+ durations.sens_stream.start();
+ for (auto& [_, rtStreamingEntry] : rtDataStreamingEntry)
+ {
+ durations.sens_stream_elem.start();
+ rtStreamingEntry.processSens(*val, idxDev, idxField);
+ durations.sens_stream_elem.stop();
+ }
+ durations.sens_stream.stop();
}
- durations.sens.stop();
}
+ }
+ durations.sens.stop();
+ }
- // Controller.
+ // Controller.
+ {
+ durations.ctrl.start();
+ ARMARX_TRACE;
+ //joint controllers
+ for (std::size_t idxDev = 0; idxDev < data.control.size(); ++idxDev)
+ {
+ const auto& vals = data.control.at(idxDev);
+ //control value (e.g. v_platform)
+ for (std::size_t idxVal = 0; idxVal < vals.size(); ++idxVal)
{
- durations.ctrl.start();
- ARMARX_TRACE;
- //joint controllers
- for (std::size_t idxDev = 0; idxDev < data.control.size(); ++idxDev)
+ const ControlTargetBase* val = vals.at(idxVal);
+ //dimensions of control value (e.g. v_platform_x, v_platform_y, v_platform_rotate)
+ for (std::size_t idxField = 0; idxField < val->getNumberOfDataFields(); ++idxField)
{
- const auto& vals = data.control.at(idxDev);
- //control value (e.g. v_platform)
- for (std::size_t idxVal = 0; idxVal < vals.size(); ++idxVal)
+ if (!rtLoggingEntries.empty())
{
- const ControlTargetBase* val = vals.at(idxVal);
- //dimensions of control value (e.g. v_platform_x, v_platform_y, v_platform_rotate)
- for (std::size_t idxField = 0; idxField < val->getNumberOfDataFields(); ++idxField)
+ durations.ctrl_csv.start();
+ std::string str;
+ val->getDataFieldAs(idxField, str); // expensive function
+ for (auto& [_, entry] : rtLoggingEntries)
{
- if (!rtLoggingEntries.empty())
- {
- durations.ctrl_csv.start();
- std::string str;
- val->getDataFieldAs(idxField, str); // expensive function
- for (auto& [_, entry] : rtLoggingEntries)
- {
- if (entry->loggedControlDeviceValues.at(idxDev).at(idxVal).at(idxField))
- {
- entry->stream << ";" << str;
- }
- }
- durations.ctrl_csv.stop();
- }
- if (!rtDataStreamingEntry.empty())
+ if (entry->loggedControlDeviceValues.at(idxDev).at(idxVal).at(idxField))
{
- durations.ctrl_stream.start();
- for (auto& [_, data] : rtDataStreamingEntry)
- {
- durations.ctrl_stream_elem.start();
- data.processCtrl(*val, idxDev, idxVal, idxField);
- durations.ctrl_stream_elem.stop();
- }
- durations.ctrl_stream.stop();
+ entry->stream << ";" << str;
}
}
+ durations.ctrl_csv.stop();
+ }
+ if (!rtDataStreamingEntry.empty())
+ {
+ durations.ctrl_stream.start();
+ for (auto& [_, rtStreamingEntry] : rtDataStreamingEntry)
+ {
+ durations.ctrl_stream_elem.start();
+ rtStreamingEntry.processCtrl(*val, idxDev, idxVal, idxField);
+ durations.ctrl_stream_elem.stop();
+ }
+ durations.ctrl_stream.stop();
}
}
-
- durations.ctrl.stop();
}
}
- //finish processing
+ durations.ctrl.stop();
+ }
+} // namespace armarx::RobotUnitModule
+
+//finish processing
+{
+ //store data to backlog
+ {
+ if (rtLoggingBacklogEnabled)
{
- //store data to backlog
- {
- durations.backlog.start();
- ARMARX_TRACE;
- if (data.writeTimestamp + rtLoggingBacklogRetentionTime >= now)
- {
- backlog.emplace_back(data, true); //true for minimal copy
- }
- durations.backlog.stop();
- }
- //print + reset messages
+ durations.backlog.start();
+ ARMARX_TRACE;
+ if (data.writeTimestamp + rtLoggingBacklogRetentionTime >= now)
{
- durations.msg.start();
- ARMARX_TRACE;
- for (const ::armarx::detail::RtMessageLogEntryBase* ptr : data.messages.getEntries())
- {
- if (!ptr)
- {
- break;
- }
- ptr->print(controlThreadId);
- }
- durations.msg.stop();
+ backlog.emplace_back(data, true); //true for minimal copy
}
+ durations.backlog.stop();
}
}
-
- bool
- Logging::MatchName(const std::string& pattern, const std::string& name)
+ //print + reset messages
{
+ durations.msg.start();
ARMARX_TRACE;
- if (pattern.empty())
- {
- return false;
- }
- static const std::regex pattern_regex{R"(^\^?[- ._*a-zA-Z0-9]+\$?$)"};
- if (!std::regex_match(pattern, pattern_regex))
+ for (const ::armarx::detail::RtMessageLogEntryBase* ptr : data.messages.getEntries())
{
- throw InvalidArgumentException{"Pattern '" + pattern + "' is invalid"};
+ if (!ptr)
+ {
+ break;
+ }
+ ptr->print(controlThreadId);
}
- static const std::regex reg_dot{"[.]"};
- static const std::regex reg_star{"[*]"};
- const std::string rpl1 = std::regex_replace(pattern, reg_dot, "\\.");
- const std::string rpl2 = std::regex_replace(rpl1, reg_star, ".*");
- const std::regex key_regex{rpl2};
- return std::regex_search(name, key_regex);
+ durations.msg.stop();
}
+}
+}
- void
- Logging::_postOnInitRobotUnit()
+bool
+Logging::MatchName(const std::string& pattern, const std::string& name)
+{
+ ARMARX_TRACE;
+ if (pattern.empty())
{
- ARMARX_TRACE;
- throwIfInControlThread(BOOST_CURRENT_FUNCTION);
- rtLoggingTimestepMs = getProperty<std::size_t>("RTLogging_PeriodMs");
- ARMARX_CHECK_LESS(0, rtLoggingTimestepMs) << "The property RTLoggingPeriodMs must not be 0";
+ return false;
+ }
+ static const std::regex pattern_regex{R"(^\^?[- ._*a-zA-Z0-9]+\$?$)"};
+ if (!std::regex_match(pattern, pattern_regex))
+ {
+ throw InvalidArgumentException{"Pattern '" + pattern + "' is invalid"};
+ }
+ static const std::regex reg_dot{"[.]"};
+ static const std::regex reg_star{"[*]"};
+ const std::string rpl1 = std::regex_replace(pattern, reg_dot, "\\.");
+ const std::string rpl2 = std::regex_replace(rpl1, reg_star, ".*");
+ const std::regex key_regex{rpl2};
+ return std::regex_search(name, key_regex);
+}
- messageBufferSize = getProperty<std::size_t>("RTLogging_MessageBufferSize");
- messageBufferMaxSize = getProperty<std::size_t>("RTLogging_MaxMessageBufferSize");
- ARMARX_CHECK_LESS_EQUAL(messageBufferSize, messageBufferMaxSize);
+void
+Logging::_postOnInitRobotUnit()
+{
+ ARMARX_TRACE;
+ throwIfInControlThread(BOOST_CURRENT_FUNCTION);
+ rtLoggingTimestepMs = getProperty<std::size_t>("RTLogging_PeriodMs");
+ ARMARX_CHECK_LESS(0, rtLoggingTimestepMs) << "The property RTLoggingPeriodMs must not be 0";
- messageBufferNumberEntries = getProperty<std::size_t>("RTLogging_MessageNumber");
- messageBufferMaxNumberEntries = getProperty<std::size_t>("RTLogging_MaxMessageNumber");
- ARMARX_CHECK_LESS_EQUAL(messageBufferNumberEntries, messageBufferMaxNumberEntries);
+ messageBufferSize = getProperty<std::size_t>("RTLogging_MessageBufferSize");
+ messageBufferMaxSize = getProperty<std::size_t>("RTLogging_MaxMessageBufferSize");
+ ARMARX_CHECK_LESS_EQUAL(messageBufferSize, messageBufferMaxSize);
- rtLoggingBacklogRetentionTime =
- IceUtil::Time::milliSeconds(getProperty<std::size_t>("RTLogging_KeepIterationsForMs"));
-
- ARMARX_CHECK_GREATER(getControlThreadTargetPeriod().toMicroSeconds(), 0);
- }
+ messageBufferNumberEntries = getProperty<std::size_t>("RTLogging_MessageNumber");
+ messageBufferMaxNumberEntries = getProperty<std::size_t>("RTLogging_MaxMessageNumber");
+ ARMARX_CHECK_LESS_EQUAL(messageBufferNumberEntries, messageBufferMaxNumberEntries);
- void
- Logging::_postFinishDeviceInitialization()
+ rtLoggingBacklogRetentionTime =
+ IceUtil::Time::milliSeconds(getProperty<std::size_t>("RTLogging_KeepIterationsForMs"));
+ rtLoggingBacklogMaxSize = getProperty<std::size_t>("RTLogging_MaxBacklogSize");
+ rtLoggingBacklogEnabled = getProperty<bool>("RTLogging_EnableBacklog");
+ ARMARX_CHECK_GREATER(getControlThreadTargetPeriod().toMicroSeconds(), 0);
+}
+
+void
+Logging::_postFinishDeviceInitialization()
+{
+ ARMARX_TRACE;
+ throwIfInControlThread(BOOST_CURRENT_FUNCTION);
+ //init buffer
{
ARMARX_TRACE;
- throwIfInControlThread(BOOST_CURRENT_FUNCTION);
- //init buffer
- {
- ARMARX_TRACE;
- std::size_t ctrlThreadPeriodUs =
- static_cast<std::size_t>(getControlThreadTargetPeriod().toMicroSeconds());
- std::size_t logThreadPeriodUs = rtLoggingTimestepMs * 1000;
- std::size_t nBuffers = (logThreadPeriodUs / ctrlThreadPeriodUs + 1) * 100;
-
- const auto bufferSize =
- _module<ControlThreadDataBuffer>().getControlThreadOutputBuffer().initialize(
- nBuffers,
- _module<Devices>().getControlDevices(),
- _module<Devices>().getSensorDevices(),
- messageBufferSize,
- messageBufferNumberEntries,
- messageBufferMaxSize,
- messageBufferMaxNumberEntries);
- ARMARX_INFO << "RTLogging activated. Using " << nBuffers << " buffers "
- << "(buffersize = " << bufferSize << " bytes)";
- }
- //init logging names + field types
- {
- ARMARX_TRACE;
- const auto makeValueMetaData = [&](auto* val, const std::string& namePre)
- {
- ValueMetaData data;
- const auto names = val->getDataFieldNames();
- data.fields.resize(names.size());
+ std::size_t ctrlThreadPeriodUs =
+ static_cast<std::size_t>(getControlThreadTargetPeriod().toMicroSeconds());
+ std::size_t logThreadPeriodUs = rtLoggingTimestepMs * 1000;
+ std::size_t nBuffers = (logThreadPeriodUs / ctrlThreadPeriodUs + 1) * 100;
- for (std::size_t fieldIdx = 0; fieldIdx < names.size(); ++fieldIdx)
- {
- std::string const& fieldName = names[fieldIdx];
- data.fields.at(fieldIdx).name = namePre + '.' + fieldName;
- data.fields.at(fieldIdx).type = &(val->getDataFieldType(fieldIdx));
- }
- return data;
- };
+ const auto bufferSize =
+ _module<ControlThreadDataBuffer>().getControlThreadOutputBuffer().initialize(
+ nBuffers,
+ _module<Devices>().getControlDevices(),
+ _module<Devices>().getSensorDevices(),
+ messageBufferSize,
+ messageBufferNumberEntries,
+ messageBufferMaxSize,
+ messageBufferMaxNumberEntries);
+ ARMARX_INFO << "RTLogging activated. Using " << nBuffers << " buffers "
+ << "(buffersize = " << bufferSize << " bytes)";
+ }
+ //init logging names + field types
+ {
+ ARMARX_TRACE;
+ const auto makeValueMetaData = [&](auto* val, const std::string& namePre)
+ {
+ ValueMetaData data;
+ const auto names = val->getDataFieldNames();
+ data.fields.resize(names.size());
- //sensorDevices
- controlDeviceValueMetaData.reserve(_module<Devices>().getControlDevices().size());
- for (const auto& cd : _module<Devices>().getControlDevices().values())
+ for (std::size_t fieldIdx = 0; fieldIdx < names.size(); ++fieldIdx)
{
- ARMARX_TRACE;
- controlDeviceValueMetaData.emplace_back();
- auto& dataForDev = controlDeviceValueMetaData.back();
- dataForDev.reserve(cd->getJointControllers().size());
- for (auto jointC : cd->getJointControllers())
- {
- dataForDev.emplace_back(makeValueMetaData(jointC->getControlTarget(),
- "ctrl." + cd->getDeviceName() + "." +
- jointC->getControlMode()));
- }
+ std::string const& fieldName = names[fieldIdx];
+ data.fields.at(fieldIdx).name = namePre + '.' + fieldName;
+ data.fields.at(fieldIdx).type = &(val->getDataFieldType(fieldIdx));
}
- //sensorDevices
- sensorDeviceValueMetaData.reserve(_module<Devices>().getSensorDevices().size());
- for (const auto& sd : _module<Devices>().getSensorDevices().values())
+ return data;
+ };
+
+ //sensorDevices
+ controlDeviceValueMetaData.reserve(_module<Devices>().getControlDevices().size());
+ for (const auto& cd : _module<Devices>().getControlDevices().values())
+ {
+ ARMARX_TRACE;
+ controlDeviceValueMetaData.emplace_back();
+ auto& dataForDev = controlDeviceValueMetaData.back();
+ dataForDev.reserve(cd->getJointControllers().size());
+ for (auto jointC : cd->getJointControllers())
{
- ARMARX_TRACE;
- sensorDeviceValueMetaData.emplace_back(
- makeValueMetaData(sd->getSensorValue(), "sens." + sd->getDeviceName()));
+ dataForDev.emplace_back(makeValueMetaData(jointC->getControlTarget(),
+ "ctrl." + cd->getDeviceName() + "." +
+ jointC->getControlMode()));
}
}
- //start logging thread is done in rtinit
- //maybe add the default log
+ //sensorDevices
+ sensorDeviceValueMetaData.reserve(_module<Devices>().getSensorDevices().size());
+ for (const auto& sd : _module<Devices>().getSensorDevices().values())
{
ARMARX_TRACE;
- const auto loggingpath = getProperty<std::string>("RTLogging_DefaultLog").getValue();
- if (!loggingpath.empty())
- {
- defaultLogHandle = startRtLogging(loggingpath, getLoggingNames());
- }
+ sensorDeviceValueMetaData.emplace_back(
+ makeValueMetaData(sd->getSensorValue(), "sens." + sd->getDeviceName()));
}
}
-
- void
- Logging::DataStreamingEntry::clearResult()
+ //start logging thread is done in rtinit
+ //maybe add the default log
{
ARMARX_TRACE;
- for (auto& e : result)
+ const auto loggingpath = getProperty<std::string>("RTLogging_DefaultLog").getValue();
+ if (!loggingpath.empty())
{
- entryBuffer.emplace_back(std::move(e));
+ defaultLogHandle = startRtLogging(loggingpath, getLoggingNames());
}
- result.clear();
}
+}
- RobotUnitDataStreaming::TimeStep
- Logging::DataStreamingEntry::allocateResultElement() const
+void
+Logging::DataStreamingEntry::clearResult()
+{
+ ARMARX_TRACE;
+ for (auto& e : result)
{
- ARMARX_TRACE;
- RobotUnitDataStreaming::TimeStep data;
- data.bools.resize(numBools);
- data.bytes.resize(numBytes);
- data.shorts.resize(numShorts);
- data.ints.resize(numInts);
- data.longs.resize(numLongs);
- data.floats.resize(numFloats);
- data.doubles.resize(numDoubles);
- return data;
+ entryBuffer.emplace_back(std::move(e));
}
+ result.clear();
+}
- RobotUnitDataStreaming::TimeStep
- Logging::DataStreamingEntry::getResultElement()
+RobotUnitDataStreaming::TimeStep
+Logging::DataStreamingEntry::allocateResultElement() const
+{
+ ARMARX_TRACE;
+ RobotUnitDataStreaming::TimeStep data;
+ data.bools.resize(numBools);
+ data.bytes.resize(numBytes);
+ data.shorts.resize(numShorts);
+ data.ints.resize(numInts);
+ data.longs.resize(numLongs);
+ data.floats.resize(numFloats);
+ data.doubles.resize(numDoubles);
+ return data;
+}
+
+RobotUnitDataStreaming::TimeStep
+Logging::DataStreamingEntry::getResultElement()
+{
+ ARMARX_TRACE;
+ if (entryBuffer.empty())
{
- ARMARX_TRACE;
- if (entryBuffer.empty())
- {
- return allocateResultElement();
- }
- auto e = std::move(entryBuffer.back());
- entryBuffer.pop_back();
- return e;
+ return allocateResultElement();
}
+ auto e = std::move(entryBuffer.back());
+ entryBuffer.pop_back();
+ return e;
+}
- void
- Logging::DataStreamingEntry::processHeader(const ControlThreadOutputBuffer::Entry& e)
+void
+Logging::DataStreamingEntry::processHeader(const ControlThreadOutputBuffer::Entry& e)
+{
+ ARMARX_TRACE;
+ if (stopStreaming)
{
- ARMARX_TRACE;
- if (stopStreaming)
- {
- return;
- }
-
- auto& data = result.emplace_back(getResultElement());
-
- data.iterationId = e.iteration;
- data.timestampUSec = e.sensorValuesTimestamp.toMicroSeconds();
- data.timesSinceLastIterationUSec = e.timeSinceLastIteration.toMicroSeconds();
+ return;
}
- void
- WriteTo(const auto& dentr,
- const Logging::DataStreamingEntry::OutVal& out,
- const auto& val,
- std::size_t fidx,
- auto& data)
+ auto& data = result.emplace_back(getResultElement());
+
+ data.iterationId = e.iteration;
+ data.timestampUSec = e.sensorValuesTimestamp.toMicroSeconds();
+ data.timesSinceLastIterationUSec = e.timeSinceLastIteration.toMicroSeconds();
+}
+
+void
+WriteTo(const auto& dentr,
+ const Logging::DataStreamingEntry::OutVal& out,
+ const auto& val,
+ std::size_t fidx,
+ auto& data)
+{
+ ARMARX_TRACE;
+ using enum_t = Logging::DataStreamingEntry::ValueT;
+ try
{
ARMARX_TRACE;
- using enum_t = Logging::DataStreamingEntry::ValueT;
- try
- {
- ARMARX_TRACE;
- switch (out.value)
- {
- case enum_t::Bool:
- bool b;
- val.getDataFieldAs(fidx, b);
- data.bools.at(out.idx) = b;
- return;
- case enum_t::Byte:
- val.getDataFieldAs(fidx, data.bytes.at(out.idx));
- return;
- case enum_t::Short:
- val.getDataFieldAs(fidx, data.shorts.at(out.idx));
- return;
- case enum_t::Int:
- val.getDataFieldAs(fidx, data.ints.at(out.idx));
- return;
- case enum_t::Long:
- val.getDataFieldAs(fidx, data.longs.at(out.idx));
- return;
- case enum_t::Float:
- val.getDataFieldAs(fidx, data.floats.at(out.idx));
- return;
- case enum_t::Double:
- val.getDataFieldAs(fidx, data.doubles.at(out.idx));
- return;
- case enum_t::Skipped:
- return;
- }
- }
- catch (...)
+ switch (out.value)
{
- ARMARX_ERROR << GetHandledExceptionString() << "\ntype " << static_cast<int>(out.value)
- << "\n"
- << VAROUT(data.bools.size()) << " " << VAROUT(dentr.numBools) << "\n"
- << VAROUT(data.bytes.size()) << " " << VAROUT(dentr.numBytes) << "\n"
- << VAROUT(data.shorts.size()) << " " << VAROUT(dentr.numShorts) << "\n"
- << VAROUT(data.ints.size()) << " " << VAROUT(dentr.numInts) << "\n"
- << VAROUT(data.longs.size()) << " " << VAROUT(dentr.numLongs) << "\n"
- << VAROUT(data.floats.size()) << " " << VAROUT(dentr.numFloats) << "\n"
- << VAROUT(data.doubles.size()) << " " << VAROUT(dentr.numDoubles);
- throw;
+ case enum_t::Bool:
+ bool b;
+ val.getDataFieldAs(fidx, b);
+ data.bools.at(out.idx) = b;
+ return;
+ case enum_t::Byte:
+ val.getDataFieldAs(fidx, data.bytes.at(out.idx));
+ return;
+ case enum_t::Short:
+ val.getDataFieldAs(fidx, data.shorts.at(out.idx));
+ return;
+ case enum_t::Int:
+ val.getDataFieldAs(fidx, data.ints.at(out.idx));
+ return;
+ case enum_t::Long:
+ val.getDataFieldAs(fidx, data.longs.at(out.idx));
+ return;
+ case enum_t::Float:
+ val.getDataFieldAs(fidx, data.floats.at(out.idx));
+ return;
+ case enum_t::Double:
+ val.getDataFieldAs(fidx, data.doubles.at(out.idx));
+ return;
+ case enum_t::Skipped:
+ return;
}
}
+ catch (...)
+ {
+ ARMARX_ERROR << GetHandledExceptionString() << "\ntype " << static_cast<int>(out.value)
+ << "\n"
+ << VAROUT(data.bools.size()) << " " << VAROUT(dentr.numBools) << "\n"
+ << VAROUT(data.bytes.size()) << " " << VAROUT(dentr.numBytes) << "\n"
+ << VAROUT(data.shorts.size()) << " " << VAROUT(dentr.numShorts) << "\n"
+ << VAROUT(data.ints.size()) << " " << VAROUT(dentr.numInts) << "\n"
+ << VAROUT(data.longs.size()) << " " << VAROUT(dentr.numLongs) << "\n"
+ << VAROUT(data.floats.size()) << " " << VAROUT(dentr.numFloats) << "\n"
+ << VAROUT(data.doubles.size()) << " " << VAROUT(dentr.numDoubles);
+ throw;
+ }
+}
- void
- Logging::DataStreamingEntry::processCtrl(const ControlTargetBase& val,
- std::size_t didx,
- std::size_t vidx,
- std::size_t fidx)
+void
+Logging::DataStreamingEntry::processCtrl(const ControlTargetBase& val,
+ std::size_t didx,
+ std::size_t vidx,
+ std::size_t fidx)
+{
+ ARMARX_TRACE;
+ if (stopStreaming)
{
- ARMARX_TRACE;
- if (stopStreaming)
- {
- return;
- }
- auto& data = result.back();
- const OutVal& o = ctrlDevs.at(didx).at(vidx).at(fidx);
- WriteTo(*this, o, val, fidx, data);
+ return;
}
+ auto& data = result.back();
+ const OutVal& o = ctrlDevs.at(didx).at(vidx).at(fidx);
+ WriteTo(*this, o, val, fidx, data);
+}
- void
- Logging::DataStreamingEntry::processSens(const SensorValueBase& val,
- std::size_t didx,
- std::size_t fidx)
+void
+Logging::DataStreamingEntry::processSens(const SensorValueBase& val,
+ std::size_t didx,
+ std::size_t fidx)
+{
+ ARMARX_TRACE;
+ if (stopStreaming)
{
- ARMARX_TRACE;
- if (stopStreaming)
- {
- return;
- }
- auto& data = result.back();
- const OutVal& o = sensDevs.at(didx).at(fidx);
- WriteTo(*this, o, val, fidx, data);
+ return;
}
+ auto& data = result.back();
+ const OutVal& o = sensDevs.at(didx).at(fidx);
+ WriteTo(*this, o, val, fidx, data);
+}
- void
- Logging::DataStreamingEntry::send(const RobotUnitDataStreaming::ReceiverPrx& r, std::uint64_t msgId)
+void
+Logging::DataStreamingEntry::send(const RobotUnitDataStreaming::ReceiverPrx& r, std::uint64_t msgId)
+{
+ ARMARX_TRACE;
+ const auto start_send = IceUtil::Time::now();
+ updateCalls.emplace_back(r->begin_update(result, static_cast<Ice::Long>(msgId)));
+ const auto start_clear = IceUtil::Time::now();
+ clearResult();
+ const auto end = IceUtil::Time::now();
+ ARMARX_DEBUG_S << "Logging::DataStreamingEntry::send"
+ << "\n update " << (start_clear - start_send).toMilliSecondsDouble() << "ms ("
+ << result.size() << " timesteps)"
+ << "\n clear " << (end - start_clear).toMilliSecondsDouble() << "ms";
+
+ //now execute all ready callbacks
+ std::size_t i = 0;
+ for (; i < updateCalls.size(); ++i)
{
- ARMARX_TRACE;
- const auto start_send = IceUtil::Time::now();
- updateCalls.emplace_back(r->begin_update(result, static_cast<Ice::Long>(msgId)));
- const auto start_clear = IceUtil::Time::now();
- clearResult();
- const auto end = IceUtil::Time::now();
- ARMARX_DEBUG_S << "Logging::DataStreamingEntry::send"
- << "\n update " << (start_clear - start_send).toMilliSecondsDouble() << "ms ("
- << result.size() << " timesteps)"
- << "\n clear " << (end - start_clear).toMilliSecondsDouble() << "ms";
-
- //now execute all ready callbacks
- std::size_t i = 0;
- for (; i < updateCalls.size(); ++i)
+ try
{
- try
- {
- if (!updateCalls.at(i)->isCompleted())
- {
- break;
- }
- r->end_update(updateCalls.at(i));
- connectionFailures = 0;
- }
- catch (...)
+ if (!updateCalls.at(i)->isCompleted())
{
- ARMARX_TRACE;
- ++connectionFailures;
- if (connectionFailures > rtStreamMaxClientErrors)
- {
- stopStreaming = true;
- ARMARX_WARNING_S << "DataStreaming Receiver was not reachable for "
- << connectionFailures << " iterations! Removing receiver";
- updateCalls.clear();
- break;
- }
+ break;
}
+ r->end_update(updateCalls.at(i));
+ connectionFailures = 0;
}
- if (!updateCalls.empty())
+ catch (...)
{
- updateCalls.erase(updateCalls.begin(), updateCalls.begin() + i);
+ ARMARX_TRACE;
+ ++connectionFailures;
+ if (connectionFailures > rtStreamMaxClientErrors)
+ {
+ stopStreaming = true;
+ ARMARX_WARNING_S << "DataStreaming Receiver was not reachable for "
+ << connectionFailures << " iterations! Removing receiver";
+ updateCalls.clear();
+ break;
+ }
}
}
+ if (!updateCalls.empty())
+ {
+ updateCalls.erase(updateCalls.begin(), updateCalls.begin() + i);
+ }
+}
}
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.h b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.h
index bb6a625e3484fc843f4d27224a5801d416d91858..7529c75fd0182aa30c7c64ff994df15127b29009 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.h
@@ -71,10 +71,18 @@ namespace armarx::RobotUnitModule
"RTLogging_MaxMessageBufferSize", 16 * 1024 * 1024,
"Max number of bytes that can be logged in the control thread");
+ defineOptionalProperty<bool>(
+ "RTLogging_EnableBacklog", true,
+ "Enable/Disable the backlog (SensorValues, ControlTargets, Messages) that is kept"
+ "and can be dumped in case of an error.");
defineOptionalProperty<std::size_t>(
"RTLogging_KeepIterationsForMs", 60 * 1000,
"All logging data (SensorValues, ControlTargets, Messages) is kept for this duration "
"and can be dumped in case of an error.");
+ defineOptionalProperty<std::size_t>(
+ "RTLogging_MaxBacklogSize", 5000,
+ "Maximum size of the backlog (SensorValues, ControlTargets, Messages) that is kept"
+ "and can be dumped in case of an error.");
defineOptionalProperty<std::size_t>(
"RTLogging_StreamingDataMaxClientConnectionFailures", 10,
@@ -301,8 +309,12 @@ namespace armarx::RobotUnitModule
std::size_t messageBufferMaxNumberEntries {0};
/// @brief The logging thread's period
std::size_t rtLoggingTimestepMs {0};
- /// @brief The time an entry shold remain in the backlog.
+ /// @brief The time an entry should remain in the backlog.
IceUtil::Time rtLoggingBacklogRetentionTime;
+ /// @brief The maximum number of entries in the backlog.
+ std::size_t rtLoggingBacklogMaxSize;
+ /// @brief Enable/disable the backlog.
+ bool rtLoggingBacklogEnabled;
/// @brief
bool logAllEntries = true;
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp
index c07f2d42c7d1d17def0b67a8c4866fe21384284e..243950a7c5a15f376f1f5c7b09b8b99fac0ea2d2 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp
@@ -31,6 +31,9 @@
#include <RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThreadDataBuffer.h>
#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerRegistry.h>
+#include "ArmarXCore/core/exceptions/local/ExpressionException.h"
+#include "ArmarXCore/core/logging/Logging.h"
+#include "ArmarXCore/core/util/StringHelpers.h"
#include <ArmarXCore/core/ArmarXObjectScheduler.h>
namespace armarx::RobotUnitModule
@@ -312,6 +315,7 @@ namespace armarx::RobotUnitModule
SensorDeviceStatus status;
status.deviceName = DevicesAttorneyForPublisher::GetSensorDeviceName(this, sensidx);
+ ARMARX_TRACE;
if (observerPublishSensorValues && publishToObserver)
{
for (const auto& pair : variants)
diff --git a/source/RobotAPI/components/units/RobotUnit/util/ControlThreadOutputBuffer.cpp b/source/RobotAPI/components/units/RobotUnit/util/ControlThreadOutputBuffer.cpp
index 26a7dd83ddcfd736b85cc4466686c9ea93c02809..1327e8e353890c42fb2200c253e42ff03325be35 100644
--- a/source/RobotAPI/components/units/RobotUnit/util/ControlThreadOutputBuffer.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/util/ControlThreadOutputBuffer.cpp
@@ -445,11 +445,13 @@ namespace armarx
messages {other.messages, minimize},
buffer(other.buffer.size(), 0)
{
+ ARMARX_TRACE;
void* place = buffer.data();
std::size_t space = buffer.size();
auto getAlignedPlace = [&space, &place, this](std::size_t bytes, std::size_t alignment)
{
+ ARMARX_TRACE;
ARMARX_CHECK_EXPRESSION(std::align(alignment, bytes, place, space));
ARMARX_CHECK_LESS(bytes, space);
const auto resultPlace = place;
@@ -463,6 +465,7 @@ namespace armarx
sensors.reserve(other.sensors.size());
for (const SensorValueBase* sv : other.sensors)
{
+ ARMARX_TRACE;
sensors.emplace_back(sv->_placementCopyConstruct(getAlignedPlace(sv->_sizeof(), sv->_alignof())));
}
@@ -470,6 +473,7 @@ namespace armarx
control.reserve(other.control.size());
for (const auto& cdctargs : other.control)
{
+ ARMARX_TRACE;
control.emplace_back();
auto& ctargs = control.back();
ctargs.reserve(cdctargs.size());
diff --git a/source/RobotAPI/interface/armem/commit.ice b/source/RobotAPI/interface/armem/commit.ice
index 17260a2136d2cc4c24d1ecd06f5f77ecbcb7f8c0..4a7008293fbe1bd2080ebf808f1bd28621792303 100644
--- a/source/RobotAPI/interface/armem/commit.ice
+++ b/source/RobotAPI/interface/armem/commit.ice
@@ -34,7 +34,7 @@ module armarx
{
armem::data::MemoryID entityID;
aron::data::dto::AronDictSeq instancesData;
- armarx::core::time::dto::DateTime timeCreated;
+ armarx::core::time::dto::DateTime referencedTime;
float confidence = 1.0;
armarx::core::time::dto::DateTime timeSent;
diff --git a/source/RobotAPI/interface/armem/memory.ice b/source/RobotAPI/interface/armem/memory.ice
index 617f7043f76019a2c474f588127dbcbd9c4f3991..63801dd4da540ae46fef76e993a862e4979409c7 100644
--- a/source/RobotAPI/interface/armem/memory.ice
+++ b/source/RobotAPI/interface/armem/memory.ice
@@ -38,9 +38,11 @@ module armarx
/// Ice Twin of `armarx::armem::EntityInstanceMetadata`.
class EntityInstanceMetadata
{
- armarx::core::time::dto::DateTime timeCreated;
- armarx::core::time::dto::DateTime timeSent;
- armarx::core::time::dto::DateTime timeArrived;
+ armarx::core::time::dto::DateTime referencedTime;
+ armarx::core::time::dto::DateTime sentTime;
+ armarx::core::time::dto::DateTime arrivedTime;
+ armarx::core::time::dto::DateTime lastAccessedTime;
+ long accessed = 0;
float confidence = 1.0;
};
diff --git a/source/RobotAPI/libraries/GraspingUtility/GraspCandidateWriter.cpp b/source/RobotAPI/libraries/GraspingUtility/GraspCandidateWriter.cpp
index 76200b0ab1772d68cd30482e577ae870e711af10..7aa20ba28af1b49404118cfedb3abd006d784738 100644
--- a/source/RobotAPI/libraries/GraspingUtility/GraspCandidateWriter.cpp
+++ b/source/RobotAPI/libraries/GraspingUtility/GraspCandidateWriter.cpp
@@ -170,7 +170,7 @@ namespace armarx::armem
armem::EntityUpdate update;
update.entityID = entityID;
update.instancesData = instances;
- update.timeCreated = timestamp;
+ update.referencedTime = timestamp;
ARMARX_DEBUG << "Committing " << update << " at time " << timestamp;
armem::EntityUpdateResult updateResult = memoryWriter.commit(update);
diff --git a/source/RobotAPI/libraries/armem/client/Writer.cpp b/source/RobotAPI/libraries/armem/client/Writer.cpp
index 3c4edce62f6cbc0b2d2dc908e673fbe06afe6f53..e9b06f66e1e297296a2f47c39cdf6474c0015795 100644
--- a/source/RobotAPI/libraries/armem/client/Writer.cpp
+++ b/source/RobotAPI/libraries/armem/client/Writer.cpp
@@ -84,12 +84,12 @@ namespace armarx::armem::client
EntityUpdateResult Writer::commit(
const MemoryID& entityID,
const std::vector<aron::data::DictPtr>& instancesData,
- Time timeCreated)
+ Time referencedTime)
{
EntityUpdate update;
update.entityID = entityID;
update.instancesData = instancesData;
- update.timeCreated = timeCreated;
+ update.referencedTime = referencedTime;
return commit(update);
}
diff --git a/source/RobotAPI/libraries/armem/client/Writer.h b/source/RobotAPI/libraries/armem/client/Writer.h
index 1d898bf6e3bc7382e4a4a22318507a3b29ee2cd7..6c4b223ce12e0ee80cd5564e2d2d3ad688661cbc 100644
--- a/source/RobotAPI/libraries/armem/client/Writer.h
+++ b/source/RobotAPI/libraries/armem/client/Writer.h
@@ -49,7 +49,7 @@ namespace armarx::armem::client
EntityUpdateResult commit(
const MemoryID& entityID,
const std::vector<aron::data::DictPtr>& instancesData,
- Time timeCreated);
+ Time referencedTime);
// with bare-ice types
data::CommitResult commit(const data::Commit& commit);
diff --git a/source/RobotAPI/libraries/armem/core/Commit.cpp b/source/RobotAPI/libraries/armem/core/Commit.cpp
index 3c311d2249c3dc7ebe6baee5779c9337b6e19a01..341d160ec7852bb9d397d283289a4944c1f98409 100644
--- a/source/RobotAPI/libraries/armem/core/Commit.cpp
+++ b/source/RobotAPI/libraries/armem/core/Commit.cpp
@@ -14,7 +14,7 @@ namespace armarx::armem
{
return os << "Entity update: "
<< "\n- success: \t" << rhs.entityID
- << "\n- timestamp: \t" << toDateTimeMilliSeconds(rhs.timeCreated)
+ << "\n- timestamp: \t" << toDateTimeMilliSeconds(rhs.referencedTime)
<< "\n- #instances: \t" << rhs.instancesData.size()
<< "\n"
;
@@ -25,7 +25,7 @@ namespace armarx::armem
return os << "Entity update result: "
<< "\n- success: \t" << (rhs.success ? "true" : "false")
<< "\n- snapshotID: \t" << rhs.snapshotID
- << "\n- time arrived: \t" << toDateTimeMilliSeconds(rhs.timeArrived)
+ << "\n- time arrived: \t" << toDateTimeMilliSeconds(rhs.arrivedTime)
<< "\n- error message: \t" << rhs.errorMessage
<< "\n"
;
diff --git a/source/RobotAPI/libraries/armem/core/Commit.h b/source/RobotAPI/libraries/armem/core/Commit.h
index 8a1da207528940d0db22dd004faae5b15e3d07f3..81d0413849549af39abb5f2733e76d53565a6f3b 100644
--- a/source/RobotAPI/libraries/armem/core/Commit.h
+++ b/source/RobotAPI/libraries/armem/core/Commit.h
@@ -36,7 +36,7 @@ namespace armarx::armem
* @brief Time when this entity update was created (e.g. time of image recording).
* This is the key of the entity's history.
*/
- Time timeCreated = Time::Invalid();
+ Time referencedTime = Time::Invalid();
// OPTIONAL
@@ -52,14 +52,14 @@ namespace armarx::armem
*
* Set automatically when sending the commit.
*/
- Time timeSent = Time::Invalid();
+ Time sentTime = Time::Invalid();
/**
* @brief Time when this update arrived at the memory server.
*
* Set by memory server on arrival.
*/
- Time timeArrived = Time::Invalid();
+ Time arrivedTime = Time::Invalid();
friend std::ostream& operator<<(std::ostream& os, const EntityUpdate& rhs);
@@ -74,7 +74,7 @@ namespace armarx::armem
bool success = false;
MemoryID snapshotID;
- Time timeArrived = Time::Invalid();
+ Time arrivedTime = Time::Invalid();
std::string errorMessage;
diff --git a/source/RobotAPI/libraries/armem/core/base/EntityBase.h b/source/RobotAPI/libraries/armem/core/base/EntityBase.h
index 9c9a8c88a535eb919029c16305f2af72e999423d..7b6972a93bf7dcad9d804a03136869472b364082 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntityBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/EntityBase.h
@@ -552,11 +552,11 @@ namespace armarx::armem::base
EntitySnapshotT* snapshot;
- auto it = this->_container.find(update.timeCreated);
+ auto it = this->_container.find(update.referencedTime);
if (it == this->_container.end())
{
// Insert into history.
- snapshot = &addSnapshot(update.timeCreated);
+ snapshot = &addSnapshot(update.referencedTime);
// ret.removedSnapshots = this->truncate();
ret.entityUpdateType = UpdateType::InsertedNew;
}
diff --git a/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.cpp b/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.cpp
index 1cc2e9544d00ce96d65658acaf853c670418bdce..a2cabd58bd92564c68374f0bf61ab06ef5990135 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.cpp
+++ b/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.cpp
@@ -3,11 +3,17 @@
namespace armarx::armem::base
{
+ void EntityInstanceMetadata::access() const
+ {
+ numAccessed++;
+ lastAccessedTime = armarx::core::time::DateTime::Now();
+ }
+
bool EntityInstanceMetadata::operator==(const EntityInstanceMetadata& other) const
{
- return timeCreated == other.timeCreated
- && timeSent == other.timeSent
- && timeArrived == other.timeArrived
+ return referencedTime == other.referencedTime
+ && sentTime == other.sentTime
+ && arrivedTime == other.arrivedTime
&& std::abs(confidence - other.confidence) < 1e-6f;
}
}
@@ -16,10 +22,11 @@ namespace armarx::armem::base
std::ostream& armarx::armem::base::operator<<(std::ostream& os, const EntityInstanceMetadata& d)
{
os << "EntityInstanceMetadata: "
- << "\n- t_create = \t" << armem::toStringMicroSeconds(d.timeCreated) << " us"
- << "\n- t_sent = \t" << armem::toStringMicroSeconds(d.timeSent) << " us"
- << "\n- t_arrived = \t" << armem::toStringMicroSeconds(d.timeArrived) << " us"
- << "\n- confidence = \t" << d.confidence << " us"
+ << "\n - t_referenced = \t" << armem::toStringMicroSeconds(d.referencedTime) << " us"
+ << "\n - t_sent = \t" << armem::toStringMicroSeconds(d.sentTime) << " us"
+ << "\n - t_arrived = \t" << armem::toStringMicroSeconds(d.arrivedTime) << " us"
+ << "\n - t_accessed = \t" << armem::toStringMicroSeconds(d.lastAccessedTime) << " us (" << d.numAccessed << ")"
+ << "\n - confidence = \t" << d.confidence << " us"
;
return os;
}
diff --git a/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h b/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h
index 9ec1376516decfb9b5215477421902f387ccb92e..0bd03af1448d99536640c0b9f4a2f83036afc307 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h
@@ -14,6 +14,16 @@ namespace armarx::armem::base
*/
struct NoData
{
+ virtual ~NoData() = default;
+
+ bool operator==(const NoData& other)
+ {
+ return true;
+ }
+ bool operator!=(const NoData& other)
+ {
+ return false;
+ }
};
@@ -22,22 +32,34 @@ namespace armarx::armem::base
*/
struct EntityInstanceMetadata
{
- /// Time when this value was created.
- Time timeCreated;
+
+ virtual ~EntityInstanceMetadata() = default;
+
+ /**
+ * @brief Time this instance refers to.
+ *
+ * For example, the physical time point when an image was captured.
+ * If the image is processed, the result should have the same
+ * referencedTime as the image.
+ */
+ Time referencedTime = Time::Invalid();
+
/// Time when this value was sent to the memory.
- Time timeSent;
+ Time sentTime = Time::Invalid();
/// Time when this value has arrived at the memory.
- Time timeArrived;
+ Time arrivedTime = Time::Invalid();
/// An optional confidence, may be used for things like decay.
float confidence = 1.0;
- /// An optional value indicating the last access
- Time lastAccessed = Time::Invalid();
+ /// An optional value indicating the time of last access.
+ mutable Time lastAccessedTime = Time::Invalid();
- /// A counter how often the instance has been accessed
- unsigned long accessed = 0;
+ /// A counter how often the instance has been accessed.
+ mutable unsigned long numAccessed = 0;
+ /// Called whenever the entity instance this metadata belongs to is accessed (e.g. queried).
+ void access() const;
bool operator==(const EntityInstanceMetadata& other) const;
inline bool operator!=(const EntityInstanceMetadata& other) const
@@ -91,11 +113,11 @@ namespace armarx::armem::base
// Data
- EntityInstanceMetadata& metadata()
+ MetadataT& metadata()
{
return _metadata;
}
- const EntityInstanceMetadata& metadata() const
+ const MetadataT& metadata() const
{
return _metadata;
}
diff --git a/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h b/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h
index c983dd8dec8a9a351b0a4cd1efc9d00320f59a1c..b7048a6328990d6be2152c0559466cf1ff142b9e 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h
@@ -223,7 +223,7 @@ namespace armarx::armem::base
void update(const EntityUpdate& update)
{
- detail::throwIfNotEqual(time(), update.timeCreated);
+ detail::throwIfNotEqual(time(), update.referencedTime);
this->_container.clear();
for (int index = 0; index < int(update.instancesData.size()); ++index)
diff --git a/source/RobotAPI/libraries/armem/core/base/ice_conversions.cpp b/source/RobotAPI/libraries/armem/core/base/ice_conversions.cpp
index 6ec40abd7ec808b8aca5aaf3cb4a93a5772e17b1..42620f2d928b91f7941600315a9970b16111618c 100644
--- a/source/RobotAPI/libraries/armem/core/base/ice_conversions.cpp
+++ b/source/RobotAPI/libraries/armem/core/base/ice_conversions.cpp
@@ -56,16 +56,20 @@ namespace armarx::armem
void base::toIce(data::EntityInstanceMetadata& ice, const EntityInstanceMetadata& metadata)
{
ice.confidence = metadata.confidence;
- toIce(ice.timeArrived, metadata.timeArrived);
- toIce(ice.timeCreated, metadata.timeCreated);
- toIce(ice.timeSent, metadata.timeSent);
+ toIce(ice.arrivedTime, metadata.arrivedTime);
+ toIce(ice.referencedTime, metadata.referencedTime);
+ toIce(ice.sentTime, metadata.sentTime);
+ toIce(ice.lastAccessedTime, metadata.lastAccessedTime);
+ ice.accessed = metadata.numAccessed;
}
void base::fromIce(const data::EntityInstanceMetadata& ice, EntityInstanceMetadata& metadata)
{
metadata.confidence = ice.confidence;
- fromIce(ice.timeArrived, metadata.timeArrived);
- fromIce(ice.timeCreated, metadata.timeCreated);
- fromIce(ice.timeSent, metadata.timeSent);
+ fromIce(ice.arrivedTime, metadata.arrivedTime);
+ fromIce(ice.referencedTime, metadata.referencedTime);
+ fromIce(ice.sentTime, metadata.sentTime);
+ fromIce(ice.lastAccessedTime, metadata.lastAccessedTime);
+ metadata.numAccessed = ice.accessed;
}
diff --git a/source/RobotAPI/libraries/armem/core/ice_conversions.cpp b/source/RobotAPI/libraries/armem/core/ice_conversions.cpp
index dfd25e3ba39ca2bc9a18be1b45684d004255297f..5e1ace16263e1bcdd11a760e8aba7c5216afc36d 100644
--- a/source/RobotAPI/libraries/armem/core/ice_conversions.cpp
+++ b/source/RobotAPI/libraries/armem/core/ice_conversions.cpp
@@ -87,10 +87,10 @@ namespace armarx
std::transform(ice.instancesData.begin(), ice.instancesData.end(), std::back_inserter(update.instancesData),
aron::data::Dict::FromAronDictDTO);
- fromIce(ice.timeCreated, update.timeCreated);
+ fromIce(ice.referencedTime, update.referencedTime);
update.confidence = ice.confidence;
- fromIce(ice.timeSent, update.timeSent);
+ fromIce(ice.timeSent, update.sentTime);
}
void armem::toIce(data::EntityUpdate& ice, const EntityUpdate& update)
@@ -102,17 +102,17 @@ namespace armarx
std::transform(update.instancesData.begin(), update.instancesData.end(), std::back_inserter(ice.instancesData),
aron::data::Dict::ToAronDictDTO);
- toIce(ice.timeCreated, update.timeCreated);
+ toIce(ice.referencedTime, update.referencedTime);
ice.confidence = update.confidence;
- toIce(ice.timeSent, update.timeSent);
+ toIce(ice.timeSent, update.sentTime);
}
void armem::fromIce(const data::EntityUpdateResult& ice, EntityUpdateResult& result)
{
result.success = ice.success;
fromIce(ice.snapshotID, result.snapshotID);
- fromIce(ice.timeArrived, result.timeArrived);
+ fromIce(ice.timeArrived, result.arrivedTime);
result.errorMessage = ice.errorMessage;
}
@@ -120,7 +120,7 @@ namespace armarx
{
ice.success = result.success;
toIce(ice.snapshotID, result.snapshotID);
- toIce(ice.timeArrived, result.timeArrived);
+ toIce(ice.timeArrived, result.arrivedTime);
ice.errorMessage = result.errorMessage;
}
@@ -137,7 +137,7 @@ namespace armarx
void armem::fromIce(const data::EntityUpdate& ice, EntityUpdate& update, Time timeArrived)
{
fromIce(ice, update);
- update.timeArrived = timeArrived;
+ update.arrivedTime = timeArrived;
}
void armem::fromIce(const actions::data::MenuPtr& ice, actions::Menu& menu)
diff --git a/source/RobotAPI/libraries/armem/core/operations.cpp b/source/RobotAPI/libraries/armem/core/operations.cpp
index 51729c613b6d10e5903a92818d9e1b4fa507fa11..5ac621a9ec9bd0e1ca9bf3ef6a6ca0e16ceb5d49 100644
--- a/source/RobotAPI/libraries/armem/core/operations.cpp
+++ b/source/RobotAPI/libraries/armem/core/operations.cpp
@@ -25,7 +25,7 @@ namespace armarx
{
EntityUpdate up;
up.entityID = snapshot.id().getEntityID();
- up.timeCreated = snapshot.time();
+ up.referencedTime = snapshot.time();
up.instancesData = getAronData(snapshot);
return up;
}
diff --git a/source/RobotAPI/libraries/armem/core/wm/aron_conversions.cpp b/source/RobotAPI/libraries/armem/core/wm/aron_conversions.cpp
index 6a23899d1903460ef3cda2075dba196274401c6b..e2ceb0f2ac5e77f23d0a8a330b9b7837699691fa 100644
--- a/source/RobotAPI/libraries/armem/core/wm/aron_conversions.cpp
+++ b/source/RobotAPI/libraries/armem/core/wm/aron_conversions.cpp
@@ -6,7 +6,7 @@
namespace armarx::armem
{
constexpr const char* DATA_WRAPPER_TIME_STORED_FIELD = "__WRITER_METADATA__TIME_STORED";
- constexpr const char* DATA_WRAPPER_TIME_CREATED_FIELD = "__ENTITY_METADATA__TIME_CREATED";
+ constexpr const char* DATA_WRAPPER_TIME_REFERENCED_FIELD = "__ENTITY_METADATA__TIME_REFERENCED";
constexpr const char* DATA_WRAPPER_TIME_SENT_FIELD = "__ENTITY_METADATA__TIME_SENT";
constexpr const char* DATA_WRAPPER_TIME_ARRIVED_FIELD = "__ENTITY_METADATA__TIME_ARRIVED";
constexpr const char* DATA_WRAPPER_CONFIDENCE_FIELD = "__ENTITY_METADATA__CONFIDENCE";
@@ -22,14 +22,14 @@ void armarx::armem::from_aron(const aron::data::DictPtr& metadata, const aron::d
e.data() = data;
- auto timeCreated = aron::data::Long::DynamicCastAndCheck(metadata->getElement(DATA_WRAPPER_TIME_CREATED_FIELD));
- m.timeCreated = Time(Duration::MicroSeconds(timeCreated->toAronLongDTO()->value));
+ auto referencedTime = aron::data::Long::DynamicCastAndCheck(metadata->getElement(DATA_WRAPPER_TIME_REFERENCED_FIELD));
+ m.referencedTime = Time(Duration::MicroSeconds(referencedTime->toAronLongDTO()->value));
auto timeSent = aron::data::Long::DynamicCastAndCheck(metadata->getElement(DATA_WRAPPER_TIME_SENT_FIELD));
- m.timeSent = Time(Duration::MicroSeconds(timeSent->toAronLongDTO()->value));
+ m.sentTime = Time(Duration::MicroSeconds(timeSent->toAronLongDTO()->value));
auto timeArrived = aron::data::Long::DynamicCastAndCheck(metadata->getElement(DATA_WRAPPER_TIME_ARRIVED_FIELD));
- m.timeArrived = Time(Duration::MicroSeconds(timeArrived->toAronLongDTO()->value));
+ m.arrivedTime = Time(Duration::MicroSeconds(timeArrived->toAronLongDTO()->value));
auto confidence = aron::data::Double::DynamicCastAndCheck(metadata->getElement(DATA_WRAPPER_CONFIDENCE_FIELD));
m.confidence = static_cast<float>(confidence->toAronDoubleDTO()->value);
@@ -46,16 +46,16 @@ void armarx::armem::to_aron(aron::data::DictPtr& metadata, aron::data::DictPtr&
metadata->addElement(DATA_WRAPPER_TIME_STORED_FIELD, timeWrapped);
const wm::EntityInstanceMetadata& m = e.metadata();
- auto timeCreated = std::make_shared<aron::data::Long>(armarx::aron::Path(std::vector<std::string>{DATA_WRAPPER_TIME_CREATED_FIELD}));
- timeCreated->setValue(m.timeCreated.toMicroSecondsSinceEpoch());
- metadata->addElement(DATA_WRAPPER_TIME_CREATED_FIELD, timeCreated);
+ auto referencedTime = std::make_shared<aron::data::Long>(armarx::aron::Path(std::vector<std::string>{DATA_WRAPPER_TIME_REFERENCED_FIELD}));
+ referencedTime->setValue(m.referencedTime.toMicroSecondsSinceEpoch());
+ metadata->addElement(DATA_WRAPPER_TIME_REFERENCED_FIELD, referencedTime);
auto timeSent = std::make_shared<aron::data::Long>(armarx::aron::Path(std::vector<std::string>{DATA_WRAPPER_TIME_SENT_FIELD}));
- timeSent->setValue(m.timeSent.toMicroSecondsSinceEpoch());
+ timeSent->setValue(m.sentTime.toMicroSecondsSinceEpoch());
metadata->addElement(DATA_WRAPPER_TIME_SENT_FIELD, timeSent);
auto timeArrived = std::make_shared<aron::data::Long>(armarx::aron::Path(std::vector<std::string>{DATA_WRAPPER_TIME_ARRIVED_FIELD}));
- timeArrived->setValue(m.timeArrived.toMicroSecondsSinceEpoch());
+ timeArrived->setValue(m.arrivedTime.toMicroSecondsSinceEpoch());
metadata->addElement(DATA_WRAPPER_TIME_ARRIVED_FIELD, timeArrived);
auto confidence = std::make_shared<aron::data::Double>(armarx::aron::Path(std::vector<std::string>{DATA_WRAPPER_CONFIDENCE_FIELD}));
diff --git a/source/RobotAPI/libraries/armem/core/wm/memory_definitions.cpp b/source/RobotAPI/libraries/armem/core/wm/memory_definitions.cpp
index 0758020be61e3326c6b870b8bffae8d06e318a79..bfc408ac99a98a5bf1826f37334e1c331196ed1b 100644
--- a/source/RobotAPI/libraries/armem/core/wm/memory_definitions.cpp
+++ b/source/RobotAPI/libraries/armem/core/wm/memory_definitions.cpp
@@ -37,9 +37,9 @@ namespace armarx::armem::wm
this->_metadata.confidence = update.confidence;
- this->_metadata.timeCreated = update.timeCreated;
- this->_metadata.timeSent = update.timeSent;
- this->_metadata.timeArrived = update.timeArrived;
+ this->_metadata.referencedTime = update.referencedTime;
+ this->_metadata.sentTime = update.sentTime;
+ this->_metadata.arrivedTime = update.arrivedTime;
}
}
diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
index 06096a9960aab2b13c694492b2eb1d022a6d9728..858f715c4ec5728edbf646e587cd4f02d5958798 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
@@ -187,7 +187,7 @@ namespace armarx::armem::server
result.success = true;
result.snapshotID = updateResult.id;
- result.timeArrived = update.timeArrived;
+ result.arrivedTime = update.arrivedTime;
for (const auto& snapshot : updateResult.removedSnapshots)
{
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/ltm/detail/EntityQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/ltm/detail/EntityQueryProcessorBase.h
index 70250e824baba3192db3c1ee009f6ef3b75f51bc..5d3f9b0ed7e2128be282661107886986c6edc1da 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/ltm/detail/EntityQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/ltm/detail/EntityQueryProcessorBase.h
@@ -29,6 +29,7 @@ namespace armarx::armem::server::query_proc::ltm::detail
protected:
+ // default addResultSnapshot method. Always copies the data
void addResultSnapshot(ResultEntityT& result, const EntitySnapshotT& snapshot) const override
{
ResultSnapshotT s;
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/wm/detail/EntityQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/wm/detail/EntityQueryProcessorBase.h
index faa3fe544af4dedb4e4226123a1d422a2a1ed200..5fbd2300c13561d64075720d399bc0e4c87633f0 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/wm/detail/EntityQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/wm/detail/EntityQueryProcessorBase.h
@@ -2,6 +2,7 @@
#include "../../base/EntityQueryProcessorBase.h"
+#include <ArmarXCore/core/logging/Logging.h>
namespace armarx::armem::server::query_proc::wm::detail
{
@@ -32,7 +33,12 @@ namespace armarx::armem::server::query_proc::wm::detail
protected:
void addResultSnapshot(ResultEntityT& result, const EntitySnapshotT& snapshot) const override
{
- result.addSnapshot(snapshot);
+ snapshot.forEachInstance([](const typename EntitySnapshotT::EntityInstanceT& instance)
+ {
+ instance.metadata().access();
+ });
+ EntitySnapshotT copy = snapshot;
+ result.addSnapshot(std::move(copy));
}
};
}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/wm/wm.h b/source/RobotAPI/libraries/armem/server/query_proc/wm/wm.h
index 27e88e82881deb7ba6f47249d385867b134b9621..312a39896aa717fb8d17115dfe4c0c904a524181 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/wm/wm.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/wm/wm.h
@@ -53,15 +53,21 @@ namespace armarx::armem::server::query_proc::wm::detail
bool withData = (dataMode == armem::query::DataMode::WithData);
if (withData)
{
- result.addSnapshot(server::wm::EntitySnapshot{ snapshot });
+ Base::addResultSnapshot(result, snapshot);
}
else
{
+ // 1. access real data
+ snapshot.forEachInstance([](const server::wm::EntityInstance& i)
+ {
+ i.metadata().access();
+ });
+
+ // 2. create copy and remove data from copy
server::wm::EntitySnapshot copy = snapshot;
copy.forEachInstance([](server::wm::EntityInstance & i)
{
i.data() = nullptr;
- return true;
});
result.addSnapshot(std::move(copy));
}
diff --git a/source/RobotAPI/libraries/armem/server/test/ArMemLTMTest.cpp b/source/RobotAPI/libraries/armem/server/test/ArMemLTMTest.cpp
index edaa7bb5c5d92b57b0edf3918d1674db34337680..fd326aa038d122cb76a26ad34825dcab4f85b933 100644
--- a/source/RobotAPI/libraries/armem/server/test/ArMemLTMTest.cpp
+++ b/source/RobotAPI/libraries/armem/server/test/ArMemLTMTest.cpp
@@ -123,7 +123,7 @@ namespace ArMemLTMTest
}
update.entityID = armem::MemoryID::fromString(memoryName + "/TestCoreSegment/TestProvider/TestEntity");
update.instancesData = q;
- update.timeCreated = armem::Time::Now();
+ update.referencedTime = armem::Time::Now();
BOOST_CHECK_NO_THROW(providerSegment.update(update));
BOOST_CHECK_EQUAL(providerSegment.size(), 1);
}
diff --git a/source/RobotAPI/libraries/armem/server/test/ArMemMemoryTest.cpp b/source/RobotAPI/libraries/armem/server/test/ArMemMemoryTest.cpp
index 8c3052e7d3abebf761431789865f4d0f46633cc7..70a0a2839f7f575d02d876a2721c3b3a6c73b58c 100644
--- a/source/RobotAPI/libraries/armem/server/test/ArMemMemoryTest.cpp
+++ b/source/RobotAPI/libraries/armem/server/test/ArMemMemoryTest.cpp
@@ -653,7 +653,7 @@ struct CopyMoveCtorsOpsTest : public CopyMoveCtorsOpsTestBase
{
armem::EntityUpdate update;
update.entityID = armem::MemoryID("M", "C", "P", "E", armem::Time(armem::Duration::MicroSeconds(123000)), 0);
- update.timeCreated = update.entityID.timestamp;
+ update.referencedTime = update.entityID.timestamp;
update.instancesData.emplace_back();
in.update(update);
}
@@ -814,7 +814,7 @@ BOOST_AUTO_TEST_CASE(test_segment_setup)
std::make_shared<aron::data::Dict>(),
std::make_shared<aron::data::Dict>()
};
- update.timeCreated = armem::Time(armem::Duration::MilliSeconds(1000));
+ update.referencedTime = armem::Time(armem::Duration::MilliSeconds(1000));
BOOST_CHECK_NO_THROW(providerSegment.update(update));
BOOST_CHECK_EQUAL(providerSegment.size(), 1);
@@ -824,25 +824,25 @@ BOOST_AUTO_TEST_CASE(test_segment_setup)
wm::Entity& entity = providerSegment.getEntity("image");
BOOST_CHECK_EQUAL(entity.name(), "image");
BOOST_CHECK_EQUAL(entity.size(), 1);
- BOOST_CHECK(entity.hasSnapshot(update.timeCreated));
+ BOOST_CHECK(entity.hasSnapshot(update.referencedTime));
- wm::EntitySnapshot& entitySnapshot = entity.getSnapshot(update.timeCreated);
+ wm::EntitySnapshot& entitySnapshot = entity.getSnapshot(update.referencedTime);
BOOST_CHECK_EQUAL(entitySnapshot.size(), update.instancesData.size());
// Another update (on memory).
update.instancesData = { std::make_shared<aron::data::Dict>() };
- update.timeCreated = armem::Time(armem::Duration::MilliSeconds(2000));
+ update.referencedTime = armem::Time(armem::Duration::MilliSeconds(2000));
memory.update(update);
BOOST_CHECK_EQUAL(entity.size(), 2);
- BOOST_CHECK(entity.hasSnapshot(update.timeCreated));
- BOOST_CHECK_EQUAL(entity.getSnapshot(update.timeCreated).size(), update.instancesData.size());
+ BOOST_CHECK(entity.hasSnapshot(update.referencedTime));
+ BOOST_CHECK_EQUAL(entity.getSnapshot(update.referencedTime).size(), update.instancesData.size());
// A third update (on entity).
update.instancesData = { std::make_shared<aron::data::Dict>() };
- update.timeCreated = armem::Time(armem::Duration::MilliSeconds(3000));
+ update.referencedTime = armem::Time(armem::Duration::MilliSeconds(3000));
entity.update(update);
BOOST_CHECK_EQUAL(entity.size(), 3);
@@ -858,11 +858,11 @@ BOOST_AUTO_TEST_CASE(test_history_size_in_entity)
update.entityID.entityName = entity.name();
// With unlimited history.
- update.timeCreated = armem::Time(armem::Duration::MilliSeconds(1000));
+ update.referencedTime = armem::Time(armem::Duration::MilliSeconds(1000));
entity.update(update);
- update.timeCreated = armem::Time(armem::Duration::MilliSeconds(2000));
+ update.referencedTime = armem::Time(armem::Duration::MilliSeconds(2000));
entity.update(update);
- update.timeCreated = armem::Time(armem::Duration::MilliSeconds(3000));
+ update.referencedTime = armem::Time(armem::Duration::MilliSeconds(3000));
entity.update(update);
BOOST_CHECK_EQUAL(entity.size(), 3);
@@ -874,7 +874,7 @@ BOOST_AUTO_TEST_CASE(test_history_size_in_entity)
BOOST_CHECK(entity.hasSnapshot(armem::Time(armem::Duration::MilliSeconds(3000))));
- update.timeCreated = armem::Time(armem::Duration::MilliSeconds(4000));
+ update.referencedTime = armem::Time(armem::Duration::MilliSeconds(4000));
entity.update(update);
BOOST_CHECK_EQUAL(entity.size(), 2);
BOOST_CHECK(not entity.hasSnapshot(armem::Time(armem::Duration::MilliSeconds(2000))));
@@ -884,7 +884,7 @@ BOOST_AUTO_TEST_CASE(test_history_size_in_entity)
// Disable maximum history size.
entity.setMaxHistorySize(-1);
- update.timeCreated = armem::Time(armem::Duration::MilliSeconds(5000));
+ update.referencedTime = armem::Time(armem::Duration::MilliSeconds(5000));
entity.update(update);
BOOST_CHECK_EQUAL(entity.size(), 3);
BOOST_CHECK(entity.hasSnapshot(armem::Time(armem::Duration::MilliSeconds(3000))));
@@ -907,15 +907,15 @@ BOOST_AUTO_TEST_CASE(test_history_size_in_provider_segment)
{
update.entityID.entityName = name;
- update.timeCreated = armem::Time(armem::Duration::MilliSeconds(1000));
+ update.referencedTime = armem::Time(armem::Duration::MilliSeconds(1000));
providerSegment.update(update);
- update.timeCreated = armem::Time(armem::Duration::MilliSeconds(2000));
+ update.referencedTime = armem::Time(armem::Duration::MilliSeconds(2000));
providerSegment.update(update);
- update.timeCreated = armem::Time(armem::Duration::MilliSeconds(3000));
+ update.referencedTime = armem::Time(armem::Duration::MilliSeconds(3000));
providerSegment.update(update);
}
update.entityID.entityName = entityNames.back();
- update.timeCreated = armem::Time(armem::Duration::MilliSeconds(4000));
+ update.referencedTime = armem::Time(armem::Duration::MilliSeconds(4000));
providerSegment.update(update);
BOOST_CHECK_EQUAL(providerSegment.getEntity("A").size(), 3);
@@ -939,11 +939,11 @@ BOOST_AUTO_TEST_CASE(test_history_size_in_provider_segment)
providerSegment.setMaxHistorySize(2);
update.entityID.entityName = "C";
- update.timeCreated = armem::Time(armem::Duration::MilliSeconds(1000));
+ update.referencedTime = armem::Time(armem::Duration::MilliSeconds(1000));
providerSegment.update(update);
- update.timeCreated = armem::Time(armem::Duration::MilliSeconds(2000));
+ update.referencedTime = armem::Time(armem::Duration::MilliSeconds(2000));
providerSegment.update(update);
- update.timeCreated = armem::Time(armem::Duration::MilliSeconds(3000));
+ update.referencedTime = armem::Time(armem::Duration::MilliSeconds(3000));
providerSegment.update(update);
// Check correctly inherited history size.
@@ -958,7 +958,7 @@ BOOST_AUTO_TEST_CASE(test_history_size_in_provider_segment)
for (const std::string& name : entityNames)
{
update.entityID.entityName = name;
- update.timeCreated = armem::Time(armem::Duration::MilliSeconds(5000));
+ update.referencedTime = armem::Time(armem::Duration::MilliSeconds(5000));
providerSegment.update(update);
BOOST_CHECK_EQUAL(providerSegment.getEntity(name).getMaxHistorySize(), -1);
BOOST_CHECK_EQUAL(providerSegment.getEntity(name).size(), 3);
diff --git a/source/RobotAPI/libraries/armem/test/ArMemForEachTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemForEachTest.cpp
index f1b5b362318e577dda941c1dd8fff97dd3cf72d7..bf97734a52d7d9db9198101307270c23d8b07383 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemForEachTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemForEachTest.cpp
@@ -75,7 +75,7 @@ BOOST_AUTO_TEST_CASE(test_forEach)
EntityUpdate update;
update.entityID = eid;
- update.timeCreated = sid.timestamp;
+ update.referencedTime = sid.timestamp;
for (size_t i = 0; i <= s; ++i)
{
const MemoryID iid = sid.withInstanceIndex(int(i));
diff --git a/source/RobotAPI/libraries/armem_grasping/server/KnownGraspProviderSegment.cpp b/source/RobotAPI/libraries/armem_grasping/server/KnownGraspProviderSegment.cpp
index e5c40a12dbb73b0cef3569eb12d80fb1980f95f2..00bd50a3d4721765f2287482bd31f09540d480a3 100644
--- a/source/RobotAPI/libraries/armem_grasping/server/KnownGraspProviderSegment.cpp
+++ b/source/RobotAPI/libraries/armem_grasping/server/KnownGraspProviderSegment.cpp
@@ -127,7 +127,7 @@ namespace armarx::armem::grasping::segment
{
EntityUpdate& update = commit.add();
update.entityID = providerID.withEntityName(info.id().str());
- update.entityID.timestamp = update.timeArrived = update.timeCreated = update.timeSent = now;
+ update.entityID.timestamp = update.arrivedTime = update.referencedTime = update.sentTime = now;
update.instancesData =
{
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
index b9c789398b0d8ce5c6fb17e0c2cb44fb5bc5b531..4fdda00748d1201e84181c80e3054938c0143348 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
+++ b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
@@ -391,7 +391,7 @@ namespace armarx::armem::gui
entityUpdate.entityID = memId;
entityUpdate.confidence = 1.0;
entityUpdate.instancesData = {aron};
- entityUpdate.timeCreated = now;
+ entityUpdate.referencedTime = now;
it->second.commit(comm);
}
}
diff --git a/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp b/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp
index e2d04e0449c190acacf502bb0b847d785e7f85cd..1c7a40faed6b57b15bcd0a4ddd8677b103e8670d 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp
@@ -50,6 +50,7 @@ namespace armarx::armem::gui::instance
treeItemMetadata->addChild(new QTreeWidgetItem({"Time Created"}));
treeItemMetadata->addChild(new QTreeWidgetItem({"Time Sent"}));
treeItemMetadata->addChild(new QTreeWidgetItem({"Time Arrived"}));
+ treeItemMetadata->addChild(new QTreeWidgetItem({"Time Last Accessed"}));
QList<QTreeWidgetItem*> items = {treeItemInstanceID, treeItemMetadata};
tree->insertTopLevelItems(0, items);
@@ -110,9 +111,10 @@ namespace armarx::armem::gui::instance
std::vector<std::string> items =
{
std::to_string(metadata.confidence),
- armem::toDateTimeMilliSeconds(metadata.timeCreated),
- armem::toDateTimeMilliSeconds(metadata.timeSent),
- armem::toDateTimeMilliSeconds(metadata.timeArrived)
+ armem::toDateTimeMilliSeconds(metadata.referencedTime),
+ armem::toDateTimeMilliSeconds(metadata.sentTime),
+ armem::toDateTimeMilliSeconds(metadata.arrivedTime),
+ armem::toDateTimeMilliSeconds(metadata.lastAccessedTime) + " (" + std::to_string(metadata.numAccessed) + " times total)"
};
ARMARX_CHECK_EQUAL(static_cast<size_t>(treeItemMetadata->childCount()), items.size());
int i = 0;
diff --git a/source/RobotAPI/libraries/armem_laser_scans/client/common/Writer.cpp b/source/RobotAPI/libraries/armem_laser_scans/client/common/Writer.cpp
index 08f456b165d08e52c9c3ce0aed649aa96ec8f863..9a7aa7e5aa8a97032bd5ab9dcbe245b693a52cc3 100644
--- a/source/RobotAPI/libraries/armem_laser_scans/client/common/Writer.cpp
+++ b/source/RobotAPI/libraries/armem_laser_scans/client/common/Writer.cpp
@@ -83,7 +83,7 @@ namespace armarx::armem::laser_scans::client
dict->addElement("scan", toAron(laserScan));
update.instancesData = {dict};
- update.timeCreated = timestamp;
+ update.referencedTime = timestamp;
ARMARX_DEBUG << "Committing " << update << " at time " << timestamp;
armem::EntityUpdateResult updateResult = memoryWriter.commit(update);
diff --git a/source/RobotAPI/libraries/armem_motions/server/MotionSegment.cpp b/source/RobotAPI/libraries/armem_motions/server/MotionSegment.cpp
index 8e9621c5a711816c2e84762d9a9d59f10f333f03..76c811b3f05438c5d880da647afc54eb461dd114 100644
--- a/source/RobotAPI/libraries/armem_motions/server/MotionSegment.cpp
+++ b/source/RobotAPI/libraries/armem_motions/server/MotionSegment.cpp
@@ -76,9 +76,9 @@ namespace armarx::armem::server::motions::mdb::segment
auto& snapshot = entity.addSnapshot(op->createdDate);
armem::wm::EntityInstance& instance = snapshot.addInstance();
- instance.metadata().timeCreated = op->createdDate;
- instance.metadata().timeSent = Time::Now();
- instance.metadata().timeArrived = Time::Now();
+ instance.metadata().referencedTime = op->createdDate;
+ instance.metadata().sentTime = Time::Now();
+ instance.metadata().arrivedTime = Time::Now();
instance.metadata().confidence = 1.0;
instance.data() = op->toAron();
}
diff --git a/source/RobotAPI/libraries/armem_mps/server/MotionPrimitives/Segment.cpp b/source/RobotAPI/libraries/armem_mps/server/MotionPrimitives/Segment.cpp
index a45cd788ff673d0e5a9c78e5a92940d0d2daf3c9..23b68572384fb24b7b4f28729fe1041f60d8c307 100644
--- a/source/RobotAPI/libraries/armem_mps/server/MotionPrimitives/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_mps/server/MotionPrimitives/Segment.cpp
@@ -87,9 +87,9 @@ namespace armarx::armem::server::motions::mps::segment
ss << "Found valid instance at: " << pathToInfoJson << ". The motionID is: ";
armem::wm::EntityInstance instance;
- instance.metadata().timeCreated = armem::Time::Now(); //op->createdDate;
- instance.metadata().timeSent = armem::Time::Now();
- instance.metadata().timeArrived = armem::Time::Now();
+ instance.metadata().referencedTime = armem::Time::Now(); //op->createdDate;
+ instance.metadata().sentTime = armem::Time::Now();
+ instance.metadata().arrivedTime = armem::Time::Now();
instance.metadata().confidence = 1.0;
if(taskspace)
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
index fbce08b6323e1a1235bd000aadbd4e73ff6cbf8c..80c3168c5fc5e7c893c2813082171e5cd9c6319b 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
@@ -154,7 +154,7 @@ namespace armarx::armem::articulated_object
toAron(aronArticulatedObjectDescription, obj.description);
update.instancesData = {aronArticulatedObjectDescription.toAron()};
- update.timeCreated = timestamp;
+ update.referencedTime = timestamp;
ARMARX_DEBUG << "Committing " << update << " at time " << timestamp;
armem::EntityUpdateResult updateResult = memoryWriter.commit(update);
@@ -233,7 +233,7 @@ namespace armarx::armem::articulated_object
objectInstance.pose.objectID = cs;
update.instancesData = {objectInstance.toAron()};
- update.timeCreated = timestamp;
+ update.referencedTime = timestamp;
ARMARX_DEBUG << "Committing " << update << " at time " << timestamp;
armem::EntityUpdateResult updateResult = memoryWriter.commit(update);
diff --git a/source/RobotAPI/libraries/armem_objects/client/attachment/Writer.cpp b/source/RobotAPI/libraries/armem_objects/client/attachment/Writer.cpp
index 69f5806c2bb6dc4cbfae1f196d4f967c04ab9a12..9a59562ec531ce44644b4bda5ed2a8e9a0c6ac3e 100644
--- a/source/RobotAPI/libraries/armem_objects/client/attachment/Writer.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/attachment/Writer.cpp
@@ -82,7 +82,7 @@ namespace armarx::armem::attachment
toAron(aronAttachment, attachment);
update.instancesData = {aronAttachment.toAron()};
- update.timeCreated = timestamp;
+ update.referencedTime = timestamp;
ARMARX_DEBUG << "Committing " << update << " at time " << timestamp;
armem::EntityUpdateResult updateResult = memoryWriter.commit(update);
@@ -126,7 +126,7 @@ namespace armarx::armem::attachment
toAron(aronAttachment, attachment);
update.instancesData = {aronAttachment.toAron()};
- update.timeCreated = timestamp;
+ update.referencedTime = timestamp;
ARMARX_DEBUG << "Committing " << update << " at time " << timestamp;
armem::EntityUpdateResult updateResult = memoryWriter.commit(update);
diff --git a/source/RobotAPI/libraries/armem_objects/client/instance/ObjectWriter.cpp b/source/RobotAPI/libraries/armem_objects/client/instance/ObjectWriter.cpp
index 84b1e4613b8b4bbe8a72938949d503276500e407..8ee596b27069f82c9ff19d63efcd40e7cc819699 100644
--- a/source/RobotAPI/libraries/armem_objects/client/instance/ObjectWriter.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/instance/ObjectWriter.cpp
@@ -64,8 +64,8 @@ namespace armarx::armem::obj::instance
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.timeCreated = t;
- e.timeSent = armem::Time::Now();
+ e.referencedTime = t;
+ e.sentTime = armem::Time::Now();
e.instancesData = { inst.toAron() };
auto res = memoryWriter.commit(c);
diff --git a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
index 4dcf3262724cd6a9626a967f9582d4514a478d89..c841afc4dc6afe2629802871399944a0ef39da04 100644
--- a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
@@ -95,7 +95,7 @@ namespace armarx::armem::server::obj::clazz
EntityUpdate& update = commit.add();
update.entityID = providerID.withEntityName(info.id().str());
- update.timeArrived = update.timeCreated = update.timeSent = now;
+ update.arrivedTime = update.referencedTime = update.sentTime = now;
arondto::ObjectClass objectClass = objectClassFromInfo(info);
update.instancesData =
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
index c17ce69020b2b7f2c363219339754919fc805723..b0726c001d978f7f98e5517e69248c6a9b4fd47f 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
@@ -335,8 +335,8 @@ namespace armarx::armem::server::obj::instance
providerName.empty() ? pose.providerName : providerName);
update.entityID = providerID.withEntityName(pose.objectID.str());
- update.timeArrived = now;
- update.timeCreated = pose.timestamp;
+ update.arrivedTime = now;
+ update.referencedTime = pose.timestamp;
update.confidence = pose.confidence;
arondto::ObjectInstance dto;
@@ -781,7 +781,7 @@ namespace armarx::armem::server::obj::instance
armem::Commit commit;
armem::EntityUpdate & update = commit.add();
update.entityID = objectEntity->id();
- update.timeCreated = now;
+ update.referencedTime = now;
{
arondto::ObjectInstance updated = data;
toAron(updated.pose.attachment, info);
@@ -889,7 +889,7 @@ namespace armarx::armem::server::obj::instance
armem::Commit commit;
armem::EntityUpdate & update = commit.add();
update.entityID = entity.id();
- update.timeCreated = now;
+ update.referencedTime = now;
{
arondto::ObjectInstance updated;
if (commitAttachedPose and data.pose.attachmentValid)
diff --git a/source/RobotAPI/libraries/armem_robot_state/client/common/RobotWriter.cpp b/source/RobotAPI/libraries/armem_robot_state/client/common/RobotWriter.cpp
index 579a335212beaeedcf61e2b77e279461345375f1..cfa84fb3f50ad95db2f82b29114cd2606250a2c4 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/common/RobotWriter.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/client/common/RobotWriter.cpp
@@ -85,7 +85,7 @@ namespace armarx::armem::robot_state
toAron(aronDescription, description);
update.instancesData = {aronDescription.toAron()};
- update.timeCreated = timestamp;
+ update.referencedTime = timestamp;
ARMARX_DEBUG << "Committing " << update << " at time " << timestamp;
armem::EntityUpdateResult updateResult = memoryWriter.commit(update);
@@ -129,7 +129,7 @@ namespace armarx::armem::robot_state
}
update.instancesData = {aronTransform.toAron()};
- update.timeCreated = timestamp;
+ update.referencedTime = timestamp;
ARMARX_DEBUG << "Committing " << update << " at time " << timestamp;
armem::EntityUpdateResult updateResult = memoryWriter.commit(update);
@@ -163,7 +163,7 @@ namespace armarx::armem::robot_state
aronProprioception.joints.position = jointMap;
update.instancesData = {aronProprioception.toAron()};
- update.timeCreated = timestamp;
+ update.referencedTime = timestamp;
ARMARX_DEBUG << "Committing " << update << " at time " << timestamp;
armem::EntityUpdateResult updateResult = memoryWriter.commit(update);
diff --git a/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformWriter.cpp b/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformWriter.cpp
index 932f55b0a6ea2ff74762a62ffa74f88d0ff18422..9f93ae53156e0da1e126ed7cc922905eb2f0796b 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformWriter.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformWriter.cpp
@@ -98,7 +98,7 @@ namespace armarx::armem::client::robot_state::localization
armem::EntityUpdate update;
update.entityID = entityID;
- update.timeCreated = timestamp;
+ update.referencedTime = timestamp;
arondto::Transform aronTransform;
toAron(aronTransform, transform);
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp b/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
index af2381c78d334e62ea39eb22978492ad66a32f1a..7a8f6ae0369050000b2a1b8f4df57ec4de4f050a 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
@@ -58,7 +58,7 @@ namespace armarx::armem::server::robot_state::description
EntityUpdate update;
update.entityID = providerID.withEntityName("description");
- update.timeArrived = update.timeCreated = update.timeSent = now;
+ update.arrivedTime = update.referencedTime = update.sentTime = now;
arondto::RobotDescription dto;
robot::toAron(dto, robotDescription);
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp b/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp
index 3fbf097937386a7d4973b55a22f76419d3f5d5eb..a503bae532af41ee91809d394c22cd74f4aab071 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp
@@ -187,7 +187,7 @@ namespace armarx::armem::server::robot_state::localization
EntityUpdate update;
update.entityID = providerID.withEntityName(transform.header.parentFrame + "," + transform.header.frame);
- update.timeArrived = update.timeCreated = update.timeSent = timestamp;
+ update.arrivedTime = update.referencedTime = update.sentTime = timestamp;
arondto::Transform aronTransform;
toAron(aronTransform, transform);
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotStateWriter.cpp b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotStateWriter.cpp
index 847ec98c82966408545a50bf9d7fa93fc7081d9f..0c5ac1284fba2003474b9f885682de280a5b4403 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotStateWriter.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotStateWriter.cpp
@@ -159,7 +159,7 @@ namespace armarx::armem::server::robot_state::proprioception
up.entityID = properties.robotUnitProviderID.withEntityName(
properties.robotUnitProviderID.providerSegmentName);
up.entityID.coreSegmentName =::armarx::armem::robot_state::constants::proprioceptionCoreSegment;
- up.timeCreated = data.timestamp;
+ up.referencedTime = data.timestamp;
up.instancesData = {data.proprioception};
}
@@ -169,7 +169,7 @@ namespace armarx::armem::server::robot_state::proprioception
up.entityID = properties.robotUnitProviderID.withEntityName(
properties.robotUnitProviderID.providerSegmentName);
up.entityID.coreSegmentName = ::armarx::armem::robot_state::constants::exteroceptionCoreSegment;
- up.timeCreated = data.timestamp;
+ up.referencedTime = data.timestamp;
up.instancesData = {data.exteroception};
}
diff --git a/source/RobotAPI/libraries/armem_skills/CMakeLists.txt b/source/RobotAPI/libraries/armem_skills/CMakeLists.txt
index dc960e9b30ad37fd54a9652f37083ff99fc47dd1..6e1e52fe32d7fcb877685c1f66489ca570f19bc2 100644
--- a/source/RobotAPI/libraries/armem_skills/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem_skills/CMakeLists.txt
@@ -13,10 +13,8 @@ armarx_add_library(
RobotAPI::armem_server
RobotAPI::skills
aronjsonconverter
-<<<<<<< Updated upstream
-=======
+ aroncommonconverter
aronaronconverter
->>>>>>> Stashed changes
SOURCES
./aron_conversions.cpp
diff --git a/source/RobotAPI/libraries/armem_skills/aron/Skill.xml b/source/RobotAPI/libraries/armem_skills/aron/Skill.xml
index 84b9840794dbd1a618b51e5219732924949c1b8e..abd89ebd82a7d30d19c1945444d1dd8f5d650bfd 100644
--- a/source/RobotAPI/libraries/armem_skills/aron/Skill.xml
+++ b/source/RobotAPI/libraries/armem_skills/aron/Skill.xml
@@ -31,11 +31,11 @@ The memory should look like the following:
</ObjectChild>
<ObjectChild key='timeoutMs'>
- <long />
+ <int64 />
</ObjectChild>
<ObjectChild key='acceptedType'>
- <string /> <!-- TODO REPLACE! -->
+ <AnyObject shared_ptr="1" />
</ObjectChild>
</Object>
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.cpp b/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.cpp
index 51c72a4caa79ca48823dc06670d90989cf2c2d07..1fa0989e8938206462674f93d9646f48b065123f 100644
--- a/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.cpp
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.cpp
@@ -54,7 +54,7 @@ namespace armarx::skills::segment
armem::Commit comm;
auto& entityUpdate = comm.add();
entityUpdate.confidence = 1.0;
- entityUpdate.timeCreated = armem::Time::Now();
+ entityUpdate.referencedTime = armem::Time::Now();
entityUpdate.instancesData = { aron };
entityUpdate.entityID = commitId;
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp b/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp
index f8333282e1c09b206ef8829cbda44c64bde470ec..818f3d13bb4315ebf69909c744c042b1ac268a39 100644
--- a/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp
@@ -66,7 +66,7 @@ namespace armarx::skills::segment
entityUpdate.entityID = skillExecutionMemID;
entityUpdate.instancesData = { aron };
entityUpdate.confidence = 1.0;
- entityUpdate.timeCreated = armem::Time::Now();
+ entityUpdate.referencedTime = armem::Time::Now();
}
{
@@ -79,7 +79,7 @@ namespace armarx::skills::segment
entityUpdate.entityID = skillExecutionMemID;
entityUpdate.instancesData = { aron };
entityUpdate.confidence = 1.0;
- entityUpdate.timeCreated = armem::Time::Now();
+ entityUpdate.referencedTime = armem::Time::Now();
}
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/StatechartListenerSegment.cpp b/source/RobotAPI/libraries/armem_skills/server/segment/StatechartListenerSegment.cpp
index 46629f7cd066751e6286cb38cb081f5442b6b869..b2c5a53472a39c9dcf02f65323ff189caa3ae7b6 100644
--- a/source/RobotAPI/libraries/armem_skills/server/segment/StatechartListenerSegment.cpp
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/StatechartListenerSegment.cpp
@@ -31,7 +31,7 @@ namespace armarx::skills::segment
armem::EntityUpdate update;
update.entityID = segmentPtr->id().withEntityName(entityName);
- update.timeCreated = transitionTime;
+ update.referencedTime = transitionTime;
skills::arondto::Statechart::Transition data;
armem::toAron(data, t);
update.instancesData.push_back(data.toAron());
diff --git a/source/RobotAPI/libraries/armem_system_state/server/CPUSegment.cpp b/source/RobotAPI/libraries/armem_system_state/server/CPUSegment.cpp
index fa392c615789ffac9e8ae2b9fd70eda0052e6d27..9886fdbe2b73326ca8b614ab0ed039d52e4e2b6e 100644
--- a/source/RobotAPI/libraries/armem_system_state/server/CPUSegment.cpp
+++ b/source/RobotAPI/libraries/armem_system_state/server/CPUSegment.cpp
@@ -63,7 +63,7 @@ namespace armarx::armem::server::systemstate::segment
EntityUpdate update;
update.entityID = providerId.withEntityName("CurrentCpuLoad");
update.confidence = 1.0;
- update.timeCreated = armem::Time::Now();
+ update.referencedTime = armem::Time::Now();
update.instancesData = { data };
segmentPtr->update(update);
diff --git a/source/RobotAPI/libraries/armem_system_state/server/RAMSegment.cpp b/source/RobotAPI/libraries/armem_system_state/server/RAMSegment.cpp
index f02b8f4fa263687d52336012322ca640ecd84f1d..a201c4731c14a211cfb670608f8839acf19482d1 100644
--- a/source/RobotAPI/libraries/armem_system_state/server/RAMSegment.cpp
+++ b/source/RobotAPI/libraries/armem_system_state/server/RAMSegment.cpp
@@ -54,7 +54,7 @@ namespace armarx::armem::server::systemstate::segment
EntityUpdate update;
update.entityID = providerId.withEntityName("CurrentMemoryLoad");
update.confidence = 1.0;
- update.timeCreated = armem::Time::Now();
+ update.referencedTime = armem::Time::Now();
update.instancesData = { data };
segmentPtr->update(update);
diff --git a/source/RobotAPI/libraries/armem_vision/client/laser_scanner_features/Writer.cpp b/source/RobotAPI/libraries/armem_vision/client/laser_scanner_features/Writer.cpp
index 0b24561dd5507efeef77793a5285b5a3eb2b00c9..8ae7ba4379288420d3578d7f30ae9bc9c58c559d 100644
--- a/source/RobotAPI/libraries/armem_vision/client/laser_scanner_features/Writer.cpp
+++ b/source/RobotAPI/libraries/armem_vision/client/laser_scanner_features/Writer.cpp
@@ -91,7 +91,7 @@ namespace armarx::armem::vision::laser_scanner_features::client
ARMARX_TRACE;
update.instancesData = {dto.toAron()};
- update.timeCreated = timestamp;
+ update.referencedTime = timestamp;
ARMARX_DEBUG << "Committing " << update << " at time " << timestamp;
diff --git a/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.cpp b/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.cpp
index e781a2582e511b59f3ebefe9cde4a35d425da60a..a682162553005783d3ad74e42d78bffefbc09ae2 100644
--- a/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.cpp
+++ b/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.cpp
@@ -41,7 +41,7 @@ namespace armarx::armem::vision::occupancy_grid::client
dict->addElement("grid", toAron(grid.grid));
update.instancesData = {dict};
- update.timeCreated = iceTimestamp;
+ update.referencedTime = iceTimestamp;
ARMARX_DEBUG << "Committing " << update << " at time " << iceTimestamp;
armem::EntityUpdateResult updateResult = memoryWriter().commit(update);
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/CodeWriter.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/CodeWriter.h
index 942d036f3e6ed88f012ccd2577c703bd85ac2c26..0e17ccc1ee4938bd81ae462e8a2b069669c25826 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/CodeWriter.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/CodeWriter.h
@@ -31,7 +31,8 @@
#include <typeindex>
// ArmarX
-#include <ArmarXCore/libraries/cppgen/MetaClass.h>
+#include <ArmarXCore/libraries/cppgen/CppEnum.h>
+#include <ArmarXCore/libraries/cppgen/CppClass.h>
#include <RobotAPI/libraries/aron/core/type/variant/All.h>
@@ -61,18 +62,32 @@ namespace armarx::aron::codegenerator
return typeClasses;
}
+ std::vector<MetaEnumPtr> getTypeEnums() const // TODO: Create Meta Enum class to abstract away cpp details
+ {
+ return typeEnums;
+ }
+
protected:
virtual void addSpecificReaderMethods() = 0;
virtual void addSpecificWriterMethods() = 0;
protected:
std::vector<MetaClassPtr> typeClasses;
+ std::vector<MetaEnumPtr> typeEnums;
std::string producerName;
- std::vector<codegenerator::WriterInfo> dataWriters;
- std::vector<codegenerator::ReaderInfo> dataReaders;
- std::vector<codegenerator::StaticReaderInfo> staticDataReaders;
- std::vector<codegenerator::WriterInfo> initialTypeWriters;
+ std::vector<codegenerator::WriterInfo> dictDataWriters;
+ std::vector<codegenerator::WriterInfo> intEnumDataWriters;
+
+ std::vector<codegenerator::ReaderInfo> dictDataReaders;
+ std::vector<codegenerator::ReaderInfo> intEnumDataReaders;
+
+ std::vector<codegenerator::StaticReaderInfo> staticDictDataReaders;
+ std::vector<codegenerator::StaticReaderInfo> staticIntEnumDataReaders;
+
+ std::vector<codegenerator::WriterInfo> initialDictTypeWriters;
+ std::vector<codegenerator::WriterInfo> initialIntEnumTypeWriters;
+
std::vector<std::string> additionalIncludes;
};
}
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/Writer.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/Writer.cpp
index 85c6403e5e4452848c31ffbc3f59aa39c3fe46ee..c65402434f631f9d26f34c15b6f12d818e1b4a43 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/Writer.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/Writer.cpp
@@ -32,6 +32,45 @@
namespace armarx::aron::codegenerator::cpp
{
+
+ // Function to convert camel case
+ // string to snake case string
+ std::string camelToSnake(const std::string& str)
+ {
+
+ // Empty String
+ std::string result = "";
+
+ // Append first character(in lower case)
+ // to result string
+ char c = std::tolower(str[0]);
+ result+=(char(c));
+
+ // Traverse the string from
+ // ist index to last index
+ for (unsigned int i = 1; i < str.length(); i++) {
+
+ char ch = str[i];
+
+ // Check if the character is upper case
+ // then append '_' and such character
+ // (in lower case) to result string
+ if (std::isupper(ch)) {
+ result = result + '_';
+ result+=char(std::tolower(ch));
+ }
+
+ // If the character is lower case then
+ // add such character into result string
+ else {
+ result = result + ch;
+ }
+ }
+
+ // return the result
+ return result;
+ }
+
Writer::Writer(const std::string& producerName, const std::vector<std::string>& additionalIncludesFromXMLFile) :
CodeWriter(producerName, additionalIncludesFromXMLFile)
{
@@ -41,90 +80,182 @@ namespace armarx::aron::codegenerator::cpp
void Writer::addSpecificWriterMethods()
{
- // The toAron Serializer is visible by default
- {
- codegenerator::WriterInfo toAron;
- toAron.methodName = "toAron";
- toAron.returnType = "armarx::aron::data::DictPtr";
- toAron.writerClassType = "armarx::aron::data::writer::VariantWriter";
- toAron.include = "<RobotAPI/libraries/aron/core/data/rw/writer/variant/VariantWriter.h>";
- toAron.enforceConversion = "armarx::aron::data::Dict::DynamicCastAndCheck";
- dataWriters.push_back(toAron);
- }
-
- {
- codegenerator::WriterInfo toAronDTO;
- toAronDTO.methodName = "toAronDTO";
- toAronDTO.returnType = "armarx::aron::data::dto::DictPtr";
- toAronDTO.writerClassType = "armarx::aron::data::writer::VariantWriter";
- toAronDTO.include = "<RobotAPI/libraries/aron/core/data/rw/writer/variant/VariantWriter.h>";
- toAronDTO.enforceConversion = "armarx::aron::data::Dict::DynamicCastAndCheck";
- toAronDTO.enforceMemberAccess = "->toAronDictDTO()";
- dataWriters.push_back(toAronDTO);
- }
-
+ // DictData stuff
{
- // The toAron Serializer is visible by default
- codegenerator::WriterInfo ToAronType;
- ToAronType.methodName = "ToAronType";
- ToAronType.returnType = "armarx::aron::type::ObjectPtr";
- ToAronType.writerClassType = "armarx::aron::type::writer::VariantWriter";
- ToAronType.include = "<RobotAPI/libraries/aron/core/type/rw/writer/variant/VariantWriter.h>";
- ToAronType.enforceConversion = "armarx::aron::type::Object::DynamicCastAndCheck";
- initialTypeWriters.push_back(ToAronType);
+ {
+ codegenerator::WriterInfo toAron;
+ toAron.methodName = "toAron";
+ toAron.returnType = "armarx::aron::data::DictPtr";
+ toAron.writerClassType = "armarx::aron::data::writer::VariantWriter";
+ toAron.include =
+ "<RobotAPI/libraries/aron/core/data/rw/writer/variant/VariantWriter.h>";
+ toAron.enforceConversion = "armarx::aron::data::Dict::DynamicCastAndCheck";
+ toAron.override = true;
+ dictDataWriters.push_back(toAron);
+ }
+ {
+ codegenerator::WriterInfo toAronDTO;
+ toAronDTO.methodName = "toAronDTO";
+ toAronDTO.returnType = "armarx::aron::data::dto::DictPtr";
+ toAronDTO.writerClassType = "armarx::aron::data::writer::VariantWriter";
+ toAronDTO.include =
+ "<RobotAPI/libraries/aron/core/data/rw/writer/variant/VariantWriter.h>";
+ toAronDTO.enforceConversion = "armarx::aron::data::Dict::DynamicCastAndCheck";
+ toAronDTO.enforceMemberAccess = "->toAronDictDTO()";
+ toAronDTO.override = true;
+ dictDataWriters.push_back(toAronDTO);
+ }
+ {
+ // The toAron Serializer is visible by default
+ codegenerator::WriterInfo ToAronType;
+ ToAronType.methodName = "ToAronType";
+ ToAronType.returnType = "armarx::aron::type::ObjectPtr";
+ ToAronType.writerClassType = "armarx::aron::type::writer::VariantWriter";
+ ToAronType.include =
+ "<RobotAPI/libraries/aron/core/type/rw/writer/variant/VariantWriter.h>";
+ ToAronType.enforceConversion = "armarx::aron::type::Object::DynamicCastAndCheck";
+ initialDictTypeWriters.push_back(ToAronType);
+ }
+ {
+ // The toAron Serializer is visible by default
+ codegenerator::WriterInfo ToAronTypeDTO;
+ ToAronTypeDTO.methodName = "ToAronTypeDTO";
+ ToAronTypeDTO.returnType = "armarx::aron::type::dto::AronObjectPtr";
+ ToAronTypeDTO.writerClassType = "armarx::aron::type::writer::VariantWriter";
+ ToAronTypeDTO.include =
+ "<RobotAPI/libraries/aron/core/type/rw/writer/variant/VariantWriter.h>";
+ ToAronTypeDTO.enforceConversion = "armarx::aron::type::Object::DynamicCastAndCheck";
+ ToAronTypeDTO.enforceMemberAccess = "->toAronObjectDTO()";
+ initialDictTypeWriters.push_back(ToAronTypeDTO);
+ }
}
+ // IntEnum stuff
{
- // The toAron Serializer is visible by default
- codegenerator::WriterInfo ToAronTypeDTO;
- ToAronTypeDTO.methodName = "ToAronTypeDTO";
- ToAronTypeDTO.returnType = "armarx::aron::type::dto::AronObjectPtr";
- ToAronTypeDTO.writerClassType = "armarx::aron::type::writer::VariantWriter";
- ToAronTypeDTO.include = "<RobotAPI/libraries/aron/core/type/rw/writer/variant/VariantWriter.h>";
- ToAronTypeDTO.enforceConversion = "armarx::aron::type::Object::DynamicCastAndCheck";
- ToAronTypeDTO.enforceMemberAccess = "->toAronObjectDTO()";
- initialTypeWriters.push_back(ToAronTypeDTO);
+ {
+ codegenerator::WriterInfo toAron;
+ toAron.methodName = "toAron";
+ toAron.returnType = "armarx::aron::data::IntPtr";
+ toAron.writerClassType = "armarx::aron::data::writer::VariantWriter";
+ toAron.include =
+ "<RobotAPI/libraries/aron/core/data/rw/writer/variant/VariantWriter.h>";
+ toAron.enforceConversion = "armarx::aron::data::Int::DynamicCastAndCheck";
+ toAron.override = true;
+ intEnumDataWriters.push_back(toAron);
+ }
+ {
+ codegenerator::WriterInfo toAronDTO;
+ toAronDTO.methodName = "toAronDTO";
+ toAronDTO.returnType = "armarx::aron::data::dto::AronIntPtr";
+ toAronDTO.writerClassType = "armarx::aron::data::writer::VariantWriter";
+ toAronDTO.include =
+ "<RobotAPI/libraries/aron/core/data/rw/writer/variant/VariantWriter.h>";
+ toAronDTO.enforceConversion = "armarx::aron::data::Int::DynamicCastAndCheck";
+ toAronDTO.enforceMemberAccess = "->toAronIntDTO()";
+ toAronDTO.override = true;
+ intEnumDataWriters.push_back(toAronDTO);
+ }
+ {
+ // The toAron Serializer is visible by default
+ codegenerator::WriterInfo ToAronType;
+ ToAronType.methodName = "ToAronType";
+ ToAronType.returnType = "armarx::aron::type::IntEnumPtr";
+ ToAronType.writerClassType = "armarx::aron::type::writer::VariantWriter";
+ ToAronType.include =
+ "<RobotAPI/libraries/aron/core/type/rw/writer/variant/VariantWriter.h>";
+ ToAronType.enforceConversion = "armarx::aron::type::IntEnum::DynamicCastAndCheck";
+ initialIntEnumTypeWriters.push_back(ToAronType);
+ }
+ {
+ // The toAron Serializer is visible by default
+ codegenerator::WriterInfo ToAronTypeDTO;
+ ToAronTypeDTO.methodName = "ToAronTypeDTO";
+ ToAronTypeDTO.returnType = "armarx::aron::type::dto::IntEnumPtr";
+ ToAronTypeDTO.writerClassType = "armarx::aron::type::writer::VariantWriter";
+ ToAronTypeDTO.include =
+ "<RobotAPI/libraries/aron/core/type/rw/writer/variant/VariantWriter.h>";
+ ToAronTypeDTO.enforceConversion = "armarx::aron::type::IntEnum::DynamicCastAndCheck";
+ ToAronTypeDTO.enforceMemberAccess = "->toIntEnumDTO()";
+ initialIntEnumTypeWriters.push_back(ToAronTypeDTO);
+ }
}
}
void Writer::addSpecificReaderMethods()
{
- // The static FromAron Deserializer
+ // Dict stuff
{
- codegenerator::StaticReaderInfo fromAron;
- fromAron.methodName = "FromAron";
- fromAron.argumentType = "armarx::aron::data::DictPtr";
- fromAron.returnType = OWN_TYPE_NAME;
- staticDataReaders.push_back(fromAron);
- }
-
- {
- codegenerator::StaticReaderInfo fromAronDTO;
- fromAronDTO.methodName = "FromAron";
- fromAronDTO.argumentType = "armarx::aron::data::dto::DictPtr";
- fromAronDTO.returnType = OWN_TYPE_NAME;
- staticDataReaders.push_back(fromAronDTO);
- }
-
-
- // The fromAron Deserializer is visible by default
- {
- codegenerator::ReaderInfo fromAron;
- fromAron.methodName = "fromAron";
- fromAron.argumentType = "armarx::aron::data::DictPtr";
- fromAron.readerClassType = "armarx::aron::data::reader::VariantReader";
- fromAron.include = "<RobotAPI/libraries/aron/core/data/rw/reader/variant/VariantReader.h>";
- dataReaders.push_back(fromAron);
+ {
+ codegenerator::StaticReaderInfo fromAron;
+ fromAron.methodName = "FromAron";
+ fromAron.argumentType = "armarx::aron::data::DictPtr";
+ fromAron.returnType = OWN_TYPE_NAME;
+ staticDictDataReaders.push_back(fromAron);
+ }
+ {
+ codegenerator::StaticReaderInfo fromAronDTO;
+ fromAronDTO.methodName = "FromAron";
+ fromAronDTO.argumentType = "armarx::aron::data::dto::DictPtr";
+ fromAronDTO.returnType = OWN_TYPE_NAME;
+ staticDictDataReaders.push_back(fromAronDTO);
+ }
+ {
+ codegenerator::ReaderInfo fromAron;
+ fromAron.methodName = "fromAron";
+ fromAron.argumentType = "armarx::aron::data::DictPtr";
+ fromAron.readerClassType = "armarx::aron::data::reader::VariantReader";
+ fromAron.include = "<RobotAPI/libraries/aron/core/data/rw/reader/variant/VariantReader.h>";
+ fromAron.override = true;
+ dictDataReaders.push_back(fromAron);
+ }
+ {
+ codegenerator::ReaderInfo fromAronDTO;
+ fromAronDTO.methodName = "fromAron";
+ fromAronDTO.argumentType = "armarx::aron::data::dto::DictPtr";
+ fromAronDTO.readerClassType = "armarx::aron::data::reader::VariantReader";
+ fromAronDTO.include = "<RobotAPI/libraries/aron/core/data/rw/reader/variant/VariantReader.h>";
+ fromAronDTO.enforceConversion = "std::make_shared<armarx::aron::data::Dict>";
+ fromAronDTO.override = true;
+ dictDataReaders.push_back(fromAronDTO);
+ }
}
+ // IntEnum stuff
{
- codegenerator::ReaderInfo fromAronDTO;
- fromAronDTO.methodName = "fromAron";
- fromAronDTO.argumentType = "armarx::aron::data::dto::DictPtr";
- fromAronDTO.readerClassType = "armarx::aron::data::reader::VariantReader";
- fromAronDTO.include = "<RobotAPI/libraries/aron/core/data/rw/reader/variant/VariantReader.h>";
- fromAronDTO.enforceConversion = "std::make_shared<armarx::aron::data::Dict>";
- dataReaders.push_back(fromAronDTO);
+ {
+ codegenerator::StaticReaderInfo fromAron;
+ fromAron.methodName = "FromAron";
+ fromAron.argumentType = "armarx::aron::data::IntPtr";
+ fromAron.returnType = OWN_TYPE_NAME;
+ staticIntEnumDataReaders.push_back(fromAron);
+ }
+ {
+ codegenerator::StaticReaderInfo fromAronDTO;
+ fromAronDTO.methodName = "FromAron";
+ fromAronDTO.argumentType = "armarx::aron::data::dto::AronIntPtr";
+ fromAronDTO.returnType = OWN_TYPE_NAME;
+ staticIntEnumDataReaders.push_back(fromAronDTO);
+ }
+ {
+ codegenerator::ReaderInfo fromAron;
+ fromAron.methodName = "fromAron";
+ fromAron.argumentType = "armarx::aron::data::IntPtr";
+ fromAron.readerClassType = "armarx::aron::data::reader::VariantReader";
+ fromAron.include = "<RobotAPI/libraries/aron/core/data/rw/reader/variant/VariantReader.h>";
+ fromAron.override = true;
+ intEnumDataReaders.push_back(fromAron);
+ }
+ {
+ codegenerator::ReaderInfo fromAronDTO;
+ fromAronDTO.methodName = "fromAron";
+ fromAronDTO.argumentType = "armarx::aron::data::dto::AronIntPtr";
+ fromAronDTO.readerClassType = "armarx::aron::data::reader::VariantReader";
+ fromAronDTO.include =
+ "<RobotAPI/libraries/aron/core/data/rw/reader/variant/VariantReader.h>";
+ fromAronDTO.enforceConversion = "std::make_shared<armarx::aron::data::Int>";
+ fromAronDTO.override = true;
+ intEnumDataReaders.push_back(fromAronDTO);
+ }
}
}
@@ -151,7 +282,7 @@ namespace armarx::aron::codegenerator::cpp
std::vector<std::string> tmpl_requires;
for (auto& t : type->getTemplates())
{
- tmpl_requires.push_back("armarx::aron::cpp::isAronGeneratedClass<" + t + ">");
+ tmpl_requires.push_back("armarx::aron::cpp::isAronGeneratedObject<" + t + ">");
tmpl.push_back("class " + t);
}
std::string templateDef = "template <" + simox::alg::join(tmpl, ", ") + ">";
@@ -167,11 +298,11 @@ namespace armarx::aron::codegenerator::cpp
}
else
{
- c->addInherit("public armarx::aron::cpp::AronGeneratedClass");
+ c->addInherit("public armarx::aron::cpp::AronGeneratedObject<" + generator.getFullClassCppTypename() + ">");
}
// Writermethods
- for (codegenerator::WriterInfo info : dataWriters)
+ for (codegenerator::WriterInfo info : dictDataWriters)
{
if (info.returnType == OWN_TYPE_NAME)
{
@@ -182,13 +313,14 @@ namespace armarx::aron::codegenerator::cpp
{
c->addInclude(info.include);
}
+
CppMethodPtr convert = generator.toSpecializedDataWriterMethod(info);
- c->addMethod(convert);
+ c->addPublicMethod(convert);
}
// Add methods to set the member variables
// also resolve the original class name if the return type is set to special
- for (codegenerator::StaticReaderInfo info : staticDataReaders)
+ for (codegenerator::StaticReaderInfo info : staticDictDataReaders)
{
if (info.returnType == OWN_TYPE_NAME)
{
@@ -200,11 +332,11 @@ namespace armarx::aron::codegenerator::cpp
}
CppMethodPtr convert = generator.toSpecializedStaticDataReaderMethod(info);
- c->addMethod(convert);
+ c->addPublicMethod(convert);
}
// Add methods to set the member variables
- for (codegenerator::ReaderInfo info : dataReaders)
+ for (codegenerator::ReaderInfo info : dictDataReaders)
{
if (info.argumentType == OWN_TYPE_NAME)
{
@@ -215,12 +347,13 @@ namespace armarx::aron::codegenerator::cpp
{
c->addInclude(info.include);
}
+
CppMethodPtr convert = generator.toSpecializedDataReaderMethod(info);
- c->addMethod(convert);
+ c->addPublicMethod(convert);
}
// Typewritermethods
- for (codegenerator::WriterInfo info : initialTypeWriters)
+ for (codegenerator::WriterInfo info : initialDictTypeWriters)
{
if (info.returnType == OWN_TYPE_NAME)
{
@@ -232,7 +365,7 @@ namespace armarx::aron::codegenerator::cpp
c->addInclude(info.include);
}
CppMethodPtr convert = generator.toSpecializedTypeWriterMethod(info);
- c->addMethod(convert);
+ c->addPublicMethod(convert);
}
typeClasses.push_back(c);
@@ -247,40 +380,139 @@ namespace armarx::aron::codegenerator::cpp
ARMARX_CHECK_NOT_NULL(nav);
generator::IntEnumClass generator(*nav);
+
+ // Create enum class and add to enums
+ CppEnumPtr enumrepresentation = setupEnumPtr(publicGenerateIntEnumType, generator);
+ typeEnums.push_back(enumrepresentation);
+
+ // Generate aron wrapper class and add to classes
CppClassPtr c = setupBasicCppClass(publicGenerateIntEnumType, generator);
+ c->addInclude("<RobotAPI/libraries/aron/core/data/variant/primitive/Int.h>");
+
setupMemberFields(c, publicGenerateIntEnumType.doc_values, generator);
- c->addInherit("public armarx::aron::cpp::AronGeneratedClass");
+ c->addInherit("public armarx::aron::cpp::AronGeneratedIntEnum<" + generator.getFullClassCppTypename() + ">");
// ctor
- c->addCtor(generator.toInnerEnumCtor(c->getName()));
-
- // Specific methods
- CppEnumPtr enumrepresentation = generator.toInnerEnumDefinition();
- c->addInnerEnum(enumrepresentation);
+ c->addCtor(generator.toEnumCtor(c->getName()));
CppMethodPtr toString = generator.toToStringMethod();
- c->addMethod(toString);
+ c->addPublicMethod(toString);
CppMethodPtr fromString = generator.toFromStringMethod();
- c->addMethod(fromString);
+ c->addPublicMethod(fromString);
CppMethodPtr intConversion = generator.toIntMethod();
- c->addMethod(intConversion);
+ c->addPublicMethod(intConversion);
CppMethodPtr enumAssignment = generator.toEnumAssignmentMethod();
- c->addMethod(enumAssignment);
+ c->addPublicMethod(enumAssignment);
CppMethodPtr enumAssignment2 = generator.toCopyAssignmentMethod();
- c->addMethod(enumAssignment2);
+ c->addPublicMethod(enumAssignment2);
CppMethodPtr enumAssignment3 = generator.toIntAssignmentMethod();
- c->addMethod(enumAssignment3);
+ c->addPublicMethod(enumAssignment3);
+
+ // Writermethods
+ for (codegenerator::WriterInfo info : intEnumDataWriters)
+ {
+ if (info.returnType == OWN_TYPE_NAME)
+ {
+ info.returnType = generator.getFullClassCppTypename();
+ }
+
+ if (!info.include.empty())
+ {
+ c->addInclude(info.include);
+ }
+
+ CppMethodPtr convert = generator.toSpecializedDataWriterMethod(info);
+ c->addPublicMethod(convert);
+ }
+
+ // Add methods to set the member variables
+ // also resolve the original class name if the return type is set to special
+ for (codegenerator::StaticReaderInfo info : staticIntEnumDataReaders)
+ {
+ if (info.returnType == OWN_TYPE_NAME)
+ {
+ info.returnType = generator.getFullClassCppTypename();
+ }
+ if (info.argumentType == OWN_TYPE_NAME)
+ {
+ info.argumentType = generator.getFullClassCppTypename();
+ }
+
+ CppMethodPtr convert = generator.toSpecializedStaticDataReaderMethod(info);
+ c->addPublicMethod(convert);
+ }
+
+ // Add methods to set the member variables
+ for (codegenerator::ReaderInfo info : intEnumDataReaders)
+ {
+ if (info.argumentType == OWN_TYPE_NAME)
+ {
+ info.argumentType = generator.getFullClassCppTypename();
+ }
+
+ if (!info.include.empty())
+ {
+ c->addInclude(info.include);
+ }
+ CppMethodPtr convert = generator.toSpecializedDataReaderMethod(info);
+ c->addPublicMethod(convert);
+ }
+
+ // Typewritermethods
+ for (codegenerator::WriterInfo info : initialIntEnumTypeWriters)
+ {
+ if (info.returnType == OWN_TYPE_NAME)
+ {
+ info.returnType = generator.getFullClassCppTypename();
+ }
+
+ if (!info.include.empty())
+ {
+ c->addInclude(info.include);
+ }
+ CppMethodPtr convert = generator.toSpecializedTypeWriterMethod(info);
+ c->addPublicMethod(convert);
+ }
typeClasses.push_back(c);
}
}
+ CppEnumPtr Writer::setupEnumPtr(const typereader::GenerateInfo& info, const generator::IntEnumClass& gen) const
+ {
+ const auto& type = gen.getType();
+ if (type.getMaybe() != type::Maybe::NONE)
+ {
+ // Should not happen since we check the maybe flag on creation of the generator. However, better to double check
+ throw error::ValueNotValidException(__PRETTY_FUNCTION__, "Somehow the maybe flag of a top level object declaration is set. This is not valid!", std::to_string((int) type.getMaybe()) + " aka " + type::defaultconversion::string::Maybe2String.at(type.getMaybe()), type.getPath());
+ }
+
+ const std::string classCppTypename = gen.getClassCppTypename();
+
+ std::vector<std::string> namespaces = info.getNamespaces();
+ std::string rawObjectName = info.getNameWithoutNamespace();
+ namespaces.push_back(simox::alg::to_lower(camelToSnake(rawObjectName)) + "_details");
+
+ std::string enumdoc = "The enum definition of the enum of the auogenerated class '" + gen.getFullClassCppTypename() + "'.";
+ CppEnumPtr e = std::make_shared<CppEnum>(namespaces, "Enum");
+ auto enumFields = gen.toEnumFields();
+
+ ARMARX_CHECK(enumFields.size() > 0);
+
+ for (const auto& field : enumFields)
+ {
+ e->addField(field);
+ }
+
+ return e;
+ }
+
CppClassPtr Writer::setupBasicCppClass(const typereader::GenerateInfo& info, const Generator& gen) const
{
const auto& type = gen.getType();
@@ -308,7 +540,6 @@ namespace armarx::aron::codegenerator::cpp
}
c->addClassDoc(classDoc);
- c->setPragmaOnceIncludeGuard(true);
// add generator includes (e.g. coming from dto types)
for (const auto& s : gen.getRequiredIncludes())
@@ -328,48 +559,50 @@ namespace armarx::aron::codegenerator::cpp
}
}
- // add aron includes
+ // always add aron includes
c->addInclude("<RobotAPI/libraries/aron/core/aron_conversions.h>");
c->addInclude("<RobotAPI/libraries/aron/core/rw.h>");
c->addInclude("<RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedClass.h>");
+ c->addInclude("<RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedObject.h>");
+ c->addInclude("<RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedIntEnum.h>");
// ctor
c->addCtor(gen.toCtor(c->getName()));
c->addCtor(gen.toCopyCtor(c->getName()));
// dtor
- c->addMethod(gen.toDtor(c->getName()));
+ c->addPublicMethod(gen.toDtor(c->getName()));
// Generic methods
//std::cout << "Generate equals method" << std::endl;
CppMethodPtr equals = gen.toEqualsMethod();
- c->addMethod(equals);
+ c->addPublicMethod(equals);
//std::cout << "Generate reset method" << std::endl;
CppMethodPtr resetHard = gen.toResetHardMethod();
- c->addMethod(resetHard);
+ c->addPublicMethod(resetHard);
//std::cout << "Generate init method" << std::endl;
CppMethodPtr resetSoft = gen.toResetSoftMethod();
- c->addMethod(resetSoft);
+ c->addPublicMethod(resetSoft);
//std::cout << "Generate writeInit method" << std::endl;
CppMethodPtr writeType = gen.toWriteTypeMethod();
- c->addMethod(writeType);
+ c->addPublicMethod(writeType);
//std::cout << "Generate write method" << std::endl;
CppMethodPtr write = gen.toWriteMethod();
- c->addMethod(write);
+ c->addPublicMethod(write);
//std::cout << "Generate read method" << std::endl;
CppMethodPtr read = gen.toReadMethod();
- c->addMethod(read);
+ c->addPublicMethod(read);
return c;
}
void Writer::setupMemberFields(CppClassPtr& c, const std::map<std::string, std::string>& doc_members, const generator::ObjectClass& o) const
{
- auto publicFields = o.getPublicVariableDeclarations("");
+ auto publicFields = o.getPublicVariableDeclarations(c->getName());
for (const auto& f : publicFields)
{
if (auto it = doc_members.find(f->getName()); it != doc_members.end())
@@ -382,7 +615,7 @@ namespace armarx::aron::codegenerator::cpp
void Writer::setupMemberFields(CppClassPtr& c, const std::map<std::string, std::string>& doc_members, const generator::IntEnumClass& o) const
{
- auto publicFields = o.getPublicVariableDeclarations("");
+ auto publicFields = o.getPublicVariableDeclarations(camelToSnake(c->getName()));
for (const auto& f : publicFields)
{
if (auto it = doc_members.find(f->getName()); it != doc_members.end())
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/Writer.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/Writer.h
index 9405f63952de447de96a97e68fb3614bfec47807..3aa93f1775c7fe460935552c9eb078f8ae45ad0c 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/Writer.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/Writer.h
@@ -59,6 +59,8 @@ namespace armarx::aron::codegenerator::cpp
virtual void addSpecificReaderMethods() override;
CppClassPtr setupBasicCppClass(const typereader::GenerateInfo& info, const Generator& gen) const;
+ CppEnumPtr setupEnumPtr(const typereader::GenerateInfo& info, const generator::IntEnumClass& gen) const;
+
void setupMemberFields(CppClassPtr&, const std::map<std::string, std::string>& doc_members, const generator::ObjectClass&) const;
void setupMemberFields(CppClassPtr&, const std::map<std::string, std::string>& doc_members, const generator::IntEnumClass&) const;
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Generator.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Generator.cpp
index be87200f51f745b314ef7f3f7c2a67beb18d332a..d3c61320d0bd8d1f57fd03531edf1f79df5754f2 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Generator.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Generator.cpp
@@ -317,7 +317,7 @@ namespace armarx::aron::codegenerator::cpp
doc << "@brief " << info.methodName << "() - This method returns a new data from the member data types using a writer implementation. \n";
doc << "@return - the result of the writer implementation";
- CppMethodPtr m = CppMethodPtr(new CppMethod(info.returnType + " " + info.methodName + "() const", doc.str()));
+ CppMethodPtr m = CppMethodPtr(new CppMethod(info.returnType + " " + info.methodName + "() const" + (info.override ? " override" : ""), doc.str()));
m->addLine(info.writerClassType + " writer;");
m->addLine("return " + info.enforceConversion + "(this->write(writer))" + info.enforceMemberAccess + ";");
@@ -331,7 +331,7 @@ namespace armarx::aron::codegenerator::cpp
doc << "@brief " << info.methodName << " - This method sets the struct members to new values given in a reader implementation. \n";
doc << "@return - nothing";
- CppMethodPtr m = CppMethodPtr(new CppMethod("void " + info.methodName + "(const " + info.argumentType + "& input)", doc.str()));
+ CppMethodPtr m = CppMethodPtr(new CppMethod("void " + info.methodName + "(const " + info.argumentType + "& input)" + (info.override ? " override" : ""), doc.str()));
m->addLine(info.readerClassType + " reader;");
m->addLine("this->read(reader, " + info.enforceConversion + "(input)" + info.enforceMemberAccess + ");");
@@ -395,9 +395,9 @@ namespace armarx::aron::codegenerator::cpp
return {field};
}
- std::pair<std::vector<std::pair<std::string, std::string>>, bool> Generator::getCtorInitializers(const std::string&) const
+ std::pair<std::vector<std::pair<std::string, std::string>>, bool> Generator::getCtorInitializers(const std::string& name) const
{
- return {{}, false};
+ return {{{name, "{}"}}, false};
}
CppBlockPtr Generator::getCtorBlock(const std::string&) const
@@ -408,7 +408,7 @@ namespace armarx::aron::codegenerator::cpp
std::pair<std::vector<std::pair<std::string, std::string>>, bool> Generator::getCopyCtorInitializers(const std::string& name) const
{
const auto& t = getType();
- if (t.getMaybe() == type::Maybe::UNIQUE_PTR || t.getMaybe() == type::Maybe::RAW_PTR)
+ if (t.getMaybe() == type::Maybe::UNIQUE_PTR) // unique ptrs cant be copied
{
return {{{name, ARON_OTHER_ACCESSOR + "." + name + " ? " + resolveMaybeGenerator("*" + ARON_OTHER_ACCESSOR + "." + name) + " : nullptr"}}, true};
}
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Matrix.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Matrix.cpp
index 569d5be67dfd601cf09157655ff0542f022680ae..d0bf18091c9fd3310b1d0d9de98ff7c6c259eff3 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Matrix.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Matrix.cpp
@@ -31,6 +31,7 @@ namespace armarx::aron::codegenerator::cpp::generator
{
const std::map<type::matrix::ElementType, std::tuple<std::string, int, std::string>> ElementType2Cpp =
{
+ // TODO: rename to float32 etc. but keep backward compability
{type::matrix::INT16, {"short", 2, "::armarx::aron::type::matrix::INT16"}},
{type::matrix::INT32, {"int", 4, "::armarx::aron::type::matrix::INT32"}},
{type::matrix::INT64, {"long", 8, "::armarx::aron::type::matrix::INT64"}},
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/PointCloud.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/PointCloud.cpp
index 78e42fe0850ee5f0ec665fe8c69eac4a70138317..1fe84d735e74cd59f63801c0096ac19cbe1e9f9f 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/PointCloud.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/PointCloud.cpp
@@ -102,7 +102,19 @@ namespace armarx::aron::codegenerator::cpp::generator
block_if_data->addLine("std::vector<int> " + dims + ";");
block_if_data->addLine("std::vector<unsigned char> " + data + ";");
block_if_data->addLine("" + ARON_READER_ACCESSOR + ".readNDArray("+variantAccessor+", "+dims+", "+type+", "+data+"); // of " + cppAccessor);
- block_if_data->addLine(cppAccessor + " = " + getInstantiatedCppTypename() + "(" + dims + "[0], " + dims + "[1]);");
+
+ block_if_data->addLine("ARMARX_CHECK_AND_THROW(" + dims + ".size() == 3, ::armarx::aron::error::AronException(__PRETTY_FUNCTION__, \"Received wrong dimensions for member '"+cppAccessor+"'.\"));");
+ block_if_data->addLine("ARMARX_CHECK_AND_THROW(" + type + " == \"" + std::get<0>(VoxelType2Cpp.at(this->type.getVoxelType())) + "\", ::armarx::aron::error::AronException(__PRETTY_FUNCTION__, \"Received wrong type for member '"+cppAccessor+"'.\"));");
+
+ // assign is not availablePCL for PCL 1.8
+ // block_if_data->addLine(cppAccessor + nextEl() + "assign(" + dims + "[0], " + dims + "[1], " + std::get<0>(VoxelType2Cpp.at(this->type.getVoxelType())) + "());");
+ block_if_data->addLine(cppAccessor + nextEl() + "clear();");
+ // resize(width, height , value) is not available either
+ // block_if_data->addLine(cppAccessor + nextEl() + "resize(" + dims + "[0], " + dims + "[1], " + std::get<0>(VoxelType2Cpp.at(this->type.getVoxelType())) + "()));");
+ block_if_data->addLine(cppAccessor + nextEl() + "resize(" + dims + "[0] * " + dims + "[1]);");
+ block_if_data->addLine(cppAccessor + nextEl() + "width = " + dims + "[0];");
+ block_if_data->addLine(cppAccessor + nextEl() + "height = " + dims + "[1];");
+
block_if_data->addLine("std::memcpy(reinterpret_cast<unsigned char*>(" + cppAccessor + nextEl() + "points.data()), "+data+".data(), "+data+".size());");
return resolveMaybeReadBlock(block_if_data, cppAccessor, variantAccessor);
}
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.cpp
index f5463258db1423ba317c428b2d604907b913755a..0cddfd33161dcd0bf5f398fa87f4c0a88ec0a447 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.cpp
@@ -44,7 +44,7 @@ namespace armarx::aron::codegenerator::cpp::generator
}
}
- std::vector<CppFieldPtr> IntEnumClass::getPublicVariableDeclarations(const std::string&) const
+ std::vector<CppFieldPtr> IntEnumClass::getPublicVariableDeclarations(const std::string& className) const
{
std::vector<CppFieldPtr> fields;
std::stringstream enum_to_name;
@@ -52,6 +52,11 @@ namespace armarx::aron::codegenerator::cpp::generator
std::stringstream enum_to_value;
std::stringstream value_to_enum;
+ // add legacy typedef
+ fields.push_back(std::make_shared<CppField>("using", std::string(IMPL_ENUM), simox::alg::to_lower(className) + "_details::Enum", "Legacy typedef of enum"));
+
+ ARMARX_CHECK(type.getAcceptedValueMap().size() > 0);
+
enum_to_name << "{" << std::endl;
name_to_enum << "{" << std::endl;
enum_to_value << "{" << std::endl;
@@ -78,7 +83,7 @@ namespace armarx::aron::codegenerator::cpp::generator
fields.push_back(std::make_shared<CppField>("static inline const std::map<" + std::string(IMPL_ENUM) + ", int>", "EnumToValueMap", enum_to_value.str(), "Mapping enum values to a int value"));
fields.push_back(std::make_shared<CppField>("static inline const std::map<int, " + std::string(IMPL_ENUM) + ">", "ValueToEnumMap", value_to_enum.str(), "Mapping int values to a enum"));
- fields.push_back(std::make_shared<CppField>(std::string(IMPL_ENUM), "value", "", "The current value of the enum object"));
+ fields.push_back(std::make_shared<CppField>(std::string(IMPL_ENUM), "value", type.getAcceptedValueNames()[0], "The current value of the enum object"));
return fields;
}
@@ -159,12 +164,7 @@ namespace armarx::aron::codegenerator::cpp::generator
return c;
}*/
- std::pair<std::vector<std::pair<std::string, std::string>>, bool> IntEnumClass::getCopyCtorInitializers(const std::string&) const
- {
- return {{{"value", ARON_OTHER_ACCESSOR + ".value"}}, false};
- }
-
- CppCtorPtr IntEnumClass::toInnerEnumCtor(const std::string& name) const
+ CppCtorPtr IntEnumClass::toEnumCtor(const std::string& name) const
{
CppCtorPtr c = std::make_shared<CppCtor>(name + "(const " + std::string(IMPL_ENUM) + " e)");
std::vector<std::pair<std::string, std::string>> initList = {{"value", "e"}};
@@ -173,12 +173,12 @@ namespace armarx::aron::codegenerator::cpp::generator
return c;
}
- CppEnumPtr IntEnumClass::toInnerEnumDefinition() const
+ std::vector<CppEnumFieldPtr> IntEnumClass::toEnumFields() const
{
- CppEnumPtr e = std::make_shared<CppEnum>(std::string(IMPL_ENUM), "The internal enum definition of the enum of this autogenerated class.");
+ std::vector<CppEnumFieldPtr> e;
for (const auto& [key, value] : type.getAcceptedValueMap())
{
- e->addField(std::make_shared<CppEnumField>(key));
+ e.push_back(std::make_shared<CppEnumField>(key));
}
return e;
}
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.h
index 10d6ca0c14d8100e71d78944f24fd3f46870b8e1..fb5e22671ba678ea69072e7b97fee54dbdd395e9 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.h
@@ -43,8 +43,6 @@ namespace armarx::aron::codegenerator::cpp::generator
// virtual implementations
std::vector<CppFieldPtr> getPublicVariableDeclarations(const std::string&) const final;
- std::pair<std::vector<std::pair<std::string, std::string>>, bool> getCopyCtorInitializers(const std::string&) const final;
-
CppBlockPtr getResetHardBlock(const std::string& cppAccessor) const final;
CppBlockPtr getResetSoftBlock(const std::string& cppAccessor) const final;
CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path&, std::string& variantAccessor) const final;
@@ -54,8 +52,8 @@ namespace armarx::aron::codegenerator::cpp::generator
// TODO: Move some of those methods to upper class for enums (if we want to support multiple enums)
//CppCtorPtr toCopyCtor(const std::string&) const;
- CppCtorPtr toInnerEnumCtor(const std::string&) const;
- CppEnumPtr toInnerEnumDefinition() const;
+ std::vector<CppEnumFieldPtr> toEnumFields() const;
+ CppCtorPtr toEnumCtor(const std::string&) const;
CppMethodPtr toIntMethod() const;
CppMethodPtr toCopyAssignmentMethod() const;
CppMethodPtr toEnumAssignmentMethod() const;
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.cpp
index e3af89daa12ecc2de2f4fe60d9269dd48f729c9a..605c7b8655db3accb2dd1999d7c62e1cfc48730e 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/ObjectClass.cpp
@@ -47,7 +47,7 @@ namespace armarx::aron::codegenerator::cpp::generator
std::vector<std::string> ObjectClass::getRequiredIncludes() const
{
std::vector<std::string> ret;
- for (const auto& [key, child] : type.getMemberTypes())
+ for (const auto& [key, child] : type.getDirectMemberTypes())
{
(void) key;
auto child_s = FromAronType(*child);
@@ -59,7 +59,7 @@ namespace armarx::aron::codegenerator::cpp::generator
std::vector<CppFieldPtr> ObjectClass::getPublicVariableDeclarations(const std::string&) const
{
std::vector<CppFieldPtr> fields;
- for (const auto& [key, member] : type.getMemberTypes())
+ for (const auto& [key, member] : type.getDirectMemberTypes())
{
auto member_s = FromAronType(*member);
std::vector<CppFieldPtr> member_fields = member_s->getPublicVariableDeclarations(key);
@@ -77,7 +77,7 @@ namespace armarx::aron::codegenerator::cpp::generator
block_if_data->addLine(extends_s->getFullInstantiatedCppTypename() + "::resetSoft();");
}
- for (const auto& [key, child] : type.getMemberTypes())
+ for (const auto& [key, child] : type.getDirectMemberTypes())
{
auto child_s = FromAronType(*child);
CppBlockPtr b2 = child_s->getResetSoftBlock(key);
@@ -95,7 +95,7 @@ namespace armarx::aron::codegenerator::cpp::generator
block_if_data->addLine(extends_s->getFullInstantiatedCppTypename() + "::resetHard();");
}
- for (const auto& [key, child] : type.getMemberTypes())
+ for (const auto& [key, child] : type.getDirectMemberTypes())
{
const auto child_s = FromAronType(*child);
CppBlockPtr b2 = child_s->getResetHardBlock(key);
@@ -127,7 +127,7 @@ namespace armarx::aron::codegenerator::cpp::generator
}
b->addLine("// members of " + this->getFullInstantiatedCppTypename());
- for (const auto& [key, child] : type.getMemberTypes())
+ for (const auto& [key, child] : type.getDirectMemberTypes())
{
const auto child_s = FromAronType(*child);
std::string child_return_variant;
@@ -176,7 +176,7 @@ namespace armarx::aron::codegenerator::cpp::generator
}
block_if_data->addLine("// members of " + this->getFullInstantiatedCppTypename());
- for (const auto& [key, child] : type.getMemberTypes())
+ for (const auto& [key, child] : type.getDirectMemberTypes())
{
const auto child_s = FromAronType(*child);
std::string child_return_variant;
@@ -210,7 +210,7 @@ namespace armarx::aron::codegenerator::cpp::generator
block_if_data->addLine("" + ARON_READER_ACCESSOR + ".readDict("+variantAccessor+", "+OBJECT_MEMBERS_ACCESSOR+"); // of top level object " + getInstantiatedCppTypename());
- for (const auto& [key, child] : type.getMemberTypes())
+ for (const auto& [key, child] : type.getDirectMemberTypes())
{
const auto child_s = FromAronType(*child);
std::string child_accessor = OBJECT_MEMBERS_ACCESSOR + "_" + key + "_iterator";
@@ -230,7 +230,7 @@ namespace armarx::aron::codegenerator::cpp::generator
block_if_data->addLine("if (not (" + extends_s->getFullInstantiatedCppTypename() + "::operator== (" + otherInstanceAccessor + ")))");
block_if_data->addLineAsBlock("return false;");
}
- for (const auto& [key, child] : type.getMemberTypes())
+ for (const auto& [key, child] : type.getDirectMemberTypes())
{
auto child_s = FromAronType(*child);
CppBlockPtr b2 = child_s->getEqualsBlock(key, otherInstanceAccessor + "." + key);
@@ -250,7 +250,7 @@ namespace armarx::aron::codegenerator::cpp::generator
}
bool anyComplex = false;
- for (const auto& [key, child] : type.getMemberTypes())
+ for (const auto& [key, child] : type.getDirectMemberTypes())
{
auto child_s = FromAronType(*child);
auto initList = child_s->getCopyCtorInitializers(key);
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/helper/ReaderInfo.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/helper/ReaderInfo.h
index 3bda10de7b14849fe6e18da11f7201704c2f3670..486a57879e42fa1eaced1d76231bf63f181a7312 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/helper/ReaderInfo.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/helper/ReaderInfo.h
@@ -37,6 +37,7 @@ namespace armarx::aron::codegenerator
std::string include;
std::string enforceConversion = "";
std::string enforceMemberAccess = "";
+ bool override = false;
};
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/helper/WriterInfo.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/helper/WriterInfo.h
index 1989ac5de9e93ee5ddda8ac66cfa1e65edeab98b..c7dc87033b6fe87356e2b79a42b477ed8bd37b3d 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/helper/WriterInfo.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/helper/WriterInfo.h
@@ -37,5 +37,6 @@ namespace armarx::aron::codegenerator
std::string include;
std::string enforceConversion = "";
std::string enforceMemberAccess = "";
+ bool override = false;
};
}
diff --git a/source/RobotAPI/libraries/aron/codegeneration/test/CMakeLists.txt b/source/RobotAPI/libraries/aron/codegeneration/test/CMakeLists.txt
index d7add84ada2fcafe2c8bf8f9f9a8d2c40e663c7d..3b05caec20fae2d7a43b406f043e4c2da703923c 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/test/CMakeLists.txt
+++ b/source/RobotAPI/libraries/aron/codegeneration/test/CMakeLists.txt
@@ -106,6 +106,24 @@ armarx_add_test(
${Simox_INCLUDE_DIR}
)
+######################
+# ARON CONVERSION TEST
+######################
+armarx_add_test(
+ TEST_NAME
+ aronConversionTest
+ TEST_FILE
+ aronConversionTest.cpp
+ LIBS
+ SimoxUtility # Simox::SimoxUtility
+ ArmarXCore
+ RobotAPI::aron
+ ARON_FILES
+ aron/HumanPoseTest.xml
+ INCLUDE_DIRECTORIES
+ ${Simox_INCLUDE_DIR}
+)
+
######################
# ARON JSON EXPORT TEST
######################
diff --git a/source/RobotAPI/libraries/aron/codegeneration/test/aronConversionTest.cpp b/source/RobotAPI/libraries/aron/codegeneration/test/aronConversionTest.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..636f9bde6472fb9596a0a1a07d6343f3690da808
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/codegeneration/test/aronConversionTest.cpp
@@ -0,0 +1,97 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package RobotAPI::ArmarXObjects::aron
+ * @author Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
+ * @date 2019
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#define BOOST_TEST_MODULE RobotAPI::ArmarXLibraries::aron
+
+#define ARMARX_BOOST_TEST
+
+// STD/STL
+#include <iostream>
+#include <cstdlib>
+#include <ctime>
+#include <numeric>
+
+// Test
+#include <RobotAPI/Test.h>
+
+// Aron
+#include <RobotAPI/libraries/aron/core/data/variant/All.h>
+#include <RobotAPI/libraries/aron/codegeneration/test/aron/HumanPoseTest.aron.generated.h>
+
+
+using namespace armarx;
+using namespace aron;
+
+namespace armarx
+{
+ class HumanPoseBO
+ {
+ public:
+ std::vector<float> jointValues;
+ bool reached;
+
+ HumanPoseBO() = default;
+
+ void fromAron(const HumanPoseTest& aron)
+ {
+ jointValues = aron.jointValues;
+ reached = aron.reached;
+ }
+
+ HumanPoseTest toAron()
+ {
+ HumanPoseTest aron;
+ aron.jointValues = jointValues;
+ aron.reached = reached;
+ return aron;
+ }
+ };
+
+ void fromAron(const HumanPoseTest& aron, HumanPoseBO& bo)
+ {
+ bo.jointValues = aron.jointValues;
+ bo.reached = aron.reached;
+ }
+
+ void toAron(HumanPoseTest& aron, const HumanPoseBO& bo)
+ {
+ aron.jointValues = bo.jointValues;
+ aron.reached = bo.reached;
+ }
+
+ BOOST_AUTO_TEST_CASE(AronAssignmentTest)
+ {
+ armarx::HumanPoseTest aron;
+ aron.jointValues = {1,2,3,4};
+ aron.reached = true;
+
+ HumanPoseBO bo;
+ aron.to(bo);
+
+ BOOST_CHECK((aron.jointValues == bo.jointValues));
+
+ HumanPoseBO bo2;
+ aron.to(bo, &fromAron);
+
+ BOOST_CHECK((aron.jointValues == bo2.jointValues));
+ }
+}
diff --git a/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Data.h b/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Data.h
index a2b724af0ceb6a029c76db86341e8445c725eebc..bc557478142396f30a2d92191b469e2f7fcf438f 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Data.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Data.h
@@ -24,12 +24,13 @@
#pragma once
// STD/STL
-#include <memory>
#include <map>
+#include <memory>
#include <optional>
// ArmarX
#include <SimoxUtility/xml.h>
+
#include <ArmarXCore/core/rapidxml/wrapper/RapidXmlReader.h>
/**
@@ -97,10 +98,10 @@ namespace armarx::aron::typereader::xml
const std::string QUATERNION_TAG = "quaternion";
const std::string IMAGE_TAG = "image";
const std::string POINT_CLOUD_TAG = "pointcloud";
- const std::string INT_TAG = "int";
- const std::string LONG_TAG = "long";
- const std::string FLOAT_TAG = "float";
- const std::string DOUBLE_TAG = "double";
+ const std::string INT_TAG = "int32";
+ const std::string LONG_TAG = "int64";
+ const std::string FLOAT_TAG = "float32";
+ const std::string DOUBLE_TAG = "float64";
const std::string STRING_TAG = "string";
const std::string BOOL_TAG = "bool";
const std::string ANY_OBJECT_TAG = "anyobject";
@@ -108,33 +109,88 @@ namespace armarx::aron::typereader::xml
// others
const std::vector<std::string> WHATEVER_VALUES = {"?"};
- // Replacements ({tagName, {replacementsTag, additionalAronDTOXMLIncludePackagePath}})
- const std::map<std::string, std::pair<std::string, std::pair<std::string, std::string>>> REPLACEMENTS =
+ struct Replacement
{
- {"position", {"<matrix rows='3' cols='1' type='float32' />", {}}},
- {"pose", {"<matrix rows='4' cols='4' type='float32' />", {}}},
- {"orientation", {"<quaternion type='float32' />", {}}},
-
- // You can also add replacements for arondtos here!
- // structure: {xml-identifier, {replacement, auto-include}}
- {"datetime", {"<armarx::arondto::DateTime />", {"RobotAPI", "libraries/aron/common/aron/time.xml"}}},
- {"time", {"<armarx::arondto::DateTime />", {"RobotAPI", "libraries/aron/common/aron/time.xml"}}},
- {"duration", {"<armarx::arondto::Duration />", {"RobotAPI", "libraries/aron/common/aron/time.xml"}}},
- {"framedposition", {"<armarx::arondto::FramedPosition />", {"RobotAPI", "libraries/aron/common/aron/framed.xml"}}},
- {"framedorientation", {"<armarx::arondto::FramedOrientation />", {"RobotAPI", "libraries/aron/common/aron/framed.xml"}}},
- {"framedpose", {"<armarx::arondto::FramedPose />", {"RobotAPI", "libraries/aron/common/aron/framed.xml"}}}
+ std::string replacementTag;
+ std::pair<std::string, std::string> additionalAronDTOXMLIncludePackagePath;
+ std::string deprecatedWarning;
};
- }
+ // Replacements ({tagName, {replacementsTag, additionalAronDTOXMLIncludePackagePath}, deprecationwarning})
+ const std::map<std::string, Replacement> REPLACEMENTS = {
+ {"int",
+ {"<int32 />", {}, "The <int />-tag is deprecated. Please use <int32 /> instead."}},
+ {"long",
+ {"<int64 />", {}, "The <long />-tag is deprecated. Please use <int64 /> instead."}},
+ {"float",
+ {"<float32 />",
+ {},
+ "The <float />-tag is deprecated. Please use <float32 /> instead."}},
+ {"double",
+ {"<float64 />",
+ {},
+ "The <double />-tag is deprecated. Please use <float64 /> instead."}},
+
+ // should that be deprecated?
+ {"position", {"<matrix rows='3' cols='1' type='float32' />", {}, ""}},
+ {"pose", {"<matrix rows='4' cols='4' type='float32' />", {}, ""}},
+ {"orientation", {"<quaternion type='float32' />", {}, ""}},
+
+ // values similar to eigen
+ {"quaternionf", {"<quaternion type='float32' />", {}, ""}},
+ {"quaterniond", {"<quaternion type='float64' />", {}, ""}},
+ {"vector2f", {"<matrix rows='2' cols='1' type='float32' />", {}, ""}},
+ {"vector2d", {"<matrix rows='2' cols='1' type='float64' />", {}, ""}},
+ {"vector3f", {"<matrix rows='3' cols='1' type='float32' />", {}, ""}},
+ {"vector3d", {"<matrix rows='3' cols='1' type='float64' />", {}, ""}},
+ {"vector4f", {"<matrix rows='4' cols='1' type='float32' />", {}, ""}},
+ {"vector4d", {"<matrix rows='4' cols='1' type='float64' />", {}, ""}},
+ {"matrix2f", {"<matrix rows='2' cols='2' type='float32' />", {}, ""}},
+ {"matrix2d", {"<matrix rows='2' cols='2' type='float64' />", {}, ""}},
+ {"matrix3f", {"<matrix rows='3' cols='3' type='float32' />", {}, ""}},
+ {"matrix3d", {"<matrix rows='3' cols='3' type='float64' />", {}, ""}},
+ {"matrix4f", {"<matrix rows='4' cols='4' type='float32' />", {}, ""}},
+ {"matrix4d", {"<matrix rows='4' cols='4' type='float64' />", {}, ""}},
+
+ // You can also add replacements for arondtos here!
+ // structure: {xml-identifier, {replacement, auto-include}, deprecationwarning}
+ {"datetime",
+ {"<armarx::arondto::DateTime />",
+ {"RobotAPI", "libraries/aron/common/aron/time.xml"},
+ ""}},
+ {"time",
+ {"<armarx::arondto::DateTime />",
+ {"RobotAPI", "libraries/aron/common/aron/time.xml"},
+ ""}},
+ {"duration",
+ {"<armarx::arondto::Duration />",
+ {"RobotAPI", "libraries/aron/common/aron/time.xml"},
+ ""}},
+ {"framedposition",
+ {"<armarx::arondto::FramedPosition />",
+ {"RobotAPI", "libraries/aron/common/aron/framed.xml"},
+ ""}},
+ {"framedorientation",
+ {"<armarx::arondto::FramedOrientation />",
+ {"RobotAPI", "libraries/aron/common/aron/framed.xml"},
+ ""}},
+ {"framedpose",
+ {"<armarx::arondto::FramedPose />",
+ {"RobotAPI", "libraries/aron/common/aron/framed.xml"},
+ ""}}};
+ } // namespace constantes
namespace util
{
- std::optional<RapidXmlReaderNode> GetFirstNodeWithTag(const RapidXmlReaderNode& node, const std::string& name);
+ std::optional<RapidXmlReaderNode> GetFirstNodeWithTag(const RapidXmlReaderNode& node,
+ const std::string& name);
void EnforceAttribute(const RapidXmlReaderNode& node, const std::string& att);
bool HasAttribute(const RapidXmlReaderNode& node, const std::string& att);
std::string GetAttribute(const RapidXmlReaderNode& node, const std::string& att);
- std::string GetAttributeWithDefault(const RapidXmlReaderNode& node, const std::string& att, const std::string& def);
+ std::string GetAttributeWithDefault(const RapidXmlReaderNode& node,
+ const std::string& att,
+ const std::string& def);
bool AttributeIsTrue(const RapidXmlReaderNode& node, const std::string& att);
bool HasTagName(const RapidXmlReaderNode& node, const std::string& name);
@@ -147,5 +203,5 @@ namespace armarx::aron::typereader::xml
void EnforceChildSize(const RapidXmlReaderNode& node, const size_t size);
void EnforceChildSizeGreaterEqual(const RapidXmlReaderNode& node, const size_t size);
void EnforceChildSizeGreater(const RapidXmlReaderNode& node, const size_t size);
- }
-}
+ } // namespace util
+} // namespace armarx::aron::typereader::xml
diff --git a/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Factory.cpp b/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Factory.cpp
index 9b17f8aa6ec6cfb67dbb14ccaae3e97eb9b5c111..8409c87ba128e86bab38cf78f0994d34f35844fe 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Factory.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Factory.cpp
@@ -30,11 +30,16 @@
#include "Factory.h"
// ArmarX
+#include <ArmarXCore/core/time/DateTime.h>
#include <RobotAPI/libraries/aron/core/type/variant/All.h>
#include "Data.h"
namespace armarx::aron::typereader::xml
{
+ void printDeprecationWarning(const std::string& warning)
+ {
+ std::cout << "\033[1;33mAron deprecation warning: " << warning << "\033[0m" << std::endl;
+ }
type::VariantPtr ReaderFactory::create(const RapidXmlReaderNode& node, const Path& path)
{
@@ -65,8 +70,14 @@ namespace armarx::aron::typereader::xml
// check for replacement
if (auto it = constantes::REPLACEMENTS.find(simox::alg::to_lower(nodeToUse.name())); it != constantes::REPLACEMENTS.end())
{
+ auto replacement = it->second;
+ if (!replacement.deprecatedWarning.empty())
+ {
+ printDeprecationWarning(replacement.deprecatedWarning);
+ }
+
// We make the system believe there is another string in the xml
- RapidXmlReaderPtr reader = RapidXmlReader::FromXmlString(it->second.first);
+ RapidXmlReaderPtr reader = RapidXmlReader::FromXmlString(replacement.replacementTag);
nodeToUse = reader->getRoot();
}
diff --git a/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Reader.cpp b/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Reader.cpp
index 0ca73e5b6e72da48d81babbd19efb49cc0c929e3..7e9c71cbecf3c5dd9d8952135b61625a84ce1a27 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Reader.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Reader.cpp
@@ -350,10 +350,12 @@ namespace armarx::aron::typereader::xml
std::vector<std::pair<std::string, std::string>> ret;
for (const auto& repl : constantes::REPLACEMENTS)
{
- if (not repl.second.second.first.empty() && not repl.second.second.second.empty() && util::HasTagName(node, repl.first))
+ auto replacement = repl.second;
+
+ if (not replacement.additionalAronDTOXMLIncludePackagePath.first.empty() && not replacement.additionalAronDTOXMLIncludePackagePath.second.empty() && util::HasTagName(node, repl.first))
{
// we found a string that will be replaced so we might need to add a default include
- ret.push_back(repl.second.second);
+ ret.push_back(replacement.additionalAronDTOXMLIncludePackagePath);
break;
}
}
diff --git a/source/RobotAPI/libraries/aron/converter/common/DatatypeConverter.cpp b/source/RobotAPI/libraries/aron/converter/common/DatatypeConverter.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..77743613df7297b67273debdbcb0c71c0d346dff
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/converter/common/DatatypeConverter.cpp
@@ -0,0 +1,151 @@
+#include "DatatypeConverter.h"
+
+namespace armarx::aron::converter
+{
+ void DatatypeConverter::visitAronVariant(const type::ObjectPtr& el)
+ {
+ auto dict = aron::make_dict(el->getPath());
+ auto type = aron::make_string(el->getFullName(), Path(el->getPath(), {typeMemberName}));
+ dict->addElement(typeMemberName, type);
+
+ for (const auto& [key, child] : el->getMemberTypes())
+ {
+ DatatypeConverter converter;
+ aron::type::visit(converter, child);
+
+ dict->addElement(key, converter.latest);
+ }
+
+ latest = dict;
+ }
+
+ void DatatypeConverter::visitAronVariant(const type::DictPtr& el)
+ {
+ auto dict = aron::make_dict(el->getPath());
+ auto type = aron::make_string(el->getFullName(), Path(el->getPath(), {typeMemberName}));
+ dict->addElement(typeMemberName, type);
+
+ auto acceptedType = el->getAcceptedType();
+ DatatypeConverter converter;
+ aron::type::visit(converter, acceptedType);
+ dict->addElement(acceptedTypeMemberName, converter.latest);
+
+ latest = dict;
+ }
+
+ void DatatypeConverter::visitAronVariant(const type::ListPtr& el)
+ {
+ auto dict = aron::make_dict(el->getPath());
+ auto type = aron::make_string(el->getFullName(), Path(el->getPath(), {typeMemberName}));
+ dict->addElement(typeMemberName, type);
+
+ auto acceptedType = el->getAcceptedType();
+ DatatypeConverter converter;
+ aron::type::visit(converter, acceptedType);
+ dict->addElement(acceptedTypeMemberName, converter.latest);
+
+ latest = dict;
+ }
+
+ void DatatypeConverter::visitAronVariant(const type::PairPtr& el)
+ {
+ auto dict = aron::make_dict(el->getPath());
+ auto type = aron::make_string(el->getFullName(), Path(el->getPath(), {typeMemberName}));
+ dict->addElement(typeMemberName, type);
+
+ auto acceptedType1 = el->getFirstAcceptedType();
+ DatatypeConverter converter1;
+ aron::type::visit(converter1, acceptedType1);
+ dict->addElement(firstAcceptedTypeMemberName, converter1.latest);
+
+ auto acceptedType2 = el->getSecondAcceptedType();
+ DatatypeConverter converter2;
+ aron::type::visit(converter2, acceptedType2);
+ dict->addElement(secondAcceptedTypeMemberName, converter2.latest);
+
+ latest = dict;
+ }
+
+ void DatatypeConverter::visitAronVariant(const type::TuplePtr& el)
+ {
+ auto dict = aron::make_dict(el->getPath());
+ auto type = aron::make_string(el->getFullName(), Path(el->getPath(), {typeMemberName}));
+ dict->addElement(typeMemberName, type);
+
+ int i = 0;
+ for (const auto& child : el->getAcceptedTypes())
+ {
+ DatatypeConverter converter;
+ aron::type::visit(converter, child);
+
+ dict->addElement(acceptedTypeMemberName + "_" + std::to_string(i++), converter.latest);
+ }
+
+ latest = dict;
+ }
+
+ void DatatypeConverter::visitAronVariant(const type::MatrixPtr& el)
+ {
+ latest = aron::make_string(el->getFullName(), el->getPath());
+ }
+
+ void DatatypeConverter::visitAronVariant(const type::NDArrayPtr& el)
+ {
+ latest = aron::make_string(el->getFullName(), el->getPath());
+ }
+
+ void DatatypeConverter::visitAronVariant(const type::QuaternionPtr& el)
+ {
+ latest = aron::make_string(el->getFullName(), el->getPath());
+ }
+
+ void DatatypeConverter::visitAronVariant(const type::PointCloudPtr& el)
+ {
+ latest = aron::make_string(el->getFullName(), el->getPath());
+ }
+
+ void DatatypeConverter::visitAronVariant(const type::ImagePtr& el)
+ {
+ latest = aron::make_string(el->getFullName(), el->getPath());
+ }
+
+ void DatatypeConverter::visitAronVariant(const type::IntEnumPtr& el)
+ {
+ latest = aron::make_string(el->getFullName(), el->getPath());
+ }
+
+ void DatatypeConverter::visitAronVariant(const type::IntPtr& el)
+ {
+ latest = aron::make_string(el->getFullName(), el->getPath());
+ }
+
+ void DatatypeConverter::visitAronVariant(const type::LongPtr& el)
+ {
+ latest = aron::make_string(el->getFullName(), el->getPath());
+ }
+
+ void DatatypeConverter::visitAronVariant(const type::FloatPtr& el)
+ {
+ latest = aron::make_string(el->getFullName(), el->getPath());
+ }
+
+ void DatatypeConverter::visitAronVariant(const type::DoublePtr& el)
+ {
+ latest = aron::make_string(el->getFullName(), el->getPath());
+ }
+
+ void DatatypeConverter::visitAronVariant(const type::BoolPtr& el)
+ {
+ latest = aron::make_string(el->getFullName(), el->getPath());
+ }
+
+ void DatatypeConverter::visitAronVariant(const type::StringPtr& el)
+ {
+ latest = aron::make_string(el->getFullName(), el->getPath());
+ }
+
+ void DatatypeConverter::visitAronVariant(const type::AnyObjectPtr& el)
+ {
+ latest = aron::make_string(el->getFullName(), el->getPath());
+ }
+}
diff --git a/source/RobotAPI/libraries/aron/converter/common/DatatypeConverter.h b/source/RobotAPI/libraries/aron/converter/common/DatatypeConverter.h
new file mode 100644
index 0000000000000000000000000000000000000000..34201b359d763ac81901135b475fd875714ab05c
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/converter/common/DatatypeConverter.h
@@ -0,0 +1,62 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author Fabian Peller ( fabian dot peller at kit dot edu )
+ * @date 2023
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <algorithm>
+#include <vector>
+
+#include <RobotAPI/libraries/aron/core/data/variant/All.h>
+#include <RobotAPI/libraries/aron/core/type/visitor/variant/VariantVisitor.h>
+
+namespace armarx::aron::converter
+{
+ class DatatypeConverter :
+ public aron::type::ConstVariantVisitor
+ {
+ const std::string typeMemberName = "_aron_type";
+ const std::string acceptedTypeMemberName = "_aron_accepted_type";
+ const std::string firstAcceptedTypeMemberName = "_aron_first_accepted_type";
+ const std::string secondAcceptedTypeMemberName = "_aron_second_accepted_type";
+
+ void visitAronVariant(const type::ObjectPtr&) override;
+ void visitAronVariant(const type::DictPtr&) override;
+ void visitAronVariant(const type::ListPtr&) override;
+ void visitAronVariant(const type::PairPtr&) override;
+ void visitAronVariant(const type::TuplePtr&) override;
+ void visitAronVariant(const type::MatrixPtr&) override;
+ void visitAronVariant(const type::NDArrayPtr&) override;
+ void visitAronVariant(const type::QuaternionPtr&) override;
+ void visitAronVariant(const type::PointCloudPtr&) override;
+ void visitAronVariant(const type::ImagePtr&) override;
+ void visitAronVariant(const type::IntEnumPtr&) override;
+ void visitAronVariant(const type::IntPtr&) override;
+ void visitAronVariant(const type::LongPtr&) override;
+ void visitAronVariant(const type::FloatPtr&) override;
+ void visitAronVariant(const type::DoublePtr&) override;
+ void visitAronVariant(const type::BoolPtr&) override;
+ void visitAronVariant(const type::StringPtr&) override;
+ void visitAronVariant(const type::AnyObjectPtr&) override;
+
+ public:
+ aron::data::VariantPtr latest;
+ };
+}
diff --git a/source/RobotAPI/libraries/aron/core/CMakeLists.txt b/source/RobotAPI/libraries/aron/core/CMakeLists.txt
index e17910e7f15989afc0c99c8284469074c1f88f34..2fb890b86fb3c9e1bd26bee37f879922c3d6bcd5 100644
--- a/source/RobotAPI/libraries/aron/core/CMakeLists.txt
+++ b/source/RobotAPI/libraries/aron/core/CMakeLists.txt
@@ -107,6 +107,8 @@ set(LIB_HEADERS
Path.h
codegeneration/cpp/AronGeneratedClass.h
+ codegeneration/cpp/AronGeneratedObject.h
+ codegeneration/cpp/AronGeneratedIntEnum.h
aron_conversions.h
rw.h
diff --git a/source/RobotAPI/libraries/aron/core/Path.cpp b/source/RobotAPI/libraries/aron/core/Path.cpp
index 8218b431b035ec878ef1a1165ed8c6cbf8b07ba5..8d15ca0c810a94fb2972c451ca87cf01758088f7 100644
--- a/source/RobotAPI/libraries/aron/core/Path.cpp
+++ b/source/RobotAPI/libraries/aron/core/Path.cpp
@@ -29,27 +29,21 @@
namespace armarx::aron
{
- Path::Path() :
- rootIdentifier("_ARON"),
- delimeter("->")
+ Path::Path() : rootIdentifier(DEFAULT_ROOT_IDENTIFIER), delimeter(DEFAULT_DELIMETER)
{
}
Path::Path(const std::vector<std::string>& p) :
- path(p)
+ rootIdentifier(DEFAULT_ROOT_IDENTIFIER), delimeter(DEFAULT_DELIMETER), path(p)
{
}
Path::Path(const Path& p) :
- rootIdentifier(p.getRootIdentifier()),
- delimeter(p.getDelimeter()),
- path(p.getPath())
+ rootIdentifier(p.getRootIdentifier()), delimeter(p.getDelimeter()), path(p.getPath())
{
-
}
- Path::Path(const Path& pa, const std::vector<std::string>& p) :
- Path(pa)
+ Path::Path(const Path& pa, const std::vector<std::string>& p) : Path(pa)
{
for (const std::string& s : p)
{
@@ -57,65 +51,78 @@ namespace armarx::aron
}
}
- void Path::setRootIdentifier(const std::string& s)
+ void
+ Path::setRootIdentifier(const std::string& s)
{
rootIdentifier = s;
}
- std::string Path::getRootIdentifier() const
+ std::string
+ Path::getRootIdentifier() const
{
return rootIdentifier;
}
- void Path::setDelimeter(const std::string& d)
+ void
+ Path::setDelimeter(const std::string& d)
{
delimeter = d;
}
- std::string Path::getDelimeter() const
+ std::string
+ Path::getDelimeter() const
{
return delimeter;
}
- void Path::append(const std::string& str)
+ void
+ Path::append(const std::string& str)
{
path.push_back(str);
}
- std::vector<std::string> Path::getPath() const
+ std::vector<std::string>
+ Path::getPath() const
{
return path;
}
- std::string Path::getLastElement() const
+ std::string
+ Path::getLastElement() const
{
if (!hasElement())
{
- throw error::AronException(__PRETTY_FUNCTION__, "Try to access last element of empty vector.");
+ throw error::AronException(__PRETTY_FUNCTION__,
+ "Try to access last element of empty vector.");
}
return path.back();
}
- std::string Path::getFirstElement() const
+ std::string
+ Path::getFirstElement() const
{
if (!hasElement())
{
- throw error::AronException(__PRETTY_FUNCTION__, "Try to access last element of empty vector.");
+ throw error::AronException(__PRETTY_FUNCTION__,
+ "Try to access last element of empty vector.");
}
return path[0];
}
- bool Path::hasElement() const
+ bool
+ Path::hasElement() const
{
return path.size() > 0;
}
- size_t Path::size() const
+ size_t
+ Path::size() const
{
return path.size();
}
- std::string Path::toString() const
+ std::string
+ Path::toString() const
{
std::stringstream ss;
ss << rootIdentifier;
@@ -126,7 +133,10 @@ namespace armarx::aron
return ss.str();
}
- Path Path::FromString(const std::string& s, const std::string& rootIdentifier, const std::string& delimeter)
+ Path
+ Path::FromString(const std::string& s,
+ const std::string& rootIdentifier,
+ const std::string& delimeter)
{
std::vector<std::string> elements = simox::alg::split(s, delimeter);
if (elements.size())
@@ -136,7 +146,8 @@ namespace armarx::aron
return Path(elements);
}
- Path Path::withIndex(int i, bool escape) const
+ Path
+ Path::withIndex(int i, bool escape) const
{
std::string el = std::to_string(i);
if (escape)
@@ -146,7 +157,8 @@ namespace armarx::aron
return Path(*this, {el});
}
- Path Path::withElement(const std::string& s, bool escape) const
+ Path
+ Path::withElement(const std::string& s, bool escape) const
{
std::string el = s;
if (escape)
@@ -156,7 +168,8 @@ namespace armarx::aron
return Path(*this, {el});
}
- Path Path::withAcceptedType(bool escape) const
+ Path
+ Path::withAcceptedType(bool escape) const
{
std::string el = "::accepted_type";
if (escape)
@@ -166,7 +179,8 @@ namespace armarx::aron
return Path(*this, {el});
}
- Path Path::withAcceptedTypeIndex(int i, bool escape) const
+ Path
+ Path::withAcceptedTypeIndex(int i, bool escape) const
{
std::string el = "::accepted_type_" + std::to_string(i);
if (escape)
@@ -176,7 +190,8 @@ namespace armarx::aron
return Path(*this, {el});
}
- Path Path::withDetachedLastElement() const
+ Path
+ Path::withDetachedLastElement() const
{
std::vector<std::string> p = path;
p.pop_back();
@@ -186,7 +201,8 @@ namespace armarx::aron
return ret;
}
- Path Path::withDetachedFirstElement() const
+ Path
+ Path::withDetachedFirstElement() const
{
std::vector<std::string> p = path;
p.erase(p.begin());
@@ -196,7 +212,8 @@ namespace armarx::aron
return ret;
}
- Path Path::getWithoutPrefix(const Path& pref) const
+ Path
+ Path::getWithoutPrefix(const Path& pref) const
{
unsigned int firstWithoutMatch = 0;
for (const std::string& el : pref.getPath())
@@ -210,11 +227,12 @@ namespace armarx::aron
firstWithoutMatch++;
}
}
- std::vector<std::string> elementsWithoutPrefix(path.begin() + firstWithoutMatch, path.end());
+ std::vector<std::string> elementsWithoutPrefix(path.begin() + firstWithoutMatch,
+ path.end());
auto ret = Path(elementsWithoutPrefix);
ret.setRootIdentifier(rootIdentifier);
ret.setDelimeter(delimeter);
return ret;
}
-}
+} // namespace armarx::aron
diff --git a/source/RobotAPI/libraries/aron/core/Path.h b/source/RobotAPI/libraries/aron/core/Path.h
index a9ffffc8a993e39ec70d980a5e8cc50df49a42c1..a88a00d84317ee20526d06334ebac5e829020591 100644
--- a/source/RobotAPI/libraries/aron/core/Path.h
+++ b/source/RobotAPI/libraries/aron/core/Path.h
@@ -24,8 +24,8 @@
#pragma once
// STD/STL
-#include<vector>
-#include<string>
+#include <string>
+#include <vector>
namespace armarx::aron
{
@@ -36,10 +36,13 @@ namespace armarx::aron
class Path
{
public:
+ static const constexpr char* DEFAULT_ROOT_IDENTIFIER = "_ARON";
+ static const constexpr char* DEFAULT_DELIMETER = "->";
+
/// default constructor
Path();
- /// constructor, taking a list of strings (a path)
+ /// default constructor, taking a list of strings (a path)
Path(const std::vector<std::string>&);
/// copy constructor
@@ -48,7 +51,7 @@ namespace armarx::aron
/// append constructor
Path(const Path&, const std::vector<std::string>&);
- /// comparison operator
+ /// copy operator
Path& operator=(const armarx::aron::Path&) = default;
std::vector<std::string> getPath() const;
@@ -69,7 +72,9 @@ namespace armarx::aron
std::string getDelimeter() const;
std::string toString() const;
- static Path FromString(const std::string&, const std::string& rootIdentifier = "_ARON", const std::string& delimeter = "->");
+ static Path FromString(const std::string&,
+ const std::string& rootIdentifier = DEFAULT_ROOT_IDENTIFIER,
+ const std::string& delimeter = DEFAULT_DELIMETER);
Path withDetachedFirstElement() const;
Path withDetachedLastElement() const;
@@ -83,4 +88,4 @@ namespace armarx::aron
std::string delimeter;
std::vector<std::string> path;
};
-}
+} // namespace armarx::aron
diff --git a/source/RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedIntEnum.h b/source/RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedIntEnum.h
new file mode 100644
index 0000000000000000000000000000000000000000..f173775dabfd4faf404ea47564f3e74183e32de8
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedIntEnum.h
@@ -0,0 +1,68 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T),
+ * Karlsruhe Institute of Technology (KIT), all rights reserved.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author Fabian Peller-Konrad (fabian dot peller-konrad at kit dot edu)
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include "AronGeneratedClass.h"
+
+
+namespace armarx::aron::cpp
+{
+ class AronGeneratedIntEnumBase : public AronGeneratedClass
+ {
+ public:
+ AronGeneratedIntEnumBase() = default;
+ virtual ~AronGeneratedIntEnumBase() = default;
+
+ /// Convert the current bo to an aron variant data dict
+ virtual armarx::aron::data::IntPtr toAron() const = 0;
+
+ /// Convert the current bo to the ice representation of an aron variant data dict
+ virtual armarx::aron::data::dto::AronIntPtr toAronDTO() const = 0;
+
+ /// Set all members of the current bo according to the aron variant data dict
+ virtual void fromAron(const armarx::aron::data::IntPtr& input) = 0;
+
+ /// Set all members of the current bo according to the ice representation of an aron variant data dict
+ virtual void fromAron(const armarx::aron::data::dto::AronIntPtr& input) = 0;
+ };
+
+ template <class Derived>
+ class AronGeneratedIntEnum :
+ public AronGeneratedIntEnumBase
+ {
+ public:
+
+ };
+
+ template <class T>
+ concept isAronGeneratedIntEnum = std::is_base_of<AronGeneratedIntEnumBase, T>::value;
+}
+
+namespace armarx::aron::codegenerator::cpp
+{
+ using AronGeneratedIntEnumBase = aron::cpp::AronGeneratedIntEnumBase;
+
+ template <class Derived>
+ using AronGeneratedIntEnum = aron::cpp::AronGeneratedIntEnum<Derived>;
+}
diff --git a/source/RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedObject.h b/source/RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedObject.h
new file mode 100644
index 0000000000000000000000000000000000000000..17d94831b41120c40dbb56932427e003fe3de1fd
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedObject.h
@@ -0,0 +1,111 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T),
+ * Karlsruhe Institute of Technology (KIT), all rights reserved.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author Fabian Peller-Konrad (fabian dot peller-konrad at kit dot edu)
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include "AronGeneratedClass.h"
+
+
+namespace armarx::aron::cpp
+{
+
+ class AronGeneratedObjectBase :
+ public AronGeneratedClass
+ {
+ public:
+ AronGeneratedObjectBase() = default;
+ virtual ~AronGeneratedObjectBase() = default;
+
+ /// Convert the current bo to an aron variant data dict
+ virtual armarx::aron::data::DictPtr toAron() const = 0;
+
+ /// Convert the current bo to the ice representation of an aron variant data dict
+ virtual armarx::aron::data::dto::DictPtr toAronDTO() const = 0;
+
+ /// Set all members of the current bo according to the aron variant data dict
+ virtual void fromAron(const armarx::aron::data::DictPtr& input) = 0;
+
+ /// Set all members of the current bo according to the ice representation of an aron variant data dict
+ virtual void fromAron(const armarx::aron::data::dto::DictPtr& input) = 0;
+ };
+
+ template <class Derived>
+ class AronGeneratedObject :
+ public AronGeneratedObjectBase
+ {
+ public:
+ AronGeneratedObject() = default;
+ virtual ~AronGeneratedObject() = default;
+
+ template <class T>
+ void to(T& t) const
+ {
+ const Derived* d = dynamic_cast<const Derived*>(this);
+ if (d)
+ {
+ t.fromAron(*d);
+ }
+ }
+
+ template <class T>
+ void from(const T& t)
+ {
+ Derived* d = dynamic_cast<Derived*>(this);
+ if (d)
+ {
+ t.toAron(*d);
+ }
+ }
+
+ template <class T>
+ void to(T& t, void(*fromAron)(const Derived&, T&)) const
+ {
+ const Derived* d = dynamic_cast<const Derived*>(this);
+ if (d)
+ {
+ fromAron(*d, t);
+ }
+ }
+
+ template <class T>
+ void from(const T& t, void(*toAron)(Derived&, const T&))
+ {
+ Derived* d = dynamic_cast<Derived*>(this);
+ if (d)
+ {
+ toAron(*d, t);
+ }
+ }
+ };
+
+ template <class T>
+ concept isAronGeneratedObject = std::is_base_of<AronGeneratedObjectBase, T>::value;
+}
+
+namespace armarx::aron::codegenerator::cpp
+{
+ using AronGeneratedObjectBase = aron::cpp::AronGeneratedObjectBase;
+
+ template <class Derived>
+ using AronGeneratedObject = aron::cpp::AronGeneratedObject<Derived>;
+}
diff --git a/source/RobotAPI/libraries/aron/core/data/visitor/RecursiveVisitor.h b/source/RobotAPI/libraries/aron/core/data/visitor/RecursiveVisitor.h
index 60cb4be0ff236ae6369f1c53adb743e96a8e31da..b9a817f59a692b2b1e288391ff9f7e438eb42002 100644
--- a/source/RobotAPI/libraries/aron/core/data/visitor/RecursiveVisitor.h
+++ b/source/RobotAPI/libraries/aron/core/data/visitor/RecursiveVisitor.h
@@ -57,7 +57,17 @@ namespace armarx::aron::data
virtual void visitDouble(Input& element) {};
virtual void visitBool(Input& element) {};
virtual void visitString(Input& element) {};
- virtual void visitUnknown(Input& element) { throw error::AronException(__PRETTY_FUNCTION__, "Unknown type in visitor."); }
+ virtual void visitUnknown(Input& element)
+ {
+ if (!element)
+ {
+ throw error::AronException(__PRETTY_FUNCTION__, "Unknown type in visitor. The element was NULL.");
+ }
+ else
+ {
+ throw error::AronException(__PRETTY_FUNCTION__, "Unknown type in visitor. The element was set but descriptor was undefined.");
+ }
+ }
virtual ~RecursiveVisitor() = default;
};
@@ -108,8 +118,16 @@ namespace armarx::aron::data
virtual void visitBool(DataInput& elementData, TypeInput& elementType) {};
virtual void visitString(DataInput& elementData, TypeInput& elementType) {};
virtual void visitAnyObject(DataInput& elementData, TypeInput& elementType) {};
- virtual void visitUnknown(DataInput& elementData, TypeInput& elementType) {
- throw error::AronException(__PRETTY_FUNCTION__, "Unknown type in visitor.");
+ virtual void visitUnknown(DataInput& elementData, TypeInput& elementType)
+ {
+ if (!elementData)
+ {
+ throw error::AronException(__PRETTY_FUNCTION__, "Unknown type in visitor. The element was NULL.");
+ }
+ else
+ {
+ throw error::AronException(__PRETTY_FUNCTION__, "Unknown type in visitor. The element was set but descriptor was undefined.");
+ }
}
virtual ~RecursiveTypedVisitor() = default;
};
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/container/Dict.cpp b/source/RobotAPI/libraries/aron/core/type/variant/container/Dict.cpp
index 482c762d1426fef9c589a5c49e1ef14689cb6dcd..edaeccf90a02ec918fdbc90733a8209616e0bc1b 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/container/Dict.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/container/Dict.cpp
@@ -80,6 +80,16 @@ namespace armarx::aron::type
return "armarx::aron::type::Dict<" + acceptedType->getFullName() + ">";
}
+ std::string Dict::GetFullNamePrefix()
+ {
+ return "armarx::aron::type::Dict";
+ }
+
+ std::string Dict::GetNamePrefix()
+ {
+ return "Dict";
+ }
+
VariantPtr Dict::navigateAbsolute(const Path& path) const
{
if (!path.hasElement())
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/container/Dict.h b/source/RobotAPI/libraries/aron/core/type/variant/container/Dict.h
index 4dfdd35e238b39b729d67c583ec9378fc19f5c0e..7ebbf72eaa7a7582d9b33157279b857c14756540 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/container/Dict.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/container/Dict.h
@@ -59,6 +59,9 @@ namespace armarx::aron::type
std::vector<VariantPtr> getChildren() const override;
size_t childrenSize() const override;
+ static std::string GetFullNamePrefix();
+ static std::string GetNamePrefix();
+
private:
// members
VariantPtr acceptedType;
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/container/List.cpp b/source/RobotAPI/libraries/aron/core/type/variant/container/List.cpp
index 7ee464bc121f8059dcd075dc29752e32be9761d4..958596b7e60f201e565d7082d2e26c7107d7ce05 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/container/List.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/container/List.cpp
@@ -80,6 +80,16 @@ namespace armarx::aron::type
return "armarx::aron::type::List<" + acceptedType->getFullName() + ">";
}
+ std::string List::GetFullNamePrefix()
+ {
+ return "armarx::aron::type::List";
+ }
+
+ std::string List::GetNamePrefix()
+ {
+ return "List";
+ }
+
VariantPtr List::navigateAbsolute(const Path& path) const
{
if (!path.hasElement())
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/container/List.h b/source/RobotAPI/libraries/aron/core/type/variant/container/List.h
index 532146e010bf8217c4669649ee2da9771c0623ec..67db861e299cc4031f560fbaa6507b20f1f3fbc5 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/container/List.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/container/List.h
@@ -58,6 +58,9 @@ namespace armarx::aron::type
std::vector<VariantPtr> getChildren() const override;
size_t childrenSize() const override;
+ static std::string GetFullNamePrefix();
+ static std::string GetNamePrefix();
+
private:
// members
VariantPtr acceptedType;
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/container/Object.cpp b/source/RobotAPI/libraries/aron/core/type/variant/container/Object.cpp
index 526cc9f053d5e7bbf1e96c5f38bbe1f49a52cfbe..f6d7d259a33220799098537cf1320d1a965bc4f7 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/container/Object.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/container/Object.cpp
@@ -54,15 +54,19 @@ namespace armarx::aron::type
{
memberTypes[key] = FromAronDTO(*t, path.withElement(key));
}
+ if (o.parent)
+ {
+ extends = FromAronObjectDTO(o.parent);
+ }
}
- ObjectPtr Object::FromAronObjectDTO(const type::dto::AronObjectPtr& aron)
+ ObjectPtr Object::FromAronObjectDTO(const type::dto::AronObjectPtr& aron, const aron::Path& path)
{
if (!aron)
{
return nullptr;
}
- return std::make_shared<Object>(*aron);
+ return std::make_shared<Object>(*aron, path);
}
type::dto::AronObjectPtr Object::ToAronObjectDTO(const ObjectPtr& aron)
@@ -141,6 +145,7 @@ namespace armarx::aron::type
ARMARX_CHECK_NOT_NULL(p);
type::dto::AronObjectPtr ex = p->toAronObjectDTO();
ARMARX_CHECK_NOT_NULL(ex);
+ aron->parent = ex;
extends = p;
}
@@ -266,6 +271,16 @@ namespace armarx::aron::type
return "armarx::aron::type::Object<" + this->aron->objectName + (extends ? (" : " + extends->getFullName()) : "") + ">";
}
+ std::string Object::GetFullNamePrefix()
+ {
+ return "armarx::aron::type::Object";
+ }
+
+ std::string Object::GetNamePrefix()
+ {
+ return "Object";
+ }
+
VariantPtr Object::navigateAbsolute(const Path& path) const
{
if (!path.hasElement())
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/container/Object.h b/source/RobotAPI/libraries/aron/core/type/variant/container/Object.h
index 9924c2cbd5e53a633122fa665b970cbc28bd6043..0f452d4b8070424af81d7d371e65acec54a4fdae 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/container/Object.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/container/Object.h
@@ -48,7 +48,8 @@ namespace armarx::aron::type
Object(const std::string&, const std::vector<std::string>& templates = {}, const std::vector<std::string>& templateInstantiations = {}, const std::map<std::string, VariantPtr>& = {}, const Path& = Path());
Object(const type::dto::AronObject&, const Path& = Path());
- static ObjectPtr FromAronObjectDTO(const type::dto::AronObjectPtr&);
+ static ObjectPtr FromAronObjectDTO(const type::dto::AronObjectPtr&,
+ const aron::Path& path = aron::Path());
static type::dto::AronObjectPtr ToAronObjectDTO(const ObjectPtr&);
// public member functions
@@ -86,6 +87,9 @@ namespace armarx::aron::type
std::vector<VariantPtr> getChildren() const override;
size_t childrenSize() const override;
+ static std::string GetFullNamePrefix();
+ static std::string GetNamePrefix();
+
private:
// members
std::shared_ptr<Object> extends;
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/container/Pair.cpp b/source/RobotAPI/libraries/aron/core/type/variant/container/Pair.cpp
index 40b3cac3beb89df0323e08ffc681bde47ff29881..c147bd3dd3ab17a66b9e0068e6d3e044c663e67d 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/container/Pair.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/container/Pair.cpp
@@ -115,6 +115,16 @@ namespace armarx::aron::type
return "armarx::aron::type::Pair<" + acceptedType1->getFullName() + ", " + acceptedType2->getFullName() + ">";
}
+ std::string Pair::GetFullNamePrefix()
+ {
+ return "armarx::aron::type::Pair";
+ }
+
+ std::string Pair::GetNamePrefix()
+ {
+ return "Pair";
+ }
+
VariantPtr Pair::navigateAbsolute(const Path& path) const
{
if (!path.hasElement())
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/container/Pair.h b/source/RobotAPI/libraries/aron/core/type/variant/container/Pair.h
index a63f6819406ce2b328e97a4026aeae21127d7b09..e8bb11cd6fa82d711d87b39cf50b1dcfbd6f71fd 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/container/Pair.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/container/Pair.h
@@ -62,6 +62,9 @@ namespace armarx::aron::type
std::vector<VariantPtr> getChildren() const override;
size_t childrenSize() const override;
+ static std::string GetFullNamePrefix();
+ static std::string GetNamePrefix();
+
private:
// members
VariantPtr acceptedType1;
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/container/Tuple.cpp b/source/RobotAPI/libraries/aron/core/type/variant/container/Tuple.cpp
index 51d45e3975bb162460fd06893e91f388ac52b9f1..cdcd605f2d475d4e8e83ab1d25a25914cc32e99a 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/container/Tuple.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/container/Tuple.cpp
@@ -112,6 +112,16 @@ namespace armarx::aron::type
return "armarx::aron::type::Tuple<" + simox::alg::to_string(names, ", ") + ">";
}
+ std::string Tuple::GetFullNamePrefix()
+ {
+ return "armarx::aron::type::Tuple";
+ }
+
+ std::string Tuple::GetNamePrefix()
+ {
+ return "Tuple";
+ }
+
VariantPtr Tuple::navigateAbsolute(const Path& path) const
{
if (!path.hasElement())
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/container/Tuple.h b/source/RobotAPI/libraries/aron/core/type/variant/container/Tuple.h
index 3281584c15d6b4bb3e50c83ce598634a2bbec324..070bed6264c8a2d9c19751d1b7866794e6e3bfb8 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/container/Tuple.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/container/Tuple.h
@@ -60,6 +60,9 @@ namespace armarx::aron::type
std::vector<VariantPtr> getChildren() const override;
size_t childrenSize() const override;
+ static std::string GetFullNamePrefix();
+ static std::string GetNamePrefix();
+
private:
std::vector<VariantPtr> acceptedTypes;
};
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/forward_declarations.h b/source/RobotAPI/libraries/aron/core/type/variant/forward_declarations.h
index ce0d34761f476da47b41db3afc6af464e7ac3146..a15811e6330d35b4d879202bf45859d5cc0e95ff 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/forward_declarations.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/forward_declarations.h
@@ -31,5 +31,7 @@ namespace armarx::aron::type
using StringPtr = std::shared_ptr<class String>;
using BoolPtr = std::shared_ptr<class Bool>;
+ using AnyObjectPtr = std::shared_ptr<class AnyObject>;
+
}
diff --git a/source/RobotAPI/libraries/aron/core/type/visitor/RecursiveVisitor.h b/source/RobotAPI/libraries/aron/core/type/visitor/RecursiveVisitor.h
index a2f46088a7b0f2261f67fac9931597cd97934f2b..0a132de3166df5d582652f07295fa084ecc05c9b 100644
--- a/source/RobotAPI/libraries/aron/core/type/visitor/RecursiveVisitor.h
+++ b/source/RobotAPI/libraries/aron/core/type/visitor/RecursiveVisitor.h
@@ -151,9 +151,6 @@ namespace armarx::aron::type
virtual void visitMatrix(Input&) {};
virtual void visitNDArray(Input&) {};
virtual void visitQuaternion(Input&) {};
- virtual void visitOrientation(Input&) {};
- virtual void visitPosition(Input&) {};
- virtual void visitPose(Input&) {};
virtual void visitImage(Input&) {};
virtual void visitPointCloud(Input&) {};
virtual void visitIntEnum(Input&) {};
diff --git a/source/RobotAPI/libraries/aron/core/type/visitor/variant/VariantVisitor.cpp b/source/RobotAPI/libraries/aron/core/type/visitor/variant/VariantVisitor.cpp
index d2b1c19a07e2b04fbf1e547d1cc39859793c90cc..72e02863e6ca67aea5be0b20ed9999a091893292 100644
--- a/source/RobotAPI/libraries/aron/core/type/visitor/variant/VariantVisitor.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/visitor/variant/VariantVisitor.cpp
@@ -147,6 +147,12 @@ namespace armarx::aron::type
visitAronVariant(aron);
}
+ void ConstVariantVisitor::visitAnyObject(Input& i)
+ {
+ auto aron = type::AnyObject::DynamicCastAndCheck(i);
+ visitAronVariant(aron);
+ }
+
void ConstVariantVisitor::visitAronVariant(const type::ObjectPtr&) {}
void ConstVariantVisitor::visitAronVariant(const type::DictPtr&) {}
void ConstVariantVisitor::visitAronVariant(const type::PairPtr&) {}
@@ -164,6 +170,7 @@ namespace armarx::aron::type
void ConstVariantVisitor::visitAronVariant(const type::DoublePtr&) {}
void ConstVariantVisitor::visitAronVariant(const type::BoolPtr&) {}
void ConstVariantVisitor::visitAronVariant(const type::StringPtr&) {}
+ void ConstVariantVisitor::visitAronVariant(const type::AnyObjectPtr&) {}
/****************************************************************************
* RecursiveVariantVisitor
@@ -227,4 +234,166 @@ namespace armarx::aron::type
{
return GetTupleAcceptedTypes(t);
}
+
+ void RecursiveConstVariantVisitor::visitObjectOnEnter(Input& i)
+ {
+ auto aron = type::Object::DynamicCastAndCheck(i);
+ visitAronVariantEnter(aron);
+ }
+
+ void RecursiveConstVariantVisitor::visitObjectOnExit(Input& i)
+ {
+ auto aron = type::Object::DynamicCastAndCheck(i);
+ visitAronVariantExit(aron);
+ }
+
+ void RecursiveConstVariantVisitor::visitDictOnEnter(Input& i)
+ {
+ auto aron = type::Dict::DynamicCastAndCheck(i);
+ visitAronVariantEnter(aron);
+ }
+
+ void RecursiveConstVariantVisitor::visitDictOnExit(Input& i)
+ {
+ auto aron = type::Dict::DynamicCastAndCheck(i);
+ visitAronVariantExit(aron);
+ }
+
+ void RecursiveConstVariantVisitor::visitPairOnEnter(Input& i)
+ {
+ auto aron = type::Pair::DynamicCastAndCheck(i);
+ visitAronVariantEnter(aron);
+ }
+
+ void RecursiveConstVariantVisitor::visitPairOnExit(Input& i)
+ {
+ auto aron = type::Pair::DynamicCastAndCheck(i);
+ visitAronVariantExit(aron);
+ }
+
+ void RecursiveConstVariantVisitor::visitTupleOnEnter(Input& i)
+ {
+ auto aron = type::Tuple::DynamicCastAndCheck(i);
+ visitAronVariantEnter(aron);
+ }
+
+ void RecursiveConstVariantVisitor::visitTupleOnExit(Input& i)
+ {
+ auto aron = type::Tuple::DynamicCastAndCheck(i);
+ visitAronVariantExit(aron);
+ }
+
+ void RecursiveConstVariantVisitor::visitListOnEnter(Input& i)
+ {
+ auto aron = type::List::DynamicCastAndCheck(i);
+ visitAronVariantEnter(aron);
+ }
+
+ void RecursiveConstVariantVisitor::visitListOnExit(Input& i)
+ {
+ auto aron = type::List::DynamicCastAndCheck(i);
+ visitAronVariantExit(aron);
+ }
+
+ void RecursiveConstVariantVisitor::visitMatrix(Input& i)
+ {
+ auto aron = type::Matrix::DynamicCastAndCheck(i);
+ visitAronVariant(aron);
+ }
+
+ void RecursiveConstVariantVisitor::visitNDArray(Input& i)
+ {
+ auto aron = type::NDArray::DynamicCastAndCheck(i);
+ visitAronVariant(aron);
+ }
+
+ void RecursiveConstVariantVisitor::visitQuaternion(Input & i)
+ {
+ auto aron = type::Quaternion::DynamicCastAndCheck(i);
+ visitAronVariant(aron);
+ }
+
+ void RecursiveConstVariantVisitor::visitImage(Input& i)
+ {
+ auto aron = type::Image::DynamicCastAndCheck(i);
+ visitAronVariant(aron);
+ }
+
+ void RecursiveConstVariantVisitor::visitPointCloud(Input& i)
+ {
+ auto aron = type::PointCloud::DynamicCastAndCheck(i);
+ visitAronVariant(aron);
+ }
+
+ void RecursiveConstVariantVisitor::visitIntEnum(Input& i)
+ {
+ auto aron = type::IntEnum::DynamicCastAndCheck(i);
+ visitAronVariant(aron);
+ }
+
+ void RecursiveConstVariantVisitor::visitInt(Input& i)
+ {
+ auto aron = type::Int::DynamicCastAndCheck(i);
+ visitAronVariant(aron);
+ }
+
+ void RecursiveConstVariantVisitor::visitLong(Input& i)
+ {
+ auto aron = type::Long::DynamicCastAndCheck(i);
+ visitAronVariant(aron);
+ }
+
+ void RecursiveConstVariantVisitor::visitFloat(Input& i)
+ {
+ auto aron = type::Float::DynamicCastAndCheck(i);
+ visitAronVariant(aron);
+ }
+
+ void RecursiveConstVariantVisitor::visitDouble(Input& i)
+ {
+ auto aron = type::Double::DynamicCastAndCheck(i);
+ visitAronVariant(aron);
+ }
+
+ void RecursiveConstVariantVisitor::visitBool(Input& i)
+ {
+ auto aron = type::Bool::DynamicCastAndCheck(i);
+ visitAronVariant(aron);
+ }
+
+ void RecursiveConstVariantVisitor::visitString(Input& i)
+ {
+ auto aron = type::String::DynamicCastAndCheck(i);
+ visitAronVariant(aron);
+ }
+
+ void RecursiveConstVariantVisitor::visitAnyObject(Input& i)
+ {
+ auto aron = type::AnyObject::DynamicCastAndCheck(i);
+ visitAronVariant(aron);
+ }
+
+ void RecursiveConstVariantVisitor::visitAronVariantEnter(const type::ObjectPtr&) {}
+ void RecursiveConstVariantVisitor::visitAronVariantExit(const type::ObjectPtr&) {}
+ void RecursiveConstVariantVisitor::visitAronVariantEnter(const type::DictPtr&) {}
+ void RecursiveConstVariantVisitor::visitAronVariantExit(const type::DictPtr&) {}
+ void RecursiveConstVariantVisitor::visitAronVariantEnter(const type::PairPtr&) {}
+ void RecursiveConstVariantVisitor::visitAronVariantExit(const type::PairPtr&) {}
+ void RecursiveConstVariantVisitor::visitAronVariantEnter(const type::TuplePtr&) {}
+ void RecursiveConstVariantVisitor::visitAronVariantExit(const type::TuplePtr&) {}
+ void RecursiveConstVariantVisitor::visitAronVariantEnter(const type::ListPtr&) {}
+ void RecursiveConstVariantVisitor::visitAronVariantExit(const type::ListPtr&) {}
+ void RecursiveConstVariantVisitor::visitAronVariant(const type::NDArrayPtr&) {}
+ void RecursiveConstVariantVisitor::visitAronVariant(const type::MatrixPtr&) {}
+ void RecursiveConstVariantVisitor::visitAronVariant(const type::QuaternionPtr&) {}
+ void RecursiveConstVariantVisitor::visitAronVariant(const type::ImagePtr&) {}
+ void RecursiveConstVariantVisitor::visitAronVariant(const type::PointCloudPtr&) {}
+ void RecursiveConstVariantVisitor::visitAronVariant(const type::IntEnumPtr&) {}
+ void RecursiveConstVariantVisitor::visitAronVariant(const type::IntPtr&) {}
+ void RecursiveConstVariantVisitor::visitAronVariant(const type::LongPtr&) {}
+ void RecursiveConstVariantVisitor::visitAronVariant(const type::FloatPtr&) {}
+ void RecursiveConstVariantVisitor::visitAronVariant(const type::DoublePtr&) {}
+ void RecursiveConstVariantVisitor::visitAronVariant(const type::BoolPtr&) {}
+ void RecursiveConstVariantVisitor::visitAronVariant(const type::StringPtr&) {}
+ void RecursiveConstVariantVisitor::visitAronVariant(const type::AnyObjectPtr&) {}
}
diff --git a/source/RobotAPI/libraries/aron/core/type/visitor/variant/VariantVisitor.h b/source/RobotAPI/libraries/aron/core/type/visitor/variant/VariantVisitor.h
index e7e87fa45974a37ded813f3bfc156417238e5a02..fccfae04aff6b10bca173d3b096001af51dd6782 100644
--- a/source/RobotAPI/libraries/aron/core/type/visitor/variant/VariantVisitor.h
+++ b/source/RobotAPI/libraries/aron/core/type/visitor/variant/VariantVisitor.h
@@ -60,6 +60,7 @@ namespace armarx::aron::type
void visitDouble(Input&) override;
void visitBool(Input&) override;
void visitString(Input&) override;
+ void visitAnyObject(Input&) override;
// Use these if you do not want to cast manually
virtual void visitAronVariant(const type::ObjectPtr&);
@@ -79,6 +80,7 @@ namespace armarx::aron::type
virtual void visitAronVariant(const type::DoublePtr&);
virtual void visitAronVariant(const type::BoolPtr&);
virtual void visitAronVariant(const type::StringPtr&);
+ virtual void visitAronVariant(const type::AnyObjectPtr&);
};
/**
@@ -98,6 +100,57 @@ namespace armarx::aron::type
static TupleElements GetTupleAcceptedTypes(Input& t);
TupleElements getTupleAcceptedTypes(Input& t) override;
+ void visitObjectOnEnter(Input&) override;
+ void visitObjectOnExit(Input&) override;
+ void visitDictOnEnter(Input&) override;
+ void visitDictOnExit(Input&) override;
+ void visitPairOnEnter(Input&) override;
+ void visitPairOnExit(Input&) override;
+ void visitTupleOnEnter(Input&) override;
+ void visitTupleOnExit(Input&) override;
+ void visitListOnEnter(Input&) override;
+ void visitListOnExit(Input&) override;
+
+ void visitMatrix(Input&) override;
+ void visitNDArray(Input&) override;
+ void visitQuaternion(Input&) override;
+ void visitImage(Input&) override;
+ void visitPointCloud(Input&) override;
+ void visitIntEnum(Input&) override;
+ void visitInt(Input&) override;
+ void visitLong(Input&) override;
+ void visitFloat(Input&) override;
+ void visitDouble(Input&) override;
+ void visitBool(Input&) override;
+ void visitString(Input&) override;
+ void visitAnyObject(Input&) override;
+
+
+ // Use these if you do not want to cast manually
+ virtual void visitAronVariantEnter(const type::ObjectPtr&);
+ virtual void visitAronVariantExit(const type::ObjectPtr&);
+ virtual void visitAronVariantEnter(const type::DictPtr&);
+ virtual void visitAronVariantExit(const type::DictPtr&);
+ virtual void visitAronVariantEnter(const type::ListPtr&);
+ virtual void visitAronVariantExit(const type::ListPtr&);
+ virtual void visitAronVariantEnter(const type::PairPtr&);
+ virtual void visitAronVariantExit(const type::PairPtr&);
+ virtual void visitAronVariantEnter(const type::TuplePtr&);
+ virtual void visitAronVariantExit(const type::TuplePtr&);
+ virtual void visitAronVariant(const type::MatrixPtr&);
+ virtual void visitAronVariant(const type::NDArrayPtr&);
+ virtual void visitAronVariant(const type::QuaternionPtr&);
+ virtual void visitAronVariant(const type::PointCloudPtr&);
+ virtual void visitAronVariant(const type::ImagePtr&);
+ virtual void visitAronVariant(const type::IntEnumPtr&);
+ virtual void visitAronVariant(const type::IntPtr&);
+ virtual void visitAronVariant(const type::LongPtr&);
+ virtual void visitAronVariant(const type::FloatPtr&);
+ virtual void visitAronVariant(const type::DoublePtr&);
+ virtual void visitAronVariant(const type::BoolPtr&);
+ virtual void visitAronVariant(const type::StringPtr&);
+ virtual void visitAronVariant(const type::AnyObjectPtr&);
+
virtual ~RecursiveConstVariantVisitor() = default;
};
}
diff --git a/source/RobotAPI/libraries/aron_component_config/ComponentPlugin.h b/source/RobotAPI/libraries/aron_component_config/ComponentPlugin.h
index 288462223d51f039e7b38316c0e24a6f2037801f..08e496d77a9d28f09ade6599f692a89ec06cdbc4 100644
--- a/source/RobotAPI/libraries/aron_component_config/ComponentPlugin.h
+++ b/source/RobotAPI/libraries/aron_component_config/ComponentPlugin.h
@@ -50,7 +50,7 @@ namespace armarx::plugins
{
ARMARX_TRACE;
armarx::aron::component_config::PropertyDefinitionGetterVisitor vis(
- parent<armarx::PropertyUser>());
+ parent<armarx::PropertyUser>(), prefix());
auto data = std::static_pointer_cast<armarx::aron::data::Variant>(
config_.getUpToDateReadBuffer().toAron());
auto type = config_.getUpToDateReadBuffer().ToAronType();
@@ -65,7 +65,7 @@ namespace armarx::plugins
postCreatePropertyDefinitions(armarx::PropertyDefinitionsPtr& properties) override
{
ARMARX_TRACE;
- armarx::aron::component_config::PropertyDefinitionSetterVisitor vis(properties);
+ armarx::aron::component_config::PropertyDefinitionSetterVisitor vis(properties, prefix());
const auto& config = config_.getUpToDateReadBuffer();
armarx::aron::data::visitRecursive(vis, config.toAron(), config.ToAronType());
ComponentPlugin::postCreatePropertyDefinitions(properties);
diff --git a/source/RobotAPI/libraries/aron_component_config/PropertyDefinitionVisitors.cpp b/source/RobotAPI/libraries/aron_component_config/PropertyDefinitionVisitors.cpp
index ee7d67c73021d5f72b5e3e266d24938b092fea0e..03b4c0f270a1b552034022b4fed16b341085be0f 100644
--- a/source/RobotAPI/libraries/aron_component_config/PropertyDefinitionVisitors.cpp
+++ b/source/RobotAPI/libraries/aron_component_config/PropertyDefinitionVisitors.cpp
@@ -157,8 +157,8 @@ namespace armarx::aron::component_config
}
PropertyDefinitionGetterVisitor::PropertyDefinitionGetterVisitor(
- const armarx::PropertyUser& defs) :
- property_user_(std::experimental::make_observer(&defs)), in_list_(false)
+ const armarx::PropertyUser& defs, const std::string& global_namespace):
+ property_user_(std::experimental::make_observer(&defs)), global_namespace_(global_namespace), in_list_(false)
{
}
@@ -246,16 +246,16 @@ namespace armarx::aron::component_config
const std::shared_ptr<type::Variant>& j)
{
INPUT_GUARD(i);
- auto t = type::Object::DynamicCastAndCheck(j);
if (global_namespace_.empty())
{
+ auto t = type::Object::DynamicCastAndCheck(j);
global_namespace_ = t->getObjectNameWithoutNamespace() + ".";
}
}
PropertyDefinitionSetterVisitor::PropertyDefinitionSetterVisitor(
- const PropertyDefinitionsPtr& defs) :
- property_definitions_(std::experimental::make_observer(defs.get()))
+ const PropertyDefinitionsPtr& defs, const std::string& global_namespace) :
+ property_definitions_(std::experimental::make_observer(defs.get())), global_namespace_(global_namespace)
{
}
diff --git a/source/RobotAPI/libraries/aron_component_config/PropertyDefinitionVisitors.h b/source/RobotAPI/libraries/aron_component_config/PropertyDefinitionVisitors.h
index 3d48904146e5e7e5d01b90015df70d40db3a7b98..a9c1d5823bd8589acaea27b4f27928b4668ef853 100644
--- a/source/RobotAPI/libraries/aron_component_config/PropertyDefinitionVisitors.h
+++ b/source/RobotAPI/libraries/aron_component_config/PropertyDefinitionVisitors.h
@@ -34,7 +34,7 @@ namespace armarx::aron::component_config
class PropertyDefinitionSetterVisitor : public aron::data::RecursiveConstTypedVariantVisitor
{
public:
- explicit PropertyDefinitionSetterVisitor(const armarx::PropertyDefinitionsPtr& defs);
+ explicit PropertyDefinitionSetterVisitor(const armarx::PropertyDefinitionsPtr& defs, const std::string& global_namespace = "");
void visitAronVariant(const data::IntPtr&, const type::IntEnumPtr&) override;
@@ -61,7 +61,7 @@ namespace armarx::aron::component_config
private:
std::experimental::observer_ptr<PropertyDefinitionContainer> property_definitions_;
- std::string global_namespace_{""};
+ std::string global_namespace_;
std::atomic<bool> in_list_{false};
};
@@ -69,7 +69,7 @@ namespace armarx::aron::component_config
public aron::data::RecursiveTypedVisitor<data::VariantPtr, const type::VariantPtr>
{
public:
- explicit PropertyDefinitionGetterVisitor(const armarx::PropertyUser& defs);
+ explicit PropertyDefinitionGetterVisitor(const armarx::PropertyUser& defs, const std::string& global_namespace = "");
type::Descriptor getDescriptor(DataInput& o, TypeInput& t) override;
@@ -109,7 +109,7 @@ namespace armarx::aron::component_config
private:
std::experimental::observer_ptr<const armarx::PropertyUser> property_user_;
- std::string global_namespace_{""};
+ std::string global_namespace_;
std::atomic<bool> in_list_;
};
diff --git a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp
index a53e04a2a92d5062dcb8785ca94301c44fc7865c..c76da14105facaf03ff55742b22ac968fe1fd196 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp
@@ -6,24 +6,26 @@
namespace armarx::plugins
{
- void SkillProviderComponentPlugin::preOnInitComponent()
+ void
+ SkillProviderComponentPlugin::preOnInitComponent()
{
-
}
- void SkillProviderComponentPlugin::preOnConnectComponent()
+ void
+ SkillProviderComponentPlugin::preOnConnectComponent()
{
auto& p = parent<SkillProviderComponentPluginUser>();
p.getProxy(myPrx, -1);
}
- void SkillProviderComponentPlugin::postOnConnectComponent()
+ void
+ SkillProviderComponentPlugin::postOnConnectComponent()
{
auto& p = parent<SkillProviderComponentPluginUser>();
const std::string providerName = p.getName();
// update skill ownership
- for (auto& [skillName, impl] : p.skillImplementations)
+ for (auto& [skillName, impl] : skillImplementations)
{
impl.skill->manager = manager;
impl.skill->providerName = providerName;
@@ -38,10 +40,11 @@ namespace armarx::plugins
i.providedSkills = p.getSkillDescriptions();
manager->addProvider(i);
- p.connected = true;
+ connected = true;
}
- void SkillProviderComponentPlugin::preOnDisconnectComponent()
+ void
+ SkillProviderComponentPlugin::preOnDisconnectComponent()
{
auto& p = parent<SkillProviderComponentPluginUser>();
std::string providerName = p.getName();
@@ -49,22 +52,27 @@ namespace armarx::plugins
manager->removeProvider(providerName);
}
- void SkillProviderComponentPlugin::postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties)
+ void
+ SkillProviderComponentPlugin::postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties)
{
std::string prefix = "skill.";
- properties->component(manager, "SkillMemory", prefix + "SkillManager", "The name of the SkillManager (or SkillMemory) proxy this provider belongs to.");
+ properties->component(
+ manager,
+ "SkillMemory",
+ prefix + "SkillManager",
+ "The name of the SkillManager (or SkillMemory) proxy this provider belongs to.");
}
-}
-
-namespace armarx
-{
- SkillProviderComponentPluginUser::SkillProviderComponentPluginUser()
+ void
+ SkillProviderComponentPlugin::addSkill(const skills::LambdaSkill::FunT& f,
+ const skills::SkillDescription& desc)
{
- addPlugin(plugin);
+ auto lambda = std::make_unique<skills::LambdaSkill>(f, desc);
+ addSkill(std::move(lambda));
}
- void SkillProviderComponentPluginUser::addSkill(std::unique_ptr<skills::Skill>&& skill)
+ void
+ SkillProviderComponentPlugin::addSkill(std::unique_ptr<skills::Skill>&& skill)
{
if (!skill)
{
@@ -74,70 +82,119 @@ namespace armarx
std::string skillName = skill->description.skillName;
if (connected) // TODO: fix so that skills can be added anytime!!!
{
- ARMARX_WARNING << "The SkillProvider already registered to a manager. The skill '" + skillName + "' therefore cannot be added anymore. Please only add skills in the onInit method.";
+ ARMARX_WARNING << "The SkillProvider already registered to a manager. The skill '" +
+ skillName +
+ "' therefore cannot be added anymore. Please only add skills in "
+ "the onInit method.";
return;
}
// lock skills map
- std::unique_lock l(skillsMutex);
+ const std::unique_lock l(skillsMutex);
if (skillImplementations.find(skillName) != skillImplementations.end())
{
- ARMARX_WARNING << "Try to add a skill '" + skillName + "' which already exists in list. Ignoring this skill.";
+ ARMARX_WARNING << "Try to add a skill '" + skillName +
+ "' which already exists in list. Ignoring this skill.";
return;
}
ARMARX_INFO << "Adding skill and set owning provider name" << skillName;
auto s = skillImplementations.emplace(skillName, std::move(skill));
- s.first->second.statusUpdate.skillId = skills::SkillID(getName(), skillName);
+ s.first->second.statusUpdate.skillId = skills::SkillID(parent().getName(), skillName);
}
- void SkillProviderComponentPluginUser::addSkill(const skills::LambdaSkill::FunT& f, const skills::SkillDescription& desc)
+ skills::detail::SkillImplementationWrapper&
+ SkillProviderComponentPlugin::getSkill(const std::string& name)
{
- auto lambda = std::make_unique<skills::LambdaSkill>(f, desc);
- addSkill(std::move(lambda));
+ ARMARX_CHECK_GREATER(skillImplementations.count(name), 0)
+ << "Skill '" + name + "' not found.";
+ const std::unique_lock l(skillsMutex);
+ return skillImplementations.at(name);
}
- skills::provider::dto::SkillDescription SkillProviderComponentPluginUser::getSkillDescription(const std::string& name, const Ice::Current &)
+ skills::provider::dto::SkillStatusUpdateMap
+ SkillProviderComponentPlugin::getSkillExecutionStatuses() const
{
- std::shared_lock l(skillsMutex);
- const auto& skillWrapper = skillImplementations.at(name);
- return skillWrapper.skill->description.toIce();
+ skills::provider::dto::SkillStatusUpdateMap skillUpdates;
+ const std::unique_lock l(skillsMutex);
+ for (const auto& [key, impl] : skillImplementations)
+ {
+ const std::shared_lock l2(impl.skillStatusMutex);
+ skillUpdates.insert({key, impl.statusUpdate.toIce()});
+ }
+ return skillUpdates;
}
- skills::provider::dto::SkillDescriptionMap SkillProviderComponentPluginUser::getSkillDescriptions(const Ice::Current &)
+ skills::provider::dto::SkillDescriptionMap
+ SkillProviderComponentPlugin::getSkillDescriptions() const
{
- std::shared_lock l(skillsMutex);
skills::provider::dto::SkillDescriptionMap skillDesciptions;
- for (const auto& [key, skillWrapper] : skillImplementations)
+ const std::unique_lock l(skillsMutex);
+ for (const auto& [key, impl] : skillImplementations)
{
- skillDesciptions.insert({key, skillWrapper.skill->description.toIce()});
+ skillDesciptions.insert({key, impl.skill->description.toIce()});
}
return skillDesciptions;
}
- skills::provider::dto::SkillStatusUpdate SkillProviderComponentPluginUser::getSkillExecutionStatus(const std::string& skill, const Ice::Current &)
+} // namespace armarx::plugins
+
+namespace armarx
+{
+ SkillProviderComponentPluginUser::SkillProviderComponentPluginUser()
+ {
+ addPlugin(plugin);
+ }
+
+ void
+ SkillProviderComponentPluginUser::addSkill(std::unique_ptr<skills::Skill>&& skill)
{
- std::shared_lock l(skillsMutex);
- auto& skillWrapper = skillImplementations.at(skill);
+ plugin->addSkill(std::move(skill));
+ }
+
+ void
+ SkillProviderComponentPluginUser::addSkill(const skills::LambdaSkill::FunT& f,
+ const skills::SkillDescription& desc)
+ {
+ plugin->addSkill(f, desc);
+ }
+
+ skills::provider::dto::SkillDescription
+ SkillProviderComponentPluginUser::getSkillDescription(const std::string& name,
+ const Ice::Current& /*unused*/)
+ {
+
+ const auto& skillWrapper = plugin->getSkill(name);
+ return skillWrapper.skill->description.toIce();
+ }
+
+ skills::provider::dto::SkillDescriptionMap
+ SkillProviderComponentPluginUser::getSkillDescriptions(const Ice::Current& /*unused*/)
+ {
+ return plugin->getSkillDescriptions();
+ }
- std::shared_lock l2(skillWrapper.skillStatusMutex);
+ skills::provider::dto::SkillStatusUpdate
+ SkillProviderComponentPluginUser::getSkillExecutionStatus(const std::string& skill,
+ const Ice::Current& /*unused*/)
+ {
+ auto& skillWrapper = plugin->getSkill(skill);
+
+ const std::shared_lock l(skillWrapper.skillStatusMutex);
return skillWrapper.statusUpdate.toIce();
}
- skills::provider::dto::SkillStatusUpdateMap SkillProviderComponentPluginUser::getSkillExecutionStatuses(const Ice::Current &)
+ skills::provider::dto::SkillStatusUpdateMap
+ SkillProviderComponentPluginUser::getSkillExecutionStatuses(const Ice::Current& /*unused*/)
{
- std::shared_lock l(skillsMutex);
- skills::provider::dto::SkillStatusUpdateMap skillUpdates;
- for (const auto& [key, skillWrapper] : skillImplementations)
- {
- std::shared_lock l2(skillWrapper.skillStatusMutex);
- skillUpdates.insert({key, skillWrapper.statusUpdate.toIce()});
- }
- return skillUpdates;
+ return plugin->getSkillExecutionStatuses();
}
// Please not that this method waits until the skill can be scheduled!
- skills::provider::dto::SkillStatusUpdate SkillProviderComponentPluginUser::executeSkill(const skills::provider::dto::SkillExecutionRequest& info, const Ice::Current &)
+ skills::provider::dto::SkillStatusUpdate
+ SkillProviderComponentPluginUser::executeSkill(
+ const skills::provider::dto::SkillExecutionRequest& info,
+ const Ice::Current& /*unused*/)
{
// The skill will be executed in a different thread
std::thread execution;
@@ -149,19 +206,17 @@ namespace armarx
skills::provider::dto::SkillStatusUpdate ret;
{
- std::shared_lock l(skillsMutex);
- std::string skillName = info.skillName;
- ARMARX_CHECK_EXPRESSION(skillImplementations.count(skillName) > 0) << "\nThe names are: " << VAROUT(skillName) << ", " << VAROUT(getName());
-
- // get reference of the wrapper
- auto& wrapper = skillImplementations.at(skillName);
+ const std::string skillName = info.skillName;
+ auto& wrapper = plugin->getSkill(skillName);
// async start execution. But we wait for the execution to finish at the end of this method
- execution = std::thread([&ret, &wrapper, &info, &usedParameterization](){
- // execute waits until the previous execution finishes.
- auto x = wrapper.setupAndExecuteSkill(info.executorName, usedParameterization);
- ret = x.toIce();
- });
+ execution = std::thread(
+ [&ret, &wrapper, &info, &usedParameterization]()
+ {
+ // execute waits until the previous execution finishes.
+ auto x = wrapper.setupAndExecuteSkill(info.executorName, usedParameterization);
+ ret = x.toIce();
+ });
} // release lock. We don't know how long the skill needs to finish and we have to release the lock for being able to abort the execution
if (execution.joinable())
@@ -171,12 +226,16 @@ namespace armarx
return ret;
}
- void SkillProviderComponentPluginUser::abortSkill(const std::string& skillName, const Ice::Current &)
+ void
+ SkillProviderComponentPluginUser::abortSkill(const std::string& skillName, const Ice::Current& /*unused*/)
{
- std::shared_lock l(skillsMutex);
- ARMARX_CHECK_EXPRESSION(skillImplementations.count(skillName) > 0);
-
- auto& wrapper = skillImplementations.at(skillName);
+ auto& wrapper = plugin->getSkill(skillName);
wrapper.skill->notifySkillToStopASAP();
}
-}
+
+ const std::experimental::observer_ptr<plugins::SkillProviderComponentPlugin>&
+ SkillProviderComponentPluginUser::getSkillProviderPlugin() const
+ {
+ return plugin;
+ }
+} // namespace armarx
diff --git a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h
index d6d8a49a944aa190c47152aced4065bd15a19885..6b74dd1e2479068ca920dde2b8f2ec102b0d7646 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h
+++ b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h
@@ -1,29 +1,32 @@
#pragma once
-#include <shared_mutex>
+#include <functional>
#include <queue>
+#include <shared_mutex>
#include <thread>
-#include <functional>
#include <type_traits>
+#include <experimental/memory>
#include <ArmarXCore/core/ComponentPlugin.h>
#include <ArmarXCore/core/ManagedIceObject.h>
-
#include <ArmarXCore/core/services/tasks/RunningTask.h>
#include <RobotAPI/interface/skills/SkillManagerInterface.h>
#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
// Include all types of skills
-#include "Skill.h"
-#include "SpecializedSkill.h"
#include "LambdaSkill.h"
#include "PeriodicSkill.h"
#include "PeriodicSpecializedSkill.h"
+#include "Skill.h"
+#include "SpecializedSkill.h"
// Helper wrapper for execution
#include "detail/SkillImplementationWrapper.h"
-
+namespace armarx
+{
+ class SkillProviderComponentPluginUser; // forward declaration
+}
namespace armarx::plugins
{
class SkillProviderComponentPlugin : public ComponentPlugin
@@ -40,53 +43,82 @@ namespace armarx::plugins
void preOnDisconnectComponent() override;
+ void addSkill(const skills::LambdaSkill::FunT&, const skills::SkillDescription&);
+ void addSkill(std::unique_ptr<skills::Skill>&&);
+
+ template <typename T>
+ T*
+ addSkill()
+ {
+ static_assert(std::is_base_of<skills::Skill, T>::value,
+ "T must be derived from skills::Skill!");
+ static_assert(std::is_default_constructible<T>::value,
+ "T must be default constructible!");
+
+ auto skill = std::make_unique<T>();
+ auto* skillPtr = skill.get();
+ addSkill(std::move(skill));
+ return static_cast<T*>(skillPtr);
+ }
+
private:
+ skills::detail::SkillImplementationWrapper& getSkill(const std::string& name);
+ skills::provider::dto::SkillStatusUpdateMap getSkillExecutionStatuses() const;
+ skills::provider::dto::SkillDescriptionMap getSkillDescriptions() const;
+
skills::manager::dti::SkillManagerInterfacePrx manager;
skills::provider::dti::SkillProviderInterfacePrx myPrx;
+
+ mutable std::shared_mutex skillsMutex;
+
+ bool connected = false;
+ std::map<std::string, skills::detail::SkillImplementationWrapper> skillImplementations;
+
+ friend class armarx::SkillProviderComponentPluginUser;
};
-}
+} // namespace armarx::plugins
namespace armarx
{
class SkillProviderComponentPluginUser :
- virtual public ManagedIceObject,
- virtual public skills::provider::dti::SkillProviderInterface
+ virtual public ManagedIceObject,
+ virtual public skills::provider::dti::SkillProviderInterface
{
public:
SkillProviderComponentPluginUser();
- skills::provider::dto::SkillDescription getSkillDescription(const std::string&, const Ice::Current ¤t = Ice::Current()) override;
- skills::provider::dto::SkillDescriptionMap getSkillDescriptions(const Ice::Current ¤t = Ice::Current()) override;
- skills::provider::dto::SkillStatusUpdate getSkillExecutionStatus(const std::string& skill, const Ice::Current ¤t = Ice::Current()) override;
- skills::provider::dto::SkillStatusUpdateMap getSkillExecutionStatuses(const Ice::Current ¤t = Ice::Current()) override;
-
- skills::provider::dto::SkillStatusUpdate executeSkill(const skills::provider::dto::SkillExecutionRequest& executionInfo, const Ice::Current ¤t = Ice::Current()) override;
- void abortSkill(const std::string& name, const Ice::Current ¤t = Ice::Current()) override;
+ skills::provider::dto::SkillDescription
+ getSkillDescription(const std::string&,
+ const Ice::Current& current = Ice::Current()) override;
+ skills::provider::dto::SkillDescriptionMap
+ getSkillDescriptions(const Ice::Current& current = Ice::Current()) override;
+ skills::provider::dto::SkillStatusUpdate
+ getSkillExecutionStatus(const std::string& skill,
+ const Ice::Current& current = Ice::Current()) override;
+ skills::provider::dto::SkillStatusUpdateMap
+ getSkillExecutionStatuses(const Ice::Current& current = Ice::Current()) override;
+
+ skills::provider::dto::SkillStatusUpdate
+ executeSkill(const skills::provider::dto::SkillExecutionRequest& executionInfo,
+ const Ice::Current& current = Ice::Current()) override;
+ void abortSkill(const std::string& name,
+ const Ice::Current& current = Ice::Current()) override;
+
+ const std::experimental::observer_ptr<plugins::SkillProviderComponentPlugin>&
+ getSkillProviderPlugin() const;
protected:
void addSkill(const skills::LambdaSkill::FunT&, const skills::SkillDescription&);
void addSkill(std::unique_ptr<skills::Skill>&&);
- template<typename T>
- T* addSkill()
+ template <typename T>
+ T*
+ addSkill()
{
- static_assert(std::is_base_of<skills::Skill, T>::value, "T must be derived from skills::Skill!");
- static_assert(std::is_default_constructible<T>::value, "T must be default constructible!");
-
- auto skill = std::make_unique<T>();
- auto* skillPtr = skill.get();
- addSkill(std::move(skill));
- return static_cast<T*>(skillPtr);
+ return plugin->addSkill<T>();
}
private:
- armarx::plugins::SkillProviderComponentPlugin* plugin = nullptr;
-
- protected:
- mutable std::shared_mutex skillsMutex;
-
- public:
- bool connected = false;
- std::map<std::string, skills::detail::SkillImplementationWrapper> skillImplementations;
+ std::experimental::observer_ptr<plugins::SkillProviderComponentPlugin> plugin = nullptr;
};
-}
+} // namespace armarx