From 63502511dea7e2cb4124d28c8378fb14483a066b Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Mon, 14 Jun 2021 13:35:51 +0200
Subject: [PATCH] Fix Writer setting the timeCreated instead of timeSent
---
.../libraries/armem/client/Writer.cpp | 79 +++++++++++--------
.../RobotAPI/libraries/armem/client/Writer.h | 8 +-
2 files changed, 53 insertions(+), 34 deletions(-)
diff --git a/source/RobotAPI/libraries/armem/client/Writer.cpp b/source/RobotAPI/libraries/armem/client/Writer.cpp
index 9b841c6d1..2021f3a18 100644
--- a/source/RobotAPI/libraries/armem/client/Writer.cpp
+++ b/source/RobotAPI/libraries/armem/client/Writer.cpp
@@ -48,7 +48,7 @@ namespace armarx::armem::client
data::Commit commitIce;
toIce(commitIce, commit);
- data::CommitResult resultIce = this->commit(commitIce);
+ data::CommitResult resultIce = this->_commit(commitIce);
armem::CommitResult result;
fromIce(resultIce, result);
@@ -58,15 +58,57 @@ namespace armarx::armem::client
data::CommitResult Writer::commit(const data::Commit& _commit)
+ {
+ data::Commit commit = _commit;
+ return this->_commit(commit);
+ }
+
+
+ EntityUpdateResult Writer::commit(const EntityUpdate& update)
+ {
+ armem::Commit commit;
+ commit.updates.push_back(update);
+
+ armem::CommitResult result = this->commit(commit);
+ ARMARX_CHECK_EQUAL(result.results.size(), 1);
+ return result.results.at(0);
+ }
+
+ EntityUpdateResult Writer::commit(
+ const MemoryID& entityID,
+ const std::vector<aron::datanavigator::DictNavigatorPtr>& instancesData,
+ Time timeCreated)
+ {
+ EntityUpdate update;
+ update.entityID = entityID;
+ update.instancesData = instancesData;
+ update.timeCreated = timeCreated;
+ return commit(update);
+ }
+
+ void
+ Writer::setWritingMemory(server::WritingMemoryInterfacePrx memory)
+ {
+ this->memory = memory;
+ }
+
+ data::CommitResult Writer::_commit(data::Commit& commit)
{
ARMARX_CHECK_NOT_NULL(memory);
- data::Commit commit = _commit;
+ /*
+ * This function sets the `timeSent` of each `EntityUpdate` before
+ * sending the data. To allow that, `commit` needs to bo non-const.
+ * Otherwise, the function would need to make a copy of `commit`,
+ * which is not necessary in all cases; e.g. when called by
+ * `commit(Const Commit&)`, which converts the commit to ice types
+ * anyway.
+ */
- Time timeSent = armem::Time::now();
+ const Time timeSent = armem::Time::now();
for (data::EntityUpdate& update : commit.updates)
{
- update.timeCreatedMicroSeconds = timeSent.toMicroSeconds();
+ update.timeSentMicroSeconds = timeSent.toMicroSeconds();
}
data::CommitResult result;
@@ -100,35 +142,6 @@ namespace armarx::armem::client
return result;
}
-
-
- EntityUpdateResult Writer::commit(const EntityUpdate& update)
- {
- armem::Commit commit;
- commit.updates.push_back(update);
-
- armem::CommitResult result = this->commit(commit);
- ARMARX_CHECK_EQUAL(result.results.size(), 1);
- return result.results.at(0);
- }
-
- EntityUpdateResult Writer::commit(
- const MemoryID& entityID,
- const std::vector<aron::datanavigator::DictNavigatorPtr>& instancesData,
- Time timeCreated)
- {
- EntityUpdate update;
- update.entityID = entityID;
- update.instancesData = instancesData;
- update.timeCreated = timeCreated;
- return commit(update);
- }
-
- void
- Writer::setWritingMemory(server::WritingMemoryInterfacePrx memory)
- {
- this->memory = memory;
- }
}
diff --git a/source/RobotAPI/libraries/armem/client/Writer.h b/source/RobotAPI/libraries/armem/client/Writer.h
index 9c6e8851e..dd953fa36 100644
--- a/source/RobotAPI/libraries/armem/client/Writer.h
+++ b/source/RobotAPI/libraries/armem/client/Writer.h
@@ -50,6 +50,10 @@ namespace armarx::armem::client
const std::vector<aron::datanavigator::DictNavigatorPtr>& instancesData,
Time timeCreated);
+ // with bare-ice types
+ data::CommitResult commit(const data::Commit& commit);
+
+
void setWritingMemory(server::WritingMemoryInterfacePrx memory);
operator bool() const
@@ -59,7 +63,9 @@ namespace armarx::armem::client
private:
- data::CommitResult commit(const data::Commit& commit);
+ /// Sets `timeSent` on all entity updates and performs the commit,
+ data::CommitResult _commit(data::Commit& commit);
+
public:
--
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