From 678b49269a1692a3a599c04553ba9ee0cb1fef9b Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Mon, 4 Dec 2023 14:29:12 +0100
Subject: [PATCH] Auto format
---
.../armem_objects/server/class/Segment.cpp | 162 +++++++++---------
1 file changed, 85 insertions(+), 77 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
index b827d07ed..5506ddbf5 100644
--- a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
@@ -1,51 +1,55 @@
#include "Segment.h"
-#include <RobotAPI/libraries/aron/core/Exception.h>
-#include <RobotAPI/libraries/aron/common/aron_conversions.h>
-#include <RobotAPI/libraries/ArmarXObjects/aron_conversions.h>
-#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
-#include <RobotAPI/libraries/armem_objects/aron_conversions.h>
-#include <RobotAPI/libraries/armem_objects/memory_ids.h>
-#include <RobotAPI/libraries/armem_objects/aron/ObjectClass.aron.generated.h>
-
-#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
-#include <ArmarXCore/core/time/TimeUtil.h>
+#include <filesystem>
#include <SimoxUtility/color/Color.h>
#include <SimoxUtility/math/pose/pose.h>
#include <SimoxUtility/shapes/AxisAlignedBoundingBox.h>
#include <SimoxUtility/shapes/OrientedBox.h>
-#include <filesystem>
+#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
+#include <ArmarXCore/core/time/TimeUtil.h>
+#include <RobotAPI/libraries/ArmarXObjects/aron_conversions.h>
+#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
+#include <RobotAPI/libraries/armem_objects/aron/ObjectClass.aron.generated.h>
+#include <RobotAPI/libraries/armem_objects/aron_conversions.h>
+#include <RobotAPI/libraries/armem_objects/memory_ids.h>
+#include <RobotAPI/libraries/aron/common/aron_conversions.h>
+#include <RobotAPI/libraries/aron/core/Exception.h>
namespace armarx::armem::server::obj::clazz
{
Segment::Segment(armem::server::MemoryToIceAdapter& memoryToIceAdapter) :
- SpecializedCoreSegment(memoryToIceAdapter, objects::classSegmentID.coreSegmentName, arondto::ObjectClass::ToAronType(), -1)
+ SpecializedCoreSegment(memoryToIceAdapter,
+ objects::classSegmentID.coreSegmentName,
+ arondto::ObjectClass::ToAronType(),
+ -1)
{
}
-
Segment::~Segment()
{
}
-
- void Segment::defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix)
+ void
+ Segment::defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix)
{
SpecializedCoreSegment::defineProperties(defs, prefix);
- defs->optional(p.objectsPackage, prefix + "ObjectsPackage", "Name of the objects package to load from.");
- defs->optional(p.loadFromObjectsPackage, prefix + "LoadFromObjectsPackage",
+ defs->optional(p.objectsPackage,
+ prefix + "ObjectsPackage",
+ "Name of the objects package to load from.");
+ defs->optional(p.loadFromObjectsPackage,
+ prefix + "LoadFromObjectsPackage",
"If true, load the objects from the objects package on startup.");
floorVis.defineProperties(defs, prefix + "Floor.");
}
-
- void Segment::init()
+ void
+ Segment::init()
{
SpecializedCoreSegment::init();
@@ -55,8 +59,8 @@ namespace armarx::armem::server::obj::clazz
}
}
-
- void Segment::connect(viz::Client arviz)
+ void
+ Segment::connect(viz::Client arviz)
{
this->arviz = arviz;
@@ -64,28 +68,29 @@ namespace armarx::armem::server::obj::clazz
floorVis.updateFloorObject(*segmentPtr);
}
-
- void Segment::loadByObjectFinder(const std::string& objectsPackage)
+ void
+ Segment::loadByObjectFinder(const std::string& objectsPackage)
{
loadByObjectFinder(ObjectFinder(objectsPackage));
}
-
- void Segment::loadByObjectFinder(const ObjectFinder& finder)
+ void
+ Segment::loadByObjectFinder(const ObjectFinder& finder)
{
this->objectFinder = finder;
loadByObjectFinder();
}
-
- void Segment::loadByObjectFinder()
+ void
+ Segment::loadByObjectFinder()
{
const Time now = Time::Now();
const bool checkPaths = false;
std::vector<ObjectInfo> infos = objectFinder.findAllObjects(checkPaths);
- const MemoryID providerID = segmentPtr->id().withProviderSegmentName(objectFinder.getPackageName());
+ const MemoryID providerID =
+ segmentPtr->id().withProviderSegmentName(objectFinder.getPackageName());
ARMARX_INFO << "Loading up to " << infos.size() << " object classes from '"
<< objectFinder.getPackageName() << "' ...";
Commit commit;
@@ -98,18 +103,15 @@ namespace armarx::armem::server::obj::clazz
update.arrivedTime = update.referencedTime = update.sentTime = now;
arondto::ObjectClass objectClass = objectClassFromInfo(info);
- update.instancesData =
- {
- objectClass.toAron()
- };
+ update.instancesData = {objectClass.toAron()};
}
ARMARX_INFO << "Loaded " << commit.updates.size() << " object classes from '"
<< objectFinder.getPackageName() << "'.";
iceMemory.commitLocking(commit);
}
-
- void Segment::visualizeClass(const MemoryID& entityID, bool showAABB, bool showOOBB)
+ void
+ Segment::visualizeClass(const MemoryID& entityID, bool showAABB, bool showOOBB)
{
const Eigen::Matrix4f pose = Eigen::Matrix4f::Identity();
@@ -124,10 +126,11 @@ namespace armarx::armem::server::obj::clazz
{
try
{
- std::optional<arondto::ObjectClass> aron = doLocked([this, &entityID]()
- {
- return segmentPtr->findLatestInstanceDataAs<arondto::ObjectClass>(entityID, 0);
- });
+ std::optional<arondto::ObjectClass> aron = doLocked(
+ [this, &entityID]() {
+ return segmentPtr->findLatestInstanceDataAs<arondto::ObjectClass>(entityID,
+ 0);
+ });
if (not aron.has_value())
{
return;
@@ -136,23 +139,24 @@ namespace armarx::armem::server::obj::clazz
if (not aron->simoxXmlPath.package.empty())
{
layerObject.add(viz::Object(entityID.str())
- .file(aron->simoxXmlPath.package, aron->simoxXmlPath.path)
- .pose(pose));
+ .file(aron->simoxXmlPath.package, aron->simoxXmlPath.path)
+ .pose(pose));
}
if (showAABB)
{
layerAABB.add(viz::Box("AABB")
- .pose(pose * simox::math::pose(aron->aabb.center))
- .size(aron->aabb.extents)
- .color(simox::Color::cyan(255, 64)));
+ .pose(pose * simox::math::pose(aron->aabb.center))
+ .size(aron->aabb.extents)
+ .color(simox::Color::cyan(255, 64)));
}
if (showOOBB)
{
layerOOBB.add(viz::Box("OOBB")
- .pose(pose * simox::math::pose(aron->oobb.center, aron->oobb.orientation))
- .size(aron->oobb.extents)
- .color(simox::Color::lime(255, 64)));
+ .pose(pose * simox::math::pose(aron->oobb.center,
+ aron->oobb.orientation))
+ .size(aron->oobb.extents)
+ .color(simox::Color::lime(255, 64)));
}
}
catch (const armem::error::ArMemError& e)
@@ -170,16 +174,16 @@ namespace armarx::armem::server::obj::clazz
arviz.commit({layerObject, layerOrigin, layerAABB, layerOOBB});
}
-
- arondto::ObjectClass Segment::objectClassFromInfo(const ObjectInfo& info)
+ arondto::ObjectClass
+ Segment::objectClassFromInfo(const ObjectInfo& info)
{
namespace fs = std::filesystem;
arondto::ObjectClass data;
toAron(data.id, info.id());
- auto setPathIfExists = [](armarx::arondto::PackagePath & aron,
- const PackageFileLocation & location)
+ auto setPathIfExists =
+ [](armarx::arondto::PackagePath& aron, const PackageFileLocation& location)
{
if (fs::is_regular_file(location.absolutePath))
{
@@ -216,8 +220,8 @@ namespace armarx::armem::server::obj::clazz
return data;
}
-
- void Segment::RemoteGui::setup(const Segment& segment)
+ void
+ Segment::RemoteGui::setup(const Segment& segment)
{
using namespace armarx::RemoteGui::Client;
@@ -232,15 +236,15 @@ namespace armarx::armem::server::obj::clazz
group.addChildren({layout, VSpacer()});
}
-
- void Segment::RemoteGui::update(Segment& segment)
+ void
+ Segment::RemoteGui::update(Segment& segment)
{
data.update(segment);
visu.update(segment);
}
-
- void Segment::RemoteGui::Data::setup(const Segment& segment)
+ void
+ Segment::RemoteGui::Data::setup(const Segment& segment)
{
using namespace armarx::RemoteGui::Client;
@@ -264,8 +268,8 @@ namespace armarx::armem::server::obj::clazz
group.addChild(grid);
}
-
- void Segment::RemoteGui::Data::update(Segment& segment)
+ void
+ Segment::RemoteGui::Data::update(Segment& segment)
{
if (reloadButton.wasClicked())
{
@@ -275,31 +279,35 @@ namespace armarx::armem::server::obj::clazz
}
if (infiniteHistory.hasValueChanged() || maxHistorySize.hasValueChanged())
{
- segment.doLocked([this, &segment]()
- {
- segment.properties.maxHistorySize = infiniteHistory.getValue() ? -1 : maxHistorySize.getValue();
- if (segment.segmentPtr)
+ segment.doLocked(
+ [this, &segment]()
{
- segment.segmentPtr->setMaxHistorySize(long(segment.properties.maxHistorySize));
- }
- });
+ segment.properties.maxHistorySize =
+ infiniteHistory.getValue() ? -1 : maxHistorySize.getValue();
+ if (segment.segmentPtr)
+ {
+ segment.segmentPtr->setMaxHistorySize(
+ long(segment.properties.maxHistorySize));
+ }
+ });
}
}
-
- void Segment::RemoteGui::Visu::setup(const Segment& segment)
+ void
+ Segment::RemoteGui::Visu::setup(const Segment& segment)
{
using namespace armarx::RemoteGui::Client;
showComboBox = {};
showOptionsIndex.clear();
- segment.segmentPtr->forEachEntity([this](const wm::Entity & entity)
- {
- std::stringstream option;
- option << entity.id().entityName << " (" << entity.id().providerSegmentName << ")";
- showComboBox.addOption(option.str());
- showOptionsIndex.push_back(entity.id());
- });
+ segment.segmentPtr->forEachEntity(
+ [this](const wm::Entity& entity)
+ {
+ std::stringstream option;
+ option << entity.id().entityName << " (" << entity.id().providerSegmentName << ")";
+ showComboBox.addOption(option.str());
+ showOptionsIndex.push_back(entity.id());
+ });
if (showOptionsIndex.empty())
{
showComboBox.addOption("<none>");
@@ -318,8 +326,8 @@ namespace armarx::armem::server::obj::clazz
group.addChild(grid);
}
-
- void Segment::RemoteGui::Visu::update(Segment& segment)
+ void
+ Segment::RemoteGui::Visu::update(Segment& segment)
{
if (showButton.wasClicked())
{
@@ -331,4 +339,4 @@ namespace armarx::armem::server::obj::clazz
}
}
-}
+} // namespace armarx::armem::server::obj::clazz
--
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