diff --git a/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.cpp b/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.cpp
index 69c11b153943e5b8b7eb7d89ce38ba819e312d4d..0feb71ccb9d6921f28f0d5c1e0b14f5fb428c75a 100644
--- a/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.cpp
+++ b/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.cpp
@@ -157,31 +157,31 @@ namespace armarx
if (qResult.success)
{
- armem::MemoryPtr result = armem::fromIce<armem::MemoryPtr>(qResult.memory);
+ armem::Memory result = armem::fromIce<armem::Memory>(qResult.memory);
- ARMARX_CHECK_EQUAL(result->coreSegments.size(), 1);
- armem::CoreSegmentPtr& coreSeg = result->coreSegments.begin()->second;
+ ARMARX_CHECK_EQUAL(result.coreSegments.size(), 1);
+ armem::CoreSegment& coreSeg = result.coreSegments.begin()->second;
- ARMARX_CHECK_EQUAL(coreSeg->providerSegments.size(), 1);
- armem::ProviderSegmentPtr& provSeg = coreSeg->providerSegments.begin()->second;
+ ARMARX_CHECK_EQUAL(coreSeg.providerSegments.size(), 1);
+ armem::ProviderSegment& provSeg = coreSeg.providerSegments.begin()->second;
- ARMARX_CHECK_EQUAL(provSeg->entities.size(), 1);
- armem::EntityPtr& entity = provSeg->entities.begin()->second;
+ ARMARX_CHECK_EQUAL(provSeg.entities.size(), 1);
+ armem::Entity& entity = provSeg.entities.begin()->second;
- ARMARX_CHECK_GREATER_EQUAL(entity->history.size(), 1);
- armem::EntitySnapshotPtr& snapshot = entity->history.begin()->second;
+ ARMARX_CHECK_GREATER_EQUAL(entity.history.size(), 1);
+ armem::EntitySnapshot& snapshot = entity.history.begin()->second;
ARMARX_INFO << "Result: "
- << "\n- memory: \t" << result->name()
- << "\n- core segment: \t" << coreSeg->name()
- << "\n- prov segment: \t" << provSeg->name()
- << "\n- entity: \t" << entity->name()
- << "\n- snapshot: \t" << snapshot->time()
- << "\n- #instances: \t" << snapshot->instances.size()
+ << "\n- memory: \t" << result.name()
+ << "\n- core segment: \t" << coreSeg.name()
+ << "\n- prov segment: \t" << provSeg.name()
+ << "\n- entity: \t" << entity.name()
+ << "\n- snapshot: \t" << snapshot.time()
+ << "\n- #instances: \t" << snapshot.instances.size()
;
ARMARX_IMPORTANT << "Getting entity from snapshot ID";
- const armem::Entity& e = result->getEntity(entityID);
+ const armem::Entity& e = result.getEntity(entityID);
ARMARX_INFO << "Result: "
<< "\n- entity: \t" << e.name()
<< "\n- snapshot: \t" << e.getLatestSnapshot().time()
@@ -219,8 +219,8 @@ namespace armarx
if (qResult.success)
{
- armem::MemoryPtr memory = std::move(qResult.memory);
- armem::EntitySnapshot& entitySnapshot = memory->getEntity(snapshotID).getLatestSnapshot();
+ armem::Memory memory = std::move(qResult.memory);
+ armem::EntitySnapshot& entitySnapshot = memory.getEntity(snapshotID).getLatestSnapshot();
ARMARX_INFO << "Result snapshot: "
<< "\n- time: \t" << entitySnapshot.time()
diff --git a/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.h b/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.h
index 07401d4c435ff92b4fea0b0b51cc23027ef56bc6..ffdfc1154ad2131199f4c7d56dea46d154d40b71 100644
--- a/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.h
+++ b/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.h
@@ -136,7 +136,7 @@ namespace armarx
{
std::atomic_bool rebuild = false;
- armem::MemoryPtr queryResult;
+ std::optional<armem::Memory> queryResult;
RemoteGui::Client::GroupBox queryResultGroup;
};
RemoteGuiTab tab;
diff --git a/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidgetController.h b/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidgetController.h
index 08e3be5a0fce91ecbc60867f4ee7957d32353b46..64ff70a8f9a4f0922e7dac6ecf5e02b1c343cc8d 100644
--- a/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidgetController.h
+++ b/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidgetController.h
@@ -128,7 +128,7 @@ namespace armarx
armem::MemoryInterfacePrx memory;
armem::client::Reader memoryReader;
- armem::MemoryPtr memoryData;
+ std::optional<armem::Memory> memoryData;
armem::gui::MemoryTreeWidget* memoryTree;
armem::gui::QueryWidget* queryTabs;
diff --git a/source/RobotAPI/interface/armem/memory.ice b/source/RobotAPI/interface/armem/memory.ice
index 960d15efae133392c4f18fc5e787b367ea2ff883..bbf0059faf5329210ee086cf12756c098be73f1a 100644
--- a/source/RobotAPI/interface/armem/memory.ice
+++ b/source/RobotAPI/interface/armem/memory.ice
@@ -7,8 +7,6 @@ module armarx
{
module armem
{
- // WIP
-
module data
{
struct MemoryID
diff --git a/source/RobotAPI/libraries/armem/client/Query.h b/source/RobotAPI/libraries/armem/client/Query.h
index 8519c7d3452830d1d54564b17342f8be0a900814..c87435fa3c67a38788e5d80d2812b2328831f917 100644
--- a/source/RobotAPI/libraries/armem/client/Query.h
+++ b/source/RobotAPI/libraries/armem/client/Query.h
@@ -31,7 +31,7 @@ namespace armarx::armem::client
*/
struct QueryResult : public detail::SuccessHeader
{
- MemoryPtr memory;
+ Memory memory;
static QueryResult fromIce(const data::QueryResult& ice);
diff --git a/source/RobotAPI/libraries/armem/core/CoreSegment.cpp b/source/RobotAPI/libraries/armem/core/CoreSegment.cpp
index a4250f86bb955e81c0a7f55cf94bbb865df08246..c1d81cc204ffa4f5df58cd493c9860e55447ab88 100644
--- a/source/RobotAPI/libraries/armem/core/CoreSegment.cpp
+++ b/source/RobotAPI/libraries/armem/core/CoreSegment.cpp
@@ -69,7 +69,7 @@ namespace armarx::armem
other.providerSegments.clear();
for (const auto& [name, providerSegment] : this->providerSegments)
{
- other.addProviderSegment(providerSegment->copy(withData));
+ other.addProviderSegment(providerSegment.copy(withData));
}
}
@@ -89,8 +89,7 @@ namespace armarx::armem
auto it = this->providerSegments.find(name);
if (it != providerSegments.end())
{
- ARMARX_CHECK_NOT_NULL(it->second);
- return *it->second;
+ return it->second;
}
else
{
@@ -108,26 +107,24 @@ namespace armarx::armem
ProviderSegment& CoreSegment::addProviderSegment(const std::string& name, aron::typenavigator::AronObjectTypeNavigatorPtr providerSegmentType)
{
aron::typenavigator::AronObjectTypeNavigatorPtr type = providerSegmentType ? providerSegmentType : this->aronType();
- return addProviderSegment(std::make_unique<ProviderSegment>(name, type));
+ return addProviderSegment(ProviderSegment(name, type));
}
ProviderSegment& CoreSegment::addProviderSegment(const ProviderSegment& providerSegment)
{
- return addProviderSegment(std::make_unique<ProviderSegment>(providerSegment));
+ return addProviderSegment(ProviderSegment(providerSegment));
}
- ProviderSegment& CoreSegment::addProviderSegment(ProviderSegmentPtr&& providerSegment)
+ ProviderSegment& CoreSegment::addProviderSegment(ProviderSegment&& providerSegment)
{
- ARMARX_CHECK_NOT_NULL(providerSegment);
- if (hasProviderSegment(providerSegment->name()))
+ if (hasProviderSegment(providerSegment.name()))
{
throw armem::error::ContainerEntryAlreadyExists(
- providerSegment->getLevelName(), providerSegment->name(), getLevelName(), this->name());
+ providerSegment.getLevelName(), providerSegment.name(), getLevelName(), this->name());
}
- auto it = providerSegments.emplace(providerSegment->name(), std::move(providerSegment)).first;
- ARMARX_CHECK_NOT_NULL(it->second);
- it->second->id().setCoreSegmentID(id());
- return *it->second;
+ auto it = providerSegments.emplace(providerSegment.name(), std::move(providerSegment)).first;
+ it->second.id().setCoreSegmentID(id());
+ return it->second;
}
std::string CoreSegment::getLevelName() const
@@ -148,7 +145,7 @@ namespace armarx::armem
auto it = this->providerSegments.find(update.entityID.providerSegmentName);
if (it != providerSegments.end())
{
- return it->second->update(update);
+ return it->second.update(update);
}
else
{
diff --git a/source/RobotAPI/libraries/armem/core/CoreSegment.h b/source/RobotAPI/libraries/armem/core/CoreSegment.h
index 18c40941f05d3987f8a1ef07493c587596c46b14..eb20e6abc9243ac9a6f18d4db9f14e65c7376f84 100644
--- a/source/RobotAPI/libraries/armem/core/CoreSegment.h
+++ b/source/RobotAPI/libraries/armem/core/CoreSegment.h
@@ -1,7 +1,6 @@
#pragma once
#include <map>
-#include <memory>
#include <string>
#include "ProviderSegment.h"
@@ -11,15 +10,12 @@
namespace armarx::armem
{
- class CoreSegment;
- using CoreSegmentPtr = std::unique_ptr<CoreSegment>;
-
/**
* @brief Data of a core segment containing multiple provider segments.
*/
- class CoreSegment : public detail::TypedEntityContainer<ProviderSegmentPtr, CoreSegment>
+ class CoreSegment : public detail::TypedEntityContainer<ProviderSegment, CoreSegment>
{
- using Base = detail::TypedEntityContainer<ProviderSegmentPtr, CoreSegment>;
+ using Base = detail::TypedEntityContainer<ProviderSegment, CoreSegment>;
public:
@@ -61,7 +57,7 @@ namespace armarx::armem
/// Copy and insert a provider segment.
ProviderSegment& addProviderSegment(const ProviderSegment& providerSegment);
/// Move and insert a provider segment.
- ProviderSegment& addProviderSegment(ProviderSegmentPtr&& providerSegment);
+ ProviderSegment& addProviderSegment(ProviderSegment&& providerSegment);
// MemoryItem interface
@@ -77,7 +73,7 @@ namespace armarx::armem
public:
/// The provider segments.
- std::map<std::string, ProviderSegmentPtr> providerSegments;
+ std::map<std::string, ProviderSegment> providerSegments;
};
diff --git a/source/RobotAPI/libraries/armem/core/Entity.cpp b/source/RobotAPI/libraries/armem/core/Entity.cpp
index b1607a1316b61b33a1ff2f41c461a4161e71003f..1bccf59cb9700d171b26feb31844d1863cc40a6c 100644
--- a/source/RobotAPI/libraries/armem/core/Entity.cpp
+++ b/source/RobotAPI/libraries/armem/core/Entity.cpp
@@ -63,15 +63,7 @@ namespace armarx::armem
other.history.clear();
for (const auto& [time, snapshot] : this->history)
{
- if (snapshot)
- {
- other.addSnapshot(snapshot->copy(withData));
- }
- else
- {
- throw error::MissingData("entity snapshot", toDateTimeMilliSeconds(time),
- getLevelName(), this->name());
- }
+ other.addSnapshot(snapshot.copy(withData));
}
}
@@ -83,8 +75,7 @@ namespace armarx::armem
bool Entity::hasSnapshotData(Time time) const
{
- auto it = history.find(time);
- return it != history.end() && (it->second != nullptr);
+ return history.count(time) > 0;
}
EntitySnapshot& Entity::getSnapshot(Time time)
@@ -97,15 +88,7 @@ namespace armarx::armem
auto it = history.find(time);
if (it != history.end())
{
- if (it->second)
- {
- return *it->second;
- }
- else
- {
- throw error::MissingData("entity snapshot", toDateTimeMilliSeconds(time),
- getLevelName(), this->name());
- }
+ return it->second;
}
else
{
@@ -132,16 +115,7 @@ namespace armarx::armem
const EntitySnapshot& Entity::getLatestSnapshot() const
{
- auto& latest = getLatestItem();
- if (latest.second)
- {
- return *latest.second;
- }
- else
- {
- throw error::MissingData("entity snapshot", toDateTimeMilliSeconds(latest.first),
- getLevelName(), this->name());
- }
+ return getLatestItem().second;
}
Time Entity::getLatestTimestamp() const
@@ -157,25 +131,20 @@ namespace armarx::armem
EntitySnapshot& Entity::addSnapshot(const EntitySnapshot& snapshot)
{
- return addSnapshot(std::make_unique<EntitySnapshot>(snapshot));
+ return addSnapshot(EntitySnapshot(snapshot));
}
- EntitySnapshot& Entity::addSnapshot(EntitySnapshotPtr&& snapshot)
+ EntitySnapshot& Entity::addSnapshot(EntitySnapshot&& snapshot)
{
- if (!snapshot)
- {
- throw error::InvalidArgument("snapshot", __FUNCTION__, "Passed snapshot pointer is null.");
- }
- auto it = history.emplace(snapshot->time(), std::move(snapshot)).first;
- ARMARX_CHECK_NOT_NULL(it->second);
- it->second->id().setEntityID(id());
- return *it->second;
+ auto it = history.emplace(snapshot.time(), std::move(snapshot)).first;
+ it->second.id().setEntityID(id());
+ return it->second;
}
EntitySnapshot& Entity::addSnapshot(const Time& timestamp)
{
- return addSnapshot(std::make_unique<EntitySnapshot>(timestamp));
+ return addSnapshot(EntitySnapshot(timestamp));
}
MemoryID Entity::update(const EntityUpdate& update)
@@ -194,7 +163,7 @@ namespace armarx::armem
}
else
{
- snapshot = it->second.get();
+ snapshot = &it->second;
}
// Update entry.
snapshot->update(update);
@@ -230,7 +199,7 @@ namespace armarx::armem
}
}
- const std::map<Time, EntitySnapshotPtr>::value_type& Entity::getLatestItem() const
+ const std::map<Time, EntitySnapshot>::value_type& Entity::getLatestItem() const
{
if (history.empty())
{
diff --git a/source/RobotAPI/libraries/armem/core/Entity.h b/source/RobotAPI/libraries/armem/core/Entity.h
index 38241963f15cc53af1b93dd280647409d765622f..b4618a9c05d47e63f5f5412c5989ef335a497440 100644
--- a/source/RobotAPI/libraries/armem/core/Entity.h
+++ b/source/RobotAPI/libraries/armem/core/Entity.h
@@ -1,7 +1,6 @@
#pragma once
#include <map>
-#include <memory>
#include <string>
#include "../core/Time.h"
@@ -14,9 +13,6 @@
namespace armarx::armem
{
- class Entity;
- using EntityPtr = std::unique_ptr<Entity>;
-
/**
* @brief An entity over a period of time.
*
@@ -37,9 +33,9 @@ namespace armarx::armem
* each containing a single `AronData` object of a specific `AronType`.
*/
class Entity :
- public detail::MemoryContainer<std::map<Time, EntitySnapshotPtr>, Entity>
+ public detail::MemoryContainer<std::map<Time, EntitySnapshot>, Entity>
{
- using Base = detail::MemoryContainer<std::map<Time, EntitySnapshotPtr>, Entity>;
+ using Base = detail::MemoryContainer<std::map<Time, EntitySnapshot>, Entity>;
public:
@@ -124,7 +120,7 @@ namespace armarx::armem
* @return The stored snapshot.
*/
EntitySnapshot& addSnapshot(const EntitySnapshot& snapshot);
- EntitySnapshot& addSnapshot(EntitySnapshotPtr&& snapshot);
+ EntitySnapshot& addSnapshot(EntitySnapshot&& snapshot);
EntitySnapshot& addSnapshot(const Time& timestamp);
@@ -155,12 +151,12 @@ namespace armarx::armem
* @return The latest snapshot.
* @throw `armem::error::EntityHistoryEmpty` If the history is empty.
*/
- const std::map<Time, EntitySnapshotPtr>::value_type& getLatestItem() const;
+ const std::map<Time, EntitySnapshot>::value_type& getLatestItem() const;
public:
- std::map<Time, EntitySnapshotPtr> history;
+ std::map<Time, EntitySnapshot> history;
/**
* @brief Maximum size of `history`
diff --git a/source/RobotAPI/libraries/armem/core/EntityInstance.cpp b/source/RobotAPI/libraries/armem/core/EntityInstance.cpp
index e43f3c58711cbfeef2ab26c3c004b2f0d3728285..1d1dbd21631b53b8072e2173d88928be1ee563d6 100644
--- a/source/RobotAPI/libraries/armem/core/EntityInstance.cpp
+++ b/source/RobotAPI/libraries/armem/core/EntityInstance.cpp
@@ -50,14 +50,13 @@ namespace armarx::armem
this->_metadata.timeArrived = update.timeArrived;
}
- EntityInstancePtr EntityInstance::copy(bool withData) const
+ EntityInstance EntityInstance::copy(bool withData) const
{
- EntityInstancePtr other = std::make_unique<EntityInstance>();
- other->id() = id();
- other->_metadata = _metadata;
+ EntityInstance other(id());
+ other._metadata = _metadata;
if (withData)
{
- other->setData(_data);
+ other.setData(_data);
}
return other;
}
diff --git a/source/RobotAPI/libraries/armem/core/EntityInstance.h b/source/RobotAPI/libraries/armem/core/EntityInstance.h
index 3db4171c41d4557371f3f83be7a31508c247554c..5d5c1ae095b391a9639fc0694efa1f454d409560 100644
--- a/source/RobotAPI/libraries/armem/core/EntityInstance.h
+++ b/source/RobotAPI/libraries/armem/core/EntityInstance.h
@@ -1,7 +1,5 @@
#pragma once
-#include <memory>
-
#include <RobotAPI/interface/aron.h>
#include <RobotAPI/libraries/aron/aroncore/navigators/datanavigator/AronDictDataNavigator.h>
@@ -33,9 +31,6 @@ namespace armarx::armem
};
- class EntityInstance;
- using EntityInstancePtr = std::unique_ptr<EntityInstance>;
-
/**
* @brief Data of a single entity instance.
*/
@@ -79,7 +74,6 @@ namespace armarx::armem
}
-
/**
* @brief Fill `*this` with the update's values.
* @param update The update.
@@ -88,7 +82,7 @@ namespace armarx::armem
void update(const EntityUpdate& update, int index);
- EntityInstancePtr copy(bool withData = true) const;
+ EntityInstance copy(bool withData = true) const;
// MemoryItem interface
@@ -99,6 +93,7 @@ namespace armarx::armem
private:
+ /// The metadata.
EntityInstanceMetadata _metadata;
/// The data. May be nullptr.
diff --git a/source/RobotAPI/libraries/armem/core/EntitySnapshot.cpp b/source/RobotAPI/libraries/armem/core/EntitySnapshot.cpp
index 834355e513c17186c0fe64a9afbb78e38e0f29a1..7980b3fa40d490d913adcf0d72682dde997904ef 100644
--- a/source/RobotAPI/libraries/armem/core/EntitySnapshot.cpp
+++ b/source/RobotAPI/libraries/armem/core/EntitySnapshot.cpp
@@ -59,7 +59,7 @@ namespace armarx::armem
other.instances.reserve(this->instances.size());
for (const auto& data : this->instances)
{
- other.instances.emplace_back(data->copy(withData));
+ other.instances.emplace_back(data.copy(withData));
}
}
@@ -76,8 +76,8 @@ namespace armarx::armem
instances.clear();
for (int i = 0; i < int(update.instancesData.size()); ++i)
{
- EntityInstancePtr& data = instances.emplace_back(std::make_unique<EntityInstance>(i, id()));
- data->update(update, i);
+ EntityInstance& data = instances.emplace_back(i, id());
+ data.update(update, i);
}
}
@@ -98,7 +98,7 @@ namespace armarx::armem
if (hasInstance(index))
{
size_t si = size_t(index);
- return *instances[si];
+ return instances[si];
}
else
{
diff --git a/source/RobotAPI/libraries/armem/core/EntitySnapshot.h b/source/RobotAPI/libraries/armem/core/EntitySnapshot.h
index 23a2c23a4df97e38264bb602390ee51cd518b0f9..14d6c458497c5af10ed21e506fe38039f7d84114 100644
--- a/source/RobotAPI/libraries/armem/core/EntitySnapshot.h
+++ b/source/RobotAPI/libraries/armem/core/EntitySnapshot.h
@@ -14,17 +14,13 @@
namespace armarx::armem
{
- class EntitySnapshot;
- using EntitySnapshotPtr = std::unique_ptr<EntitySnapshot>;
-
-
/**
* @brief Data of an entity at one point in time.
*/
class EntitySnapshot :
- public detail::MemoryContainer<std::vector<EntityInstancePtr>, EntitySnapshot>
+ public detail::MemoryContainer<std::vector<EntityInstance>, EntitySnapshot>
{
- using Base = detail::MemoryContainer<std::vector<EntityInstancePtr>, EntitySnapshot>;
+ using Base = detail::MemoryContainer<std::vector<EntityInstance>, EntitySnapshot>;
public:
@@ -88,7 +84,7 @@ namespace armarx::armem
public:
- std::vector<EntityInstancePtr> instances;
+ std::vector<EntityInstance> instances;
};
diff --git a/source/RobotAPI/libraries/armem/core/Memory.cpp b/source/RobotAPI/libraries/armem/core/Memory.cpp
index 56594cfcc3c9862096f46add46779d650d7b2027..6979ebdeb4bb22438169b8e25eb7fb8cb2b254ce 100644
--- a/source/RobotAPI/libraries/armem/core/Memory.cpp
+++ b/source/RobotAPI/libraries/armem/core/Memory.cpp
@@ -48,7 +48,7 @@ namespace armarx::armem
other.coreSegments.clear();
for (const auto& [name, coreSegment] : this->coreSegments)
{
- other.coreSegments.emplace(name, coreSegment->copy(withData));
+ other.coreSegments.emplace(name, coreSegment.copy(withData));
}
}
@@ -67,8 +67,7 @@ namespace armarx::armem
auto it = this->coreSegments.find(name);
if (it != coreSegments.end())
{
- ARMARX_CHECK_NOT_NULL(it->second);
- return *it->second;
+ return it->second;
}
else
{
@@ -86,29 +85,24 @@ namespace armarx::armem
CoreSegment& Memory::addCoreSegment(const std::string& name, aron::typenavigator::AronObjectTypeNavigatorPtr coreSegmentType)
{
- return addCoreSegment(std::make_unique<CoreSegment>(name, coreSegmentType));
+ return addCoreSegment(CoreSegment(name, coreSegmentType));
}
CoreSegment& Memory::addCoreSegment(const CoreSegment& coreSegment)
{
- return addCoreSegment(std::make_unique<CoreSegment>(coreSegment));
+ return addCoreSegment(CoreSegment(coreSegment));
}
- CoreSegment& Memory::addCoreSegment(CoreSegmentPtr&& coreSegment)
+ CoreSegment& Memory::addCoreSegment(CoreSegment&& coreSegment)
{
- if (!coreSegment)
+ if (coreSegments.count(coreSegment.name()) > 0)
{
- throw armem::error::InvalidArgument("coreSegment", __FUNCTION__, "Must not be null.");
- }
- if (coreSegments.count(coreSegment->name()) > 0)
- {
- throw armem::error::ContainerEntryAlreadyExists(coreSegment->getLevelName(), coreSegment->name(),
+ throw armem::error::ContainerEntryAlreadyExists(coreSegment.getLevelName(), coreSegment.name(),
this->getLevelName(), this->name());
}
- auto it = coreSegments.emplace(coreSegment->name(), std::move(coreSegment)).first;
- ARMARX_CHECK_NOT_NULL(it->second);
- it->second->id().setMemoryID(id());
- return *it->second;
+ auto it = coreSegments.emplace(coreSegment.name(), std::move(coreSegment)).first;
+ it->second.id().setMemoryID(id());
+ return it->second;
}
std::vector<CoreSegment*> Memory::addCoreSegments(const std::vector<std::string>& names)
@@ -136,7 +130,7 @@ namespace armarx::armem
auto it = this->coreSegments.find(update.entityID.coreSegmentName);
if (it != coreSegments.end())
{
- return it->second->update(update);
+ return it->second.update(update);
}
else
{
@@ -165,7 +159,7 @@ namespace armarx::armem
return false;
}
- if (not(core->equalsDeep(other.getCoreSegment(key))))
+ if (not(core.equalsDeep(other.getCoreSegment(key))))
{
return false;
}
diff --git a/source/RobotAPI/libraries/armem/core/Memory.h b/source/RobotAPI/libraries/armem/core/Memory.h
index e5349ea366754f2b62e7c7eeb814cd7fd7065dfd..1f38f7eab44be7f08020c1e78c41a3460b9ebe76 100644
--- a/source/RobotAPI/libraries/armem/core/Memory.h
+++ b/source/RobotAPI/libraries/armem/core/Memory.h
@@ -1,7 +1,6 @@
#pragma once
#include <map>
-#include <memory>
#include <string>
#include "CoreSegment.h"
@@ -10,15 +9,12 @@
namespace armarx::armem
{
- class Memory;
- using MemoryPtr = std::unique_ptr<Memory>;
-
/**
* @brief Data of a memory consisting of multiple core segments.
*/
- class Memory : public detail::EntityContainer<CoreSegmentPtr, Memory>
+ class Memory : public detail::EntityContainer<CoreSegment, Memory>
{
- using Base = detail::EntityContainer<CoreSegmentPtr, Memory>;
+ using Base = detail::EntityContainer<CoreSegment, Memory>;
public:
@@ -55,7 +51,7 @@ namespace armarx::armem
/// Copy and insert a core segment.
CoreSegment& addCoreSegment(const CoreSegment& coreSegment);
/// Move and insert a core segment.
- CoreSegment& addCoreSegment(CoreSegmentPtr&& coreSegment);
+ CoreSegment& addCoreSegment(CoreSegment&& coreSegment);
/**
* @brief Add multiple core segments.
@@ -67,8 +63,10 @@ namespace armarx::armem
virtual MemoryID update(const EntityUpdate& update) override;
using Base::update;
+
bool equalsDeep(const Memory& other) const;
+
// MemoryItem interface
public:
std::string getLevelName() const override;
@@ -80,6 +78,6 @@ namespace armarx::armem
public:
- std::map<std::string, CoreSegmentPtr> coreSegments;
+ std::map<std::string, CoreSegment> coreSegments;
};
}
diff --git a/source/RobotAPI/libraries/armem/core/ProviderSegment.cpp b/source/RobotAPI/libraries/armem/core/ProviderSegment.cpp
index 2b5c4a2572ae86f26c74de482d31a4e959608bfa..28010d765fd024f0b83442082d9daf636e7274e0 100644
--- a/source/RobotAPI/libraries/armem/core/ProviderSegment.cpp
+++ b/source/RobotAPI/libraries/armem/core/ProviderSegment.cpp
@@ -41,14 +41,18 @@ namespace armarx::armem
bool ProviderSegment::equalsDeep(const ProviderSegment& other) const
{
+ if (size() != other.size())
+ {
+ return false;
+ }
for (const auto& [key, value] : entities)
{
- if (not(other.hasEntity(key)))
+ if (not other.hasEntity(key))
{
return false;
}
- if (not(value->equalsDeep(other.getEntity(key))))
+ if (not value.equalsDeep(other.getEntity(key)))
{
return false;
}
@@ -77,7 +81,7 @@ namespace armarx::armem
other.entities.clear();
for (const auto& [name, entity] : this->entities)
{
- other.addEntity(entity->copy(withData));
+ other.addEntity(entity.copy(withData));
}
}
@@ -97,8 +101,7 @@ namespace armarx::armem
auto it = this->entities.find(name);
if (it != entities.end())
{
- ARMARX_CHECK_NOT_NULL(it->second);
- return *it->second;
+ return it->second;
}
else
{
@@ -126,7 +129,7 @@ namespace armarx::armem
}
else
{
- entity = it->second.get();
+ entity = &it->second;
}
// Update entity.
return entity->update(update);
@@ -134,20 +137,19 @@ namespace armarx::armem
Entity& ProviderSegment::addEntity(const std::string& name)
{
- return addEntity(std::make_unique<Entity>(name));
+ return addEntity(Entity(name));
}
Entity& ProviderSegment::addEntity(const Entity& entity)
{
- return addEntity(std::make_unique<Entity>(entity));
+ return addEntity(Entity(entity));
}
- Entity& ProviderSegment::addEntity(EntityPtr&& entity)
+ Entity& ProviderSegment::addEntity(Entity&& entity)
{
- auto it = entities.emplace(entity->name(), std::move(entity)).first;
- ARMARX_CHECK_NOT_NULL(it->second);
- it->second->id().setProviderSegmentID(id());
- return *it->second;
+ auto it = entities.emplace(entity.name(), std::move(entity)).first;
+ it->second.id().setProviderSegmentID(id());
+ return it->second;
}
void ProviderSegment::setMaxHistorySize(long maxSize)
@@ -155,7 +157,7 @@ namespace armarx::armem
this->maxHistorySize = maxSize;
for (auto& [name, entity] : entities)
{
- entity->setMaxHistorySize(maxSize);
+ entity.setMaxHistorySize(maxSize);
}
}
diff --git a/source/RobotAPI/libraries/armem/core/ProviderSegment.h b/source/RobotAPI/libraries/armem/core/ProviderSegment.h
index 86162b657b75dcbd754532d531b92b1941a9d783..ecfa53be218d27cb9978009196aec93f68f475c7 100644
--- a/source/RobotAPI/libraries/armem/core/ProviderSegment.h
+++ b/source/RobotAPI/libraries/armem/core/ProviderSegment.h
@@ -1,7 +1,6 @@
#pragma once
#include <map>
-#include <memory>
#include <string>
#include "Entity.h"
@@ -11,15 +10,12 @@
namespace armarx::armem
{
- class ProviderSegment;
- using ProviderSegmentPtr = std::unique_ptr<ProviderSegment>;
-
/**
* @brief Data of a provider segment containing multiple entities.
*/
- class ProviderSegment : public detail::TypedEntityContainer<EntityPtr, ProviderSegment>
+ class ProviderSegment : public detail::TypedEntityContainer<Entity, ProviderSegment>
{
- using Base = detail::TypedEntityContainer<EntityPtr, ProviderSegment>;
+ using Base = detail::TypedEntityContainer<Entity, ProviderSegment>;
public:
@@ -31,7 +27,6 @@ namespace armarx::armem
ProviderSegment(const ProviderSegment& other);
ProviderSegment& operator=(const ProviderSegment& other);
- bool equalsDeep(const ProviderSegment& other) const;
~ProviderSegment() override;
@@ -63,7 +58,7 @@ namespace armarx::armem
/// Copy and insert an entity.
Entity& addEntity(const Entity& entity);
/// Move and insert an entity.
- Entity& addEntity(EntityPtr&& entity);
+ Entity& addEntity(Entity&& entity);
/**
@@ -74,6 +69,8 @@ namespace armarx::armem
void setMaxHistorySize(long maxSize);
+ bool equalsDeep(const ProviderSegment& other) const;
+
// MemoryItem interface
public:
@@ -89,7 +86,7 @@ namespace armarx::armem
public:
/// The entities.
- std::map<std::string, EntityPtr> entities;
+ std::map<std::string, Entity> entities;
/**
* @brief Maximum size of entity histories.
diff --git a/source/RobotAPI/libraries/armem/core/detail/MemoryContainer.h b/source/RobotAPI/libraries/armem/core/detail/MemoryContainer.h
index 7112aa7e9df5eab19042a9434d4b2d58fac7abe0..6b64db1dd03b00c856d62a6bc0d12139010c0ecf 100644
--- a/source/RobotAPI/libraries/armem/core/detail/MemoryContainer.h
+++ b/source/RobotAPI/libraries/armem/core/detail/MemoryContainer.h
@@ -1,7 +1,5 @@
#pragma once
-#include <memory>
-
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include "../../error.h"
@@ -22,7 +20,6 @@ namespace armarx::armem::detail
public:
using ContainerT = _ContainerT;
using Derived = _Derived;
- using DerivedPtr = std::unique_ptr<Derived>;
public:
@@ -70,25 +67,25 @@ namespace armarx::armem::detail
// Copying
- virtual DerivedPtr copy(bool withData = true) const
+ virtual Derived copy(bool withData = true) const
{
auto cast = dynamic_cast<const Derived*>(this);
ARMARX_CHECK_NOT_NULL(cast);
- DerivedPtr other = std::make_unique<Derived>();
- this->_copySelf(*other);
- this->_copyElements(*other, withData);
+ Derived other;
+ this->_copySelf(other);
+ this->_copyElements(other, withData);
return other;
}
/// Make a copy not containing any elements.
- virtual DerivedPtr copyEmpty() const
+ virtual Derived copyEmpty() const
{
auto cast = dynamic_cast<const Derived*>(this);
ARMARX_CHECK_NOT_NULL(cast);
- DerivedPtr other = std::make_unique<Derived>();
- this->_copySelf(*other);
+ Derived other;
+ this->_copySelf(other);
return other;
}
diff --git a/source/RobotAPI/libraries/armem/core/io/DiskReader/DiskReader.cpp b/source/RobotAPI/libraries/armem/core/io/DiskReader/DiskReader.cpp
index 5ddfd4be948e71e364bc349195589a29a60a85a4..66d9fa03be22c6b0305244a2d6943242373ada09 100644
--- a/source/RobotAPI/libraries/armem/core/io/DiskReader/DiskReader.cpp
+++ b/source/RobotAPI/libraries/armem/core/io/DiskReader/DiskReader.cpp
@@ -133,7 +133,7 @@ namespace armarx::armem::io
return ret;
}
- EntityInstancePtr DiskReader::readSingleInstanceFromDisk(const std::filesystem::path& p, const aron::typenavigator::AronTypeNavigatorPtr& expectedStructure) const
+ EntityInstance DiskReader::readSingleInstanceFromDisk(const std::filesystem::path& p, const aron::typenavigator::AronTypeNavigatorPtr& expectedStructure) const
{
if (!std::filesystem::is_regular_file(p))
{
@@ -147,13 +147,13 @@ namespace armarx::armem::io
return unwrapData(dictdata);
}
- EntityInstancePtr DiskReader::unwrapData(const aron::datanavigator::AronDictDataNavigatorPtr& dataWrapped) const
+ EntityInstance DiskReader::unwrapData(const aron::datanavigator::AronDictDataNavigatorPtr& dataWrapped) const
{
- EntityInstancePtr e = EntityInstancePtr(new EntityInstance());
- EntityInstanceMetadata& metadata = e->metadata();
+ EntityInstance e;
+ EntityInstanceMetadata& metadata = e.metadata();
aron::datanavigator::AronDictDataNavigatorPtr data = aron::datanavigator::AronDictDataNavigator::DynamicCastAndCheck(dataWrapped->getElement(DISK_READER_WRITER_DATA_FIELD));
- e->setData(data);
+ e.setData(data);
// not used right now
//aron::datanavigator::AronLongDataNavigatorPtr timeWrapped = aron::datanavigator::AronLongDataNavigator::DynamicCastAndCheck(dataWrapped->getElement(DISK_READER_WRITER_TIME_WRAPPED_FIELD));
diff --git a/source/RobotAPI/libraries/armem/core/io/DiskReader/DiskReader.h b/source/RobotAPI/libraries/armem/core/io/DiskReader/DiskReader.h
index 3f3b29594ebf86c67e7a897e3346cfbec4e92765..bdd7d1451f2a2747fe9d33baccea0f31607a9f75 100644
--- a/source/RobotAPI/libraries/armem/core/io/DiskReader/DiskReader.h
+++ b/source/RobotAPI/libraries/armem/core/io/DiskReader/DiskReader.h
@@ -49,10 +49,10 @@ namespace armarx::armem::io
FileSystemLookupMemoryManager readMemoryStructureFromDisk();
FileSystemLookupMemoryManager readMemoryStructureFromDisk(const std::string&);
- EntityInstancePtr readSingleInstanceFromDisk(const std::filesystem::path&, const aron::typenavigator::AronTypeNavigatorPtr& expectedStructure = nullptr) const;
+ EntityInstance readSingleInstanceFromDisk(const std::filesystem::path&, const aron::typenavigator::AronTypeNavigatorPtr& expectedStructure = nullptr) const;
protected:
- EntityInstancePtr unwrapData(const aron::datanavigator::AronDictDataNavigatorPtr&) const;
+ EntityInstance unwrapData(const aron::datanavigator::AronDictDataNavigatorPtr&) const;
virtual aron::datanavigator::AronDictDataNavigatorPtr getStringAsDataNavigator(const std::string&, const aron::typenavigator::AronTypeNavigatorPtr&) const = 0;
virtual aron::typenavigator::AronObjectTypeNavigatorPtr getStringAsTypeNavigator(const std::string& s) const = 0;
diff --git a/source/RobotAPI/libraries/armem/core/io/DiskWriter/DiskWriter.cpp b/source/RobotAPI/libraries/armem/core/io/DiskWriter/DiskWriter.cpp
index d9c1fab74202809d14c5be790d67f173a5414aab..1d1822c6b611ec324d6fa259913f1c22f70ce67e 100644
--- a/source/RobotAPI/libraries/armem/core/io/DiskWriter/DiskWriter.cpp
+++ b/source/RobotAPI/libraries/armem/core/io/DiskWriter/DiskWriter.cpp
@@ -71,7 +71,7 @@ namespace armarx::armem::io
{
MemoryID storeCore(id);
storeCore.coreSegmentName = coreKey;
- DiskWriterReturnInformation other = writeOnDisk(storeCore, *coreSegment);
+ DiskWriterReturnInformation other = writeOnDisk(storeCore, coreSegment);
ret.append(other);
}
return ret;
@@ -105,7 +105,7 @@ namespace armarx::armem::io
{
MemoryID storeProvider(id);
storeProvider.providerSegmentName = providerKey;
- DiskWriterReturnInformation other = writeOnDisk(storeProvider, *providerSegment);
+ DiskWriterReturnInformation other = writeOnDisk(storeProvider, providerSegment);
ret.append(other);
}
return ret;
@@ -139,7 +139,7 @@ namespace armarx::armem::io
{
MemoryID storeEntity(id);
storeEntity.entityName = entityKey;
- DiskWriterReturnInformation other = writeOnDisk(storeEntity, *entity);
+ DiskWriterReturnInformation other = writeOnDisk(storeEntity, entity);
ret.append(other);
}
return ret;
@@ -162,7 +162,7 @@ namespace armarx::armem::io
{
MemoryID storeSnapshot(id);
storeSnapshot.timestamp = ts;
- DiskWriterReturnInformation other = writeOnDisk(storeSnapshot, *snapshot);
+ DiskWriterReturnInformation other = writeOnDisk(storeSnapshot, snapshot);
ret.append(other);
}
return ret;
@@ -182,13 +182,13 @@ namespace armarx::armem::io
}
int i = 0;
- for (const auto& instance : s.instances)
+ for (const EntityInstance& instance : s.instances)
{
MemoryID storeInstance(id);
storeInstance.instanceIndex = i;
std::filesystem::path entityElementPath = rootPath / (storeInstance.str() + getEntityInstanceSuffix());
- std::string val = getDataAsString(wrapData(*instance));
+ std::string val = getDataAsString(wrapData(instance));
if (filePathExists(entityElementPath))
{
diff --git a/source/RobotAPI/libraries/armem/core/io/MemoryFileSystemStorage.cpp b/source/RobotAPI/libraries/armem/core/io/MemoryFileSystemStorage.cpp
index 2cde6249d434bbe3e72bb13dc827c0519119f57e..608ed1ad0d9326697a1ade4f956177cbf71a8a35 100644
--- a/source/RobotAPI/libraries/armem/core/io/MemoryFileSystemStorage.cpp
+++ b/source/RobotAPI/libraries/armem/core/io/MemoryFileSystemStorage.cpp
@@ -51,19 +51,19 @@ namespace armarx::armem::io
updateInternalMemory(loaded);
}
- std::map<std::string, MemoryPtr> MemoryFileSystemStorage::getInternalMemoryAsRealMemory() const
+ std::map<std::string, Memory> MemoryFileSystemStorage::getInternalMemoryAsRealMemory() const
{
- std::map<std::string, MemoryPtr> ret;
+ std::map<std::string, Memory> ret;
for (const auto& [memoryName, memory] : internalMemory.memoryLookupTable)
{
- MemoryPtr m = MemoryPtr(new Memory(memoryName));
+ Memory m = Memory(memoryName);
MemoryID id;
id.memoryName = memoryName;
for (const auto& [coreKey, coreSegment] : memory)
{
- CoreSegment& c = m->addCoreSegment(coreKey);
+ CoreSegment& c = m.addCoreSegment(coreKey);
id.coreSegmentName = coreKey;
for (const auto& [providerKey, providerSegment] : coreSegment)
{
@@ -80,8 +80,7 @@ namespace armarx::armem::io
for (unsigned int i = 0; i < entitySnapshot.size(); ++i)
{
id.instanceIndex = static_cast<int>(i);
- EntityInstancePtr instance = reader->readSingleInstanceFromDisk(entitySnapshot[i]);
- es.instances.push_back(std::move(instance));
+ es.instances.push_back(reader->readSingleInstanceFromDisk(entitySnapshot[i]));
}
}
}
diff --git a/source/RobotAPI/libraries/armem/core/io/MemoryFileSystemStorage.h b/source/RobotAPI/libraries/armem/core/io/MemoryFileSystemStorage.h
index e5ececd24baa108e493ec902f402c214458dee9d..4c9a4f1b8b0977bd40680eb42a132b1866526c3c 100644
--- a/source/RobotAPI/libraries/armem/core/io/MemoryFileSystemStorage.h
+++ b/source/RobotAPI/libraries/armem/core/io/MemoryFileSystemStorage.h
@@ -63,9 +63,9 @@ namespace armarx::armem::io
void updateInternalMemoryFromFileSystem();
- EntityPtr getEntityFromFileSystem(const MemoryID&);
+ Entity getEntityFromFileSystem(const MemoryID&);
- std::map<std::string, MemoryPtr> getInternalMemoryAsRealMemory() const;
+ std::map<std::string, Memory> getInternalMemoryAsRealMemory() const;
std::string getInternalMemoryAsString();
private:
diff --git a/source/RobotAPI/libraries/armem/server/MemoryRemoteGui.cpp b/source/RobotAPI/libraries/armem/server/MemoryRemoteGui.cpp
index 6cb5a5d0fde4d1a3a5de7cc821fd1b425120d906..e6c51d554b185570c0de0b3e658a363bc0abac1b 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryRemoteGui.cpp
+++ b/source/RobotAPI/libraries/armem/server/MemoryRemoteGui.cpp
@@ -24,7 +24,7 @@ namespace armarx::armem::server
}
for (const auto& [name, coreSegment] : memory.coreSegments)
{
- group.addChild(makeGroupBox(*coreSegment));
+ group.addChild(makeGroupBox(coreSegment));
}
return group;
@@ -43,7 +43,7 @@ namespace armarx::armem::server
}
for (const auto& [name, providerSegment] : coreSegment.providerSegments)
{
- group.addChild(makeGroupBox(*providerSegment));
+ group.addChild(makeGroupBox(providerSegment));
}
return group;
@@ -62,7 +62,7 @@ namespace armarx::armem::server
}
for (const auto& [name, entity] : providerSegment.entities)
{
- group.addChild(makeGroupBox(*entity));
+ group.addChild(makeGroupBox(entity));
}
return group;
@@ -83,7 +83,7 @@ namespace armarx::armem::server
{
for (const auto& [time, snapshot] : entity.history)
{
- group.addChild(makeGroupBox(*snapshot));
+ group.addChild(makeGroupBox(snapshot));
}
}
else
@@ -94,13 +94,13 @@ namespace armarx::armem::server
--rit;
for (int i = 0; i < margin; ++i, ++it)
{
- group.addChild(makeGroupBox(*it->second));
+ group.addChild(makeGroupBox(it->second));
--rit;
}
group.addChild(Label("..."));
for (; rit != entity.history.end(); ++rit)
{
- group.addChild(makeGroupBox(*rit->second));
+ group.addChild(makeGroupBox(rit->second));
}
}
group.setCollapsed(true);
@@ -120,9 +120,9 @@ namespace armarx::armem::server
{
group.addChild(Label(makeNoItemsMessage("instances")));
}
- for (const auto& instance : snapshot.instances)
+ for (const EntityInstance& instance : snapshot.instances)
{
- group.addChild(makeGroupBox(*instance));
+ group.addChild(makeGroupBox(instance));
}
group.setCollapsed(true);
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/BaseQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/BaseQueryProcessor.h
index ef5d60e1c920cd8e98674129bc4dbb6edc239771..7858b2b7120fb5239c375d0c398334d8381c538b 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/BaseQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/BaseQueryProcessor.h
@@ -3,7 +3,6 @@
#include <RobotAPI/interface/armem/query.h>
#include <RobotAPI/libraries/armem/core/DataMode.h>
-#include <RobotAPI/libraries/armem/core/Memory.h>
namespace armarx::armem::query_proc
@@ -17,7 +16,6 @@ namespace armarx::armem::query_proc
{
public:
- using DataPtrT = std::unique_ptr<DataT>;
using QueryPtrT = ::IceInternal::Handle<QueryT>;
using QuerySeqT = std::vector<QueryPtrT>;
@@ -32,21 +30,21 @@ namespace armarx::armem::query_proc
{}
- DataPtrT process(const QueryT& query, const DataT& data) const
+ DataT process(const QueryT& query, const DataT& data) const
{
- DataPtrT result = data.copyEmpty();
- this->process(*result, query, data);
+ DataT result = data.copyEmpty();
+ this->process(result, query, data);
return result;
}
- DataPtrT process(const QueryPtrT& query, const DataPtrT& data) const
+ DataT process(const QueryPtrT& query, const DataT& data) const
{
return this->process(*query, *data);
}
- DataPtrT process(const QuerySeqT& queries, const DataT& data) const
+ DataT process(const QuerySeqT& queries, const DataT& data) const
{
- DataPtrT result = data.copyEmpty();
- this->process(*result, queries, data);
+ DataT result = data.copyEmpty();
+ this->process(result, queries, data);
return result;
}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/CoreSegmentQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/CoreSegmentQueryProcessor.cpp
index 42dceaa7e71b4e0bf20e8dee5dd0c653c7f130a0..e4a960086cfd5df277cc7784050953b1eaafacd3 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/CoreSegmentQueryProcessor.cpp
+++ b/source/RobotAPI/libraries/armem/server/query_proc/CoreSegmentQueryProcessor.cpp
@@ -38,7 +38,7 @@ namespace armarx::armem::query_proc
{
for (const auto& [name, providerSegment] : coreSegment.providerSegments)
{
- result.addProviderSegment(providerSegmentProcessor.process(query.providerSegmentQueries, *providerSegment));
+ result.addProviderSegment(providerSegmentProcessor.process(query.providerSegmentQueries, providerSegment));
}
}
@@ -62,18 +62,18 @@ namespace armarx::armem::query_proc
std::regex regex(query.providerSegmentNameRegex);
for (const auto& [name, providerSegment] : coreSegment.providerSegments)
{
- if (std::regex_search(providerSegment->name(), regex))
+ if (std::regex_search(providerSegment.name(), regex))
{
- result.addProviderSegment(providerSegmentProcessor.process(query.providerSegmentQueries, *providerSegment));
+ result.addProviderSegment(providerSegmentProcessor.process(query.providerSegmentQueries, providerSegment));
}
}
}
- data::CoreSegmentPtr CoreSegmentQueryProcessor::processToIce(
+ data::CoreSegment CoreSegmentQueryProcessor::processToIce(
const data::query::CoreSegmentQuery& query, const CoreSegment& coreSegment) const
{
- return toIce<data::CoreSegmentPtr>(process(query, coreSegment));
+ return toIce<data::CoreSegment>(process(query, coreSegment));
}
}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/CoreSegmentQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/CoreSegmentQueryProcessor.h
index f9babf13c56ccde05d5d76c3378fedfeb1c82b7e..0bc3756be0a3bc4900027783e917b1906da0b438 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/CoreSegmentQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/CoreSegmentQueryProcessor.h
@@ -33,7 +33,7 @@ namespace armarx::armem::query_proc
void process(CoreSegment& result, const data::query::core::Regex& query, const CoreSegment& coreSegment) const;
- data::CoreSegmentPtr processToIce(const data::query::CoreSegmentQuery& query, const CoreSegment& coreSegment) const;
+ data::CoreSegment processToIce(const data::query::CoreSegmentQuery& query, const CoreSegment& coreSegment) const;
private:
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/EntityQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/EntityQueryProcessor.cpp
index 897b1411a579a4f641784ae7bc2b290a47b5088f..f23ab7265f7c18fad7927ae8d24f6f18f4c06ec1 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/EntityQueryProcessor.cpp
+++ b/source/RobotAPI/libraries/armem/server/query_proc/EntityQueryProcessor.cpp
@@ -41,7 +41,7 @@ namespace armarx::armem::query_proc
for (const auto& [time, snapshot] : entity)
{
- addResultSnapshot(result, *snapshot, query);
+ addResultSnapshot(result, snapshot);
}
}
@@ -51,7 +51,7 @@ namespace armarx::armem::query_proc
{
try
{
- addResultSnapshot(result, entity.getLatestSnapshot(), query);
+ addResultSnapshot(result, entity.getLatestSnapshot());
}
catch (const armem::error::EntityHistoryEmpty&)
{
@@ -63,7 +63,7 @@ namespace armarx::armem::query_proc
Time time = fromIce<Time>(query.timestamp);
try
{
- addResultSnapshot(result, entity.getSnapshot(time), query);
+ addResultSnapshot(result, entity.getSnapshot(time));
}
catch (const armem::error::MissingEntry&)
{
@@ -85,7 +85,7 @@ namespace armarx::armem::query_proc
size_t num = last - first + 1; // +1 to make last inclusive
for (size_t i = 0; i < num; ++i, ++it)
{
- addResultSnapshot(result, it, query);
+ addResultSnapshot(result, it);
}
}
}
@@ -110,13 +110,13 @@ namespace armarx::armem::query_proc
for (auto it = begin; it != end && it != entity.history.end(); ++it)
{
- addResultSnapshot(result, it, query);
+ addResultSnapshot(result, it);
}
}
- data::EntityPtr EntityQueryProcessor::processToIce(const data::query::EntityQuery& query, const Entity& entity) const
+ data::Entity EntityQueryProcessor::processToIce(const data::query::EntityQuery& query, const Entity& entity) const
{
- return toIce<data::EntityPtr>(process(query, entity));
+ return toIce<data::Entity>(process(query, entity));
}
size_t EntityQueryProcessor::negativeIndexSemantics(long index, size_t size)
@@ -132,13 +132,12 @@ namespace armarx::armem::query_proc
}
}
- void EntityQueryProcessor::addResultSnapshot(
- Entity& result, Entity::ContainerT::const_iterator it, const data::query::EntityQuery& query) const
+ void EntityQueryProcessor::addResultSnapshot(Entity& result, Entity::ContainerT::const_iterator it) const
{
- addResultSnapshot(result, *it->second, query);
+ addResultSnapshot(result, it->second);
}
- void EntityQueryProcessor::addResultSnapshot(Entity& result, const EntitySnapshot& snapshot, const data::query::EntityQuery& query) const
+ void EntityQueryProcessor::addResultSnapshot(Entity& result, const EntitySnapshot& snapshot) const
{
bool withData = (dataMode == DataMode::WithData);
result.addSnapshot(snapshot.copy(withData));
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/EntityQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/EntityQueryProcessor.h
index ae919425b342158f0e7a24f99e1326f4166c8d23..44f26354b40c9020f73265573e977bbd1af0442e 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/EntityQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/EntityQueryProcessor.h
@@ -35,15 +35,15 @@ namespace armarx::armem::query_proc
const data::query::EntityQuery& query) const;
- data::EntityPtr processToIce(const data::query::EntityQuery& query, const Entity& entity) const;
+ data::Entity processToIce(const data::query::EntityQuery& query, const Entity& entity) const;
static size_t negativeIndexSemantics(long index, size_t size);
private:
- void addResultSnapshot(Entity& result, Entity::ContainerT::const_iterator it, const data::query::EntityQuery& query) const;
- void addResultSnapshot(Entity& result, const EntitySnapshot& snapshot, const data::query::EntityQuery& query) const;
+ void addResultSnapshot(Entity& result, Entity::ContainerT::const_iterator it) const;
+ void addResultSnapshot(Entity& result, const EntitySnapshot& snapshot) const;
};
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/MemoryQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/MemoryQueryProcessor.cpp
index 0ba5b5ae72cb088f7032df12858c428d259b7c77..be2353ec92c37480925faddee4cd688d2ad4cdef 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/MemoryQueryProcessor.cpp
+++ b/source/RobotAPI/libraries/armem/server/query_proc/MemoryQueryProcessor.cpp
@@ -52,17 +52,15 @@ namespace armarx::armem::query_proc
}
- void MemoryQueryProcessor::process(Memory& result,
- const data::query::memory::All& query, const Memory& memory) const
+ void MemoryQueryProcessor::process(Memory& result, const data::query::memory::All& query, const Memory& memory) const
{
for (const auto& [name, coreSegment] : memory.coreSegments)
{
- result.addCoreSegment(coreSegmentProcessor.process(query.coreSegmentQueries, *coreSegment));
+ result.addCoreSegment(coreSegmentProcessor.process(query.coreSegmentQueries, coreSegment));
}
}
- void MemoryQueryProcessor::process(Memory& result,
- const data::query::memory::Single& query, const Memory& memory) const
+ void MemoryQueryProcessor::process(Memory& result, const data::query::memory::Single& query, const Memory& memory) const
{
try
{
@@ -75,15 +73,14 @@ namespace armarx::armem::query_proc
}
}
- void MemoryQueryProcessor::process(Memory& result,
- const data::query::memory::Regex& query, const Memory& memory) const
+ void MemoryQueryProcessor::process(Memory& result, const data::query::memory::Regex& query, const Memory& memory) const
{
std::regex regex(query.coreSegmentNameRegex);
for (const auto& [name, coreSegment] : memory.coreSegments)
{
- if (std::regex_search(coreSegment->name(), regex))
+ if (std::regex_search(coreSegment.name(), regex))
{
- result.addCoreSegment(coreSegmentProcessor.process(query.coreSegmentQueries, *coreSegment));
+ result.addCoreSegment(coreSegmentProcessor.process(query.coreSegmentQueries, coreSegment));
}
}
}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/ProviderSegmentQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/ProviderSegmentQueryProcessor.cpp
index 425ddfa06214d6adbcb12a89cc9e62a6fe0f8318..9b7069fe84ca7a8acb0459c7d320068d9903a178 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/ProviderSegmentQueryProcessor.cpp
+++ b/source/RobotAPI/libraries/armem/server/query_proc/ProviderSegmentQueryProcessor.cpp
@@ -38,7 +38,7 @@ namespace armarx::armem::query_proc
{
for (const auto& [name, entity] : providerSegment.entities)
{
- result.addEntity(std::move(*entityProcessor.process(query.entityQueries, *entity)));
+ result.addEntity(entityProcessor.process(query.entityQueries, entity));
}
}
@@ -48,7 +48,7 @@ namespace armarx::armem::query_proc
try
{
const Entity& entity = providerSegment.getEntity(query.entityName);
- result.addEntity(std::move(*entityProcessor.process(query.entityQueries, entity)));
+ result.addEntity(entityProcessor.process(query.entityQueries, entity));
}
catch (const error::MissingEntry&)
{
@@ -62,18 +62,18 @@ namespace armarx::armem::query_proc
std::regex regex(query.entityNameRegex);
for (const auto& [name, entity] : providerSegment.entities)
{
- if (std::regex_search(entity->name(), regex))
+ if (std::regex_search(entity.name(), regex))
{
- result.addEntity(std::move(*entityProcessor.process(query.entityQueries, *entity)));
+ result.addEntity(entityProcessor.process(query.entityQueries, entity));
}
}
}
- data::ProviderSegmentPtr ProviderSegmentQueryProcessor::processToIce(
+ data::ProviderSegment ProviderSegmentQueryProcessor::processToIce(
const data::query::ProviderSegmentQuery& query, const ProviderSegment& providerSegment) const
{
- return toIce<data::ProviderSegmentPtr>(process(query, providerSegment));
+ return toIce<data::ProviderSegment>(process(query, providerSegment));
}
}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/ProviderSegmentQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/ProviderSegmentQueryProcessor.h
index a9f17ddde09e119ee798bb1aecd97fdeb15f0a72..6d65a54e975adefa2421bacca1575e64f51ab5a4 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/ProviderSegmentQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/ProviderSegmentQueryProcessor.h
@@ -33,7 +33,7 @@ namespace armarx::armem::query_proc
void process(ProviderSegment& result, const data::query::provider::Regex& query, const ProviderSegment& providerSegment) const;
- data::ProviderSegmentPtr processToIce(const data::query::ProviderSegmentQuery& query, const ProviderSegment& providerSegment) const;
+ data::ProviderSegment processToIce(const data::query::ProviderSegmentQuery& query, const ProviderSegment& providerSegment) const;
private:
diff --git a/source/RobotAPI/libraries/armem/test/ArMemIceConversionsTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemIceConversionsTest.cpp
index 6b5b22d46fb68fbb950ff4d95c5e15dc158731cb..e139931d828f69494299b69fb4bd87677fd40465 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemIceConversionsTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemIceConversionsTest.cpp
@@ -35,66 +35,31 @@ namespace armem = armarx::armem;
namespace aron = armarx::aron;
-BOOST_AUTO_TEST_CASE(test_entity_no_nullptr)
+BOOST_AUTO_TEST_CASE(test_entity)
{
- armem::EntityPtr entity = std::make_unique<armem::Entity>("entity");
+ armem::Entity entity("entity");
std::vector<armem::Time> expectedTimestamps;
armem::EntitySnapshot snapshot;
snapshot.time() = armem::Time::milliSeconds(100);
expectedTimestamps.push_back(snapshot.time());
- entity->addSnapshot(snapshot);
+ entity.addSnapshot(snapshot);
snapshot.time() = armem::Time::milliSeconds(300);
expectedTimestamps.push_back(snapshot.time());
- entity->addSnapshot(snapshot);
+ entity.addSnapshot(snapshot);
- armem::data::Entity ice;
+ armem::data::EntityPtr ice;
armem::toIce(ice, entity);
- armem::EntityPtr entityOut;
+ armem::Entity entityOut;
armem::fromIce(ice, entityOut);
- BOOST_CHECK_NE(entityOut.get(), nullptr);
- BOOST_CHECK_EQUAL(entityOut->history.size(), entity->history.size());
+ BOOST_CHECK_EQUAL(entityOut.history.size(), entity.history.size());
- std::vector<armem::Time> timestamps = entityOut->getTimestamps();
+ std::vector<armem::Time> timestamps = entityOut.getTimestamps();
BOOST_CHECK_EQUAL_COLLECTIONS(timestamps.begin(), timestamps.end(),
expectedTimestamps.begin(), expectedTimestamps.end());
-
- for (const auto& [time, snapshot] : entity->history)
- {
- BOOST_CHECK_NE(snapshot.get(), nullptr);
- }
}
-
-BOOST_AUTO_TEST_CASE(test_entity_with_nullptr)
-{
- armem::EntityPtr entity = std::make_unique<armem::Entity>("entity");
-
- std::vector<armem::Time> expectedTimestamps;
- entity->history.emplace(expectedTimestamps.emplace_back(armem::Time::milliSeconds(100)),
- nullptr);
- entity->history.emplace(expectedTimestamps.emplace_back(armem::Time::milliSeconds(300)),
- nullptr);
-
- armem::data::Entity ice;
- armem::toIce(ice, entity);
-
- armem::EntityPtr entityOut;
- armem::fromIce(ice, entityOut);
-
- BOOST_CHECK_NE(entityOut.get(), nullptr);
- BOOST_CHECK_EQUAL(entityOut->history.size(), entity->history.size());
-
- std::vector<armem::Time> timestamps = entityOut->getTimestamps();
- BOOST_CHECK_EQUAL_COLLECTIONS(timestamps.begin(), timestamps.end(),
- expectedTimestamps.begin(), expectedTimestamps.end());
-
- for (const auto& [time, snapshot] : entity->history)
- {
- BOOST_CHECK_EQUAL(snapshot.get(), nullptr);
- }
-}
diff --git a/source/RobotAPI/libraries/armem/test/ArMemLTMTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemLTMTest.cpp
index 576891400bfca1ab565238eda003f6f2c6e78aed..b1ee718d3cb48ed9c06f1cd12543ff434b3a8cbd 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemLTMTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemLTMTest.cpp
@@ -44,12 +44,12 @@ BOOST_AUTO_TEST_CASE(test_memory_heavy_setup_and_export)
aron::AronRandomizer r;
std::string memoryName = "TestMemory";
- armem::MemoryPtr memory = std::make_unique<armem::Memory>(memoryName);
- BOOST_CHECK_EQUAL(memory->name(), memoryName);
+ armem::Memory memory(memoryName);
+ BOOST_CHECK_EQUAL(memory.name(), memoryName);
- armem::CoreSegment& coreSegment = memory->addCoreSegment("TestCoreSegment");
+ armem::CoreSegment& coreSegment = memory.addCoreSegment("TestCoreSegment");
BOOST_CHECK_EQUAL(coreSegment.name(), "TestCoreSegment");
- BOOST_CHECK(memory->hasCoreSegment(coreSegment.name()));
+ BOOST_CHECK(memory.hasCoreSegment(coreSegment.name()));
armem::ProviderSegment& providerSegment = coreSegment.addProviderSegment("TestProvider");
BOOST_CHECK_EQUAL(providerSegment.name(), "TestProvider");
@@ -87,7 +87,7 @@ BOOST_AUTO_TEST_CASE(test_memory_heavy_setup_and_export)
// export memory
std::string storagePath = "/tmp/MemoryExport"; // important! without tailing /
armem::io::MemoryFileSystemStorage mfs(storagePath, true);
- mfs.writeOnDisk(*memory);
+ mfs.writeOnDisk(memory);
std::string mfs_str = mfs.getInternalMemoryAsString();
@@ -102,8 +102,8 @@ BOOST_AUTO_TEST_CASE(test_memory_heavy_setup_and_export)
std::cout << mfs2_str << std::endl;
BOOST_CHECK_EQUAL(mfs_str == mfs_str, true);
- //std::map<std::string, armem::MemoryPtr> loaded_memories = mfs.getInternalMemoryAsRealMemory();
- //armem::MemoryPtr& memory2 = loaded_memories["Memory"];
+ //std::map<std::string, armem::Memory> loaded_memories = mfs.getInternalMemoryAsRealMemory();
+ //armem::Memory& memory2 = loaded_memories["Memory"];
//BOOST_CHECK_EQUAL(memory->equalsDeep(*memory2), true);
}
diff --git a/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp
index 1c6492665b0cb6cb3ded023f902d71cc4286e22f..6983c42dceef954ad5857c8a26626332666bf86b 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp
@@ -81,18 +81,18 @@ BOOST_AUTO_TEST_CASE(test_segment_setup)
{
armem::EntityUpdate update;
- armem::MemoryPtr memory = std::make_unique<armem::Memory>("Memory");
- BOOST_CHECK_EQUAL(memory->name(), "Memory");
+ armem::Memory memory("Memory");
+ BOOST_CHECK_EQUAL(memory.name(), "Memory");
{
update.entityID = armem::MemoryID::fromString("OtherMemory/SomeSegment");
- BOOST_CHECK_THROW(memory->update(update), armem::error::ContainerNameMismatch);
+ BOOST_CHECK_THROW(memory.update(update), armem::error::ContainerNameMismatch);
update.entityID = armem::MemoryID::fromString("Memory/MissingSegment");
- BOOST_CHECK_THROW(memory->update(update), armem::error::MissingEntry);
+ BOOST_CHECK_THROW(memory.update(update), armem::error::MissingEntry);
}
- armem::CoreSegment& coreSegment = memory->addCoreSegment("ImageRGB");
+ armem::CoreSegment& coreSegment = memory.addCoreSegment("ImageRGB");
BOOST_CHECK_EQUAL(coreSegment.name(), "ImageRGB");
- BOOST_CHECK(memory->hasCoreSegment(coreSegment.name()));
+ BOOST_CHECK(memory.hasCoreSegment(coreSegment.name()));
{
update.entityID = armem::MemoryID::fromString("Memory/OtherCoreSegment");
BOOST_CHECK_THROW(coreSegment.update(update), armem::error::ContainerNameMismatch);
@@ -129,18 +129,18 @@ BOOST_AUTO_TEST_CASE(test_segment_setup)
BOOST_CHECK_EQUAL(entity.history.size(), 1);
BOOST_CHECK_EQUAL(entity.history.count(update.timeCreated), 1);
- armem::EntitySnapshot* entitySnapshot = entity.history.at(update.timeCreated).get();
- BOOST_CHECK_EQUAL(entitySnapshot->instances.size(), update.instancesData.size());
+ armem::EntitySnapshot& entitySnapshot = entity.history.at(update.timeCreated);
+ BOOST_CHECK_EQUAL(entitySnapshot.instances.size(), update.instancesData.size());
// Another update (on memory).
update.instancesData = { std::make_shared<aron::datanavigator::AronDictDataNavigator>() };
update.timeCreated = armem::Time::milliSeconds(2000);
- memory->update(update);
+ memory.update(update);
BOOST_CHECK_EQUAL(entity.history.size(), 2);
BOOST_CHECK_EQUAL(entity.history.count(update.timeCreated), 1);
- BOOST_CHECK_EQUAL(entity.history.at(update.timeCreated)->instances.size(), update.instancesData.size());
+ BOOST_CHECK_EQUAL(entity.history.at(update.timeCreated).instances.size(), update.instancesData.size());
// A third update (on entity).
@@ -155,44 +155,44 @@ BOOST_AUTO_TEST_CASE(test_segment_setup)
BOOST_AUTO_TEST_CASE(test_history_size_in_entity)
{
- armem::EntityPtr entity = std::make_unique<armem::Entity>("entity");
+ armem::Entity entity("entity");
armem::EntityUpdate update;
- update.entityID.entityName = entity->name();
+ update.entityID.entityName = entity.name();
// With unlimited history.
update.timeCreated = armem::Time::milliSeconds(1000);
- entity->update(update);
+ entity.update(update);
update.timeCreated = armem::Time::milliSeconds(2000);
- entity->update(update);
+ entity.update(update);
update.timeCreated = armem::Time::milliSeconds(3000);
- entity->update(update);
- BOOST_CHECK_EQUAL(entity->history.size(), 3);
+ entity.update(update);
+ BOOST_CHECK_EQUAL(entity.history.size(), 3);
// Now with maximum history size.
- entity->setMaxHistorySize(2);
- BOOST_CHECK_EQUAL(entity->history.size(), 2);
- BOOST_CHECK_EQUAL(entity->history.count(armem::Time::milliSeconds(1000)), 0);
- BOOST_CHECK_EQUAL(entity->history.count(armem::Time::milliSeconds(2000)), 1);
- BOOST_CHECK_EQUAL(entity->history.count(armem::Time::milliSeconds(3000)), 1);
+ entity.setMaxHistorySize(2);
+ BOOST_CHECK_EQUAL(entity.history.size(), 2);
+ BOOST_CHECK_EQUAL(entity.history.count(armem::Time::milliSeconds(1000)), 0);
+ BOOST_CHECK_EQUAL(entity.history.count(armem::Time::milliSeconds(2000)), 1);
+ BOOST_CHECK_EQUAL(entity.history.count(armem::Time::milliSeconds(3000)), 1);
update.timeCreated = armem::Time::milliSeconds(4000);
- entity->update(update);
- BOOST_CHECK_EQUAL(entity->history.size(), 2);
- BOOST_CHECK_EQUAL(entity->history.count(armem::Time::milliSeconds(2000)), 0);
- BOOST_CHECK_EQUAL(entity->history.count(armem::Time::milliSeconds(3000)), 1);
- BOOST_CHECK_EQUAL(entity->history.count(armem::Time::milliSeconds(4000)), 1);
+ entity.update(update);
+ BOOST_CHECK_EQUAL(entity.history.size(), 2);
+ BOOST_CHECK_EQUAL(entity.history.count(armem::Time::milliSeconds(2000)), 0);
+ BOOST_CHECK_EQUAL(entity.history.count(armem::Time::milliSeconds(3000)), 1);
+ BOOST_CHECK_EQUAL(entity.history.count(armem::Time::milliSeconds(4000)), 1);
// Disable maximum history size.
- entity->setMaxHistorySize(-1);
+ entity.setMaxHistorySize(-1);
update.timeCreated = armem::Time::milliSeconds(5000);
- entity->update(update);
- BOOST_CHECK_EQUAL(entity->history.size(), 3);
- BOOST_CHECK_EQUAL(entity->history.count(armem::Time::milliSeconds(3000)), 1);
- BOOST_CHECK_EQUAL(entity->history.count(armem::Time::milliSeconds(4000)), 1);
- BOOST_CHECK_EQUAL(entity->history.count(armem::Time::milliSeconds(5000)), 1);
+ entity.update(update);
+ BOOST_CHECK_EQUAL(entity.history.size(), 3);
+ BOOST_CHECK_EQUAL(entity.history.count(armem::Time::milliSeconds(3000)), 1);
+ BOOST_CHECK_EQUAL(entity.history.count(armem::Time::milliSeconds(4000)), 1);
+ BOOST_CHECK_EQUAL(entity.history.count(armem::Time::milliSeconds(5000)), 1);
}
diff --git a/source/RobotAPI/libraries/armem/test/ArMemQueryTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemQueryTest.cpp
index e8bfa3601922d998d392bcdc9cdf8cb080d41976..05615f8beb56a7948861f5934010e78553b5aff2 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemQueryTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemQueryTest.cpp
@@ -50,29 +50,29 @@ namespace ArMemQueryTest
struct Fixture
{
- armem::EntityPtr entity;
+ armem::Entity entity;
armem::query_proc::EntityQueryProcessor processor;
query::EntityQueryPtr entityQuery;
- std::vector<armem::EntityPtr> results;
+ std::vector<armem::Entity> results;
Fixture()
{
- entity = std::make_unique<armem::Entity>("entity");
+ entity = armem::Entity("entity");
armem::EntitySnapshot snapshot;
snapshot.time() = armem::Time::microSeconds(1000);
- entity->addSnapshot(snapshot);
+ entity.addSnapshot(snapshot);
snapshot.time() = armem::Time::microSeconds(2000);
- entity->addSnapshot(snapshot);
+ entity.addSnapshot(snapshot);
snapshot.time() = armem::Time::microSeconds(3000);
- entity->addSnapshot(snapshot);
+ entity.addSnapshot(snapshot);
snapshot.time() = armem::Time::microSeconds(4000);
- entity->addSnapshot(snapshot);
+ entity.addSnapshot(snapshot);
snapshot.time() = armem::Time::microSeconds(5000);
- entity->addSnapshot(snapshot);
+ entity.addSnapshot(snapshot);
}
~Fixture()
{
@@ -84,8 +84,8 @@ namespace ArMemQueryTest
{
entityQuery = new QueryT(query);
- results.emplace_back(processor.process(query, *entity));
- results.emplace_back(processor.process(*entityQuery, *entity));
+ results.emplace_back(processor.process(query, entity));
+ results.emplace_back(processor.process(*entityQuery, entity));
}
};
@@ -98,11 +98,11 @@ BOOST_FIXTURE_TEST_SUITE(ArMemQueryTest, ArMemQueryTest::Fixture)
BOOST_AUTO_TEST_CASE(test_entity_UnknownQueryType)
{
- BOOST_CHECK_THROW(processor.process(UnknownEntityQuery(), *entity), armem::error::UnknownQueryType);
+ BOOST_CHECK_THROW(processor.process(UnknownEntityQuery(), entity), armem::error::UnknownQueryType);
std::string msg;
try
{
- processor.process(UnknownEntityQuery(), *entity);
+ processor.process(UnknownEntityQuery(), entity);
}
catch (const armem::error::UnknownQueryType& e)
{
@@ -121,10 +121,10 @@ BOOST_AUTO_TEST_CASE(test_entity_Single_latest)
for (const auto& result : results)
{
- BOOST_CHECK_EQUAL(result->name(), entity->name());
- BOOST_CHECK_EQUAL(result->history.size(), 1);
- BOOST_CHECK_EQUAL(result->history.begin()->second->time(), entity->getLatestSnapshot().time());
- BOOST_CHECK_NE(result->history.begin()->second.get(), entity->history.rbegin()->second.get());
+ BOOST_CHECK_EQUAL(result.name(), entity.name());
+ BOOST_CHECK_EQUAL(result.history.size(), 1);
+ BOOST_CHECK_EQUAL(result.history.begin()->second.time(), entity.getLatestSnapshot().time());
+ BOOST_CHECK_NE(&result.history.begin()->second, &entity.history.rbegin()->second);
}
}
@@ -136,9 +136,9 @@ BOOST_AUTO_TEST_CASE(test_entity_Single_existing)
for (const auto& result : results)
{
- BOOST_CHECK_EQUAL(result->name(), entity->name());
- BOOST_CHECK_EQUAL(result->history.size(), 1);
- BOOST_CHECK_EQUAL(result->history.begin()->second->time(), armem::Time::microSeconds(3000));
+ BOOST_CHECK_EQUAL(result.name(), entity.name());
+ BOOST_CHECK_EQUAL(result.history.size(), 1);
+ BOOST_CHECK_EQUAL(result.history.begin()->second.time(), armem::Time::microSeconds(3000));
}
}
@@ -150,8 +150,8 @@ BOOST_AUTO_TEST_CASE(test_entity_Single_non_existing)
for (const auto& result : results)
{
- BOOST_CHECK_EQUAL(result->name(), entity->name());
- BOOST_CHECK_EQUAL(result->history.size(), 0);
+ BOOST_CHECK_EQUAL(result.name(), entity.name());
+ BOOST_CHECK_EQUAL(result.history.size(), 0);
}
}
@@ -163,14 +163,14 @@ BOOST_AUTO_TEST_CASE(test_entity_All)
for (const auto& result : results)
{
- BOOST_CHECK_EQUAL(result->name(), entity->name());
- BOOST_CHECK_EQUAL(result->history.size(), entity->history.size());
- for (auto it = result->history.begin(), jt = entity->history.begin();
- it != result->history.end(); ++it, ++jt)
+ BOOST_CHECK_EQUAL(result.name(), entity.name());
+ BOOST_CHECK_EQUAL(result.history.size(), entity.history.size());
+ auto jt = entity.history.begin();
+ for (auto it = result.history.begin(); it != result.history.end(); ++it, ++jt)
{
BOOST_CHECK_EQUAL(it->first, jt->first);
- BOOST_CHECK_EQUAL(it->second->time(), jt->second->time());
- BOOST_CHECK_NE(it->second.get(), jt->second.get());
+ BOOST_CHECK_EQUAL(it->second.time(), jt->second.time());
+ BOOST_CHECK_NE(&it->second, &jt->second);
}
}
}
@@ -184,11 +184,11 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_slice)
for (const auto& result : results)
{
- BOOST_CHECK_EQUAL(result->name(), entity->name());
+ BOOST_CHECK_EQUAL(result.name(), entity.name());
- BOOST_CHECK_EQUAL(result->history.size(), 2);
+ BOOST_CHECK_EQUAL(result.history.size(), 2);
- std::vector<armem::Time> times = simox::alg::get_keys(result->history);
+ std::vector<armem::Time> times = simox::alg::get_keys(result.history);
std::vector<armem::Time> expected
{
armem::Time::microSeconds(2000), armem::Time::microSeconds(3000)
@@ -205,11 +205,11 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_exact)
for (const auto& result : results)
{
- BOOST_CHECK_EQUAL(result->name(), entity->name());
+ BOOST_CHECK_EQUAL(result.name(), entity.name());
- BOOST_CHECK_EQUAL(result->history.size(), 3);
+ BOOST_CHECK_EQUAL(result.history.size(), 3);
- std::vector<armem::Time> times = simox::alg::get_keys(result->history);
+ std::vector<armem::Time> times = simox::alg::get_keys(result.history);
std::vector<armem::Time> expected
{
armem::Time::microSeconds(2000), armem::Time::microSeconds(3000), armem::Time::microSeconds(4000)
@@ -226,12 +226,12 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_all)
for (const auto& result : results)
{
- BOOST_CHECK_EQUAL(result->name(), entity->name());
+ BOOST_CHECK_EQUAL(result.name(), entity.name());
- BOOST_CHECK_EQUAL(result->history.size(), entity->history.size());
+ BOOST_CHECK_EQUAL(result.history.size(), entity.history.size());
- std::vector<armem::Time> times = simox::alg::get_keys(result->history);
- std::vector<armem::Time> expected = simox::alg::get_keys(entity->history);
+ std::vector<armem::Time> times = simox::alg::get_keys(result.history);
+ std::vector<armem::Time> expected = simox::alg::get_keys(entity.history);
BOOST_CHECK_EQUAL_COLLECTIONS(times.begin(), times.end(), expected.begin(), expected.end());
}
}
@@ -245,9 +245,9 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_empty)
for (const auto& result : results)
{
- BOOST_CHECK_EQUAL(result->name(), entity->name());
+ BOOST_CHECK_EQUAL(result.name(), entity.name());
- BOOST_CHECK_EQUAL(result->history.size(), 0);
+ BOOST_CHECK_EQUAL(result.history.size(), 0);
}
}
@@ -259,11 +259,11 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_from_start)
for (const auto& result : results)
{
- BOOST_CHECK_EQUAL(result->name(), entity->name());
+ BOOST_CHECK_EQUAL(result.name(), entity.name());
- BOOST_CHECK_EQUAL(result->history.size(), 2);
+ BOOST_CHECK_EQUAL(result.history.size(), 2);
- std::vector<armem::Time> times = simox::alg::get_keys(result->history);
+ std::vector<armem::Time> times = simox::alg::get_keys(result.history);
std::vector<armem::Time> expected
{
armem::Time::microSeconds(1000), armem::Time::microSeconds(2000)
@@ -280,11 +280,11 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_to_end)
for (const auto& result : results)
{
- BOOST_CHECK_EQUAL(result->name(), entity->name());
+ BOOST_CHECK_EQUAL(result.name(), entity.name());
- BOOST_CHECK_EQUAL(result->history.size(), 3);
+ BOOST_CHECK_EQUAL(result.history.size(), 3);
- std::vector<armem::Time> times = simox::alg::get_keys(result->history);
+ std::vector<armem::Time> times = simox::alg::get_keys(result.history);
std::vector<armem::Time> expected
{
armem::Time::microSeconds(3000), armem::Time::microSeconds(4000), armem::Time::microSeconds(5000)
@@ -329,12 +329,12 @@ BOOST_AUTO_TEST_CASE(test_entity_IndexRange_all_default)
for (const auto& result : results)
{
- BOOST_CHECK_EQUAL(result->name(), entity->name());
+ BOOST_CHECK_EQUAL(result.name(), entity.name());
- BOOST_CHECK_EQUAL(result->history.size(), entity->history.size());
+ BOOST_CHECK_EQUAL(result.history.size(), entity.history.size());
- std::vector<armem::Time> times = simox::alg::get_keys(result->history);
- std::vector<armem::Time> expected = simox::alg::get_keys(entity->history);
+ std::vector<armem::Time> times = simox::alg::get_keys(result.history);
+ std::vector<armem::Time> expected = simox::alg::get_keys(entity.history);
BOOST_CHECK_EQUAL_COLLECTIONS(times.begin(), times.end(), expected.begin(), expected.end());
}
@@ -343,7 +343,7 @@ BOOST_AUTO_TEST_CASE(test_entity_IndexRange_all_default)
BOOST_AUTO_TEST_CASE(test_entity_IndexRange_slice)
{
- BOOST_REQUIRE_EQUAL(entity->size(), 5);
+ BOOST_REQUIRE_EQUAL(entity.size(), 5);
addResults(query::entity::IndexRange{ 1, 3 }); // => [1, 2, 3]
addResults(query::entity::IndexRange{ 1, -2 }); // 5 - 2 = 3
addResults(query::entity::IndexRange{ -4, 3 }); // 5 - 4 = 1
@@ -352,11 +352,11 @@ BOOST_AUTO_TEST_CASE(test_entity_IndexRange_slice)
for (const auto& result : results)
{
- BOOST_CHECK_EQUAL(result->name(), entity->name());
+ BOOST_CHECK_EQUAL(result.name(), entity.name());
- BOOST_CHECK_EQUAL(result->history.size(), 3);
+ BOOST_CHECK_EQUAL(result.history.size(), 3);
- std::vector<armem::Time> times = simox::alg::get_keys(result->history);
+ std::vector<armem::Time> times = simox::alg::get_keys(result.history);
std::vector<armem::Time> expected
{
armem::Time::microSeconds(2000), armem::Time::microSeconds(3000), armem::Time::microSeconds(4000)
@@ -368,21 +368,21 @@ BOOST_AUTO_TEST_CASE(test_entity_IndexRange_slice)
BOOST_AUTO_TEST_CASE(test_entity_IndexRange_empty)
{
- BOOST_REQUIRE_EQUAL(entity->size(), 5);
+ BOOST_REQUIRE_EQUAL(entity.size(), 5);
addResults(query::entity::IndexRange{ 1, 0 });
addResults(query::entity::IndexRange{ 2, 1 });
addResults(query::entity::IndexRange{ 5, 3 });
- addResults(query::entity::IndexRange{ 4, -3 }); // 5-3 = 2
- addResults(query::entity::IndexRange{ 3, -3 });
- addResults(query::entity::IndexRange{ 1, -5 });
+ addResults(query::entity::IndexRange{ 4, -3 }); // 5-3 = 2
+ addResults(query::entity::IndexRange{ 3, -3 });
+ addResults(query::entity::IndexRange{ 1, -5 });
BOOST_REQUIRE_GT(results.size(), 0);
for (const auto& result : results)
{
- BOOST_CHECK_EQUAL(result->name(), entity->name());
+ BOOST_CHECK_EQUAL(result.name(), entity.name());
- BOOST_CHECK_EQUAL(result->history.size(), 0);
+ BOOST_CHECK_EQUAL(result.history.size(), 0);
}
}
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryTreeWidget.cpp b/source/RobotAPI/libraries/armem_gui/MemoryTreeWidget.cpp
index ad6bfc10f5e4c2a3e2e4041c0abda50f74b9055e..cbea351b288a5f766326dbe6857752d5d6aa093d 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryTreeWidget.cpp
+++ b/source/RobotAPI/libraries/armem_gui/MemoryTreeWidget.cpp
@@ -45,11 +45,11 @@ namespace armarx::armem::gui
memoryBuilder.setExpand(true);
memoryBuilder.setMakeItemFn([this](const std::string & name, const Memory * memory)
{
- return makeItem(name, memory);
+ return makeItem(name, *memory);
});
memoryBuilder.setUpdateItemFn([this](const std::string&, const Memory * memory, QTreeWidgetItem * memoryItem)
{
- updateContainerItem(memory, memoryItem);
+ updateContainerItem(*memory, memoryItem);
if (memoryItem)
{
updateChildren(*memory, memoryItem);
@@ -59,96 +59,74 @@ namespace armarx::armem::gui
coreSegmentBuilder.setExpand(true);
- coreSegmentBuilder.setMakeItemFn([this](const std::string & name, const CoreSegmentPtr & coreSeg)
+ coreSegmentBuilder.setMakeItemFn([this](const std::string & name, const CoreSegment & coreSeg)
{
- return makeItem(name, coreSeg.get());
+ return makeItem(name, coreSeg);
});
- coreSegmentBuilder.setUpdateItemFn([this](const std::string&, const CoreSegmentPtr & coreSeg, QTreeWidgetItem * coreSegItem)
+ coreSegmentBuilder.setUpdateItemFn([this](const std::string&, const CoreSegment & coreSeg, QTreeWidgetItem * coreSegItem)
{
- updateTypedContainerItem(coreSeg.get(), coreSegItem);
- if (coreSeg)
- {
- updateChildren(*coreSeg, coreSegItem);
- }
+ updateTypedContainerItem(coreSeg, coreSegItem);
+ updateChildren(coreSeg, coreSegItem);
return true;
});
provSegmentBuilder.setExpand(true);
- provSegmentBuilder.setMakeItemFn([this](const std::string & name, const ProviderSegmentPtr & provSeg)
+ provSegmentBuilder.setMakeItemFn([this](const std::string & name, const ProviderSegment & provSeg)
{
- return makeItem(name, provSeg.get());
+ return makeItem(name, provSeg);
});
- provSegmentBuilder.setUpdateItemFn([this](const std::string&, const ProviderSegmentPtr & provSeg, QTreeWidgetItem * provSegItem)
+ provSegmentBuilder.setUpdateItemFn([this](const std::string&, const ProviderSegment & provSeg, QTreeWidgetItem * provSegItem)
{
- updateTypedContainerItem(provSeg.get(), provSegItem);
- if (provSeg)
- {
- updateChildren(*provSeg, provSegItem);
- }
+ updateTypedContainerItem(provSeg, provSegItem);
+ updateChildren(provSeg, provSegItem);
return true;
});
// entityBuilder.setExpand(true);
- entityBuilder.setMakeItemFn([this](const std::string & name, const EntityPtr & entity)
+ entityBuilder.setMakeItemFn([this](const std::string & name, const Entity & entity)
{
- return makeItem(name, entity.get());
+ return makeItem(name, entity);
});
- entityBuilder.setUpdateItemFn([this](const std::string&, const EntityPtr & entity, QTreeWidgetItem * entityItem)
+ entityBuilder.setUpdateItemFn([this](const std::string&, const Entity & entity, QTreeWidgetItem * entityItem)
{
- updateContainerItem(entity.get(), entityItem);
- if (entity)
- {
- updateChildren(*entity, entityItem);
- }
+ updateContainerItem(entity, entityItem);
+ updateChildren(entity, entityItem);
return true;
});
- snapshotBuilder.setMakeItemFn([this](const armem::Time & time, const EntitySnapshotPtr & snapshot)
+ snapshotBuilder.setMakeItemFn([this](const armem::Time & time, const EntitySnapshot & snapshot)
{
- QTreeWidgetItem* item = makeItem(toDateTimeMilliSeconds(time), snapshot.get());
- item->setData(int(Columns::KEY), Qt::ItemDataRole::UserRole, QVariant(static_cast<qlonglong>(snapshot->time().toMicroSeconds())));
+ QTreeWidgetItem* item = makeItem(toDateTimeMilliSeconds(time), snapshot);
+ item->setData(int(Columns::KEY), Qt::ItemDataRole::UserRole, QVariant(static_cast<qlonglong>(snapshot.time().toMicroSeconds())));
return item;
});
snapshotBuilder.setCompareFn([](const auto & pair, QTreeWidgetItem * item)
{
- const EntitySnapshotPtr& snapshot = pair.second;
- return armarx::detail::compare(static_cast<qlonglong>(snapshot->time().toMicroSeconds()),
+ const EntitySnapshot& snapshot = pair.second;
+ return armarx::detail::compare(static_cast<qlonglong>(snapshot.time().toMicroSeconds()),
item->data(int(Columns::KEY), Qt::ItemDataRole::UserRole).toLongLong());
});
- snapshotBuilder.setUpdateItemFn([this](const armem::Time&, const EntitySnapshotPtr & snapshot, QTreeWidgetItem * snapshotItem)
+ snapshotBuilder.setUpdateItemFn([this](const armem::Time&, const EntitySnapshot & snapshot, QTreeWidgetItem * snapshotItem)
{
- updateContainerItem(snapshot.get(), snapshotItem);
- if (snapshot)
- {
- updateChildren(*snapshot, snapshotItem);
- }
- else
- {
- while (snapshotItem->childCount() > 0)
- {
- delete snapshotItem->takeChild(snapshotItem->childCount() - 1);
- }
- }
+ updateContainerItem(snapshot, snapshotItem);
+ updateChildren(snapshot, snapshotItem);
return true;
});
- instanceBuilder.setMakeItemFn([this](const EntityInstancePtr & instance)
+ instanceBuilder.setMakeItemFn([this](const EntityInstance & instance)
{
- QTreeWidgetItem* item = makeItem("", instance.get());
- item->setData(int(Columns::ID), Qt::UserRole, QString::fromStdString(instance->id().str()));
+ QTreeWidgetItem* item = makeItem("", instance);
+ item->setData(int(Columns::ID), Qt::UserRole, QString::fromStdString(instance.id().str()));
return item;
});
- instanceBuilder.setCompareFn([](const EntityInstancePtr & lhs, QTreeWidgetItem * rhsItem)
+ instanceBuilder.setCompareFn([](const EntityInstance & lhs, QTreeWidgetItem * rhsItem)
{
- return armarx::detail::compare(lhs->index(), rhsItem->text(0).toInt());
+ return armarx::detail::compare(lhs.index(), rhsItem->text(0).toInt());
});
- instanceBuilder.setUpdateItemFn([this](const EntityInstancePtr & instance, QTreeWidgetItem * instanceItem)
+ instanceBuilder.setUpdateItemFn([this](const EntityInstance & instance, QTreeWidgetItem * instanceItem)
{
- updateItemItem(instance.get(), instanceItem);
- if (instance)
- {
- updateChildren(*instance, instanceItem);
- }
+ updateItemItem(instance, instanceItem);
+ updateChildren(instance, instanceItem);
return true;
});
@@ -235,70 +213,50 @@ namespace armarx::armem::gui
}
}
- QTreeWidgetItem* MemoryTreeWidget::makeItem(const std::string& key, const armem::detail::MemoryItem* memoryItem)
+ QTreeWidgetItem* MemoryTreeWidget::makeItem(const std::string& key, const armem::detail::MemoryItem& memoryItem)
{
+ (void) key;
QStringList columns;
- if (memoryItem)
- {
- columns.insert(int(Columns::KEY), QString::fromStdString(memoryItem->getKeyString()));
- columns.insert(int(Columns::SIZE), "");
- columns.insert(int(Columns::TYPE), "");
- columns.insert(int(Columns::LEVEL), QString::fromStdString(simox::alg::capitalize_words(memoryItem->getLevelName())));
- columns.insert(int(Columns::ID), QString::fromStdString(memoryItem->id().str()));
- }
- else
- {
- columns.insert(int(Columns::KEY), QString::fromStdString(key));
- columns.insert(int(Columns::ID), QString::fromStdString("(null)"));
- }
+ columns.insert(int(Columns::KEY), QString::fromStdString(memoryItem.getKeyString()));
+ columns.insert(int(Columns::SIZE), "");
+ columns.insert(int(Columns::TYPE), "");
+ columns.insert(int(Columns::LEVEL), QString::fromStdString(simox::alg::capitalize_words(memoryItem.getLevelName())));
+ columns.insert(int(Columns::ID), QString::fromStdString(memoryItem.id().str()));
QTreeWidgetItem* item = new QTreeWidgetItem(columns);
- if (memoryItem)
- {
- item->setData(int(Columns::LEVEL), Qt::UserRole, QString::fromStdString(memoryItem->getLevelName()));
- }
+ item->setData(int(Columns::LEVEL), Qt::UserRole, QString::fromStdString(memoryItem.getLevelName()));
item->setTextAlignment(int(Columns::SIZE), Qt::AlignRight);
return item;
}
- void MemoryTreeWidget::updateItemItem(const armem::detail::MemoryItem* level, QTreeWidgetItem* item)
+ void MemoryTreeWidget::updateItemItem(const armem::detail::MemoryItem& level, QTreeWidgetItem* item)
{
(void) level, (void) item;
}
template <class... T>
void MemoryTreeWidget::updateContainerItem(
- const armem::detail::MemoryContainer<T...>* container, QTreeWidgetItem* item)
+ const armem::detail::MemoryContainer<T...>& container, QTreeWidgetItem* item)
{
updateItemItem(container, item);
- if (container)
- {
- item->setText(int(Columns::SIZE), QString::number(container->size()));
- }
+ item->setText(int(Columns::SIZE), QString::number(container.size()));
}
template <class... T>
void MemoryTreeWidget::updateTypedContainerItem(
- const armem::detail::TypedEntityContainer<T...>* container, QTreeWidgetItem* item)
+ const armem::detail::TypedEntityContainer<T...>& container, QTreeWidgetItem* item)
{
updateContainerItem(container, item);
- if (container)
+ std::string typeName;
+ if (container.aronType())
{
- std::string typeName;
- if (container->aronType())
- {
- auto objectType = aron::typenavigator::AronObjectTypeNavigator::DynamicCast(container->aronType());
- if (objectType != nullptr)
- {
- typeName = objectType->getName();
- }
- }
- else
- {
- typeName = "(no Aron type)";
- }
- item->setText(int(Columns::TYPE), QString::fromStdString(typeName));
+ typeName = container.aronType()->getName();
+ }
+ else
+ {
+ typeName = "(no Aron type)";
}
+ item->setText(int(Columns::TYPE), QString::fromStdString(typeName));
}
}
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryTreeWidget.h b/source/RobotAPI/libraries/armem_gui/MemoryTreeWidget.h
index 4bb67207ff5921b3bc02cdc3faff1516b43e9066..0aff62014b444997d67d1ce67517f95952cda734 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryTreeWidget.h
+++ b/source/RobotAPI/libraries/armem_gui/MemoryTreeWidget.h
@@ -52,13 +52,13 @@ namespace armarx::armem::gui
void updateChildren(const armem::EntityInstance& data, QTreeWidgetItem* parent);
- QTreeWidgetItem* makeItem(const std::string& key, const armem::detail::MemoryItem* container);
+ QTreeWidgetItem* makeItem(const std::string& key, const armem::detail::MemoryItem& container);
- void updateItemItem(const armem::detail::MemoryItem* level, QTreeWidgetItem* item);
+ void updateItemItem(const armem::detail::MemoryItem& level, QTreeWidgetItem* item);
template <class... T>
- void updateContainerItem(const armem::detail::MemoryContainer<T...>* container, QTreeWidgetItem* item);
+ void updateContainerItem(const armem::detail::MemoryContainer<T...>& container, QTreeWidgetItem* item);
template <class... T>
- void updateTypedContainerItem(const armem::detail::TypedEntityContainer<T...>* container, QTreeWidgetItem* item);
+ void updateTypedContainerItem(const armem::detail::TypedEntityContainer<T...>& container, QTreeWidgetItem* item);
private:
@@ -66,11 +66,11 @@ namespace armarx::armem::gui
bool instanceIntrospection = false;
MapTreeWidgetBuilder<std::string, const Memory*> memoryBuilder;
- MapTreeWidgetBuilder<std::string, CoreSegmentPtr> coreSegmentBuilder;
- MapTreeWidgetBuilder<std::string, ProviderSegmentPtr> provSegmentBuilder;
- MapTreeWidgetBuilder<std::string, EntityPtr> entityBuilder;
- MapTreeWidgetBuilder<armem::Time, EntitySnapshotPtr> snapshotBuilder;
- TreeWidgetBuilder<std::vector<EntityInstancePtr>> instanceBuilder;
+ MapTreeWidgetBuilder<std::string, CoreSegment> coreSegmentBuilder;
+ MapTreeWidgetBuilder<std::string, ProviderSegment> provSegmentBuilder;
+ MapTreeWidgetBuilder<std::string, Entity> entityBuilder;
+ MapTreeWidgetBuilder<armem::Time, EntitySnapshot> snapshotBuilder;
+ TreeWidgetBuilder<std::vector<EntityInstance>> instanceBuilder;
enum class Columns