diff --git a/scenarios/ArMemObjectMemory/config/ObjectMemory.cfg b/scenarios/ArMemObjectMemory/config/ObjectMemory.cfg
index abb6c293cfe6ead2229ce0cf06a15f6d343e7577..3a94ad28db4d65ce3873003c36276ea6aac0485b 100644
--- a/scenarios/ArMemObjectMemory/config/ObjectMemory.cfg
+++ b/scenarios/ArMemObjectMemory/config/ObjectMemory.cfg
@@ -7,7 +7,7 @@
# - Default: Default value not mapped.
# - Case sensitivity: yes
# - Required: no
-ArmarX.AdditionalPackages = ArmarXObjects
+# ArmarX.AdditionalPackages = Default value not mapped.
# ArmarX.ApplicationName: Application name
@@ -109,85 +109,94 @@ ArmarX.AdditionalPackages = ArmarXObjects
# ArmarX.ObjectMemory.EnableProfiling = false
-# ArmarX.ObjectMemory.Longtermmemorydatabase:
+# ArmarX.ObjectMemory.MinimumLoggingLevel: Local logging level only for this component
# Attributes:
-# - Default: Test
+# - Default: Undefined
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ObjectMemory.Longtermmemorydatabase = Test
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.ObjectMemory.MinimumLoggingLevel = Undefined
-# ArmarX.ObjectMemory.Longtermmemoryhost:
+# ArmarX.ObjectMemory.ObjectName: Name of IceGrid well-known object
# Attributes:
-# - Default: localhost
+# - Default: ""
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ObjectMemory.Longtermmemoryhost = localhost
+# ArmarX.ObjectMemory.ObjectName = ""
-# ArmarX.ObjectMemory.Longtermmemorypassword:
+# ArmarX.ObjectMemory.RemoteGuiName: Name of the remote gui provider
# Attributes:
-# - Default: ""
+# - Default: RemoteGuiProvider
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ObjectMemory.Longtermmemorypassword = ""
+# ArmarX.ObjectMemory.RemoteGuiName = RemoteGuiProvider
-# ArmarX.ObjectMemory.Longtermmemoryport:
+# ArmarX.ObjectMemory.RemoteStateComponentName: Name of the robot state component
# Attributes:
-# - Default: 27017
+# - Default: RobotStateComponent
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ObjectMemory.Longtermmemoryport = 27017
+# ArmarX.ObjectMemory.RemoteStateComponentName = RobotStateComponent
-# ArmarX.ObjectMemory.Longtermmemoryuser:
+# ArmarX.ObjectMemory.cmp.KinematicUnitObserverName: Name of the kinematic unit observer.
# Attributes:
-# - Default: ""
+# - Default: KinematicUnitObserver
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ObjectMemory.Longtermmemoryuser = ""
+# ArmarX.ObjectMemory.cmp.KinematicUnitObserverName = KinematicUnitObserver
-# ArmarX.ObjectMemory.MinimumLoggingLevel: Local logging level only for this component
+# ArmarX.ObjectMemory.ltm.00_enabled:
# Attributes:
-# - Default: Undefined
+# - Default: true
# - Case sensitivity: yes
# - Required: no
-# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
-# ArmarX.ObjectMemory.MinimumLoggingLevel = Undefined
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.ltm.00_enabled = true
-# ArmarX.ObjectMemory.ObjectName: Name of IceGrid well-known object
+# ArmarX.ObjectMemory.ltm.10_host:
# Attributes:
-# - Default: ""
+# - Default: localhost
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ObjectMemory.ObjectName = ""
+# ArmarX.ObjectMemory.ltm.10_host = localhost
-# ArmarX.ObjectMemory.RemoteGuiName: Name of the remote gui provider
+# ArmarX.ObjectMemory.ltm.11_port:
# Attributes:
-# - Default: RemoteGuiProvider
+# - Default: 25270
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ObjectMemory.RemoteGuiName = RemoteGuiProvider
+# ArmarX.ObjectMemory.ltm.11_port = 25270
-# ArmarX.ObjectMemory.RemoteStateComponentName: Name of the robot state component
+# ArmarX.ObjectMemory.ltm.20_user:
# Attributes:
-# - Default: RobotStateComponent
+# - Default: ""
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ObjectMemory.RemoteStateComponentName = RobotStateComponent
+# ArmarX.ObjectMemory.ltm.20_user = ""
-# ArmarX.ObjectMemory.cmp.KinematicUnitObserverName: Name of the kinematic unit observer.
+# ArmarX.ObjectMemory.ltm.21_password:
# Attributes:
-# - Default: KinematicUnitObserver
+# - Default: ""
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ObjectMemory.cmp.KinematicUnitObserverName = KinematicUnitObserver
+# ArmarX.ObjectMemory.ltm.21_password = ""
+
+
+# ArmarX.ObjectMemory.ltm.22_database:
+# Attributes:
+# - Default: Test
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.ltm.22_database = Test
# ArmarX.ObjectMemory.mem.MemoryName: Name of this memory server.
@@ -273,20 +282,19 @@ ArmarX.AdditionalPackages = ArmarXObjects
# ArmarX.ObjectMemory.mem.cls.Floor.EntityName: Object class entity of the floor.
# Attributes:
-# - Default: Environment/floor-20x20
+# - Default: Building/floor-20x20
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ObjectMemory.mem.cls.Floor.EntityName = Environment/floor-20x20
+# ArmarX.ObjectMemory.mem.cls.Floor.EntityName = Building/floor-20x20
# ArmarX.ObjectMemory.mem.cls.Floor.Height: Height (z) of the floor plane.
# Set slightly below 0 to avoid z-fighting when drawing planes on the ground.
# Attributes:
-# - Default: true
+# - Default: -1
# - Case sensitivity: yes
# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.ObjectMemory.mem.cls.Floor.Height = true
+# ArmarX.ObjectMemory.mem.cls.Floor.Height = -1
# ArmarX.ObjectMemory.mem.cls.Floor.LayerName: Layer to draw the floor on.
@@ -447,22 +455,30 @@ ArmarX.AdditionalPackages = ArmarXObjects
# ArmarX.ObjectMemory.mem.inst.head.maxJointVelocity = 0.0500000007
-# ArmarX.ObjectMemory.mem.inst.scene.Package: ArmarX package containing the scene snapshots.
+# ArmarX.ObjectMemory.mem.inst.scene.10_Package: ArmarX package containing the scene snapshots.
# Scene snapshots are expected to be located in Package/data/Package/Scenes/*.json.
# Attributes:
-# - Default: ArmarXObjects
+# - Default: PriorKnowledgeData
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.scene.10_Package = PriorKnowledgeData
+
+
+# ArmarX.ObjectMemory.mem.inst.scene.11_Directory: Directory in Package/data/Package/ containing the scene snapshots.
+# Attributes:
+# - Default: scenes
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ObjectMemory.mem.inst.scene.Package = ArmarXObjects
+# ArmarX.ObjectMemory.mem.inst.scene.11_Directory = scenes
-# ArmarX.ObjectMemory.mem.inst.scene.SnapshotToLoad: Scene snapshot to load on startup (e.g. 'Scene_2021-06-24_20-20-03').
-# You can also specify paths relative to 'Package/Scenes/'.
+# ArmarX.ObjectMemory.mem.inst.scene.12_SnapshotToLoad: Scene snapshot to load on startup (e.g. 'Scene_2021-06-24_20-20-03').
+# You can also specify paths relative to 'Package/scenes/'.
# Attributes:
# - Default: ""
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ObjectMemory.mem.inst.scene.SnapshotToLoad = ""
+# ArmarX.ObjectMemory.mem.inst.scene.12_SnapshotToLoad = ""
# ArmarX.ObjectMemory.mem.inst.visu.alpha: Alpha of objects (1 = solid, 0 = transparent).
diff --git a/source/RobotAPI/components/SkillObserver/SkillObserver.h b/source/RobotAPI/components/SkillObserver/SkillObserver.h
index 44afdb0070538c416d06d2a938eef09d6d54693b..b3b0e4243429919a8805b55188edfabadb724a45 100644
--- a/source/RobotAPI/components/SkillObserver/SkillObserver.h
+++ b/source/RobotAPI/components/SkillObserver/SkillObserver.h
@@ -23,6 +23,10 @@
#pragma once
#include <thread>
+#include <string>
+#include <vector>
+#include <mutex>
+#include <map>
#include <ArmarXCore/core/Component.h>
diff --git a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
index 0c5d82c8da19676c0ab3b544ea381ed7ae5f8776..422419b7821762e9b808a23e5946dc49bea14918 100644
--- a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
+++ b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
@@ -130,7 +130,6 @@ namespace armarx::armem::server::obj
{
attachmentSegment.init();
});
-
}
void ObjectMemory::onConnectComponent()
@@ -146,6 +145,9 @@ namespace armarx::armem::server::obj
getProxyFromProperty(kinematicUnitObserver, "cmp.KinematicUnitObserverName", false, "", false);
+ // Create first to use the original values.
+ createRemoteGuiTab();
+
instance::SegmentAdapter::connect(
robotStateComponent,
robot,
@@ -169,9 +171,7 @@ namespace armarx::armem::server::obj
ArVizComponentPluginUser::getArvizClient()
);
- createRemoteGuiTab();
RemoteGui_startRunningTask();
-
}
void ObjectMemory::onDisconnectComponent()
diff --git a/source/RobotAPI/interface/armem/query.ice b/source/RobotAPI/interface/armem/query.ice
index 2a0eb6e217a769fe4bab33dd0ab896e2faeda8e5..2a1586fece346e89cbe491cd21c026ddab603e0e 100644
--- a/source/RobotAPI/interface/armem/query.ice
+++ b/source/RobotAPI/interface/armem/query.ice
@@ -13,15 +13,16 @@ module armarx
{
enum QueryTarget
{
- WMAndLTM,
WM,
- LTM // only for debug. remove later
+ LTM,
+ Disk
};
+ sequence<QueryTarget> QueryTargets;
/// Which entity snapshots to get from an entity?
class EntityQuery
{
- QueryTarget target = QueryTarget::WMAndLTM;
+ QueryTargets targets;
};
sequence<EntityQuery> EntityQuerySeq;
@@ -115,7 +116,7 @@ module armarx
class ProviderSegmentQuery
{
EntityQuerySeq entityQueries;
- QueryTarget target = QueryTarget::WMAndLTM;
+ QueryTargets targets;
};
sequence<ProviderSegmentQuery> ProviderSegmentQuerySeq;
module provider
@@ -138,7 +139,7 @@ module armarx
class CoreSegmentQuery
{
ProviderSegmentQuerySeq providerSegmentQueries;
- QueryTarget target = QueryTarget::WMAndLTM;
+ QueryTargets targets;
};
sequence<CoreSegmentQuery> CoreSegmentQuerySeq;
@@ -162,7 +163,7 @@ module armarx
class MemoryQuery
{
CoreSegmentQuerySeq coreSegmentQueries;
- QueryTarget target = QueryTarget::WMAndLTM;
+ QueryTargets targets;
};
sequence<MemoryQuery> MemoryQuerySeq;
dictionary<string, MemoryQuerySeq> MemoryQueriesDict;
@@ -188,7 +189,6 @@ module armarx
{
/// Dict of memory name to
MemoryQueriesDict memoryQueries;
- QueryTarget target = QueryTarget::WMAndLTM;
};
struct Input
diff --git a/source/RobotAPI/interface/objectpose/object_pose_types.ice b/source/RobotAPI/interface/objectpose/object_pose_types.ice
index f104719fabc64d8656201d158c1dc23f25916bde..eb022b186f51f1abd2cd3ff4e9c6000781610447 100644
--- a/source/RobotAPI/interface/objectpose/object_pose_types.ice
+++ b/source/RobotAPI/interface/objectpose/object_pose_types.ice
@@ -29,6 +29,10 @@
module armarx
{
+ // Originally defined in <RobotAPI/interface/units/KinematicUnitInterface.ice>
+ dictionary<string, float> NameValueMap;
+
+
// A struct's name cannot cannot differ only in capitalization from its immediately enclosing module name.
module objpose
{
@@ -67,6 +71,8 @@ module armarx
string providerName;
/// Known or unknown object.
ObjectType objectType = AnyObject;
+ /// Whether object is static. Static objects don't decay.
+ bool isStatic = false;
/// The object ID, i.e. dataset and name.
armarx::data::ObjectID objectID;
@@ -75,6 +81,9 @@ module armarx
PoseBase objectPose;
string objectPoseFrame;
+ /// The object's joint values if it is articulated.
+ NameValueMap objectJointValues;
+
/// Confidence in [0, 1] (1 = full, 0 = none).
float confidence = 0;
/// Source timestamp.
@@ -94,7 +103,13 @@ module armarx
/// Name of the providing component.
string providerName;
/// Known or unknown object.
+<<<<<<< HEAD
ObjectType objectType = AnyObject;
+=======
+ ObjectTypeEnum objectType = AnyObject;
+ /// Whether object is static. Static objects don't decay.
+ bool isStatic = false;
+>>>>>>> origin/armem/dev
/// The object ID, i.e. dataset and name.
armarx::data::ObjectID objectID;
@@ -104,6 +119,10 @@ module armarx
PoseBase objectPoseOriginal;
string objectPoseOriginalFrame;
+ /// The object's joint values if it is articulated.
+ NameValueMap objectJointValues;
+
+
StringFloatDictionary robotConfig;
PoseBase robotPose;
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ObjectPose.cpp b/source/RobotAPI/libraries/ArmarXObjects/ObjectPose.cpp
index 171da9c1a660b8257b2abc3f1b1f05ff6c0deb98..51fb57e6896277be3538672fce00c1096bc60951 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/ObjectPose.cpp
+++ b/source/RobotAPI/libraries/ArmarXObjects/ObjectPose.cpp
@@ -29,6 +29,7 @@ namespace armarx::objpose
{
providerName = ice.providerName;
objectType = ice.objectType;
+ isStatic = ice.isStatic;
armarx::fromIce(ice.objectID, objectID);
objectPoseRobot = ::armarx::fromIce(ice.objectPoseRobot);
@@ -36,6 +37,8 @@ namespace armarx::objpose
objectPoseOriginal = ::armarx::fromIce(ice.objectPoseOriginal);
objectPoseOriginalFrame = ice.objectPoseOriginalFrame;
+ objectJointValues = ice.objectJointValues;
+
robotConfig = ice.robotConfig;
robotPose = ::armarx::fromIce(ice.robotPose);
@@ -58,12 +61,14 @@ namespace armarx::objpose
{
ice.providerName = providerName;
ice.objectType = objectType;
+ ice.isStatic = isStatic;
armarx::toIce(ice.objectID, objectID);
ice.objectPoseRobot = new Pose(objectPoseRobot);
ice.objectPoseGlobal = new Pose(objectPoseGlobal);
ice.objectPoseOriginal = new Pose(objectPoseOriginal);
ice.objectPoseOriginalFrame = objectPoseOriginalFrame;
+ ice.objectJointValues = objectJointValues;
ice.robotConfig = robotConfig;
ice.robotPose = new Pose(robotPose);
@@ -80,10 +85,12 @@ namespace armarx::objpose
{
providerName = provided.providerName;
objectType = provided.objectType;
+ isStatic = provided.isStatic;
armarx::fromIce(provided.objectID, objectID);
objectPoseOriginal = ::armarx::fromIce(provided.objectPose);
objectPoseOriginalFrame = provided.objectPoseFrame;
+ objectJointValues = provided.objectJointValues;
armarx::FramedPose framed(objectPoseOriginal, objectPoseOriginalFrame, robot->getName());
framed.changeFrame(robot, robot->getRootNode()->getName());
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ObjectPose.h b/source/RobotAPI/libraries/ArmarXObjects/ObjectPose.h
index d7eef22b74c74ef600ac9fe48495f998dd4278d7..c7bf5e789bb3862584e41dc1e8e919b2d6494e9f 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/ObjectPose.h
+++ b/source/RobotAPI/libraries/ArmarXObjects/ObjectPose.h
@@ -1,6 +1,9 @@
#pragma once
#include <optional>
+#include <map>
+#include <vector>
+
#include <Eigen/Core>
@@ -47,6 +50,8 @@ namespace armarx::objpose
std::string providerName;
/// Known or unknown object.
ObjectType objectType = AnyObject;
+ /// Whether object is static. Static objects don't decay.
+ bool isStatic = false;
/// The object ID, i.e. dataset, class name and instance name.
armarx::ObjectID objectID;
@@ -56,6 +61,9 @@ namespace armarx::objpose
Eigen::Matrix4f objectPoseOriginal;
std::string objectPoseOriginalFrame;
+ /// The object's joint values if it is articulated.
+ std::map<std::string, float> objectJointValues;
+
std::map<std::string, float> robotConfig;
Eigen::Matrix4f robotPose;
@@ -90,6 +98,7 @@ namespace armarx::objpose
void updateAttached(VirtualRobot::RobotPtr agent);
};
using ObjectPoseSeq = std::vector<ObjectPose>;
+ using ObjectPoseMap = std::map<ObjectID, ObjectPose>;
void fromIce(const data::ObjectAttachmentInfo& ice, ObjectAttachmentInfo& attachment);
diff --git a/source/RobotAPI/libraries/ArmarXObjects/aron/ObjectPose.xml b/source/RobotAPI/libraries/ArmarXObjects/aron/ObjectPose.xml
index e9701dc24c9a891449c9025a514322eaa615b52f..ba26c1a618746e41823850dc99a93b670bc2a7e9 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/aron/ObjectPose.xml
+++ b/source/RobotAPI/libraries/ArmarXObjects/aron/ObjectPose.xml
@@ -38,6 +38,10 @@ ARON DTO of armarx::objpose::ObjectPose.
<armarx::objpose::arondto::ObjectType />
</ObjectChild>
+ <ObjectChild key='isStatic'>
+ <bool />
+ </ObjectChild>
+
<ObjectChild key='objectID'>
<armarx::arondto::ObjectID />
</ObjectChild>
@@ -58,6 +62,13 @@ ARON DTO of armarx::objpose::ObjectPose.
<string />
</ObjectChild>
+ <!-- The object's joint values if it is articulated. -->
+ <ObjectChild key='objectJointValues'>
+ <Dict>
+ <Float />
+ </Dict>
+ </ObjectChild>
+
<ObjectChild key='robotConfig'>
<Dict>
<Float />
diff --git a/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/objpose.cpp b/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/objpose.cpp
index 97ba54e2336d677269d28bb8f175e7540bcc3129..5fc8ebdea395c6b8bcd149c14fcb2fe567a4ace8 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/objpose.cpp
+++ b/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/objpose.cpp
@@ -2,8 +2,13 @@
#include <ArmarXCore/core/exceptions/local/UnexpectedEnumValueException.h>
+
#include <RobotAPI/libraries/aron/common/aron_conversions.h>
+
+#include <RobotAPI/libraries/ArmarXObjects/ObjectPose.h>
#include <RobotAPI/libraries/ArmarXObjects/aron_conversions.h>
+#include <RobotAPI/libraries/ArmarXObjects/aron/ObjectType.aron.generated.h>
+#include <RobotAPI/libraries/ArmarXObjects/aron/ObjectPose.aron.generated.h>
void armarx::objpose::fromAron(const arondto::ObjectAttachmentInfo& dto, ObjectAttachmentInfo& bo)
@@ -56,14 +61,15 @@ void armarx::objpose::toAron(arondto::ObjectType& dto, const ObjectType& bo)
void armarx::objpose::fromAron(const arondto::ObjectPose& dto, ObjectPose& bo)
{
bo.providerName = dto.providerName;
-
fromAron(dto.objectType, bo.objectType);
+ bo.isStatic = dto.isStatic;
fromAron(dto.objectID, bo.objectID);
bo.objectPoseRobot = dto.objectPoseRobot;
bo.objectPoseGlobal = dto.objectPoseGlobal;
bo.objectPoseOriginal = dto.objectPoseOriginal;
bo.objectPoseOriginalFrame = dto.objectPoseOriginalFrame;
+ bo.objectJointValues = dto.objectJointValues;
bo.robotConfig = dto.robotConfig;
bo.robotPose = dto.robotPose;
@@ -97,14 +103,15 @@ void armarx::objpose::fromAron(const arondto::ObjectPose& dto, ObjectPose& bo)
void armarx::objpose::toAron(arondto::ObjectPose& dto, const ObjectPose& bo)
{
dto.providerName = bo.providerName;
-
toAron(dto.objectType, bo.objectType);
+ dto.isStatic = bo.isStatic;
toAron(dto.objectID, bo.objectID);
dto.objectPoseRobot = bo.objectPoseRobot;
dto.objectPoseGlobal = bo.objectPoseGlobal;
dto.objectPoseOriginal = bo.objectPoseOriginal;
dto.objectPoseOriginalFrame = bo.objectPoseOriginalFrame;
+ dto.objectJointValues = bo.objectJointValues;
dto.robotConfig = bo.robotConfig;
dto.robotPose = bo.robotPose;
diff --git a/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/objpose.h b/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/objpose.h
index c89a075be8b3e6ca905d9daefac0a105f21ed4dc..6117009c5ca366ad0fa0082161f3ee67d39c2892 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/objpose.h
+++ b/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/objpose.h
@@ -1,14 +1,20 @@
#pragma once
-#include <RobotAPI/libraries/ArmarXObjects/ObjectPose.h>
-#include <RobotAPI/libraries/ArmarXObjects/aron/ObjectPose.aron.generated.h>
-
#include <RobotAPI/interface/objectpose/object_pose_types.h>
-#include <RobotAPI/libraries/ArmarXObjects/aron/ObjectType.aron.generated.h>
+namespace armarx::objpose::arondto
+{
+ class ObjectAttachmentInfo;
+ class ObjectType;
+ class ObjectPose;
+}
namespace armarx::objpose
{
+ class ObjectAttachmentInfo;
+ class ObjectPose;
+
+
void fromAron(const arondto::ObjectAttachmentInfo& dto, ObjectAttachmentInfo& bo);
void toAron(arondto::ObjectAttachmentInfo& dto, const ObjectAttachmentInfo& bo);
diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
index 762d3f240eb99b6f37b4ecf7d47b63a55e7932f0..1c573254359a77ed99e2365a48d9e1c71c67167e 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
@@ -283,8 +283,8 @@ namespace armarx
Eigen::Vector3f dpos = ctrlParams.getUpToDateReadBuffer().dpos;
Eigen::Vector3f kori = ctrlParams.getUpToDateReadBuffer().kori;
Eigen::Vector3f dori = ctrlParams.getUpToDateReadBuffer().dori;
- Eigen::Vector3f knull = ctrlParams.getUpToDateReadBuffer().knull;
- Eigen::Vector3f dnull = ctrlParams.getUpToDateReadBuffer().dnull;
+ Eigen::VectorXf knull = ctrlParams.getUpToDateReadBuffer().knull;
+ Eigen::VectorXf dnull = ctrlParams.getUpToDateReadBuffer().dnull;
Eigen::Vector6f jointControlWrench;
{
diff --git a/source/RobotAPI/libraries/armem/CMakeLists.txt b/source/RobotAPI/libraries/armem/CMakeLists.txt
index 38d9515cc25818652636ca4b8c5e969eaaf9519a..7f949da5645c81c449a9035edc87e3fa42f49403 100644
--- a/source/RobotAPI/libraries/armem/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem/CMakeLists.txt
@@ -122,6 +122,12 @@ set(LIB_FILES
server/query_proc/longtermmemory/CoreSegmentQueryProcessor.cpp
server/query_proc/longtermmemory/MemoryQueryProcessor.cpp
+ server/query_proc/diskmemory/BaseQueryProcessor.cpp
+ server/query_proc/diskmemory/EntityQueryProcessor.cpp
+ server/query_proc/diskmemory/ProviderSegmentQueryProcessor.cpp
+ server/query_proc/diskmemory/CoreSegmentQueryProcessor.cpp
+ server/query_proc/diskmemory/MemoryQueryProcessor.cpp
+
mns/MemoryNameSystem.cpp
mns/ComponentPlugin.cpp
@@ -237,6 +243,12 @@ set(LIB_HEADERS
server/query_proc/longtermmemory/CoreSegmentQueryProcessor.h
server/query_proc/longtermmemory/MemoryQueryProcessor.h
+ server/query_proc/diskmemory/BaseQueryProcessor.h
+ server/query_proc/diskmemory/EntityQueryProcessor.h
+ server/query_proc/diskmemory/ProviderSegmentQueryProcessor.h
+ server/query_proc/diskmemory/CoreSegmentQueryProcessor.h
+ server/query_proc/diskmemory/MemoryQueryProcessor.h
+
mns.h
mns/MemoryNameSystem.h
mns/ComponentPlugin.h
diff --git a/source/RobotAPI/libraries/armem/client/Query.h b/source/RobotAPI/libraries/armem/client/Query.h
index 4f5a87bdccfc84458210d0811b02d99275b54ae4..916278a8fcde1679545ed39d59531f5772852c13 100644
--- a/source/RobotAPI/libraries/armem/client/Query.h
+++ b/source/RobotAPI/libraries/armem/client/Query.h
@@ -28,6 +28,37 @@ namespace armarx::armem::client
armem::query::data::MemoryQuerySeq memoryQueries;
DataMode dataMode;
+ void addQueryTargetToAll(const armem::query::data::QueryTarget t)
+ {
+ for (const auto& memoryQuery : memoryQueries)
+ {
+ if (std::find(memoryQuery->targets.begin(), memoryQuery->targets.end(), t) == memoryQuery->targets.end())
+ {
+ memoryQuery->targets.push_back(t);
+ }
+ for (const auto& coreSegmentQuery : memoryQuery->coreSegmentQueries)
+ {
+ if (std::find(coreSegmentQuery->targets.begin(), coreSegmentQuery->targets.end(), t) == coreSegmentQuery->targets.end())
+ {
+ coreSegmentQuery->targets.push_back(t);
+ }
+ for (const auto& providerSegmentQuery : coreSegmentQuery->providerSegmentQueries)
+ {
+ if (std::find(providerSegmentQuery->targets.begin(), providerSegmentQuery->targets.end(), t) == providerSegmentQuery->targets.end())
+ {
+ providerSegmentQuery->targets.push_back(t);
+ }
+ for (const auto& entityQuery : providerSegmentQuery->entityQueries)
+ {
+ if (std::find(entityQuery->targets.begin(), entityQuery->targets.end(), t) == entityQuery->targets.end())
+ {
+ entityQuery->targets.push_back(t);
+ }
+ }
+ }
+ }
+ }
+ }
static QueryInput fromIce(const armem::query::data::Input& ice);
armem::query::data::Input toIce() const;
diff --git a/source/RobotAPI/libraries/armem/client/query/Builder.cpp b/source/RobotAPI/libraries/armem/client/query/Builder.cpp
index 5979ea365a863dc0ce1c0c0b91a0d77fc3f331e9..59ae0b7c082bc25a8b1084f8ac49611df107d132 100644
--- a/source/RobotAPI/libraries/armem/client/query/Builder.cpp
+++ b/source/RobotAPI/libraries/armem/client/query/Builder.cpp
@@ -8,12 +8,6 @@ namespace armarx::armem::client::query
{
}
- Builder& Builder::queryTarget(const armem::query::data::QueryTarget target)
- {
- this->_target = target;
- return *this;
- }
-
QueryInput Builder::buildQueryInput() const
{
QueryInput input;
@@ -31,9 +25,9 @@ namespace armarx::armem::client::query
armem::query::data::MemoryQuerySeq memoryQueries;
for (const CoreSegmentSelector& child : _children)
{
- for (const armem::query::data::MemoryQueryPtr& query : child.buildQueries())
+ for (armem::query::data::MemoryQueryPtr& query : child.buildQueries())
{
- query->target = _target;
+ query->targets = _targets;
memoryQueries.push_back(query);
}
}
diff --git a/source/RobotAPI/libraries/armem/client/query/Builder.h b/source/RobotAPI/libraries/armem/client/query/Builder.h
index eae09294320f216aa3e996821c429376ff7675a0..dc6147ef03e7de81518e64bddc9bb486f0062b07 100644
--- a/source/RobotAPI/libraries/armem/client/query/Builder.h
+++ b/source/RobotAPI/libraries/armem/client/query/Builder.h
@@ -28,7 +28,6 @@ namespace armarx::armem::client::query
public:
Builder(DataMode dataMode = DataMode::WithData);
- Builder& queryTarget(const armem::query::data::QueryTarget target);
/// Start specifying core segments.
CoreSegmentSelector& coreSegments();
@@ -66,7 +65,6 @@ namespace armarx::armem::client::query
public:
- armem::query::data::QueryTarget _target = armem::query::data::QueryTarget::WMAndLTM;
DataMode dataMode;
};
diff --git a/source/RobotAPI/libraries/armem/client/query/detail/SelectorOps.h b/source/RobotAPI/libraries/armem/client/query/detail/SelectorOps.h
index 0a0e89e0ab7f651aa40ff3e2f564d48293f64a40..c6e153f0d7358b318c6966f2c9d5c9c2c35579a4 100644
--- a/source/RobotAPI/libraries/armem/client/query/detail/SelectorOps.h
+++ b/source/RobotAPI/libraries/armem/client/query/detail/SelectorOps.h
@@ -5,6 +5,7 @@
#include <Ice/Handle.h>
#include <RobotAPI/libraries/armem/core/MemoryID.h>
+#include <RobotAPI/interface/armem/query.h>
namespace armarx::armem::client::query::detail
@@ -17,7 +18,11 @@ namespace armarx::armem::client::query::detail
using DerivedT = _DerivedT;
using QueryT = _QueryT;
- virtual ~ChildSelectorOps() = default;
+ ChildSelectorOps() = delete;
+
+ ChildSelectorOps(const armem::query::data::QueryTargets& p) :
+ _parentTargets(p)
+ {}
virtual DerivedT& all() = 0;
@@ -36,6 +41,9 @@ namespace armarx::armem::client::query::detail
}
}
+ protected:
+ armem::query::data::QueryTargets _parentTargets;
+
protected:
@@ -81,11 +89,21 @@ namespace armarx::armem::client::query::detail
using ChildT = _ChildT;
+ public:
+ virtual ~ParentSelectorOps() = default;
+
+ /// QueryTargets for this query
+ DerivedT& queryTargets(const armem::query::data::QueryTargets& targets)
+ {
+ this->_targets = targets;
+ return dynamic_cast<DerivedT&>(*this);
+ }
+
protected:
ChildT& _addChild()
{
- return _children.emplace_back();
+ return _children.emplace_back(_targets);
}
ChildT& _addChild(const ChildT& child)
{
@@ -102,7 +120,7 @@ namespace armarx::armem::client::query::detail
std::vector<ChildT> _children;
-
+ armem::query::data::QueryTargets _targets = {armem::query::data::QueryTarget::WM}; // if not specified we only query the WM
};
@@ -114,17 +132,27 @@ namespace armarx::armem::client::query::detail
{
public:
- virtual ~InnerSelectorOps()
+ InnerSelectorOps(const armem::query::data::QueryTargets& p) :
+ ChildSelectorOps<DerivedT, QueryT>(p)
{}
-
virtual std::vector<QueryT> buildQueries() const
{
+ // check own query targets and parent query targets
+ for (const auto& target : this->_targets)
+ {
+ if (std::find(this->_parentTargets.begin(), this->_parentTargets.end(), target) == this->_parentTargets.end())
+ {
+ // TODO: Error, this makes no sense! or just ignore?
+ }
+ }
+
std::vector<typename ChildT::QueryT> childQueries;
for (const auto& child : this->_children)
{
- for (const auto& query : child.buildQueries())
+ for (auto& query : child.buildQueries())
{
+ query->targets = this->_targets;
childQueries.push_back(query);
}
}
diff --git a/source/RobotAPI/libraries/armem/client/query/selectors.cpp b/source/RobotAPI/libraries/armem/client/query/selectors.cpp
index cc3a73829ab7c79eabc96c30b55c4ca350ac33ad..98e79d06ab3642b25bee40e89daf728ab3dfee2b 100644
--- a/source/RobotAPI/libraries/armem/client/query/selectors.cpp
+++ b/source/RobotAPI/libraries/armem/client/query/selectors.cpp
@@ -77,7 +77,6 @@ namespace armarx::armem::client::query
return *this;
}
-
SnapshotSelector& EntitySelector::snapshots()
{
return _addChild();
@@ -115,7 +114,6 @@ namespace armarx::armem::client::query
}
-
EntitySelector& ProviderSegmentSelector::entities()
{
return _addChild();
@@ -153,7 +151,6 @@ namespace armarx::armem::client::query
}
-
ProviderSegmentSelector& CoreSegmentSelector::providerSegments()
{
return _addChild();
diff --git a/source/RobotAPI/libraries/armem/client/query/selectors.h b/source/RobotAPI/libraries/armem/client/query/selectors.h
index df642ded9a70ea2688eaca5865f730e8e99ee6de..b9c257dc6dd5ae1ec07fd7850322d8babef829e4 100644
--- a/source/RobotAPI/libraries/armem/client/query/selectors.h
+++ b/source/RobotAPI/libraries/armem/client/query/selectors.h
@@ -15,6 +15,10 @@ namespace armarx::armem::client::query
{
public:
+ SnapshotSelector(const armem::query::data::QueryTargets& p) :
+ detail::ChildSelectorOps<SnapshotSelector, armem::query::data::EntityQueryPtr>(p)
+ {}
+
armem::query::data::EntityQuerySeq buildQueries() const;
@@ -44,6 +48,10 @@ namespace armarx::armem::client::query
{
public:
+ EntitySelector(const armem::query::data::QueryTargets& p) :
+ detail::InnerSelectorOps<EntitySelector, armem::query::data::ProviderSegmentQueryPtr, SnapshotSelector>(p)
+ {}
+
/// Start specifying entity snapshots.
SnapshotSelector& snapshots();
SnapshotSelector& snapshots(const SnapshotSelector& selector);
@@ -79,6 +87,10 @@ namespace armarx::armem::client::query
{
public:
+ ProviderSegmentSelector(const armem::query::data::QueryTargets& p) :
+ detail::InnerSelectorOps<ProviderSegmentSelector, armem::query::data::CoreSegmentQueryPtr, EntitySelector>(p)
+ {}
+
/// Start specifying entities.
EntitySelector& entities();
EntitySelector& entities(const EntitySelector& selector);
@@ -114,6 +126,10 @@ namespace armarx::armem::client::query
{
public:
+ CoreSegmentSelector(const armem::query::data::QueryTargets& p) :
+ detail::InnerSelectorOps<CoreSegmentSelector, armem::query::data::MemoryQueryPtr, ProviderSegmentSelector>(p)
+ {}
+
/// Start specifying provider segments.
ProviderSegmentSelector& providerSegments();
ProviderSegmentSelector& providerSegments(const ProviderSegmentSelector& selector);
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.cpp
index 6a26be9c7915a54b081e5d03b4f67cb6ae9eeaee..2dd6fd615432b9245e308ba285b4be62f99578ab 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.cpp
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.cpp
@@ -24,7 +24,7 @@ namespace armarx::armem::d_ltm
wm::CoreSegment CoreSegment::convert() const
{
- wm::CoreSegment m;
+ wm::CoreSegment m(id());
for (const auto& [_, s] : _container)
{
m.addProviderSegment(s.convert(_aronType));
@@ -86,7 +86,16 @@ namespace armarx::armem::d_ltm
}
else
{
- std::filesystem::create_directory(_fullPath() / k);
+ try
+ {
+ std::filesystem::create_directory(_fullPath() / k);
+ }
+ catch (...)
+ {
+ ARMARX_WARNING << GetHandledExceptionString();
+ return;
+ }
+
auto wms = _container.emplace(std::make_pair(k, id().withProviderSegmentName(k)));
wms.first->second.path = path;
wms.first->second.append(s);
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/Entity.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/Entity.cpp
index a616914ede5c279d11daea7afcfe81a681b0c460..5d784a097de4ef68ec2df0bdc1adce94fa737809 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/Entity.cpp
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/Entity.cpp
@@ -18,7 +18,7 @@ namespace armarx::armem::d_ltm
wm::Entity Entity::convert(const aron::typenavigator::NavigatorPtr& expectedStructure) const
{
- wm::Entity m;
+ wm::Entity m(id());
for (const auto& [_, s] : _container)
{
m.addSnapshot(s.convert(expectedStructure));
@@ -67,7 +67,8 @@ namespace armarx::armem::d_ltm
{
if (const auto& it = _container.find(k); it != _container.end())
{
- it->second.setTo(s);
+ // timestamp already exists
+ // We assume that a snapshot does not change, so ignore
}
else
{
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.cpp
index 4da151bd537f98e0e5693d948f202d68859f0d76..dd0458b83bbb8ed461ddeab50af42181fda843e4 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.cpp
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.cpp
@@ -41,6 +41,7 @@ namespace armarx::armem::d_ltm
void EntityInstance::_copySelf(EntityInstance& other) const
{
EntityInstanceBase<EntityInstance>::_copySelf(other);
+ other.path = path;
}
std::filesystem::path EntityInstance::_fullPath() const
@@ -49,6 +50,7 @@ namespace armarx::armem::d_ltm
{
return _fullPath(*path);
}
+ ARMARX_WARNING << "The path of the disk memory instance with id '" << id().str() << "' is not set. This may lead to errors.";
return std::filesystem::path();
}
@@ -59,7 +61,7 @@ namespace armarx::armem::d_ltm
wm::EntityInstance EntityInstance::convert(const aron::typenavigator::NavigatorPtr& expectedStructure) const
{
- std::filesystem::path p = _fullPath();
+ std::filesystem::path p = _fullPath(); // here we assume that "reload" has been called first
std::filesystem::path d = p / (std::string(DATA_FILENAME) + ".json");
if (std::filesystem::is_regular_file(d))
@@ -67,7 +69,7 @@ namespace armarx::armem::d_ltm
std::ifstream ifs(d);
std::string file_content((std::istreambuf_iterator<char>(ifs)), (std::istreambuf_iterator<char>()));
- nlohmann::json j(file_content);
+ nlohmann::json j = nlohmann::json::parse(file_content);
auto aron = std::make_shared<aron::datanavigator::DictNavigator>();
to_aron(aron, j, expectedStructure);
wm::EntityInstance e(id());
@@ -76,7 +78,7 @@ namespace armarx::armem::d_ltm
}
else
{
- throw error::ArMemError("An diskMemory EntityInstance is not leading to a regular file.");
+ throw error::ArMemError("An diskMemory EntityInstance is not leading to a regular file. The path was: " + d.string());
}
}
@@ -84,7 +86,7 @@ namespace armarx::armem::d_ltm
{
if (!p_ptr)
{
- ARMARX_WARNING << "The entered is NULL.";
+ ARMARX_WARNING << "The entered path is NULL.";
}
std::filesystem::path p = _fullPath(*p_ptr);
if (!std::filesystem::is_directory(p))
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.cpp
index cc1124ab2335d1acf69550350a0bc980c0af7b7f..ab5b56d2274f78c350818693c269af18f0a4a979 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.cpp
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.cpp
@@ -26,7 +26,7 @@ namespace armarx::armem::d_ltm
wm::EntitySnapshot EntitySnapshot::convert(const aron::typenavigator::NavigatorPtr& expectedStructure) const
{
- wm::EntitySnapshot m;
+ wm::EntitySnapshot m(id());
for (const auto& s : _container)
{
m.addInstance(s.convert(expectedStructure));
@@ -56,7 +56,7 @@ namespace armarx::armem::d_ltm
std::filesystem::path d = p / std::to_string(i);
if (std::filesystem::is_directory(d))
{
- auto wms = _container.emplace_back(id().withInstanceIndex(i));
+ auto& wms = _container.emplace_back(id().withInstanceIndex(i));
wms.reload(p_ptr);
}
else
@@ -79,7 +79,7 @@ namespace armarx::armem::d_ltm
return;
}
- // We remove the contente here and reset it with new values
+ // We remove the content here and reset it with new values
_container.clear();
int i = 0;
@@ -95,7 +95,7 @@ namespace armarx::armem::d_ltm
continue;;
}
- auto wms = _container.emplace_back(id().withInstanceIndex(i++));
+ auto& wms = _container.emplace_back(id().withInstanceIndex(i++));
wms.path = path;
wms.setTo(s);
}
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.h b/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.h
index f73702857fc6700e5cfae5f6d08b369240d08f79..545a8c0d64641c65e7faf7aa26dea77ee9865e0c 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.h
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.h
@@ -29,7 +29,7 @@ namespace armarx::armem::d_ltm
void reload(const std::shared_ptr<std::filesystem::path>&);
wm::EntitySnapshot convert(const aron::typenavigator::NavigatorPtr& expectedStructure) const;
- // MongoDB connection
+ // FS connection
void setTo(const wm::EntitySnapshot&);
private:
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/Memory.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/Memory.cpp
index 874d189d6a22a79c9e015d800c292f9af075cfea..4a913f2b497fce236c3cb8f9343fa97179b2d757 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/Memory.cpp
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/Memory.cpp
@@ -24,8 +24,8 @@ namespace armarx::armem::d_ltm
wm::Memory Memory::convert() const
{
- wm::Memory m;
- for (const auto& [_, s] : _container)
+ wm::Memory m(id());
+ for (const auto& [k, s] : _container)
{
m.addCoreSegment(s.convert());
}
@@ -44,7 +44,7 @@ namespace armarx::armem::d_ltm
if (!std::filesystem::exists(p))
{
- ARMARX_INFO << "The entered path does not exist. Assuming an empty container.";
+ ARMARX_INFO << "The entered path does not exist. Returning empty memory.";
}
else
{
@@ -73,7 +73,15 @@ namespace armarx::armem::d_ltm
}
else
{
- std::filesystem::create_directory(_fullPath() / k);
+ try
+ {
+ std::filesystem::create_directory(_fullPath() / k);
+ }
+ catch (...)
+ {
+ ARMARX_WARNING << GetHandledExceptionString();
+ return;
+ }
auto wms = _container.emplace(std::make_pair(k, id().withCoreSegmentName(k)));
wms.first->second.path = path;
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.cpp
index 77d38171c15a0c5b6022c28c8d7ad5ece1a5b62a..f46e165381bf0d9cbdcc12b4cdfa31e286f4a545 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.cpp
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.cpp
@@ -23,7 +23,7 @@ namespace armarx::armem::d_ltm
wm::ProviderSegment ProviderSegment::convert(const aron::typenavigator::NavigatorPtr& expectedStructure) const
{
- wm::ProviderSegment m;
+ wm::ProviderSegment m(id());
for (const auto& [_, s] : _container)
{
if (hasAronType())
@@ -107,8 +107,6 @@ namespace armarx::armem::d_ltm
try
{
std::filesystem::create_directory(_fullPath() / k);
- continue;
-
}
catch (...)
{
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.cpp
index 3865e6df0dfb2112d14d5ee23c40e3a740626307..153852eaf50f4d71573c1bafdc44b052c0e1317c 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.cpp
@@ -63,7 +63,7 @@ namespace armarx::armem::ltm
{
if (const auto& it = _container.find(k); it != _container.end())
{
- // segment already exists
+ // timestamp already exists
// We assume that a snapshot does not change, so ignore
}
else
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.cpp
index 4a96e410dc50a1c7cbe8520bb1d35479336a3ad0..7edf8946abe9bbf5967454a99ad73fefee535686 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.cpp
@@ -10,20 +10,51 @@
namespace armarx::armem::ltm
{
+ bool Memory::checkConnection() const
+ {
+ // Check connection:
+ if (!MongoDBConnectionManager::ConnectionIsValid(dbsettings))
+ {
+ ARMARX_WARNING << deactivateSpam("ConnectionIsNotValid")
+ << "The connection to mongocxx for memory '" << name() << "' is not valid. Settings are: " << dbsettings.toString()
+ << "\nTo start it, run e.g.: \n"
+ << "mongod --port " << dbsettings.port << " --dbpath \"/tmp/\""
+ << "\n\n";
+ return false;
+ }
+ ARMARX_INFO << "Checking connection";
+ return true;
+ }
+
wm::Memory Memory::convert() const
{
+ if (!checkConnection())
+ {
+ wm::Memory m(id());
+ return m;
+ }
+
ARMARX_INFO << "Converting with connection to: " << dbsettings.toString();
+ TIMING_START(LTM_Convert);
+
wm::Memory m(id());
for (const auto& [_, s] : _container)
{
m.addCoreSegment(s.convert());
}
+
+ TIMING_END(LTM_Convert);
return m;
}
void Memory::reload()
{
+ if (!checkConnection())
+ {
+ return;
+ }
+
ARMARX_INFO << "(Re)Establishing connection to: " << dbsettings.toString();
_container.clear();
@@ -60,6 +91,11 @@ namespace armarx::armem::ltm
void Memory::append(const wm::Memory& m)
{
+ if (!checkConnection())
+ {
+ return;
+ }
+
ARMARX_INFO << "Merge memory with name '" << m.name() << "' into the LTM with name '" << name() << "'";
TIMING_START(LTM_Append);
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.h b/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.h
index 0c14d481093d60af2eab0003bb2bb21ff8c4016b..86c00cc618e23620540428ba3b024743ecc272ee 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.h
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.h
@@ -65,6 +65,8 @@ namespace armarx::armem::ltm
other.dbsettings = dbsettings;
}
+ private:
+ bool checkConnection() const;
public:
MongoDBConnectionManager::MongoDBSettings dbsettings;
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/mongodb/MongoDBConnectionManager.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/mongodb/MongoDBConnectionManager.cpp
index d35c7640cff283349e592dfc3e6d7e616e27516c..6ad44836900e04765790a9a3c2a19881e1288656 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/mongodb/MongoDBConnectionManager.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/mongodb/MongoDBConnectionManager.cpp
@@ -5,13 +5,19 @@ namespace armarx::armem::ltm
bool MongoDBConnectionManager::initialized = false;
std::map<std::string, mongocxx::client> MongoDBConnectionManager::Connections = {};
- mongocxx::client& MongoDBConnectionManager::EstablishConnection(const MongoDBSettings& settings)
+
+ void MongoDBConnectionManager::initialize_if()
{
if (!initialized)
{
initialized = true;
mongocxx::instance instance{}; // This should be done only once.
}
+ }
+
+ mongocxx::client& MongoDBConnectionManager::EstablishConnection(const MongoDBSettings& settings)
+ {
+ initialize_if();
const auto uri_str = settings.uri();
const auto& it = Connections.find(uri_str);
@@ -27,4 +33,44 @@ namespace armarx::armem::ltm
return it->second;
}
}
+
+ bool MongoDBConnectionManager::ConnectionIsValid(const MongoDBSettings& settings, bool force)
+ {
+ initialize_if();
+
+ try
+ {
+ if (!force)
+ {
+ const auto uri_str = settings.uri();
+ const auto& it = Connections.find(uri_str);
+ if (it != Connections.end())
+ {
+ auto admin = it->second["admin"];
+ auto result = admin.run_command(bsoncxx::builder::basic::make_document(bsoncxx::builder::basic::kvp("isMaster", 1)));
+ return true;
+ }
+ }
+
+ const auto uri_str = settings.uri();
+ mongocxx::uri uri(uri_str);
+ auto client = mongocxx::client(uri);
+ auto admin = client["admin"];
+ auto result = admin.run_command(bsoncxx::builder::basic::make_document(bsoncxx::builder::basic::kvp("isMaster", 1)));
+ return true;
+ }
+ catch (const std::exception& xcp)
+ {
+ return false;
+ }
+ }
+
+ bool MongoDBConnectionManager::ConnectionExists(const MongoDBSettings& settings)
+ {
+ initialize_if();
+
+ const auto uri_str = settings.uri();
+ const auto& it = Connections.find(uri_str);
+ return it != Connections.end();
+ }
}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/mongodb/MongoDBConnectionManager.h b/source/RobotAPI/libraries/armem/core/longtermmemory/mongodb/MongoDBConnectionManager.h
index 0c04151ccd175c410cabc132e45535d624646c2e..0cd3cb5ba8f6c575d6d3dd9357f16884f508914c 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/mongodb/MongoDBConnectionManager.h
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/mongodb/MongoDBConnectionManager.h
@@ -4,6 +4,7 @@
#include <vector>
#include <map>
#include <memory>
+#include <iostream>
#include <bsoncxx/json.hpp>
#include <mongocxx/client.hpp>
@@ -35,7 +36,7 @@ namespace armarx::armem::ltm
struct MongoDBSettings
{
std::string host = "localhost";
- unsigned int port = 27017;
+ unsigned int port = 25270;
std::string user = "";
std::string password = "";
std::string database = "Test";
@@ -59,6 +60,11 @@ namespace armarx::armem::ltm
};
static mongocxx::client& EstablishConnection(const MongoDBSettings& settings);
+ static bool ConnectionIsValid(const MongoDBSettings& settings, bool force = false);
+ static bool ConnectionExists(const MongoDBSettings& settings);
+
+ private:
+ static void initialize_if();
private:
diff --git a/source/RobotAPI/libraries/armem/server/ComponentPlugin.cpp b/source/RobotAPI/libraries/armem/server/ComponentPlugin.cpp
index 41ef71d9d14729e5f272348ef6e3d633da196a33..7b3a1d05817c9c25675abe2e5b8ab011aba1d92d 100644
--- a/source/RobotAPI/libraries/armem/server/ComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/armem/server/ComponentPlugin.cpp
@@ -18,13 +18,16 @@ namespace armarx::armem::server::plugins
void ComponentPlugin::postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties)
{
MemoryNameSystemComponentPlugin::postCreatePropertyDefinitions(properties);
- properties->topic(memoryListener, this->parent<ComponentPluginUser>().memoryListenerDefaultName);
- properties->optional(this->parent<ComponentPluginUser>().longtermMemory.dbsettings.host, "Longtermmemoryhost");
- properties->optional(this->parent<ComponentPluginUser>().longtermMemory.dbsettings.port, "Longtermmemoryport");
- properties->optional(this->parent<ComponentPluginUser>().longtermMemory.dbsettings.user, "Longtermmemoryuser");
- properties->optional(this->parent<ComponentPluginUser>().longtermMemory.dbsettings.password, "Longtermmemorypassword");
- properties->optional(this->parent<ComponentPluginUser>().longtermMemory.dbsettings.database, "Longtermmemorydatabase");
+ ComponentPluginUser& parent = this->parent<ComponentPluginUser>();
+ properties->topic(memoryListener, parent.memoryListenerDefaultName);
+
+ properties->optional(parent.longtermMemoryEnabled, "ltm.00_enabled");
+ properties->optional(parent.longtermMemory.dbsettings.host, "ltm.10_host");
+ properties->optional(parent.longtermMemory.dbsettings.port, "ltm.11_port");
+ properties->optional(parent.longtermMemory.dbsettings.user, "ltm.20_user");
+ properties->optional(parent.longtermMemory.dbsettings.password, "ltm.21_password");
+ properties->optional(parent.longtermMemory.dbsettings.database, "ltm.22_database");
}
@@ -39,7 +42,10 @@ namespace armarx::armem::server::plugins
parent.iceMemory.setMemoryListener(memoryListener);
// establishing connection to ltm and mongodb
- parent.longtermMemory.reload();
+ if (parent.longtermMemoryEnabled)
+ {
+ parent.longtermMemory.reload();
+ }
}
@@ -145,8 +151,7 @@ namespace armarx::armem::server
// LTM LOADING
data::StoreResult ComponentPluginUser::store(const data::StoreInput& input, const Ice::Current&)
{
- std::scoped_lock lock(workingMemoryMutex);
- std::scoped_lock lock2(longtermMemoryMutex);
+ std::scoped_lock lock(workingMemoryMutex, longtermMemoryMutex);
return iceMemory.store(input);
}
diff --git a/source/RobotAPI/libraries/armem/server/ComponentPlugin.h b/source/RobotAPI/libraries/armem/server/ComponentPlugin.h
index 4ed6c107e6c1f29144ed2ed8ede7e01a3b4ed710..5f9ef1d574df06b1644d733e494273ce0660dbbf 100644
--- a/source/RobotAPI/libraries/armem/server/ComponentPlugin.h
+++ b/source/RobotAPI/libraries/armem/server/ComponentPlugin.h
@@ -100,6 +100,7 @@ namespace armarx::armem::server
wm::Memory workingMemory;
std::mutex workingMemoryMutex;
+ bool longtermMemoryEnabled = true;
ltm::Memory longtermMemory;
std::mutex longtermMemoryMutex;
diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
index db546ddc586a83356d445202fdfaf94f5b1b916b..f35e9ecb4c330edf520cadbdf4fbc163fc431781 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
@@ -28,7 +28,6 @@ namespace armarx::armem::server
data::AddSegmentResult
MemoryToIceAdapter::addSegment(const data::AddSegmentInput& input, bool addCoreSegments)
{
- ARMARX_DEBUG << "Adding segment '" << input.coreSegmentName << "/" << input.providerSegmentName << "'.";
ARMARX_CHECK_NOT_NULL(workingMemory);
data::AddSegmentResult output;
@@ -205,10 +204,10 @@ namespace armarx::armem::server
: armem::DataMode::NoData);
armem::query::data::Result result;
- wm::Memory wm_result = wm_processor.process(input, *workingMemory, /* ignore if: */ { query::data::QueryTarget::LTM });
+ wm::Memory wm_result = wm_processor.process(input, *workingMemory, /* execute if: */ { query::data::QueryTarget::WM });
armem::ltm::query_proc::MemoryQueryProcessor ltm_processor;
- ltm::Memory ltm_result = ltm_processor.process(input, *longtermMemory, /* ignore if: */ { query::data::QueryTarget::WM });
+ ltm::Memory ltm_result = ltm_processor.process(input, *longtermMemory, /* execute if: */ { query::data::QueryTarget::LTM });
if (ltm_result.hasData())
@@ -237,6 +236,11 @@ namespace armarx::armem::server
}
result.success = true;
+ if (result.memory->coreSegments.size() == 0)
+ {
+ ARMARX_DEBUG << "No data in memory found after query.";
+ }
+
return result;
}
@@ -261,7 +265,7 @@ namespace armarx::armem::server
{
// force query to only query WM
// TODO: Think about other query class (fabian.peller)
- query->target = query::data::QueryTarget::WM;
+ query->targets = {query::data::QueryTarget::WM};
}
armem::query::data::Result queryResult = this->query(input.query);
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.h
index 69a305e45befca5a9189c6fb264985126d16fbf3..f71aede29731259471cf5e8dd660917b3e848bb1 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.h
@@ -1,5 +1,6 @@
#pragma once
+#include <ArmarXCore/core/logging/Logging.h>
#include <RobotAPI/interface/armem/query.h>
@@ -18,39 +19,67 @@ namespace armarx::armem::base::query_proc
public:
- DataT process(const QueryT& query, const DataT& data, const std::vector<query::data::QueryTarget>& ignoreTargets = {}) const
+ DataT process(const QueryT& query, const DataT& data, const query::data::QueryTargets& executeIf = {}) const
{
DataT result = data.copyEmpty();
- if (std::find(ignoreTargets.begin(), ignoreTargets.end(), query.target) != ignoreTargets.end())
+ for (const auto queryTarget : query.targets)
{
- return result;
+ if (std::find(executeIf.begin(), executeIf.end(), queryTarget) != executeIf.end())
+ {
+ this->process(result, query, data);
+ break;
+ }
}
- this->process(result, query, data);
return result;
}
- DataT process(const QueryPtrT& query, const DataT& data, const std::vector<query::data::QueryTarget>& ignoreTargets = {}) const
+ DataT process(const QueryPtrT& query, const DataT& data, const query::data::QueryTargets& executeIf = {}) const
{
- return this->process(*query, *data, ignoreTargets);
+ return this->process(*query, *data, executeIf);
}
- DataT process(const QuerySeqT& queries, const DataT& data, const std::vector<query::data::QueryTarget>& ignoreTargets = {}) const
+ DataT process(const QuerySeqT& queries, const DataT& data, const query::data::QueryTargets& executeIf = {}) const
{
DataT result = data.copyEmpty();
- this->process(result, queries, data, ignoreTargets);
+ this->process(result, queries, data, executeIf);
return result;
}
- void process(DataT& result, const QuerySeqT& queries, const DataT& data, const std::vector<query::data::QueryTarget>& ignoreTargets = {}) const
+ void process(DataT& result, const QuerySeqT& queries, const DataT& data, const query::data::QueryTargets& executeIf = {}) const
{
+ if (queries.empty())
+ {
+ ARMARX_DEBUG << "There are no queries to process.";
+ return;
+ }
+
+ if (executeIf.empty())
+ {
+ ARMARX_DEBUG << "Could not execute query. ExecuteIf s empty.";
+ return;
+ }
+
for (const auto& query : queries)
{
- if (std::find(ignoreTargets.begin(), ignoreTargets.end(), query->target) != ignoreTargets.end())
+ if (query->targets.empty())
{
+ ARMARX_DEBUG << "The targets of a query are empty";
continue;
}
- this->process(result, *query, data);
+
+ for (const auto queryTarget : query->targets)
+ {
+ if (std::find(executeIf.begin(), executeIf.end(), queryTarget) != executeIf.end())
+ {
+ this->process(result, *query, data);
+ break;
+ }
+ else
+ {
+ ARMARX_DEBUG << "The query target " << queryTarget << " was not found in executeIf: " << executeIf;
+ }
+ }
}
}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/MemoryQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/base/MemoryQueryProcessorBase.h
index 5de194d7ba2debada4ef9363005b1a7f2e927e94..cc06defc93976ea018ab8a7d3823a00d6121543d 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/MemoryQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/MemoryQueryProcessorBase.h
@@ -34,9 +34,9 @@ namespace armarx::armem::base::query_proc
using Base::process;
- _MemoryT process(const armem::query::data::Input& input, const _MemoryT& memory, const std::vector<query::data::QueryTarget>& ignoreTargets = {}) const
+ _MemoryT process(const armem::query::data::Input& input, const _MemoryT& memory, const std::vector<query::data::QueryTarget>& executeIf = {}) const
{
- return this->process(input.memoryQueries, memory, ignoreTargets);
+ return this->process(input.memoryQueries, memory, executeIf);
}
void process(_MemoryT& result,
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/BaseQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/BaseQueryProcessor.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..68821bcd95cdf2aaccf7126d4055495d39d0393d
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/BaseQueryProcessor.cpp
@@ -0,0 +1 @@
+#include "BaseQueryProcessor.h"
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/BaseQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/BaseQueryProcessor.h
new file mode 100644
index 0000000000000000000000000000000000000000..84f967795fd26d79d173a14e71498dbec7d56ee1
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/BaseQueryProcessor.h
@@ -0,0 +1,26 @@
+#pragma once
+
+#include <RobotAPI/interface/armem/query.h>
+#include <RobotAPI/libraries/armem/core/DataMode.h>
+
+#include "../base/BaseQueryProcessorBase.h"
+
+
+namespace armarx::armem::d_ltm::query_proc
+{
+ /**
+ * @brief Base class for memory query processors.
+ */
+ template <class DataT, class QueryT>
+ class BaseQueryProcessor :
+ virtual public base::query_proc::BaseQueryProcessorBase<DataT, QueryT>
+ {
+ using Base = base::query_proc::BaseQueryProcessorBase<DataT, QueryT>;
+
+ public:
+ BaseQueryProcessor()
+ {}
+
+ protected:
+ };
+}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/CoreSegmentQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/CoreSegmentQueryProcessor.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..afbe35ad15eea0342b0b0d4df0200aaf0d32aa2a
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/CoreSegmentQueryProcessor.cpp
@@ -0,0 +1 @@
+#include "CoreSegmentQueryProcessor.h"
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/CoreSegmentQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/CoreSegmentQueryProcessor.h
new file mode 100644
index 0000000000000000000000000000000000000000..1c40f7fc64b0a2c59fdc3e54d968c6627480cbb0
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/CoreSegmentQueryProcessor.h
@@ -0,0 +1,36 @@
+#pragma once
+
+#include "BaseQueryProcessor.h"
+#include "../base/CoreSegmentQueryProcessorBase.h"
+
+#include "../../../core/diskmemory/CoreSegment.h"
+
+#include "ProviderSegmentQueryProcessor.h"
+
+
+namespace armarx::armem::d_ltm::query_proc
+{
+ /**
+ * @brief Handles memory queries.
+ */
+ class CoreSegmentQueryProcessor :
+ virtual public BaseQueryProcessor<d_ltm::CoreSegment, armem::query::data::CoreSegmentQuery>,
+ virtual public base::query_proc::CoreSegmentQueryProcessorBase<d_ltm::CoreSegment>
+ {
+ using Base = BaseQueryProcessor<d_ltm::CoreSegment, armem::query::data::CoreSegmentQuery>;
+
+ public:
+ CoreSegmentQueryProcessor() :
+ Base()
+ {}
+
+ protected:
+ virtual ProviderSegmentT providerSegmentProcessorProcess(const armem::query::data::ProviderSegmentQuerySeq& q, const ProviderSegmentT& s) const override
+ {
+ return providerSegmentProcessor.process(q, s, {armem::query::data::QueryTarget::Disk});
+ }
+
+ private:
+ ProviderSegmentQueryProcessor providerSegmentProcessor;
+ };
+}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/EntityQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/EntityQueryProcessor.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..c1c321b026b173c6552758fb9d8b9fdf722ea5a4
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/EntityQueryProcessor.cpp
@@ -0,0 +1 @@
+#include "EntityQueryProcessor.h"
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/EntityQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/EntityQueryProcessor.h
new file mode 100644
index 0000000000000000000000000000000000000000..4d1b9e14e21804f1e44f1a2fd6456da37a113c03
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/EntityQueryProcessor.h
@@ -0,0 +1,39 @@
+#pragma once
+
+#include "BaseQueryProcessor.h"
+#include "../base/EntityQueryProcessorBase.h"
+
+#include "../../../core/diskmemory/Entity.h"
+
+#include "EntityQueryProcessor.h"
+
+namespace armarx::armem::d_ltm::query_proc
+{
+ /**
+ * @brief Handles memory queries.
+ */
+ class EntityQueryProcessor :
+ virtual public BaseQueryProcessor<d_ltm::Entity, armem::query::data::EntityQuery>,
+ virtual public base::query_proc::EntityQueryProcessorBase<d_ltm::Entity>
+ {
+ using Base = BaseQueryProcessor<d_ltm::Entity, armem::query::data::EntityQuery>;
+
+ public:
+ EntityQueryProcessor() :
+ Base()
+ {}
+
+ private:
+ void addResultSnapshot(d_ltm::Entity& result, d_ltm::Entity::ContainerT::const_iterator it) const override
+ {
+ addResultSnapshot(result, it->second);
+ }
+
+ void addResultSnapshot(d_ltm::Entity& result, const d_ltm::EntitySnapshot& snapshot) const override
+ {
+ result.addSnapshot(snapshot.copy());
+ }
+
+ };
+
+}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/MemoryQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/MemoryQueryProcessor.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..69b04de6c9e623286a5bda836dddfdc8b551b64a
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/MemoryQueryProcessor.cpp
@@ -0,0 +1 @@
+#include "MemoryQueryProcessor.h"
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/MemoryQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/MemoryQueryProcessor.h
new file mode 100644
index 0000000000000000000000000000000000000000..2abdcc1ccc7c25a317edc67e36835cb4a4df2f9b
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/MemoryQueryProcessor.h
@@ -0,0 +1,35 @@
+#pragma once
+
+#include "BaseQueryProcessor.h"
+#include "../base/MemoryQueryProcessorBase.h"
+
+#include "../../../core/diskmemory/Memory.h"
+
+#include "CoreSegmentQueryProcessor.h"
+
+namespace armarx::armem::d_ltm::query_proc
+{
+ /**
+ * @brief Handles memory queries.
+ */
+ class MemoryQueryProcessor :
+ virtual public BaseQueryProcessor<d_ltm::Memory, armem::query::data::MemoryQuery>,
+ virtual public base::query_proc::MemoryQueryProcessorBase<d_ltm::Memory>
+ {
+ using Base = BaseQueryProcessor<d_ltm::Memory, armem::query::data::MemoryQuery>;
+
+ public:
+ MemoryQueryProcessor() :
+ Base()
+ {}
+
+ protected:
+ virtual CoreSegmentT coreSegmentProcessorProcess(const armem::query::data::CoreSegmentQuerySeq& q, const CoreSegmentT& s) const override
+ {
+ return coreSegmentProcessor.process(q, s, {armem::query::data::QueryTarget::Disk});
+ }
+
+ private:
+ CoreSegmentQueryProcessor coreSegmentProcessor;
+ };
+}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/ProviderSegmentQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/ProviderSegmentQueryProcessor.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..9a2a4405001f0904b74fc6afcf96813eef0879cd
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/ProviderSegmentQueryProcessor.cpp
@@ -0,0 +1 @@
+#include "ProviderSegmentQueryProcessor.h"
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/ProviderSegmentQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/ProviderSegmentQueryProcessor.h
new file mode 100644
index 0000000000000000000000000000000000000000..94c2e756875c1152f8018f70c5e0d691a5704582
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/ProviderSegmentQueryProcessor.h
@@ -0,0 +1,37 @@
+#pragma once
+
+#include "BaseQueryProcessor.h"
+#include "../base/ProviderSegmentQueryProcessorBase.h"
+
+#include "../../../core/diskmemory/ProviderSegment.h"
+
+#include "EntityQueryProcessor.h"
+
+namespace armarx::armem::d_ltm::query_proc
+{
+ /**
+ * @brief Handles memory queries.
+ */
+ class ProviderSegmentQueryProcessor :
+ virtual public BaseQueryProcessor<d_ltm::ProviderSegment, armem::query::data::ProviderSegmentQuery>,
+ virtual public base::query_proc::ProviderSegmentQueryProcessorBase<d_ltm::ProviderSegment>
+ {
+ using Base = BaseQueryProcessor<d_ltm::ProviderSegment, armem::query::data::ProviderSegmentQuery>;
+
+ public:
+ ProviderSegmentQueryProcessor() :
+ Base()
+ {}
+
+ protected:
+ virtual EntityT entityProcessorProcess(const armem::query::data::EntityQuerySeq& q, const EntityT& s) const override
+ {
+ return entityProcessor.process(q, s, {armem::query::data::QueryTarget::Disk});
+ }
+
+ private:
+ EntityQueryProcessor entityProcessor;
+
+ };
+
+}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/CoreSegmentQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/CoreSegmentQueryProcessor.h
index dc379f1d88fa82bbe886e412e0341079fa43fce9..e333dd816aedabbb8dfa7209c687caf727d9ccf9 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/CoreSegmentQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/CoreSegmentQueryProcessor.h
@@ -27,7 +27,7 @@ namespace armarx::armem::ltm::query_proc
protected:
virtual ProviderSegmentT providerSegmentProcessorProcess(const armem::query::data::ProviderSegmentQuerySeq& q, const ProviderSegmentT& s) const override
{
- return providerSegmentProcessor.process(q, s);
+ return providerSegmentProcessor.process(q, s, {armem::query::data::QueryTarget::LTM});
}
private:
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/EntityQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/EntityQueryProcessor.h
index 952d759c8552c7939f6e08266e7feb880a85438e..5ec4c5dde481e16f0af30589d57ff2a447d81221 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/EntityQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/EntityQueryProcessor.h
@@ -31,7 +31,6 @@ namespace armarx::armem::ltm::query_proc
void addResultSnapshot(ltm::Entity& result, const ltm::EntitySnapshot& snapshot) const override
{
- ARMARX_INFO << "addResultSnapshot" << __LINE__;
result.addSnapshot(snapshot.copy());
}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/MemoryQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/MemoryQueryProcessor.h
index a5129417262515975efa247398602272865ee5ec..569014d6579eeb6c99996e4be5b7cb68f65457b1 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/MemoryQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/MemoryQueryProcessor.h
@@ -26,7 +26,7 @@ namespace armarx::armem::ltm::query_proc
protected:
virtual CoreSegmentT coreSegmentProcessorProcess(const armem::query::data::CoreSegmentQuerySeq& q, const CoreSegmentT& s) const override
{
- return coreSegmentProcessor.process(q, s);
+ return coreSegmentProcessor.process(q, s, {armem::query::data::QueryTarget::LTM});
}
private:
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/ProviderSegmentQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/ProviderSegmentQueryProcessor.h
index e0c6db9e3ef06e6241e9af8c572bb7fc78eec452..5443acfd6594b98250711cf2acfd434a98414066 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/ProviderSegmentQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/ProviderSegmentQueryProcessor.h
@@ -26,7 +26,7 @@ namespace armarx::armem::ltm::query_proc
protected:
virtual EntityT entityProcessorProcess(const armem::query::data::EntityQuerySeq& q, const EntityT& s) const override
{
- return entityProcessor.process(q, s);
+ return entityProcessor.process(q, s, {armem::query::data::QueryTarget::LTM});
}
private:
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/CoreSegmentQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/CoreSegmentQueryProcessor.h
index 079f63ac59928f2bd4ace9ab7ab033bef93c04a1..390ab66f656ece6010457f12f09917d9fca413f6 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/CoreSegmentQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/CoreSegmentQueryProcessor.h
@@ -31,7 +31,7 @@ namespace armarx::armem::wm::query_proc
protected:
virtual ProviderSegmentT providerSegmentProcessorProcess(const armem::query::data::ProviderSegmentQuerySeq& q, const ProviderSegmentT& s) const override
{
- return providerSegmentProcessor.process(q, s);
+ return providerSegmentProcessor.process(q, s, {armem::query::data::QueryTarget::WM});
}
private:
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/MemoryQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/MemoryQueryProcessor.h
index b0616c658a7915568fd910a8f35c9d4701aa1d0b..8284df202bbcf602e2433639fe85388ca13d75ff 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/MemoryQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/MemoryQueryProcessor.h
@@ -24,7 +24,7 @@ namespace armarx::armem::wm::query_proc
protected:
virtual CoreSegmentT coreSegmentProcessorProcess(const armem::query::data::CoreSegmentQuerySeq& q, const CoreSegmentT& s) const override
{
- return coreSegmentProcessor.process(q, s);
+ return coreSegmentProcessor.process(q, s, {armem::query::data::QueryTarget::WM});
}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/ProviderSegmentQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/ProviderSegmentQueryProcessor.h
index 1b2e9ba97850ed1f62f2d761a51996f3b2bb2665..468138d9e2bbd526db3632019beca6a5a29f8269 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/ProviderSegmentQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/ProviderSegmentQueryProcessor.h
@@ -30,7 +30,7 @@ namespace armarx::armem::wm::query_proc
protected:
virtual EntityT entityProcessorProcess(const armem::query::data::EntityQuerySeq& q, const EntityT& s) const override
{
- return entityProcessor.process(q, s);
+ return entityProcessor.process(q, s, {armem::query::data::QueryTarget::WM});
}
private:
diff --git a/source/RobotAPI/libraries/armem/test/ArMemQueryTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemQueryTest.cpp
index b2d07571d619531f45381d1238ca8201b8e0175e..4b83fd43261e1d97da45495f5da94279931e606f 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemQueryTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemQueryTest.cpp
@@ -134,7 +134,7 @@ BOOST_AUTO_TEST_CASE(test_entity_Single_latest)
BOOST_AUTO_TEST_CASE(test_entity_Single_existing)
{
- addResults(query::entity::Single { query::QueryTarget::WMAndLTM, 3000 });
+ addResults(query::entity::Single({query::QueryTarget::WM, query::QueryTarget::LTM}, 3000));
BOOST_REQUIRE_GT(results.size(), 0);
for (const armem::wm::Entity& result : results)
@@ -148,7 +148,7 @@ BOOST_AUTO_TEST_CASE(test_entity_Single_existing)
BOOST_AUTO_TEST_CASE(test_entity_Single_non_existing)
{
- addResults(query::entity::Single { query::QueryTarget::WMAndLTM, 3500 });
+ addResults(query::entity::Single({query::QueryTarget::WM, query::QueryTarget::LTM}, 3500));
BOOST_REQUIRE_GT(results.size(), 0);
for (const armem::wm::Entity& result : results)
@@ -182,7 +182,7 @@ BOOST_AUTO_TEST_CASE(test_entity_All)
BOOST_AUTO_TEST_CASE(test_entity_TimeRange_slice)
{
- addResults(query::entity::TimeRange{ query::QueryTarget::WMAndLTM, 1500, 3500 });
+ addResults(query::entity::TimeRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 1500, 3500));
BOOST_REQUIRE_GT(results.size(), 0);
for (const armem::wm::Entity& result : results)
@@ -203,7 +203,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_slice)
BOOST_AUTO_TEST_CASE(test_entity_TimeRange_exact)
{
- addResults(query::entity::TimeRange{ query::QueryTarget::WMAndLTM, 2000, 4000 });
+ addResults(query::entity::TimeRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 2000, 4000));
BOOST_REQUIRE_GT(results.size(), 0);
for (const armem::wm::Entity& result : results)
@@ -223,8 +223,8 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_exact)
BOOST_AUTO_TEST_CASE(test_entity_TimeRange_all)
{
- addResults(query::entity::TimeRange{ query::QueryTarget::WMAndLTM, 0, 10000 });
- addResults(query::entity::TimeRange{ query::QueryTarget::WMAndLTM, -1, -1 });
+ addResults(query::entity::TimeRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 0, 10000));
+ addResults(query::entity::TimeRange({query::QueryTarget::WM, query::QueryTarget::LTM}, -1, -1));
BOOST_REQUIRE_GT(results.size(), 0);
for (const armem::wm::Entity& result : results)
@@ -242,8 +242,8 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_all)
BOOST_AUTO_TEST_CASE(test_entity_TimeRange_empty)
{
- addResults(query::entity::TimeRange{ query::QueryTarget::WMAndLTM, 2400, 2600 });
- addResults(query::entity::TimeRange{ query::QueryTarget::WMAndLTM, 6000, 1000 });
+ addResults(query::entity::TimeRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 2400, 2600));
+ addResults(query::entity::TimeRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 6000, 1000));
BOOST_REQUIRE_GT(results.size(), 0);
for (const armem::wm::Entity& result : results)
@@ -257,7 +257,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_empty)
BOOST_AUTO_TEST_CASE(test_entity_TimeRange_from_start)
{
- addResults(query::entity::TimeRange{ query::QueryTarget::WMAndLTM, -1, 2500 });
+ addResults(query::entity::TimeRange({query::QueryTarget::WM, query::QueryTarget::LTM}, -1, 2500));
BOOST_REQUIRE_GT(results.size(), 0);
for (const armem::wm::Entity& result : results)
@@ -278,7 +278,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_from_start)
BOOST_AUTO_TEST_CASE(test_entity_TimeRange_to_end)
{
- addResults(query::entity::TimeRange{ query::QueryTarget::WMAndLTM, 2500, -1 });
+ addResults(query::entity::TimeRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 2500, -1));
BOOST_REQUIRE_GT(results.size(), 0);
for (const armem::wm::Entity& result : results)
@@ -302,7 +302,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_to_end)
BOOST_AUTO_TEST_CASE(test_entity_BeforeTime_1)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::BeforeTime{ query::QueryTarget::WMAndLTM, 3500, 1 });
+ addResults(query::entity::BeforeTime({query::QueryTarget::WM, query::QueryTarget::LTM}, 3500, 1));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -318,7 +318,7 @@ BOOST_AUTO_TEST_CASE(test_entity_BeforeTime_1)
BOOST_AUTO_TEST_CASE(test_entity_BeforeTime_2)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::BeforeTime{ query::QueryTarget::WMAndLTM, 3500, 2});
+ addResults(query::entity::BeforeTime({query::QueryTarget::WM, query::QueryTarget::LTM}, 3500, 2));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -343,7 +343,7 @@ BOOST_AUTO_TEST_CASE(test_entity_BeforeTime_2)
BOOST_AUTO_TEST_CASE(test_entity_BeforeOrAtTime_before)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::BeforeOrAtTime{ query::QueryTarget::WMAndLTM, 3500 });
+ addResults(query::entity::BeforeOrAtTime({query::QueryTarget::WM, query::QueryTarget::LTM}, 3500));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -358,7 +358,7 @@ BOOST_AUTO_TEST_CASE(test_entity_BeforeOrAtTime_before)
BOOST_AUTO_TEST_CASE(test_entity_BeforeOrAtTime_at)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::BeforeOrAtTime{ query::QueryTarget::WMAndLTM, 3000 });
+ addResults(query::entity::BeforeOrAtTime({query::QueryTarget::WM, query::QueryTarget::LTM}, 3000));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -373,7 +373,7 @@ BOOST_AUTO_TEST_CASE(test_entity_BeforeOrAtTime_at)
BOOST_AUTO_TEST_CASE(test_entity_BeforeOrAtTime_lookup_past)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::BeforeOrAtTime{ query::QueryTarget::WMAndLTM, 1 });
+ addResults(query::entity::BeforeOrAtTime({query::QueryTarget::WM, query::QueryTarget::LTM}, 1));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -393,7 +393,7 @@ BOOST_AUTO_TEST_CASE(test_entity_BeforeOrAtTime_lookup_past)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_no_limit)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::TimeApprox{ query::QueryTarget::WMAndLTM, 3500, -1});
+ addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM}, 3500, -1));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -419,7 +419,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_no_limit)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_600)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::TimeApprox{ query::QueryTarget::WMAndLTM, 3500, 600});
+ addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM}, 3500, 600));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -445,7 +445,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_600)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_too_small)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::TimeApprox{ query::QueryTarget::WMAndLTM, 3500, 100});
+ addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM}, 3500, 100));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -464,7 +464,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_too_small)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_only_next)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::TimeApprox{ query::QueryTarget::WMAndLTM, 3700, 400});
+ addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM}, 3700, 400));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -489,7 +489,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_only_next)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_only_previous)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::TimeApprox{ query::QueryTarget::WMAndLTM, 3300, 400});
+ addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM}, 3300, 400));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -514,7 +514,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_only_previous)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_perfect_match)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::TimeApprox{ query::QueryTarget::WMAndLTM, 3000, -1});
+ addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM}, 3000, -1));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -539,7 +539,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_perfect_match)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_lookup_past)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::TimeApprox{ query::QueryTarget::WMAndLTM, 1, 1});
+ addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM}, 1, 1));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -557,7 +557,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_lookup_past)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_lookup_future)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::TimeApprox{ query::QueryTarget::WMAndLTM, 10'000, 1});
+ addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM}, 10'000, 1));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -575,7 +575,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_lookup_future)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_lookup_future_valid)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::TimeApprox{ query::QueryTarget::WMAndLTM, 10'000, -1});
+ addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM}, 10'000, -1));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -594,7 +594,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_lookup_future_valid)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_lookup_invalid_timestamp)
{
- BOOST_REQUIRE_THROW(addResults(query::entity::TimeApprox{ query::QueryTarget::WMAndLTM, -1, 1}), ::armarx::LocalException);
+ BOOST_REQUIRE_THROW(addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM}, -1, 1)), ::armarx::LocalException);
}
@@ -634,7 +634,7 @@ BOOST_AUTO_TEST_CASE(test_negative_index_semantics)
BOOST_AUTO_TEST_CASE(test_entity_IndexRange_all_default)
{
addResults(query::entity::IndexRange());
- addResults(query::entity::IndexRange(query::QueryTarget::WMAndLTM, 0, -1));
+ addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 0, -1));
BOOST_REQUIRE_GT(results.size(), 0);
for (const armem::wm::Entity& result : results)
@@ -654,10 +654,10 @@ BOOST_AUTO_TEST_CASE(test_entity_IndexRange_all_default)
BOOST_AUTO_TEST_CASE(test_entity_IndexRange_slice)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::IndexRange{ query::QueryTarget::WMAndLTM, 1, 3 }); // => [1, 2, 3]
- addResults(query::entity::IndexRange{ query::QueryTarget::WMAndLTM, 1, -2 }); // 5 - 2 = 3
- addResults(query::entity::IndexRange{ query::QueryTarget::WMAndLTM, -4, 3 }); // 5 - 4 = 1
- addResults(query::entity::IndexRange{ query::QueryTarget::WMAndLTM, -4, -2 });
+ addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 1, 3)); // => [1, 2, 3]
+ addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 1, -2)); // 5 - 2 = 3
+ addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, -4, 3)); // 5 - 4 = 1
+ addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, -4, -2));
BOOST_REQUIRE_GT(results.size(), 0);
for (const armem::wm::Entity& result : results)
@@ -679,12 +679,12 @@ BOOST_AUTO_TEST_CASE(test_entity_IndexRange_slice)
BOOST_AUTO_TEST_CASE(test_entity_IndexRange_empty_range)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::IndexRange{ query::QueryTarget::WMAndLTM, 1, 0 });
- addResults(query::entity::IndexRange{ query::QueryTarget::WMAndLTM, 2, 1 });
- addResults(query::entity::IndexRange{ query::QueryTarget::WMAndLTM, 5, 3 });
- addResults(query::entity::IndexRange{ query::QueryTarget::WMAndLTM, 4, -3 }); // 5-3 = 2
- addResults(query::entity::IndexRange{ query::QueryTarget::WMAndLTM, 3, -3 });
- addResults(query::entity::IndexRange{ query::QueryTarget::WMAndLTM, 1, -5 });
+ addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 1, 0));
+ addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 2, 1));
+ addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 5, 3));
+ addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 4, -3)); // 5-3 = 2
+ addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 3, -3));
+ addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 1, -5));
BOOST_REQUIRE_GT(results.size(), 0);
@@ -701,12 +701,12 @@ BOOST_AUTO_TEST_CASE(test_entity_IndexRange_empty_entity)
{
entity.clear();
BOOST_REQUIRE_EQUAL(entity.size(), 0);
- addResults(query::entity::IndexRange{ query::QueryTarget::WMAndLTM, 0, 0 });
- addResults(query::entity::IndexRange{ query::QueryTarget::WMAndLTM, 0, 10 });
- addResults(query::entity::IndexRange{query::QueryTarget::WMAndLTM, -10, -1 });
- addResults(query::entity::IndexRange{ query::QueryTarget::WMAndLTM, 2, 5 });
- addResults(query::entity::IndexRange{ query::QueryTarget::WMAndLTM, 3, -3 });
- addResults(query::entity::IndexRange{ query::QueryTarget::WMAndLTM, -1, 10 });
+ addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 0, 0));
+ addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 0, 10));
+ addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, -10, -1));
+ addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 2, 5));
+ addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 3, -3));
+ addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, -1, 10));
BOOST_REQUIRE_GT(results.size(), 0);
diff --git a/source/RobotAPI/libraries/armem/util/util.h b/source/RobotAPI/libraries/armem/util/util.h
index f160efcd49b3f3ddc3ec93aa98b07e5ff80c8dc6..35fc1538b78df0b817e7ae0676be68e9675d1f0f 100644
--- a/source/RobotAPI/libraries/armem/util/util.h
+++ b/source/RobotAPI/libraries/armem/util/util.h
@@ -46,6 +46,17 @@ namespace armarx::armem
static_assert(std::is_base_of<armarx::aron::cppserializer::AronCppClass,
AronClass>::value);
+
+ if (!item.data())
+ {
+ return std::nullopt;
+ }
+
+ if (item.data()->getDescriptor() != aron::data::Descriptor::eDict)
+ {
+ return std::nullopt;
+ }
+
try
{
AronClass t;
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryControlWidget.cpp b/source/RobotAPI/libraries/armem_gui/MemoryControlWidget.cpp
index c68673377563e83019640755699187ebee39a418..5016db50bf5da8dc10d0fac5b5c004b9178ddc40 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryControlWidget.cpp
+++ b/source/RobotAPI/libraries/armem_gui/MemoryControlWidget.cpp
@@ -15,26 +15,31 @@ namespace armarx::armem::gui
{
setSizePolicy(QSizePolicy::Policy::Minimum, QSizePolicy::Policy::Fixed);
- QLayout* layout = new QHBoxLayout();
- this->setLayout(layout);
+ auto vlayout = new QVBoxLayout();
+ auto hlayout = new QHBoxLayout();
const int margin = 0;
- layout->setContentsMargins(margin, margin, margin, margin);
+ vlayout->setContentsMargins(margin, margin, margin, margin);
_lineEdit = new QLineEdit("/tmp/MemoryExport", this);
- _exportHereButton = new QPushButton("Export here", this);
+ _lineEdit->setSizePolicy(QSizePolicy::Ignored, QSizePolicy::Preferred);
+ _lineEdit->setMinimumWidth(400);
- _storeButton = new QPushButton("Store in LTM", this);
+ _storeOnDiskButton = new QPushButton("Store current result on local Disk", this);
- layout->addWidget(_lineEdit);
- layout->addWidget(_exportHereButton);
- layout->addWidget(_storeButton);
+ _storeInLTMButton = new QPushButton("Store current result in LTM", this);
+ vlayout->addWidget(_lineEdit);
+ hlayout->addWidget(_storeOnDiskButton);
+ hlayout->addWidget(_storeInLTMButton);
+ vlayout->addItem(hlayout);
+
+ this->setLayout(vlayout);
// Private connections.
// Public connections.
- connect(_storeButton, &QPushButton::pressed, this, &This::store);
- connect(_exportHereButton, &QPushButton::pressed, this, &This::exportHere);
+ connect(_storeInLTMButton, &QPushButton::pressed, this, &This::storeInLTM);
+ connect(_storeOnDiskButton, &QPushButton::pressed, this, &This::storeOnDisk);
}
QLineEdit* MemoryControlWidget::pathInputBox()
@@ -47,14 +52,14 @@ namespace armarx::armem::gui
return _lineEdit->text();
}
- QPushButton* MemoryControlWidget::storeButton()
+ QPushButton* MemoryControlWidget::storeInLTMButton()
{
- return _storeButton;
+ return _storeInLTMButton;
}
- QPushButton* MemoryControlWidget::exportHereButton()
+ QPushButton* MemoryControlWidget::storeOnDiskButton()
{
- return _exportHereButton;
+ return _storeOnDiskButton;
}
}
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryControlWidget.h b/source/RobotAPI/libraries/armem_gui/MemoryControlWidget.h
index 4f8acc62ac9c8918f887703d9188e76cfc9f8584..19831694acc7b9251c7d372b8381f755df1bc292 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryControlWidget.h
+++ b/source/RobotAPI/libraries/armem_gui/MemoryControlWidget.h
@@ -20,17 +20,15 @@ namespace armarx::armem::gui
QLineEdit* pathInputBox();
QString getEnteredPath();
- QPushButton* storeButton();
- QPushButton* loadButton();
- QPushButton* exportHereButton();
+ QPushButton* storeInLTMButton();
+ QPushButton* storeOnDiskButton();
public slots:
signals:
- void store();
- void load();
- void exportHere();
+ void storeInLTM();
+ void storeOnDisk();
private slots:
@@ -42,9 +40,8 @@ namespace armarx::armem::gui
QLineEdit* _lineEdit;
- QPushButton* _storeButton;
- QPushButton* _loadButton;
- QPushButton* _exportHereButton;
+ QPushButton* _storeInLTMButton;
+ QPushButton* _storeOnDiskButton;
};
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
index 6d711ac1dfee696b069a0408a001f5d98a08f2cd..5037bad396c0e7a83b7704b4895a25225ae8106f 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
+++ b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
@@ -5,6 +5,9 @@
#include <RobotAPI/libraries/armem/core/diskmemory/Memory.h>
+#include <RobotAPI/libraries/armem/server/query_proc/diskmemory/MemoryQueryProcessor.h>
+#include <RobotAPI/libraries/armem/server/query_proc/workingmemory/MemoryQueryProcessor.h>
+
#include <ArmarXGui/libraries/SimpleConfigDialog/SimpleConfigDialog.h>
#include <ArmarXCore/core/ManagedIceObject.h>
@@ -24,7 +27,6 @@
#include <filesystem>
-
namespace armarx::armem::gui
{
MemoryViewer::MemoryViewer(
@@ -79,8 +81,8 @@ namespace armarx::armem::gui
// Connections
//connect(this, &This::connected, this, &This::updateMemory);
- connect(memoryControlWidget, &armem::gui::MemoryControlWidget::exportHere, this, &This::exportHere);
- connect(memoryControlWidget, &armem::gui::MemoryControlWidget::store, this, &This::store);
+ connect(memoryControlWidget, &armem::gui::MemoryControlWidget::storeOnDisk, this, &This::storeOnDisk);
+ connect(memoryControlWidget, &armem::gui::MemoryControlWidget::storeInLTM, this, &This::storeInLTM);
connect(this, &This::connected, this, &This::updateMemories);
connect(updateWidget, &armem::gui::PeriodicUpdateWidget::update, this, &This::updateMemories);
@@ -151,17 +153,18 @@ namespace armarx::armem::gui
statusLabel->setText(QString::fromStdString(ss.str()));
return nullptr;
}
- else if (not it->second.has_value())
+ /*else if (not it->second.has_value())
{
return nullptr;
- }
+ }*/
else
{
- return &it->second.value();
+ //return &it->second.value();
+ return &it->second;
}
}
- void MemoryViewer::store()
+ void MemoryViewer::storeInLTM()
{
TIMING_START(MemoryStore);
@@ -175,32 +178,37 @@ namespace armarx::armem::gui
TIMING_END_STREAM(MemoryStore, ARMARX_VERBOSE);
}
- void MemoryViewer::exportHere()
+ void MemoryViewer::storeOnDisk()
{
TIMING_START(MemoryExport);
QString qs = memoryControlWidget->getEnteredPath();
std::string utf8_text = qs.toUtf8().constData();
- ARMARX_IMPORTANT << "Exporting all memories at '" << utf8_text << "'.";
-
- std::filesystem::path p(utf8_text);
- if (std::filesystem::is_regular_file(p))
+ if (not utf8_text.empty())
{
- ARMARX_WARNING << "Could not export a memory at '" << utf8_text << "'. Skipping export.";
- return;
- }
+ ARMARX_IMPORTANT << "Exporting all memories at '" << utf8_text << "'.";
- std::filesystem::create_directories(p);
- for (auto& [name, reader] : memoryReaders)
+ std::filesystem::path p(utf8_text);
+ if (std::filesystem::is_regular_file(p))
+ {
+ ARMARX_WARNING << "Could not export a memory at '" << utf8_text << "'. Skipping export.";
+ return;
+ }
+
+ std::filesystem::create_directories(p);
+ for (auto& [name, reader] : memoryReaders)
+ {
+ armem::client::QueryInput input = memoryGroup->queryWidget()->queryInput();
+ armem::client::QueryResult result = reader.query(input);
+
+ armem::d_ltm::Memory dMem(name);
+ dMem.reload(p / name);
+ dMem.append(result.memory);
+ }
+ }
+ else
{
- armem::client::QueryInput input = memoryGroup->queryWidget()->queryInput();
- armem::client::QueryResult result = reader.query(input);
-
- armem::d_ltm::Memory dMem(name);
- ARMARX_IMPORTANT << "RELOAD";
- dMem.reload(p / name);
- ARMARX_IMPORTANT << "APPEND";
- dMem.append(result.memory);
+ ARMARX_WARNING << "The path is empty. Could not export the memory in nirvana.";
}
TIMING_END_STREAM(MemoryExport, ARMARX_VERBOSE);
@@ -215,18 +223,77 @@ namespace armarx::armem::gui
bool dataChanged = false;
+ QString qs = memoryControlWidget->getEnteredPath();
+ std::string utf8_text = qs.toUtf8().constData();
+
+ std::filesystem::path p(utf8_text);
+
+ // first check if the local file system should be queried
+ if (memoryGroup->queryWidget()->alsoQueryLocalDisk())
+ {
+ if (std::filesystem::is_directory(p))
+ {
+ for (const auto& d : std::filesystem::directory_iterator(p))
+ {
+ if (d.is_directory())
+ {
+ std::string k = d.path().filename();
+ armem::d_ltm::Memory dMem(k);
+ dMem.reload(p / k);
+
+ armem::client::QueryInput input = memoryGroup->queryWidget()->queryInput();
+ input.addQueryTargetToAll(armem::query::data::QueryTarget::Disk);
+
+ armem::d_ltm::query_proc::MemoryQueryProcessor d_ltm_processor;
+ dMem = d_ltm_processor.process(input.toIce(), dMem, /* execute if: */ { query::data::QueryTarget::Disk });
+
+ wm::Memory converted = dMem.convert();
+ memoryData[k] = std::move(converted);
+ dataChanged = true;
+ }
+ }
+ }
+ else
+ {
+ ARMARX_WARNING << "Could not import a memory from '" << utf8_text << "'. Skipping import.";
+ }
+ }
+
+ armem::client::QueryInput input = memoryGroup->queryWidget()->queryInput();
for (auto& [name, reader] : memoryReaders)
{
TIMING_START(MemoryQuery);
{
- armem::client::QueryInput input = memoryGroup->queryWidget()->queryInput();
armem::client::QueryResult result = reader.query(input);
if (result)
{
- memoryData[name] = std::move(result.memory);
+ if (result.memory.hasData())
+ {
+ if (const auto& it = memoryData.find(name); it != memoryData.end())
+ {
+ result.memory.append(it->second);
+
+ // requery (e.g. to get only the last n values instead of the last n from disk and the last n from wm)
+ armem::wm::query_proc::MemoryQueryProcessor wm_processor;
+ result.memory = wm_processor.process(input.toIce(), result.memory, /* execute if: */ { query::data::QueryTarget::WM });
+
+ if (!result.memory.hasData())
+ {
+ ARMARX_ERROR << "A memory which had data before lost data. This indicates that there is something wrong.";
+ }
+ }
+
+ dataChanged = true;
+ memoryData[name] = std::move(result.memory);
+ }
+ else
+ {
+ ARMARX_INFO << "The memory " << name << " has no data after querying.";
+ }
}
else
{
+ ARMARX_WARNING << "A query for memory '" + name + "' produced an error: " << result.errorMessage;
if (statusLabel)
{
statusLabel->setText(QString::fromStdString(result.errorMessage));
@@ -239,24 +306,19 @@ namespace armarx::armem::gui
{
debugObserver->setDebugDatafield(Logging::tag.tagName, "Memory Query [ms]", new Variant(MemoryQuery.toMilliSecondsDouble()));
}
-
- if (memoryData[name])
- {
- dataChanged = true;
- }
- else
- {
- if (statusLabel)
- {
- statusLabel->setText("No query result.");
- }
- }
}
if (dataChanged)
{
emit memoryDataChanged();
}
+ else
+ {
+ if (statusLabel)
+ {
+ statusLabel->setText("No query result.");
+ }
+ }
}
@@ -382,10 +444,11 @@ namespace armarx::armem::gui
std::map<std::string, const armem::wm::Memory*> convMap;
for (auto& [name, data] : memoryData)
{
- if (data.has_value())
+ /*if (data.has_value())
{
convMap[name] = &data.value();
- }
+ }*/
+ convMap[name] = &data;
}
if (convMap.empty())
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryViewer.h b/source/RobotAPI/libraries/armem_gui/MemoryViewer.h
index 22455503637f55114516bf6e93c6772cd18c179e..71870bdd565b0b8a585808f5f0e9f0f43c93d315 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryViewer.h
+++ b/source/RobotAPI/libraries/armem_gui/MemoryViewer.h
@@ -71,8 +71,8 @@ namespace armarx::armem::gui
void resolveMemoryID(const MemoryID& id);
// LTMControlWidget
- void store();
- void exportHere();
+ void storeInLTM();
+ void storeOnDisk();
signals:
@@ -109,7 +109,7 @@ namespace armarx::armem::gui
armem::client::MemoryNameSystem mns;
std::map<std::string, armem::client::Reader> memoryReaders;
- std::map<std::string, std::optional<armem::wm::Memory>> memoryData;
+ std::map<std::string, armem::wm::Memory> memoryData;
QLayout* updateWidgetLayout = nullptr;
armem::gui::PeriodicUpdateWidget* updateWidget = nullptr;
diff --git a/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.cpp b/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.cpp
index ae9af3c213fbbea4d4a44852e8e02d0af15b8de9..dbb3d3fcabfa2ccf0034d1ba72027664bebe6ebc 100644
--- a/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.cpp
+++ b/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.cpp
@@ -41,14 +41,18 @@ namespace armarx::armem::gui
: armem::DataMode::NoData;
}
+ bool QueryWidget::alsoQueryLocalDisk() const
+ {
+ return _snapshotSelectorWidget->queryTargetContainsLocalDisk();
+ }
+
armem::client::QueryInput QueryWidget::queryInput()
{
armem::client::query::Builder qb(dataMode());
- qb
- .queryTarget(_snapshotSelectorWidget->queryTarget())
- .coreSegments().all()
- .providerSegments().all()
- .entities().all()
+ qb.queryTargets(_snapshotSelectorWidget->queryTargets())
+ .coreSegments().all().queryTargets(_snapshotSelectorWidget->queryTargets())
+ .providerSegments().all().queryTargets(_snapshotSelectorWidget->queryTargets())
+ .entities().all().queryTargets(_snapshotSelectorWidget->queryTargets())
.snapshots(_snapshotSelectorWidget->selector());
return qb.buildQueryInput();
diff --git a/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.h b/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.h
index 37e5fca58b80d54592d4eb6443e8e624bd0a613d..d2c3fecd6198ad2ad5c3f37077eb07f4f365dea9 100644
--- a/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.h
+++ b/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.h
@@ -21,6 +21,7 @@ namespace armarx::armem::gui
armem::DataMode dataMode() const;
+ bool alsoQueryLocalDisk() const;
armem::client::QueryInput queryInput();
diff --git a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotForm.cpp b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotForm.cpp
index 8d60c2252d4e9d6593a228cad75075cc41a21e5c..1d6c0cff39fd69da5e7f29844c64fabc1843f9a4 100644
--- a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotForm.cpp
+++ b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotForm.cpp
@@ -20,9 +20,9 @@
namespace armarx::armem::gui
{
- client::query::SnapshotSelector SnapshotForm::makeEntitySelector()
+ client::query::SnapshotSelector SnapshotForm::makeEntitySelector(const armem::query::data::QueryTargets& targets)
{
- client::query::SnapshotSelector s;
+ client::query::SnapshotSelector s(targets);
fillEntitySelector(s);
return s;
}
diff --git a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotForm.h b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotForm.h
index 0ca9950b33a0585c97a8157bf17ad3c272fc8abc..f2f9ba1940d268d06f3383374d01893ea2d3dea4 100644
--- a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotForm.h
+++ b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotForm.h
@@ -19,7 +19,7 @@ namespace armarx::armem::gui
Q_OBJECT
public:
- virtual client::query::SnapshotSelector makeEntitySelector();
+ virtual client::query::SnapshotSelector makeEntitySelector(const armem::query::data::QueryTargets& targets);
signals:
@@ -30,10 +30,6 @@ namespace armarx::armem::gui
virtual void fillEntitySelector(client::query::SnapshotSelector& selector) = 0;
void setDateTimeDisplayFormat(QDateTimeEdit* dt);
-
- public:
- client::query::SnapshotSelector selector;
-
};
diff --git a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.cpp b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.cpp
index 87d94376e673492d07a7fe2f0206359259ea327a..e41bed15cecbc599c7c97b4266a04e0e9a70e47e 100644
--- a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.cpp
+++ b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.cpp
@@ -10,25 +10,39 @@
namespace armarx::armem::gui
{
- client::query::SnapshotSelector& SnapshotSelectorWidget::selector()
+ client::query::SnapshotSelector SnapshotSelectorWidget::selector()
{
- return _selector;
+ return _queryForms.at(_queryComboBox->currentText())->makeEntitySelector(queryTargets());
}
- query::data::QueryTarget SnapshotSelectorWidget::queryTarget() const
+ query::data::QueryTargets SnapshotSelectorWidget::queryTargets() const
{
- return _queryTarget;
+ query::data::QueryTargets targets;
+ if (_WMQueryTargetCheckBox->isChecked())
+ {
+ targets.push_back(query::data::QueryTarget::WM);
+ }
+ if (_LTMQueryTargetCheckBox->isChecked())
+ {
+ targets.push_back(query::data::QueryTarget::LTM);
+ }
+ if (_DiskMemoryQueryTargetCheckBox->isChecked())
+ {
+ targets.push_back(query::data::QueryTarget::Disk);
+ }
+ return targets;
}
+ bool SnapshotSelectorWidget::queryTargetContainsLocalDisk() const
+ {
+ return _LocalDiskMemoryQueryTargetCheckBox->isChecked();
+ }
SnapshotSelectorWidget::SnapshotSelectorWidget()
{
_pageLayout = new QVBoxLayout();
setLayout(_pageLayout);
- connect(this, &This::queryOutdated, this, &This::updateSelector);
- connect(this, &This::queryTargetOutdated, this, &This::updateQueryTarget);
-
{
QHBoxLayout* typeLayout = new QHBoxLayout();
@@ -40,16 +54,23 @@ namespace armarx::armem::gui
typeLayout->addWidget(_queryComboBox);
connect(_queryComboBox, &QComboBox::currentTextChanged, this, &This::showSelectedFormForQuery);
- connect(_queryComboBox, &QComboBox::currentTextChanged, this, &This::queryOutdated);
+ connect(_queryComboBox, &QComboBox::currentTextChanged, this, &This::queryChanged);
// query type select box
- _queryTargetComboBox = new QComboBox();
- _queryTargetComboBox->addItems({"WM", "WM & LTM", "LTM (debug only)"});
- _queryTargetComboBox->setCurrentIndex(0);
+ auto queryTargetLayout = new QHBoxLayout();
+ _WMQueryTargetCheckBox = new QCheckBox("WM");
+ _LTMQueryTargetCheckBox = new QCheckBox("LTM (MongoDB)");
+ _DiskMemoryQueryTargetCheckBox = new QCheckBox("LTM (Disk)");
+ _LocalDiskMemoryQueryTargetCheckBox = new QCheckBox("Local Disk");
- typeLayout->addWidget(_queryTargetComboBox);
+ queryTargetLayout->addWidget(_WMQueryTargetCheckBox);
+ queryTargetLayout->addWidget(_LTMQueryTargetCheckBox);
+ queryTargetLayout->addWidget(_DiskMemoryQueryTargetCheckBox);
+ queryTargetLayout->addWidget(_LocalDiskMemoryQueryTargetCheckBox);
- connect(_queryTargetComboBox, &QComboBox::currentTextChanged, this, &This::queryTargetOutdated);
+ _WMQueryTargetCheckBox->setChecked(true);
+
+ typeLayout->addLayout(queryTargetLayout);
_pageLayout->addLayout(typeLayout);
}
@@ -61,26 +82,7 @@ namespace armarx::armem::gui
addForm("Time Range", new SnapshotFormTimeRange());
addForm("Index Range", new SnapshotFormIndexRange());
- // Add query targets
- _queryTargets.insert({"WM", query::data::QueryTarget::WM});
- _queryTargets.insert({"WM & LTM", query::data::QueryTarget::WMAndLTM});
- _queryTargets.insert({"LTM (debug only)", query::data::QueryTarget::LTM});
-
showSelectedFormForQuery(_queryComboBox->currentText());
- updateSelector();
- updateQueryTarget();
- }
-
- void SnapshotSelectorWidget::updateSelector()
- {
- this->_selector = _queryForms.at(_queryComboBox->currentText())->makeEntitySelector();
- emit queryChanged();
- }
-
- void SnapshotSelectorWidget::updateQueryTarget()
- {
- this->_queryTarget = _queryTargets.at(_queryTargetComboBox->currentText());
- emit queryTargetChanged();
}
void SnapshotSelectorWidget::showSelectedFormForQuery(QString selected)
@@ -95,7 +97,7 @@ namespace armarx::armem::gui
{
auto r = _queryForms.emplace(key, form);
_pageLayout->addWidget(r.first->second);
- connect(r.first->second, &SnapshotForm::queryChanged, this, &This::updateSelector);
+ //connect(r.first->second, &SnapshotForm::queryChanged, this, &This::updateSelector);
}
void SnapshotSelectorWidget::hideAllForms()
diff --git a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.h b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.h
index 92db5fbb13c74b011ca0f36a64fbf82a58536717..6f6422c3cdbc7fd0e1899bce47efbaaa32589062 100644
--- a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.h
+++ b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.h
@@ -35,31 +35,27 @@ namespace armarx::armem::gui
armem::DataMode dataMode() const;
- client::query::SnapshotSelector& selector();
- query::data::QueryTarget queryTarget() const;
+ client::query::SnapshotSelector selector();
+ query::data::QueryTargets queryTargets() const;
+ bool queryTargetContainsLocalDisk() const;
public slots:
signals:
-
void queryChanged();
- void queryTargetChanged();
private slots:
- void updateSelector();
- void updateQueryTarget();
+ //void updateSelector();
void hideAllForms();
void showSelectedFormForQuery(QString selected);
signals:
-
void queryOutdated();
- void queryTargetOutdated();
private:
@@ -68,16 +64,14 @@ namespace armarx::armem::gui
public:
-
- client::query::SnapshotSelector _selector;
- query::data::QueryTarget _queryTarget;
-
QVBoxLayout* _pageLayout;
QComboBox* _queryComboBox;
- QComboBox* _queryTargetComboBox;
+ QCheckBox* _WMQueryTargetCheckBox;
+ QCheckBox* _LTMQueryTargetCheckBox;
+ QCheckBox* _DiskMemoryQueryTargetCheckBox;
+ QCheckBox* _LocalDiskMemoryQueryTargetCheckBox;
/// The forms for the different query types. Hidden when not selected.
std::map<QString, SnapshotForm*> _queryForms;
- std::map<QString, query::data::QueryTarget> _queryTargets;
};
diff --git a/source/RobotAPI/libraries/armem_objects/SceneSnapshot.cpp b/source/RobotAPI/libraries/armem_objects/SceneSnapshot.cpp
index d491662edda9ff00244178735c0c84c26a923688..d3ece87d9746198af2f5b9acc5b81cce38d189aa 100644
--- a/source/RobotAPI/libraries/armem_objects/SceneSnapshot.cpp
+++ b/source/RobotAPI/libraries/armem_objects/SceneSnapshot.cpp
@@ -30,6 +30,18 @@ namespace armarx::armem::obj
return id;
}
+
+ ObjectID SceneSnapshot::Object::getObjectID() const
+ {
+ return getClassID().withInstanceName(instanceName);
+ }
+
+
+ ObjectID SceneSnapshot::Object::getObjectID(ObjectFinder& finder) const
+ {
+ return getClassID(finder).withInstanceName(instanceName);
+ }
+
}
@@ -37,9 +49,11 @@ void armarx::armem::obj::to_json(nlohmann::json& j, const SceneSnapshot::Object&
{
// j["instanceID"] = rhs.instanceID;
j["class"] = rhs.className;
+ j["instanceName"] = rhs.instanceName;
j["collection"] = rhs.collection;
j["position"] = rhs.position;
j["orientation"] = rhs.orientation;
+ j["jointValues"] = rhs.jointValues;
}
@@ -47,9 +61,17 @@ void armarx::armem::obj::from_json(const nlohmann::json& j, SceneSnapshot::Objec
{
// j.at("instanceID").get_to(rhs.instanceID);
j.at("class").get_to(rhs.className);
+ if (j.count("instanceName"))
+ {
+ j["instanceName"].get_to(rhs.instanceName);
+ }
j.at("collection").get_to(rhs.collection);
j.at("position").get_to(rhs.position);
j.at("orientation").get_to(rhs.orientation);
+ if (j.count("jointValues"))
+ {
+ j.at("jointValues").get_to(rhs.jointValues);
+ }
}
diff --git a/source/RobotAPI/libraries/armem_objects/SceneSnapshot.h b/source/RobotAPI/libraries/armem_objects/SceneSnapshot.h
index add5f1f183d15b6ec7c0588a5d4a9abc7e558d82..3e24156490544ebc537372a0d204c052ae8b2428 100644
--- a/source/RobotAPI/libraries/armem_objects/SceneSnapshot.h
+++ b/source/RobotAPI/libraries/armem_objects/SceneSnapshot.h
@@ -39,13 +39,18 @@ namespace armarx::armem::obj
struct Object
{
std::string className;
+ std::string instanceName;
std::string collection;
Eigen::Vector3f position = Eigen::Vector3f::Zero();
Eigen::Quaternionf orientation = Eigen::Quaternionf::Identity();
+ std::map<std::string, float> jointValues;
+
ObjectID getClassID() const;
ObjectID getClassID(ObjectFinder& finder) const;
+ ObjectID getObjectID() const;
+ ObjectID getObjectID(ObjectFinder& finder) const;
};
std::vector<Object> objects;
};
diff --git a/source/RobotAPI/libraries/armem_objects/server/articulated_object_class/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/articulated_object_class/Segment.cpp
index 36ff86743abbbae569d43b44aff1e92a25896b19..425b5af02da13e58f4a654a0784029f5fbe9a9e0 100644
--- a/source/RobotAPI/libraries/armem_objects/server/articulated_object_class/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/articulated_object_class/Segment.cpp
@@ -89,7 +89,7 @@ namespace armarx::armem::server::obj::articulated_object_class
for (const armem::articulated_object::ArticulatedObjectDescription& desc : descriptions)
{
EntityUpdate& update = commit.updates.emplace_back();
- update.entityID = providerID.withEntityName(datasetName + "/" + desc.name);
+ update.entityID = providerID.withEntityName(desc.name);
update.timeArrived = update.timeCreated = update.timeSent = now;
arondto::RobotDescription aronRobotDescription;
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Decay.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Decay.cpp
index f07f526d60dc409bc2bbf7e2dc37389237d9ec96..2d3942250cf43a294a5e599aa2f5e28e454a0960 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Decay.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Decay.cpp
@@ -34,7 +34,7 @@ namespace armarx::armem::server::obj::instance
{
for (objpose::ObjectPose& pose : objectPoses)
{
- if (pose.attachment)
+ if (pose.attachment or pose.isStatic)
{
pose.confidence = 1.0;
}
@@ -47,7 +47,7 @@ namespace armarx::armem::server::obj::instance
float Decay::calculateConfidence(IceUtil::Time localization, IceUtil::Time now) const
{
- float duration = (now - localization).toSeconds();
+ const float duration = static_cast<float>((now - localization).toSecondsDouble());
if (duration < delaySeconds)
{
return maxConfidence;
@@ -88,17 +88,17 @@ namespace armarx::armem::server::obj::instance
}
{
maxConfidence.setRange(0, 1);
- maxConfidence.setSteps(20);
+ maxConfidence.setSteps(100);
maxConfidence.setValue(decay.maxConfidence);
}
{
minConfidence.setRange(0, 1);
- minConfidence.setSteps(20);
+ minConfidence.setSteps(100);
minConfidence.setValue(decay.minConfidence);
}
{
removeObjectsBelowConfidence.setRange(0, 1);
- removeObjectsBelowConfidence.setSteps(20);
+ removeObjectsBelowConfidence.setSteps(100);
removeObjectsBelowConfidence.setValue(decay.removeObjectsBelowConfidence);
}
@@ -128,6 +128,7 @@ namespace armarx::armem::server::obj::instance
decay.durationSeconds = durationSeconds.getValue();
decay.maxConfidence = maxConfidence.getValue();
decay.minConfidence = minConfidence.getValue();
+ decay.removeObjectsBelowConfidence = removeObjectsBelowConfidence.getValue();
}
}
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
index fa9fe76894d61b0d92f0c139d85ed3dfaaf65a37..6fe1b4d09880ef0a6632b1c3c91e49881a6384a9 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
@@ -24,8 +24,10 @@
#include <ArmarXCore/core/time/TimeUtil.h>
#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
-#include <SimoxUtility/math/pose/pose.h>
+#include <SimoxUtility/algorithm/get_map_keys_values.h>
#include <SimoxUtility/json.h>
+#include <SimoxUtility/math/pose/pose.h>
+
#include <Eigen/Geometry>
@@ -81,12 +83,14 @@ namespace armarx::armem::server::obj::instance
"If true, no new snapshots are stored while an object is attached to a robot node.\n"
"If false, new snapshots are stored, but the attachment is kept in the new snapshots.");
- defs->optional(p.sceneSnapshotsPackage, prefix + "scene.Package",
+ defs->optional(p.sceneSnapshotsPackage, prefix + "scene.10_Package",
"ArmarX package containing the scene snapshots.\n"
"Scene snapshots are expected to be located in Package/data/Package/Scenes/*.json.");
- defs->optional(p.sceneSnapshotToLoad, prefix + "scene.SnapshotToLoad",
+ defs->optional(p.sceneSnapshotsDirectory, prefix + "scene.11_Directory",
+ "Directory in Package/data/Package/ containing the scene snapshots.");
+ defs->optional(p.sceneSnapshotToLoad, prefix + "scene.12_SnapshotToLoad",
"Scene snapshot to load on startup (e.g. 'Scene_2021-06-24_20-20-03').\n"
- "You can also specify paths relative to 'Package/Scenes/'.");
+ "You can also specify paths relative to 'Package/scenes/'.");
decay.defineProperties(defs, prefix + "decay.");
}
@@ -243,21 +247,21 @@ namespace armarx::armem::server::obj::instance
}
- objpose::ObjectPoseSeq Segment::getObjectPoses(IceUtil::Time now)
+ objpose::ObjectPoseMap Segment::getObjectPoses(IceUtil::Time now)
{
- ObjectPoseSeq objectPoses = getLatestObjectPoses();
+ ObjectPoseMap objectPoses = getLatestObjectPoses();
updateObjectPoses(objectPoses, now);
return filterObjectPoses(objectPoses);
}
- objpose::ObjectPoseSeq Segment::getObjectPosesByProvider(
+ objpose::ObjectPoseMap Segment::getObjectPosesByProvider(
const std::string& providerName,
IceUtil::Time now)
{
ARMARX_CHECK_NOT_NULL(coreSegment);
- ObjectPoseSeq objectPoses = getLatestObjectPoses(coreSegment->getProviderSegment(providerName));
+ ObjectPoseMap objectPoses = getLatestObjectPoses(coreSegment->getProviderSegment(providerName));
updateObjectPoses(objectPoses, now);
return filterObjectPoses(objectPoses);
}
@@ -294,11 +298,11 @@ namespace armarx::armem::server::obj::instance
}
- void Segment::updateObjectPoses(ObjectPoseSeq& objectPoses, IceUtil::Time now)
+ void Segment::updateObjectPoses(ObjectPoseMap& objectPoses, IceUtil::Time now)
{
bool agentSynchronized = false;
- for (ObjectPose& objectPose : objectPoses)
+ for (auto& [id, objectPose] : objectPoses)
{
updateObjectPose(objectPose, now, robot, agentSynchronized);
}
@@ -306,14 +310,14 @@ namespace armarx::armem::server::obj::instance
void Segment::updateObjectPoses(
- ObjectPoseSeq& objectPoses,
+ ObjectPoseMap& objectPoses,
IceUtil::Time now,
VirtualRobot::RobotPtr agent,
bool& agentSynchronized) const
{
- for (ObjectPose& pose : objectPoses)
+ for (auto& [id, objectPose] : objectPoses)
{
- updateObjectPose(pose, now, agent, agentSynchronized);
+ updateObjectPose(objectPose, now, agent, agentSynchronized);
}
}
@@ -333,14 +337,14 @@ namespace armarx::armem::server::obj::instance
}
- objpose::ObjectPoseSeq Segment::filterObjectPoses(const ObjectPoseSeq& objectPoses) const
+ Segment::ObjectPoseMap Segment::filterObjectPoses(const ObjectPoseMap& objectPoses) const
{
- ObjectPoseSeq result;
- for (const ObjectPose& objectPose : objectPoses)
+ ObjectPoseMap result;
+ for (const auto& [id, objectPose] : objectPoses)
{
if (!(decay.enabled && objectPose.confidence < decay.removeObjectsBelowConfidence))
{
- result.push_back(objectPose);
+ result[id] = objectPose;
}
}
return result;
@@ -366,24 +370,24 @@ namespace armarx::armem::server::obj::instance
}
- objpose::ObjectPoseSeq Segment::getLatestObjectPoses() const
+ objpose::ObjectPoseMap Segment::getLatestObjectPoses() const
{
ARMARX_CHECK_NOT_NULL(coreSegment);
return getLatestObjectPoses(*coreSegment);
}
- objpose::ObjectPoseSeq Segment::getLatestObjectPoses(const armem::wm::CoreSegment& coreSeg)
+ objpose::ObjectPoseMap Segment::getLatestObjectPoses(const armem::wm::CoreSegment& coreSeg)
{
- ObjectPoseSeq result;
+ ObjectPoseMap result;
getLatestObjectPoses(coreSeg, result);
return result;
}
- objpose::ObjectPoseSeq Segment::getLatestObjectPoses(const armem::wm::ProviderSegment& provSeg)
+ objpose::ObjectPoseMap Segment::getLatestObjectPoses(const armem::wm::ProviderSegment& provSeg)
{
- ObjectPoseSeq result;
+ ObjectPoseMap result;
getLatestObjectPoses(provSeg, result);
return result;
}
@@ -397,7 +401,7 @@ namespace armarx::armem::server::obj::instance
}
- void Segment::getLatestObjectPoses(const armem::wm::CoreSegment& coreSeg, ObjectPoseSeq& out)
+ void Segment::getLatestObjectPoses(const armem::wm::CoreSegment& coreSeg, ObjectPoseMap& out)
{
for (const auto& [_, provSegment] : coreSeg)
{
@@ -406,14 +410,23 @@ namespace armarx::armem::server::obj::instance
}
- void Segment::getLatestObjectPoses(const armem::wm::ProviderSegment& provSegment, ObjectPoseSeq& out)
+ void Segment::getLatestObjectPoses(const armem::wm::ProviderSegment& provSegment, ObjectPoseMap& out)
{
for (const auto& [_, entity] : provSegment)
{
if (!entity.empty())
{
- ObjectPose& pose = out.emplace_back();
- getLatestObjectPose(entity, pose);
+ ObjectPose pose = getLatestObjectPose(entity);
+ // Try to insert. Fails and returns false if an entry already exists.
+ const auto [it, success] = out.insert({pose.objectID, pose});
+ if (!success)
+ {
+ // An entry with that ID already exists. We keep the newest.
+ if (it->second.timestamp < pose.timestamp)
+ {
+ it->second = pose;
+ }
+ }
}
}
}
@@ -791,7 +804,7 @@ namespace armarx::armem::server::obj::instance
if (finder->packageFound())
{
std::filesystem::path dataDir = finder->getDataDir();
- std::filesystem::path path = dataDir / p.sceneSnapshotsPackage / "Scenes" / filename;
+ std::filesystem::path path = dataDir / p.sceneSnapshotsPackage / p.sceneSnapshotsDirectory / filename;
return path;
}
else
@@ -849,13 +862,20 @@ namespace armarx::armem::server::obj::instance
pose.providerName = sceneName;
pose.objectType = objpose::ObjectType::KnownObject;
- pose.objectID = classID.withInstanceName(std::to_string(idCounters[classID]++));
+ pose.isStatic = true; // Objects loaded from prior knowledge are considerd static to exclude them from decay.
+ pose.objectID = classID.withInstanceName(
+ object.instanceName.empty()
+ ? std::to_string(idCounters[classID]++)
+ : object.instanceName
+ );
pose.objectPoseGlobal = simox::math::pose(object.position, object.orientation);
pose.objectPoseRobot = pose.objectPoseGlobal;
pose.objectPoseOriginal = pose.objectPoseGlobal;
pose.objectPoseOriginalFrame = armarx::GlobalFrame;
+ pose.objectJointValues = object.jointValues;
+
pose.robotConfig = {};
pose.robotPose = Eigen::Matrix4f::Identity();
@@ -905,7 +925,12 @@ namespace armarx::armem::server::obj::instance
loadButton.setLabel("Load Scene");
storeButton.setLabel("Store Scene");
- HBoxLayout storeLoadLineLayout({Label(data.p.sceneSnapshotsPackage + "/Scenes/"), storeLoadLine, Label(".json")});
+ HBoxLayout storeLoadLineLayout(
+ {
+ Label(data.p.sceneSnapshotsPackage + "/" + data.p.sceneSnapshotsDirectory + "/"),
+ storeLoadLine,
+ Label(".json")
+ });
HBoxLayout storeLoadButtonsLayout({loadButton, storeButton});
GridLayout grid;
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
index 0ac63b410d8d5593ac3c6b9be1fb9ea1cc58eb4d..3d7af768b9ec04457050342d6b83480386d9d579 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
@@ -42,6 +42,7 @@ namespace armarx::armem::server::obj::instance
};
using ObjectPose = objpose::ObjectPose;
using ObjectPoseSeq = objpose::ObjectPoseSeq;
+ using ObjectPoseMap = std::map<ObjectID, ObjectPose>;
public:
@@ -66,8 +67,8 @@ namespace armarx::armem::server::obj::instance
const wm::CoreSegment& getCoreSegment() const;
- objpose::ObjectPoseSeq getObjectPoses(IceUtil::Time now);
- objpose::ObjectPoseSeq getObjectPosesByProvider(const std::string& providerName, IceUtil::Time now);
+ objpose::ObjectPoseMap getObjectPoses(IceUtil::Time now);
+ objpose::ObjectPoseMap getObjectPosesByProvider(const std::string& providerName, IceUtil::Time now);
wm::Entity* findObjectEntity(const ObjectID& objectID, const std::string& providerName = "");
std::optional<simox::OrientedBoxf> getObjectOOBB(const ObjectID& id);
@@ -93,12 +94,12 @@ namespace armarx::armem::server::obj::instance
bool& synchronized) const;
- static ObjectPoseSeq getLatestObjectPoses(const wm::CoreSegment& coreSeg);
- static ObjectPoseSeq getLatestObjectPoses(const wm::ProviderSegment& provSeg);
+ static ObjectPoseMap getLatestObjectPoses(const wm::CoreSegment& coreSeg);
+ static ObjectPoseMap getLatestObjectPoses(const wm::ProviderSegment& provSeg);
static ObjectPose getLatestObjectPose(const wm::Entity& entity);
- static void getLatestObjectPoses(const wm::CoreSegment& coreSeg, ObjectPoseSeq& out);
- static void getLatestObjectPoses(const wm::ProviderSegment& provSeg, ObjectPoseSeq& out);
+ static void getLatestObjectPoses(const wm::CoreSegment& coreSeg, ObjectPoseMap& out);
+ static void getLatestObjectPoses(const wm::ProviderSegment& provSeg, ObjectPoseMap& out);
static void getLatestObjectPose(const wm::Entity& entity, ObjectPose& out);
static arondto::ObjectInstance getLatestInstanceData(const wm::Entity& entity);
@@ -106,13 +107,13 @@ namespace armarx::armem::server::obj::instance
private:
- ObjectPoseSeq getLatestObjectPoses() const;
+ ObjectPoseMap getLatestObjectPoses() const;
void updateObjectPoses(
- ObjectPoseSeq& objectPoses,
+ ObjectPoseMap& objectPoses,
IceUtil::Time now);
void updateObjectPoses(
- ObjectPoseSeq& objectPoses,
+ ObjectPoseMap& objectPoses,
IceUtil::Time now,
VirtualRobot::RobotPtr agent,
bool& agentSynchronized
@@ -125,7 +126,7 @@ namespace armarx::armem::server::obj::instance
) const;
- ObjectPoseSeq filterObjectPoses(const ObjectPoseSeq& objectPoses) const;
+ ObjectPoseMap filterObjectPoses(const ObjectPoseMap& objectPoses) const;
void storeDetachedSnapshot(
@@ -182,7 +183,8 @@ namespace armarx::armem::server::obj::instance
bool discardSnapshotsWhileAttached = true;
/// Package containing the scene snapshots
- std::string sceneSnapshotsPackage = "ArmarXObjects";
+ std::string sceneSnapshotsPackage = armarx::ObjectFinder::DefaultObjectsPackageName;
+ std::string sceneSnapshotsDirectory = "scenes";
std::string sceneSnapshotToLoad = "";
};
Properties p;
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp
index 46a7a4fba84f5c81799d6e7330359b4e2ad7a52f..54b298b6c1f98e160d5803659ca078de1158c9cd 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp
@@ -217,7 +217,7 @@ namespace armarx::armem::server::obj::instance
TIMING_END_STREAM(tGetObjectPosesLock, ARMARX_VERBOSE);
const IceUtil::Time now = TimeUtil::GetTime();
- const objpose::data::ObjectPoseSeq result = objpose::toIce(segment.getObjectPoses(now));
+ const objpose::data::ObjectPoseSeq result = objpose::toIce(simox::alg::get_values(segment.getObjectPoses(now)));
TIMING_END_STREAM(tGetObjectPoses, ARMARX_VERBOSE);
@@ -242,7 +242,7 @@ namespace armarx::armem::server::obj::instance
TIMING_END_STREAM(GetObjectPosesLock, ARMARX_VERBOSE);
const IceUtil::Time now = TimeUtil::GetTime();
- const objpose::data::ObjectPoseSeq result = objpose::toIce(segment.getObjectPosesByProvider(providerName, now));
+ const objpose::data::ObjectPoseSeq result = objpose::toIce(simox::alg::get_values(segment.getObjectPosesByProvider(providerName, now)));
TIMING_END_STREAM(GetObjectPoses, ARMARX_VERBOSE);
@@ -406,6 +406,8 @@ namespace armarx::armem::server::obj::instance
void SegmentAdapter::visualizeRun()
{
+ ObjectFinder objectFinder;
+
CycleUtil cycle(static_cast<int>(1000 / visu.frequencyHz));
while (visu.updateTask && !visu.updateTask->isStopped())
{
@@ -414,33 +416,45 @@ namespace armarx::armem::server::obj::instance
if (visu.enabled)
{
- TIMING_START(Visu);
+ TIMING_START(tVisu);
- objpose::ObjectPoseSeq objectPoses;
- ObjectFinder objectFinder;
+ objpose::ObjectPoseMap objectPoses;
visu.minConfidence = -1;
{
std::scoped_lock lock(memoryMutex);
const IceUtil::Time now = TimeUtil::GetTime();
+
+ // Also include decayed objects in result
+ // Store original setting.
+ const float minConf = segment.decay.removeObjectsBelowConfidence;
+ segment.decay.removeObjectsBelowConfidence = -1;
+ // Get result.
objectPoses = segment.getObjectPoses(now);
+ // Restore original setting.
+ segment.decay.removeObjectsBelowConfidence = minConf;
+
objectFinder = segment.objectFinder;
if (segment.decay.enabled)
{
visu.minConfidence = segment.decay.removeObjectsBelowConfidence;
}
}
+
const std::vector<viz::Layer> layers = visu.visualizeCommit(objectPoses, objectFinder);
arviz.commit(layers);
- TIMING_END_STREAM(Visu, ARMARX_VERBOSE);
+ TIMING_END_STREAM(tVisu, ARMARX_VERBOSE);
if (debugObserver)
{
- debugObserver->setDebugChannel(getName(),
+ armarx::StringVariantBaseMap debugValues;
+ debugValues["t Visualize [ms]"] = new Variant(tVisu.toMilliSecondsDouble());
+ for (const auto& [id, pose] : objectPoses)
{
- { "t Visualize [ms]", new Variant(Visu.toMilliSecondsDouble()) },
- });
+ debugValues["confidence(" + id.str() + ")"] = new Variant(pose.confidence);
+ }
+ debugObserver->setDebugChannel(getName(), debugValues);
}
}
}
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Visu.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Visu.cpp
index 5cc251ca984e22a0129411b6b05a59db79d8a543..a0c8812a6751f0612ffb254a2cb43bdd714e812d 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Visu.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Visu.cpp
@@ -28,6 +28,8 @@ namespace armarx::armem::server::obj::instance
"Enable showing object frames.");
defs->optional(objectFramesScale, prefix + "objectFramesScale",
"Scaling of object frames.");
+ defs->optional(useArticulatedModels, prefix + "useArticulatedModels",
+ "Prefer articulated object models if available.");
}
@@ -43,30 +45,46 @@ namespace armarx::armem::server::obj::instance
return layers;
}
+
std::vector<viz::Layer> Visu::visualizeCommit(
const objpose::ObjectPoseSeq& objectPoses,
const ObjectFinder& objectFinder) const
{
- std::map<std::string, viz::Layer> layers;
-
- auto getLayer = [this, &layers](const std::string & providerName) -> viz::Layer &
+ std::map<std::string, viz::Layer> stage;
+ for (const objpose::ObjectPose& objectPose : objectPoses)
{
- auto it = layers.find(providerName);
- if (it == layers.end())
- {
- it = layers.emplace(providerName, arviz.layer(providerName)).first;
- }
- return it->second;
- };
+ visualizeObjectPose(getLayer(objectPose.providerName, stage), objectPose, objectFinder);
+ }
+ return simox::alg::get_values(stage);
+ }
- for (const objpose::ObjectPose& objectPose : objectPoses)
+
+ std::vector<viz::Layer> Visu::visualizeCommit(
+ const objpose::ObjectPoseMap& objectPoses,
+ const ObjectFinder& objectFinder) const
+ {
+ std::map<std::string, viz::Layer> stage;
+ for (const auto& [id, objectPose] : objectPoses)
{
- visualizeObjectPose(getLayer(objectPose.providerName), objectPose, objectFinder);
+ visualizeObjectPose(getLayer(objectPose.providerName, stage), objectPose, objectFinder);
}
+ return simox::alg::get_values(stage);
+ }
- return simox::alg::get_values(layers);
+
+ viz::Layer& Visu::getLayer(
+ const std::string& providerName,
+ std::map<std::string, viz::Layer>& stage) const
+ {
+ auto it = stage.find(providerName);
+ if (it == stage.end())
+ {
+ it = stage.emplace(providerName, arviz.layer(providerName)).first;
+ }
+ return it->second;
}
+
viz::Layer Visu::visualizeProvider(
const std::string& providerName,
const objpose::ObjectPoseSeq& objectPoses,
@@ -85,8 +103,8 @@ namespace armarx::armem::server::obj::instance
const objpose::ObjectPose& objectPose,
const ObjectFinder& objectFinder) const
{
- const bool show = not(objectPose.confidence < minConfidence);
- if (!show)
+ const bool show = objectPose.confidence >= minConfidence;
+ if (not show)
{
return;
}
@@ -95,25 +113,44 @@ namespace armarx::armem::server::obj::instance
const Eigen::Matrix4f pose = inGlobalFrame ? objectPose.objectPoseGlobal : objectPose.objectPoseRobot;
{
- viz::Object object(key);
- object.pose(pose);
- if (std::optional<ObjectInfo> objectInfo = objectFinder.findObject(id))
- {
- object.file(objectInfo->package(), objectInfo->simoxXML().relativePath);
- }
- else
- {
- object.fileByObjectFinder(id);
- }
- if (alphaByConfidence && objectPose.confidence < 1.0f)
+ std::optional<ObjectInfo> objectInfo = objectFinder.findObject(id);
+
+ bool done = false;
+ if (useArticulatedModels && objectInfo)
{
- object.overrideColor(simox::Color::white().with_alpha(objectPose.confidence));
+ if (std::optional<PackageFileLocation> model = objectInfo->getArticulatedModel())
+ {
+ viz::Robot robot(key);
+ robot.pose(pose);
+ robot.file(model->package, model->relativePath);
+ robot.joints(objectPose.objectJointValues);
+
+ layer.add(robot);
+ done = true;
+ }
}
- else if (alpha < 1)
+ if (!done)
{
- object.overrideColor(simox::Color::white().with_alpha(alpha));
+ viz::Object object(key);
+ object.pose(pose);
+ if (objectInfo)
+ {
+ object.file(objectInfo->package(), objectInfo->simoxXML().relativePath);
+ }
+ else
+ {
+ object.fileByObjectFinder(id);
+ }
+ if (alphaByConfidence && objectPose.confidence < 1.0f)
+ {
+ object.overrideColor(simox::Color::white().with_alpha(objectPose.confidence));
+ }
+ else if (alpha < 1)
+ {
+ object.overrideColor(simox::Color::white().with_alpha(alpha));
+ }
+ layer.add(object);
}
- layer.add(object);
}
if (oobbs && objectPose.localOOBB)
@@ -148,6 +185,7 @@ namespace armarx::armem::server::obj::instance
objectFramesScale.setSteps(int(10 * max));
objectFramesScale.setValue(visu.objectFramesScale);
}
+ useArticulatedModels.setValue(visu.useArticulatedModels);
GridLayout grid;
int row = 0;
@@ -164,6 +202,8 @@ namespace armarx::armem::server::obj::instance
grid.add(Label("Object Frames"), {row, 0}).add(objectFrames, {row, 1});
grid.add(Label("Scale:"), {row, 2}).add(objectFramesScale, {row, 3});
row++;
+ grid.add(Label("Use Articulated Models"), {row, 0}).add(useArticulatedModels, {row, 1});
+ row++;
group.setLabel("Visualization");
group.addChild(grid);
@@ -178,6 +218,7 @@ namespace armarx::armem::server::obj::instance
visu.oobbs = oobbs.getValue();
visu.objectFrames = objectFrames.getValue();
visu.objectFramesScale = objectFramesScale.getValue();
+ visu.useArticulatedModels = useArticulatedModels.getValue();
}
}
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Visu.h b/source/RobotAPI/libraries/armem_objects/server/instance/Visu.h
index 1cd1d41c835e56e820ce3db8b3397b1e117d8202..01e7f059817d4050fc9728a4b09d95d22c9a572f 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Visu.h
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Visu.h
@@ -37,6 +37,10 @@ namespace armarx::armem::server::obj::instance
const objpose::ObjectPoseSeq& objectPoses,
const ObjectFinder& objectFinder
) const;
+ std::vector<viz::Layer> visualizeCommit(
+ const objpose::ObjectPoseMap& objectPoses,
+ const ObjectFinder& objectFinder
+ ) const;
viz::Layer visualizeProvider(
const std::string& providerName,
@@ -52,6 +56,11 @@ namespace armarx::armem::server::obj::instance
) const;
+ private:
+
+ viz::Layer& getLayer(const std::string& providerName, std::map<std::string, viz::Layer>& stage) const;
+
+
public:
viz::Client arviz;
@@ -67,6 +76,9 @@ namespace armarx::armem::server::obj::instance
bool objectFrames = false;
float objectFramesScale = 1.0;
+ /// Prefer articulated models if available.
+ bool useArticulatedModels = true;
+
SimpleRunningTask<>::pointer_type updateTask;
@@ -83,6 +95,9 @@ namespace armarx::armem::server::obj::instance
armarx::RemoteGui::Client::CheckBox objectFrames;
armarx::RemoteGui::Client::FloatSpinBox objectFramesScale;
+ armarx::RemoteGui::Client::CheckBox useArticulatedModels;
+
+
void setup(const Visu& visu);
void update(Visu& visu);
};
diff --git a/source/RobotAPI/libraries/armem_robot/aron_conversions.cpp b/source/RobotAPI/libraries/armem_robot/aron_conversions.cpp
index 601f17d656dad19c150d7f36487e45900b102a57..da72cc16f995f239c207dfb38dcaa6cf533fb74b 100644
--- a/source/RobotAPI/libraries/armem_robot/aron_conversions.cpp
+++ b/source/RobotAPI/libraries/armem_robot/aron_conversions.cpp
@@ -1,9 +1,15 @@
#include "aron_conversions.h"
+#include <RobotAPI/libraries/aron/common/aron_conversions.h>
+
+#include <RobotAPI/libraries/ArmarXObjects/ObjectID.h>
+#include <RobotAPI/libraries/ArmarXObjects/aron_conversions.h>
+
#include <RobotAPI/libraries/aron/common/aron_conversions/core.h>
#include <RobotAPI/libraries/aron/common/aron_conversions/stl.h>
#include <RobotAPI/libraries/aron/common/aron_conversions/armarx.h>
+
namespace armarx::armem::robot
{
@@ -59,3 +65,47 @@ namespace armarx::armem::robot
}
} // namespace armarx::armem::robot
+
+
+namespace armarx::armem
+{
+
+ void robot::fromAron(const arondto::ObjectClass& dto, RobotDescription& bo)
+ {
+ bo.name = aron::fromAron<armarx::ObjectID>(dto.id).str();
+ fromAron(dto.articulatedSimoxXmlPath, bo.xml);
+ }
+
+ void robot::toAron(arondto::ObjectClass& dto, const RobotDescription& bo)
+ {
+ toAron(dto.id, ObjectID(bo.name));
+ toAron(dto.articulatedSimoxXmlPath, bo.xml);
+ }
+
+
+ void robot::fromAron(const arondto::ObjectInstance& dto, RobotState& bo)
+ {
+ fromAron(dto.pose, bo);
+ }
+
+ void robot::toAron(arondto::ObjectInstance& dto, const RobotState& bo)
+ {
+ toAron(dto.pose, bo);
+ }
+
+
+ void robot::fromAron(const objpose::arondto::ObjectPose& dto, RobotState& bo)
+ {
+ bo.timestamp = dto.timestamp;
+ bo.globalPose = dto.objectPoseGlobal;
+ bo.jointMap = dto.objectJointValues;
+ }
+
+ void robot::toAron(objpose::arondto::ObjectPose& dto, const RobotState& bo)
+ {
+ dto.timestamp = bo.timestamp;
+ dto.objectPoseGlobal = bo.globalPose.matrix();
+ dto.objectJointValues = bo.jointMap;
+ }
+
+} // namespace armarx::armem
diff --git a/source/RobotAPI/libraries/armem_robot/aron_conversions.h b/source/RobotAPI/libraries/armem_robot/aron_conversions.h
index 70e06ce8eedb7de9538f5249b3eedf797aec6060..9c124d758a9189b1ec709cca9808b430bbc63a94 100644
--- a/source/RobotAPI/libraries/armem_robot/aron_conversions.h
+++ b/source/RobotAPI/libraries/armem_robot/aron_conversions.h
@@ -1,11 +1,15 @@
#pragma once
-#include <RobotAPI/libraries/armem_robot/types.h>
+#include <RobotAPI/libraries/armem_objects/aron/ObjectClass.aron.generated.h>
+#include <RobotAPI/libraries/armem_objects/aron/ObjectInstance.aron.generated.h>
+#include <RobotAPI/libraries/ArmarXObjects/aron/ObjectPose.aron.generated.h>
+#include <RobotAPI/libraries/armem_robot/types.h>
#include <RobotAPI/libraries/armem_robot/aron/RobotDescription.aron.generated.h>
#include <RobotAPI/libraries/armem_robot/aron/RobotState.aron.generated.h>
#include <RobotAPI/libraries/armem_robot/aron/Robot.aron.generated.h>
+
namespace armarx::armem::robot
{
// TODO move the following
@@ -22,4 +26,14 @@ namespace armarx::armem::robot
void fromAron(const arondto::RobotState& dto, RobotState& bo);
void toAron(arondto::RobotState& dto, const RobotState& bo);
+
+ void fromAron(const arondto::ObjectClass& dto, RobotDescription& bo);
+ void toAron(arondto::ObjectClass& dto, const RobotDescription& bo);
+
+ void fromAron(const arondto::ObjectInstance& dto, RobotState& bo);
+ void toAron(arondto::ObjectInstance& dto, const RobotState& bo);
+
+ void fromAron(const objpose::arondto::ObjectPose& dto, RobotState& bo);
+ void toAron(objpose::arondto::ObjectPose& dto, const RobotState& bo);
+
} // namespace armarx::armem::robot
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/GenerateIntEnumInfo.h b/source/RobotAPI/libraries/aron/core/codegenerator/GenerateIntEnumInfo.h
index 832c3e47d08766a565ddb4dc297239da472d1d9a..e382b24225fc051ce7f8b402d73a640ec783b5ab 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/GenerateIntEnumInfo.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/GenerateIntEnumInfo.h
@@ -40,6 +40,9 @@ namespace armarx::aron::codegeneratorhelper
public:
std::string typeName;
std::string definedIn;
+ std::string doc_brief;
+ std::string doc_author;
+ std::map<std::string, std::string> doc_values;
typenavigator::IntEnumNavigatorPtr correspondingType;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/GenerateTypeInfo.h b/source/RobotAPI/libraries/aron/core/codegenerator/GenerateTypeInfo.h
index a029bca09d634f3565e89e7ef7d39eaee3af1201..c168b059222c9cbe3811b4c7bf4454647138b89f 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/GenerateTypeInfo.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/GenerateTypeInfo.h
@@ -41,7 +41,11 @@ namespace armarx::aron::codegeneratorhelper
public:
std::string typeName;
std::string definedIn;
+ std::string doc_brief;
+ std::string doc_author;
+ std::map<std::string, std::string> doc_members;
typenavigator::ObjectNavigatorPtr correspondingType;
+
std::map<std::string, GenerateObjectInfoPtr> nestedObjects;
std::map<std::string, GenerateIntEnumInfoPtr> nestedIntEnums;
};
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/AronCppClass.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/AronCppClass.h
index 7249a77170fd0f5c5e930d3d41ae465502ad3e96..790bb1e62538da3cdd0c25908118514f9be3cddd 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/AronCppClass.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/AronCppClass.h
@@ -55,9 +55,9 @@ namespace armarx::aron::cppserializer
virtual void resetSoft() = 0;
/// Set members according to loaded data in ReaderInterface. If skip_first_readStartDict is true, we skip the first call of r.readStartDict() (It was already called outside. This is important for nested classes)
- virtual void read(armarx::aron::dataIO::ReaderInterface& r, bool skip_first_readStartDict) = 0;
+ virtual void read(armarx::aron::dataIO::ReaderInterface& r, bool __aronIsMember) = 0;
/// Set the data in WriterInterface to the values of this class. If a maybe type is null or false, this method calls w.writeNull().
- virtual void write(armarx::aron::dataIO::WriterInterface& w) const = 0;
+ virtual void write(armarx::aron::dataIO::WriterInterface& w, bool __aronExtends) const = 0;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/Writer.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/Writer.cpp
index 86dc2874398a8bde89ae9224e4cdb8a6f47a83c7..89815a32fedbbc338c099ff1c56b07fdbf6c27ea 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/Writer.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/Writer.cpp
@@ -101,12 +101,12 @@ namespace armarx::aron::cppserializer
auto serializer = std::make_shared<serializer::ObjectClassSerializer>(nav);
CppClassPtr c = setupBasicCppClass(serializer->getFullCppTypename());
- setupMemberFields(c, serializer);
+ setupMemberFields(c, publicGenerateObjectType->doc_members, serializer);
if (nav->getExtends() != nullptr)
{
auto extendsSerializer = std::make_shared<serializer::ObjectClassSerializer>(nav->getExtends());
- c->addInherit(extendsSerializer->getFullCppTypename());
+ c->addInherit("public " + extendsSerializer->getFullCppTypename());
}
else
{
@@ -115,9 +115,15 @@ namespace armarx::aron::cppserializer
}
// Add includes and guard
- c->addClassDoc("!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!\n"
- "!!!!!!AUTOGENERATED CLASS. Please do NOT edit. Instead, edit the corresponding .xml file!!!!!!\n"
- "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!");
+ std::string classDoc = "******************************************\n"
+ "* AUTOGENERATED CLASS. Please do NOT edit.\n"
+ "******************************************\n";
+ if (!publicGenerateObjectType->doc_author.empty() or !publicGenerateObjectType->doc_brief.empty())
+ {
+ classDoc += (publicGenerateObjectType->doc_brief.empty() ? "" : " * @brief " + publicGenerateObjectType->doc_brief + "\n");
+ classDoc += (publicGenerateObjectType->doc_author.empty() ? "" : " * @author " + publicGenerateObjectType->doc_author + "\n");
+ }
+ c->addClassDoc(classDoc);
c->setPragmaOnceIncludeGuard(true);
c->addInclude("<memory>");
c->addInclude("<string>");
@@ -219,12 +225,20 @@ namespace armarx::aron::cppserializer
auto serializer = std::make_shared<serializer::IntEnumClassSerializer>(nav);
CppClassPtr c = setupBasicCppClass(serializer->getFullCppTypename());
- setupMemberFields(c, serializer);
+ setupMemberFields(c, publicGenerateIntEnumType->doc_values, serializer);
// Add includes and guard
- c->addClassDoc("!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!\n"
- "!!!!!!AUTOGENERATED CLASS. Please do NOT edit. Instead, edit the corresponding .xml file!!!!!!\n"
- "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!");
+ std::string classDoc = "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!\n"
+ "!!!!!!AUTOGENERATED CLASS. Please do NOT edit. Instead, edit the corresponding .xml file!!!!!!\n"
+ "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!";
+ if (!publicGenerateIntEnumType->doc_author.empty() or !publicGenerateIntEnumType->doc_brief.empty())
+ {
+ classDoc += "\n/**\n";
+ classDoc += (publicGenerateIntEnumType->doc_brief.empty() ? "" : " * @brief " + publicGenerateIntEnumType->doc_brief + "\n");
+ classDoc += (publicGenerateIntEnumType->doc_author.empty() ? "" : " * @author " + publicGenerateIntEnumType->doc_author + "\n");
+ classDoc += " */";
+ }
+ c->addClassDoc(classDoc);
c->setPragmaOnceIncludeGuard(true);
c->addInclude("<memory>");
c->addInclude("<string>");
@@ -301,17 +315,27 @@ namespace armarx::aron::cppserializer
auto serializer = std::make_shared<serializer::ObjectClassSerializer>(nav);
CppClassPtr c = setupBasicCppClass(serializer->getFullCppTypename());
- setupMemberFields(c, serializer);
+ setupMemberFields(c, localGenerateObjectType->doc_members, serializer);
if (nav->getExtends() != nullptr)
{
auto extendsSerializer = std::make_shared<serializer::ObjectClassSerializer>(nav->getExtends());
- c->addInherit(extendsSerializer->getFullCppTypename());
+ c->addInherit("public " + extendsSerializer->getFullCppTypename());
}
else
{
- c->addInherit("virtual public armarx::aron::cppserializer::AronCppClass");
+ c->addInherit("public armarx::aron::cppserializer::AronCppClass");
+ }
+
+ std::string classDoc = "";
+ if (!localGenerateObjectType->doc_author.empty() or !localGenerateObjectType->doc_brief.empty())
+ {
+ classDoc += "/**\n";
+ classDoc += (localGenerateObjectType->doc_brief.empty() ? "" : " * @brief " + localGenerateObjectType->doc_brief + "\n");
+ classDoc += (localGenerateObjectType->doc_author.empty() ? "" : " * @author " + localGenerateObjectType->doc_author + "\n");
+ classDoc += " */";
}
+ c->addClassDoc(classDoc);
CppMethodPtr equals = serializer->toEqualsMethod();
c->addMethod(equals);
@@ -351,20 +375,28 @@ namespace armarx::aron::cppserializer
return c;
}
- void Writer::setupMemberFields(CppClassPtr& c, const serializer::ObjectClassSerializerPtr& o) const
+ void Writer::setupMemberFields(CppClassPtr& c, const std::map<std::string, std::string>& doc_members, const serializer::ObjectClassSerializerPtr& o) const
{
auto publicFields = o->getPublicVariableDeclarations("");
for (const auto& f : publicFields)
{
+ if (auto it = doc_members.find(f->getName()); it != doc_members.end())
+ {
+ f->setDoc("@brief " + it->second);
+ }
c->addPublicField(f);
}
}
- void Writer::setupMemberFields(CppClassPtr& c, const serializer::IntEnumClassSerializerPtr& o) const
+ void Writer::setupMemberFields(CppClassPtr& c, const std::map<std::string, std::string>& doc_members, const serializer::IntEnumClassSerializerPtr& o) const
{
auto publicFields = o->getPublicVariableDeclarations("");
for (const auto& f : publicFields)
{
+ if (auto it = doc_members.find(f->getName()); it != doc_members.end())
+ {
+ f->setDoc("@brief " + it->second);
+ }
c->addPublicField(f);
}
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/Writer.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/Writer.h
index d9b27c9fe82987a78724f7d837d9d3343a4af943..0cdc4c226afe5192988f34547abfe64e8687f075 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/Writer.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/Writer.h
@@ -64,8 +64,8 @@ namespace armarx::aron::cppserializer
void generateInnerTypeObjects(CppClassPtr& classToAdd, const std::map<std::string, codegeneratorhelper::GenerateObjectInfoPtr>& localGenerateTypes);
CppClassPtr setupBasicCppClass(const std::string&) const;
- void setupMemberFields(CppClassPtr&, const serializer::ObjectClassSerializerPtr&) const;
- void setupMemberFields(CppClassPtr&, const serializer::IntEnumClassSerializerPtr&) const;
+ void setupMemberFields(CppClassPtr&, const std::map<std::string, std::string>& doc_members, const serializer::ObjectClassSerializerPtr&) const;
+ void setupMemberFields(CppClassPtr&, const std::map<std::string, std::string>& doc_members, const serializer::IntEnumClassSerializerPtr&) const;
private:
};
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.cpp
index 19220470403b00537971203580f336acb6105aa2..5169a4fcc46d3142ce61df9d717cc03942f62781 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.cpp
@@ -130,7 +130,7 @@ namespace armarx::aron::cppserializer
return b;
}
- CppBlockPtr Serializer::ResolveMaybeReadBlock(const std::string& accessor, const std::string& readElement, const CppBlockPtr& block_if_data, const typenavigator::NavigatorPtr& typenavigator)
+ CppBlockPtr Serializer::ResolveMaybeReadBlock(const std::string& accessor, const std::string& readElement, const CppBlockPtr& block_if_data, const typenavigator::NavigatorPtr& typenavigator, bool enforce_return_type)
{
std::string escaped_accessor = EscapeAccessor(accessor);
std::string read_start_result_accessor = escaped_accessor + READ_START_RETURN_TYPE_ACCESSOR;
@@ -148,7 +148,14 @@ namespace armarx::aron::cppserializer
if (!readElement.empty())
{
- resolved_block->addLine("auto " + read_start_result_accessor + " = " + readElement + "; // of " + accessor);
+ if (enforce_return_type or typenavigator->getMaybe() != type::Maybe::eNone)
+ {
+ resolved_block->addLine("auto " + read_start_result_accessor + " = " + readElement + "; // of " + accessor);
+ }
+ else
+ {
+ resolved_block->addLine(readElement + "; // of " + accessor);
+ }
}
if (typenavigator->getMaybe() != type::Maybe::eNone)
@@ -443,7 +450,7 @@ namespace armarx::aron::cppserializer
doc << "@brief writeType() - This method returns a new type from the class structure using a type writer implementation. This function is static. \n";
doc << "@return - the result of the writer implementation";
- CppMethodPtr m = CppMethodPtr(new CppMethod("static void writeType(armarx::aron::typeIO::WriterInterface& w, armarx::aron::type::Maybe __aronMaybeType = armarx::aron::type::Maybe::eNone)", doc.str()));
+ CppMethodPtr m = CppMethodPtr(new CppMethod("static void writeType(armarx::aron::typeIO::WriterInterface& w, armarx::aron::type::Maybe __aronMaybeType = armarx::aron::type::Maybe::eNone, bool __aronExtends = false)", doc.str()));
CppBlockPtr b = this->getWriteTypeBlock("");
m->setBlock(b);
return m;
@@ -456,7 +463,7 @@ namespace armarx::aron::cppserializer
doc << "@param w - The writer implementation\n";
doc << "@return - the result of the writer implementation";
- CppMethodPtr m = CppMethodPtr(new CppMethod("virtual void write(armarx::aron::dataIO::WriterInterface& w) const override", doc.str()));
+ CppMethodPtr m = CppMethodPtr(new CppMethod("virtual void write(armarx::aron::dataIO::WriterInterface& w, bool __aronExtends = false) const override", doc.str()));
CppBlockPtr b = this->getWriteBlock("");
m->setBlock(b);
return m;
@@ -469,7 +476,7 @@ namespace armarx::aron::cppserializer
doc << "@param r - The reader implementation\n";
doc << "@return - nothing";
- CppMethodPtr m = CppMethodPtr(new CppMethod("virtual void read(armarx::aron::dataIO::ReaderInterface& r, bool skip_first_readStartDict = false) override", doc.str()));
+ CppMethodPtr m = CppMethodPtr(new CppMethod("virtual void read(armarx::aron::dataIO::ReaderInterface& r, bool __aronIsMember = false) override", doc.str()));
CppBlockPtr b = std::make_shared<CppBlock>();
b->addLine("this->resetSoft();");
b->appendBlock(this->getReadBlock(""));
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.h
index ce4f11e9bc22d06d9d075f69d123127d50b9c70a..e7a544b8fb8342c0b83b0c27e4ecaf35e82ba933 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.h
@@ -115,7 +115,7 @@ namespace armarx::aron::cppserializer
static std::string ResolveMaybeAccessor(const std::string&, const typenavigator::NavigatorPtr&);
static CppBlockPtr ResolveMaybeWriteBlock(const std::string&, const CppBlockPtr&, const typenavigator::NavigatorPtr&);
- static CppBlockPtr ResolveMaybeReadBlock(const std::string&, const std::string&, const CppBlockPtr&, const typenavigator::NavigatorPtr&);
+ static CppBlockPtr ResolveMaybeReadBlock(const std::string&, const std::string&, const CppBlockPtr&, const typenavigator::NavigatorPtr&, bool enforce_return_type = false);
static CppBlockPtr ResolveMaybeEqualsBlock(const std::string&, const std::string&, const CppBlockPtr&, const typenavigator::NavigatorPtr&);
static CppBlockPtr ResolveMaybeResetSoftBlock(const std::string&, const CppBlockPtr&, const typenavigator::NavigatorPtr&);
static CppBlockPtr ResolveMaybeResetHardBlock(const std::string&, const CppBlockPtr&, const typenavigator::NavigatorPtr&);
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Dict.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Dict.cpp
index 10b3470db62c07bad810b95099bfab57568674b2..f494c591c7828dbd4435a02336a03d52361620ad 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Dict.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Dict.cpp
@@ -113,7 +113,7 @@ namespace armarx::aron::cppserializer::serializer
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
block_if_data->addLine("if (not (" + accessor + " == " + otherInstanceAccessor + "))");
- block_if_data->addLine("\t return false;");
+ block_if_data->addLineAsBlock("return false;");
return ResolveMaybeEqualsBlock(accessor, otherInstanceAccessor, block_if_data, typenavigator);
}
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/List.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/List.cpp
index b0fb56473b5f2bb435365c45d9a5040f104bba24..8483320c75efeca4c8cf573358d04d0539fb36d4 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/List.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/List.cpp
@@ -103,7 +103,7 @@ namespace armarx::aron::cppserializer::serializer
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
block_if_data->addLine("if (not (" + accessor + " == " + otherInstanceAccessor + "))");
- block_if_data->addLine("\t return false;");
+ block_if_data->addLineAsBlock("return false;");
return ResolveMaybeEqualsBlock(accessor, otherInstanceAccessor, block_if_data, typenavigator);
}
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Object.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Object.cpp
index 1ffbe7db264f0e27a4b74da7c9e5533193003af1..49e06676e286dc773da88d6c12ab50062e2f1eb5 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Object.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Object.cpp
@@ -77,7 +77,7 @@ namespace armarx::aron::cppserializer::serializer
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
block_if_data->addLine("if (not (" + accessor + " == " + otherInstanceAccessor + "))");
- block_if_data->addLine("\t return false;");
+ block_if_data->addLineAsBlock("return false;");
return ResolveMaybeEqualsBlock(accessor, otherInstanceAccessor, block_if_data, typenavigator);
}
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Pair.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Pair.cpp
index 6f78c29962573fb4c617392fa2b48398637e5bef..c465862acc74bac36c8f9f8e1c1cbf3b341890e3 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Pair.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Pair.cpp
@@ -117,7 +117,7 @@ namespace armarx::aron::cppserializer::serializer
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
block_if_data->addLine("if (not (" + accessor + " == " + otherInstanceAccessor + "))");
- block_if_data->addLine("\t return false;");
+ block_if_data->addLineAsBlock("return false;");
return ResolveMaybeEqualsBlock(accessor, otherInstanceAccessor, block_if_data, typenavigator);
}
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Tuple.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Tuple.cpp
index dab5b33a01a7bb3d12817645b60688ab930e8b2b..a6b5e2080e97d0514cbb4bbda9131adb68a3a860 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Tuple.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Tuple.cpp
@@ -115,7 +115,7 @@ namespace armarx::aron::cppserializer::serializer
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
block_if_data->addLine("if (not (" + accessor + " == " + otherInstanceAccessor + "))");
- block_if_data->addLine("\t return false;");
+ block_if_data->addLineAsBlock("return false;");
return ResolveMaybeEqualsBlock(accessor, otherInstanceAccessor, block_if_data, typenavigator);
}
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/NDArraySerializerBase.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/NDArraySerializerBase.h
index 67b6c0435617cc7b4fcbebfe6bcadd604850794a..f0af4cfdd143da41629057e68a1291643b079eec 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/NDArraySerializerBase.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/NDArraySerializerBase.h
@@ -43,5 +43,19 @@ namespace armarx::aron::cppserializer::detail
NDArraySerializerBase(const std::string& cppName, const std::string& aronDataTypename, const std::string& aronTypeTypename, const typename TypenavigatorT::PointerType& t) :
SerializerBase<TypenavigatorT, DerivedT>(cppName, aronDataTypename, aronTypeTypename, t)
{}
+
+ virtual CppBlockPtr getResetHardBlock(const std::string& accessor) const override
+ {
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine(accessor + " = " + this->getFullTypenameGenerator() + "();");
+ return this->ResolveMaybeResetHardBlock(accessor, block_if_data, this->typenavigator);
+ }
+
+ virtual CppBlockPtr getResetSoftBlock(const std::string& accessor) const override
+ {
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ block_if_data->addLine(accessor + " = " + this->getFullCppTypename() + "();");
+ return this->ResolveMaybeResetSoftBlock(accessor, block_if_data, this->typenavigator);
+ }
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/PrimitiveSerializerBase.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/PrimitiveSerializerBase.h
index 171f4defb27cff9a51217805f71d76fb58ca0da5..cf84eec049e341a83318dd3544fca0684e64236a 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/PrimitiveSerializerBase.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/PrimitiveSerializerBase.h
@@ -79,7 +79,7 @@ namespace armarx::aron::cppserializer::detail
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
block_if_data->addLine("if (not (" + accessor + " == " + otherInstanceAccessor + "))");
- block_if_data->addLine("\t return false;");
+ block_if_data->addLineAsBlock("return false;");
return this->ResolveMaybeEqualsBlock(accessor, otherInstanceAccessor, block_if_data, this->typenavigator);
}
};
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/enum/IntEnum.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/enum/IntEnum.cpp
index e412f52b59bb3b53397439c7068338131493d60d..2ae444db3f04f48865dc7e9842d5ae521e17cd0b 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/enum/IntEnum.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/enum/IntEnum.cpp
@@ -83,7 +83,7 @@ namespace armarx::aron::cppserializer::serializer
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
b->addLine("if (not (" + accessor + " == " + otherInstanceAccessor + "))");
- b->addLine("\t return false;");
+ b->addLineAsBlock("return false;");
return b;
}
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenMatrix.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenMatrix.cpp
index 790d6157d4f28a33e983d0394a09448d818c6158..c59e70d713528f0db11d4bf0d2212f3f3b53de77 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenMatrix.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenMatrix.cpp
@@ -47,20 +47,6 @@ namespace armarx::aron::cppserializer::serializer
ARMARX_CHECK_NOT_NULL(typenavigator);
}
- CppBlockPtr EigenMatrixSerializer::getResetHardBlock(const std::string& accessor) const
- {
- CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
- block_if_data->addLine(accessor + " = " + this->getFullTypenameGenerator() + "();");
- return ResolveMaybeResetHardBlock(accessor, block_if_data, typenavigator);
- }
-
- CppBlockPtr EigenMatrixSerializer::getResetSoftBlock(const std::string& accessor) const
- {
- CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
- block_if_data->addLine(accessor + " = " + this->getFullCppTypename() + "();");
- return ResolveMaybeResetSoftBlock(accessor, block_if_data, typenavigator);
- }
-
CppBlockPtr EigenMatrixSerializer::getWriteTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
@@ -87,7 +73,7 @@ namespace armarx::aron::cppserializer::serializer
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
block_if_data->addLine("if (not (" + accessor + nextEl() + "isApprox(" + ResolveMaybeAccessor(otherInstanceAccessor, typenavigator) + ")))");
- block_if_data->addLine("\t return false;");
+ block_if_data->addLineAsBlock("return false;");
return ResolveMaybeEqualsBlock(accessor, otherInstanceAccessor, block_if_data, typenavigator);
}
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenMatrix.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenMatrix.h
index 9c2ecd36e588238923f539ebe364af57c3681f42..13e435bfeed1161f6a349eae2507828b6a39a31c 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenMatrix.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenMatrix.h
@@ -46,8 +46,6 @@ namespace armarx::aron::cppserializer::serializer
EigenMatrixSerializer(const typenavigator::EigenMatrixNavigatorPtr&);
// virtual implementations
- virtual CppBlockPtr getResetHardBlock(const std::string& accessor) const override;
- virtual CppBlockPtr getResetSoftBlock(const std::string& accessor) const override;
virtual CppBlockPtr getWriteTypeBlock(const std::string&) const override;
virtual CppBlockPtr getWriteBlock(const std::string&) const override;
virtual CppBlockPtr getReadBlock(const std::string&) const override;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenQuaternion.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenQuaternion.cpp
index 8e697ab6d64c9e425310b6927842d756ff96cae3..6594fd20bc9d0915cfb95ed45a1fe821f44a58eb 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenQuaternion.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenQuaternion.cpp
@@ -42,20 +42,6 @@ namespace armarx::aron::cppserializer::serializer
ARMARX_CHECK_NOT_NULL(typenavigator);
}
- CppBlockPtr EigenQuaternionSerializer::getResetHardBlock(const std::string& accessor) const
- {
- CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
- block_if_data->addLine(accessor + " = " + this->getFullTypenameGenerator() + "();");
- return ResolveMaybeResetHardBlock(accessor, block_if_data, typenavigator);
- }
-
- CppBlockPtr EigenQuaternionSerializer::getResetSoftBlock(const std::string& accessor) const
- {
- CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
- block_if_data->addLine(accessor + " = " + this->getFullCppTypename() + "();");
- return ResolveMaybeResetSoftBlock(accessor, block_if_data, typenavigator);
- }
-
CppBlockPtr EigenQuaternionSerializer::getWriteTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
@@ -82,7 +68,7 @@ namespace armarx::aron::cppserializer::serializer
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
block_if_data->addLine("if (not (" + accessor + nextEl() + "isApprox(" + otherInstanceAccessor + ")))");
- block_if_data->addLine("\t return false;");
+ block_if_data->addLineAsBlock("return false;");
return ResolveMaybeEqualsBlock(accessor, otherInstanceAccessor, block_if_data, typenavigator);
}
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenQuaternion.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenQuaternion.h
index 3d756220f32d541d7f01fbadc11d597028322e3f..9a42c8cf67b3c67f9cb5664bd69a8ae2fc8d24dd 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenQuaternion.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenQuaternion.h
@@ -40,7 +40,7 @@ namespace armarx::aron::cppserializer::serializer
typedef std::shared_ptr<EigenQuaternionSerializer> EigenQuaternionSerializerPtr;
class EigenQuaternionSerializer :
- virtual public detail::NDArraySerializerBase<typenavigator::EigenQuaternionNavigator, EigenQuaternionSerializer>
+ virtual public detail::NDArraySerializerBase<typenavigator::EigenQuaternionNavigator, EigenQuaternionSerializer>
{
public:
using PointerType = EigenQuaternionSerializerPtr;
@@ -50,8 +50,6 @@ namespace armarx::aron::cppserializer::serializer
EigenQuaternionSerializer(const typenavigator::EigenQuaternionNavigatorPtr&);
// virtual implementations
- virtual CppBlockPtr getResetHardBlock(const std::string& accessor) const override;
- virtual CppBlockPtr getResetSoftBlock(const std::string& accessor) const override;
virtual CppBlockPtr getWriteTypeBlock(const std::string&) const override;
virtual CppBlockPtr getWriteBlock(const std::string&) const override;
virtual CppBlockPtr getReadBlock(const std::string&) const override;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.cpp
index e33934d359e63943bea3a194f0a739ae5adf471b..4a986761bd57f9b7b2a2810fab8c19e5ffb43067 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.cpp
@@ -47,13 +47,6 @@ namespace armarx::aron::cppserializer::serializer
}
}
- CppBlockPtr IVTCByteImageSerializer::getResetHardBlock(const std::string& accessor) const
- {
- CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
- block_if_data->addLine(accessor + " = " + this->getFullTypenameGenerator() + "();");
- return ResolveMaybeResetHardBlock(accessor, block_if_data, typenavigator);
- }
-
CppBlockPtr IVTCByteImageSerializer::getResetSoftBlock(const std::string& accessor) const
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
@@ -84,16 +77,16 @@ namespace armarx::aron::cppserializer::serializer
block_if_data->addLine(accessor + nextEl() + "Set(" + read_start_result_accessor + ".dims[0], " + read_start_result_accessor + ".dims[1], static_cast<CByteImage::ImageType>(std::stoi(" + read_start_result_accessor + ".type)));");
block_if_data->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "pixels)); // of " + accessor);
- return ResolveMaybeReadBlock(accessor, "r.readStartNDArray()", block_if_data, typenavigator);
+ return ResolveMaybeReadBlock(accessor, "r.readStartNDArray()", block_if_data, typenavigator, true);
}
CppBlockPtr IVTCByteImageSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
block_if_data->addLine("if (not (" + accessor + nextEl() + "IsCompatible(" + toPointerAccessor(otherInstanceAccessor) + ")))");
- block_if_data->addLine("\t return false;");
+ block_if_data->addLineAsBlock("return false;");
block_if_data->addLine("if (not (memcmp(" + accessor + nextEl() + "pixels, " + otherInstanceAccessor + nextEl() + "pixels, " + accessor + nextEl() + "width * " + accessor + nextEl() + "height * " + accessor + nextEl() + "bytesPerPixel) == 0))");
- block_if_data->addLine("\t return false;");
+ block_if_data->addLineAsBlock("return false;");
return ResolveMaybeEqualsBlock(accessor, otherInstanceAccessor, block_if_data, typenavigator);
}
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.h
index 07e61842942c67a10bdef419596ae5580c352dfd..1be69bdef6815d3c09f7d0cf16a06d2dda5cd81e 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.h
@@ -40,7 +40,7 @@ namespace armarx::aron::cppserializer::serializer
typedef std::shared_ptr<IVTCByteImageSerializer> AronIVTCByteImageTypeCppSerializerPtr;
class IVTCByteImageSerializer :
- virtual public detail::NDArraySerializerBase<typenavigator::IVTCByteImageNavigator, IVTCByteImageSerializer>
+ virtual public detail::NDArraySerializerBase<typenavigator::IVTCByteImageNavigator, IVTCByteImageSerializer>
{
public:
using PointerType = AronIVTCByteImageTypeCppSerializerPtr;
@@ -50,7 +50,6 @@ namespace armarx::aron::cppserializer::serializer
IVTCByteImageSerializer(const typenavigator::IVTCByteImageNavigatorPtr&);
// virtual implementations
- virtual CppBlockPtr getResetHardBlock(const std::string& accessor) const override;
virtual CppBlockPtr getResetSoftBlock(const std::string& accessor) const override;
virtual CppBlockPtr getWriteTypeBlock(const std::string&) const override;
virtual CppBlockPtr getWriteBlock(const std::string&) const override;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/NDArray.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/NDArray.cpp
index 67eb03720ef2650e14be2f0b4e0713dca4e2a010..dfd9e90c390c358aa1aba0fa6af2c3f843f6013a 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/NDArray.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/NDArray.cpp
@@ -35,20 +35,6 @@ namespace armarx::aron::cppserializer::serializer
ARMARX_CHECK_NOT_NULL(typenavigator);
}
- CppBlockPtr NDArraySerializer::getResetHardBlock(const std::string& accessor) const
- {
- CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
- block_if_data->addLine(accessor + " = " + this->getFullTypenameGenerator() + "();");
- return ResolveMaybeResetHardBlock(accessor, block_if_data, typenavigator);
- }
-
- CppBlockPtr NDArraySerializer::getResetSoftBlock(const std::string& accessor) const
- {
- CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
- block_if_data->addLine(accessor + " = " + this->getFullCppTypename() + "();");
- return ResolveMaybeResetSoftBlock(accessor, block_if_data, typenavigator);
- }
-
CppBlockPtr NDArraySerializer::getWriteTypeBlock(const std::string&) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/NDArray.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/NDArray.h
index 7785a7b0c30f6c3a34c6708f67b577d4cc27fd26..540b38d930ec9a2911c8bb058b856031cc430683 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/NDArray.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/NDArray.h
@@ -39,7 +39,7 @@ namespace armarx::aron::cppserializer::serializer
typedef std::shared_ptr<NDArraySerializer> AronNDArrayTypeCppSerializerPtr;
class NDArraySerializer :
- virtual public detail::NDArraySerializerBase<typenavigator::NDArrayNavigator, NDArraySerializer>
+ virtual public detail::NDArraySerializerBase<typenavigator::NDArrayNavigator, NDArraySerializer>
{
public:
using PointerType = AronNDArrayTypeCppSerializerPtr;
@@ -49,8 +49,6 @@ namespace armarx::aron::cppserializer::serializer
NDArraySerializer(const typenavigator::NDArrayNavigatorPtr&);
// virtual implementations
- virtual CppBlockPtr getResetHardBlock(const std::string& accessor) const override;
- virtual CppBlockPtr getResetSoftBlock(const std::string& accessor) const override;
virtual CppBlockPtr getWriteTypeBlock(const std::string&) const override;
virtual CppBlockPtr getWriteBlock(const std::string&) const override;
virtual CppBlockPtr getReadBlock(const std::string&) const override;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/OpenCVMat.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/OpenCVMat.cpp
index da0e3c01389ef54f1d3afbd97f6767112db70a24..37de66674278dc5a8439a2b06d3e634dab7e42ba 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/OpenCVMat.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/OpenCVMat.cpp
@@ -63,13 +63,6 @@ namespace armarx::aron::cppserializer::serializer
return {b, accessor_dimensions};
}
- CppBlockPtr OpenCVMatSerializer::getResetHardBlock(const std::string& accessor) const
- {
- CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
- block_if_data->addLine(accessor + " = " + this->getFullTypenameGenerator() + "();");
- return ResolveMaybeResetHardBlock(accessor, block_if_data, typenavigator);
- }
-
CppBlockPtr OpenCVMatSerializer::getResetSoftBlock(const std::string& accessor) const
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
@@ -117,14 +110,14 @@ namespace armarx::aron::cppserializer::serializer
b2->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "data)); // of " + accessor);
block_if_data->addBlock(b2);
- return ResolveMaybeReadBlock(accessor, "r.readStartNDArray()", block_if_data, typenavigator);
+ return ResolveMaybeReadBlock(accessor, "r.readStartNDArray()", block_if_data, typenavigator, true);
}
CppBlockPtr OpenCVMatSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
block_if_data->addLine("if (cv::countNonZero(" + accessor + " != " + otherInstanceAccessor + ") != 0)");
- block_if_data->addLine("\t return false;");
+ block_if_data->addLineAsBlock("return false;");
return ResolveMaybeEqualsBlock(accessor, otherInstanceAccessor, block_if_data, typenavigator);
}
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/OpenCVMat.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/OpenCVMat.h
index 4ed162490b73187359eecd5546115a37c0d4b01f..27ec677b25d20dab8d2e966ac6e0065ad1db98dd 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/OpenCVMat.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/OpenCVMat.h
@@ -50,7 +50,6 @@ namespace armarx::aron::cppserializer::serializer
OpenCVMatSerializer(const typenavigator::OpenCVMatNavigatorPtr& n);
// virtual implementations
- virtual CppBlockPtr getResetHardBlock(const std::string& accessor) const override;
virtual CppBlockPtr getResetSoftBlock(const std::string& accessor) const override;
virtual CppBlockPtr getWriteTypeBlock(const std::string&) const override;
virtual CppBlockPtr getWriteBlock(const std::string&) const override;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Orientation.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Orientation.cpp
index c10d1adfb26b3462639d2aed861d0f2d22be2fca..c908a0c44a8b0d1d940b9a64be5e79558b1dc949 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Orientation.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Orientation.cpp
@@ -35,20 +35,6 @@ namespace armarx::aron::cppserializer::serializer
ARMARX_CHECK_NOT_NULL(typenavigator);
}
- CppBlockPtr OrientationSerializer::getResetHardBlock(const std::string& accessor) const
- {
- CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
- block_if_data->addLine(accessor + " = " + this->getFullTypenameGenerator() + "();");
- return ResolveMaybeResetHardBlock(accessor, block_if_data, typenavigator);
- }
-
- CppBlockPtr OrientationSerializer::getResetSoftBlock(const std::string& accessor) const
- {
- CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
- block_if_data->addLine(accessor + " = " + this->getFullCppTypename() + "();");
- return ResolveMaybeResetSoftBlock(accessor, block_if_data, typenavigator);
- }
-
CppBlockPtr OrientationSerializer::getWriteTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
@@ -75,7 +61,7 @@ namespace armarx::aron::cppserializer::serializer
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
block_if_data->addLine("if (not (" + accessor + nextEl() + "isApprox(" + otherInstanceAccessor + ")))");
- block_if_data->addLine("\t return false;");
+ block_if_data->addLineAsBlock("return false;");
return ResolveMaybeEqualsBlock(accessor, otherInstanceAccessor, block_if_data, typenavigator);
}
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Orientation.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Orientation.h
index df2349ca6ccb488131be4524eb17a63cc16874bd..ece7bb620a16d40184518585ed0b0592a8264639 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Orientation.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Orientation.h
@@ -39,7 +39,7 @@ namespace armarx::aron::cppserializer::serializer
typedef std::shared_ptr<OrientationSerializer> AronOrientationTypeCppSerializerPtr;
class OrientationSerializer :
- virtual public detail::NDArraySerializerBase<typenavigator::OrientationNavigator, OrientationSerializer>
+ virtual public detail::NDArraySerializerBase<typenavigator::OrientationNavigator, OrientationSerializer>
{
public:
using PointerType = AronOrientationTypeCppSerializerPtr;
@@ -49,8 +49,6 @@ namespace armarx::aron::cppserializer::serializer
OrientationSerializer(const typenavigator::OrientationNavigatorPtr&);
// virtual implementations
- virtual CppBlockPtr getResetHardBlock(const std::string& accessor) const override;
- virtual CppBlockPtr getResetSoftBlock(const std::string& accessor) const override;
virtual CppBlockPtr getWriteTypeBlock(const std::string&) const override;
virtual CppBlockPtr getWriteBlock(const std::string&) const override;
virtual CppBlockPtr getReadBlock(const std::string&) const override;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.cpp
index 8229554f6542ce0fb91509ed32837df20e076ca4..5a6155b230e3fd5267ef30dcf665ca60df97ab1f 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.cpp
@@ -48,13 +48,6 @@ namespace armarx::aron::cppserializer::serializer
ARMARX_CHECK_NOT_NULL(typenavigator);
}
- CppBlockPtr PCLPointCloudSerializer::getResetHardBlock(const std::string& accessor) const
- {
- CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
- block_if_data->addLine(accessor + " = " + this->getFullTypenameGenerator() + "();");
- return ResolveMaybeResetHardBlock(accessor, block_if_data, typenavigator);
- }
-
CppBlockPtr PCLPointCloudSerializer::getResetSoftBlock(const std::string& accessor) const
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
@@ -85,16 +78,17 @@ namespace armarx::aron::cppserializer::serializer
block_if_data->addLine(accessor + " = " + getCoreCppTypename() + "(" + read_start_result_accessor + ".dims[0], " + read_start_result_accessor + ".dims[1]);");
block_if_data->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "points.data())); // of " + accessor);
- return ResolveMaybeReadBlock(accessor, "r.readStartNDArray()", block_if_data, typenavigator);
+ return ResolveMaybeReadBlock(accessor, "r.readStartNDArray()", block_if_data, typenavigator, true);
}
CppBlockPtr PCLPointCloudSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
block_if_data->addLine("if (" + accessor + nextEl() + "width != " + otherInstanceAccessor + nextEl() + "width || " + accessor + nextEl() + "height != " + otherInstanceAccessor + nextEl() + "height)");
- block_if_data->addLine("\t return false;");
- //b->addLine("if (" + accessor + "->points != " + otherInstanceAccessor + "->points)");
- //b->addLine("\t return false;");
+ block_if_data->addLineAsBlock("return false;");
+
+ //block_if_data->addLine("if (" + accessor + nextEl() + "points != " + otherInstanceAccessor + nextEl() + "points)");
+ //block_if_data->addLine("\t return false;");
return ResolveMaybeEqualsBlock(accessor, otherInstanceAccessor, block_if_data, typenavigator);
}
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.h
index 88d9b337b727e9f421a518e62ed7bc7df0f41284..3f182f4e24f775166a4e64d12f8933fffa771fc6 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.h
@@ -39,7 +39,7 @@ namespace armarx::aron::cppserializer::serializer
typedef std::shared_ptr<PCLPointCloudSerializer> AronPCLPointCloudTypeCppSerializerPtr;
class PCLPointCloudSerializer :
- virtual public detail::NDArraySerializerBase<typenavigator::PCLPointCloudNavigator, PCLPointCloudSerializer>
+ virtual public detail::NDArraySerializerBase<typenavigator::PCLPointCloudNavigator, PCLPointCloudSerializer>
{
public:
using PointerType = AronPCLPointCloudTypeCppSerializerPtr;
@@ -49,7 +49,6 @@ namespace armarx::aron::cppserializer::serializer
PCLPointCloudSerializer(const typenavigator::PCLPointCloudNavigatorPtr&);
// virtual implementations
- virtual CppBlockPtr getResetHardBlock(const std::string& accessor) const override;
virtual CppBlockPtr getResetSoftBlock(const std::string& accessor) const override;
virtual CppBlockPtr getWriteTypeBlock(const std::string&) const override;
virtual CppBlockPtr getWriteBlock(const std::string&) const override;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Pose.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Pose.cpp
index 93e340f51c049d3cd1d6913ea74c32b1505f1e08..eccbbca04eeeced4c106707d5963222f0250db54 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Pose.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Pose.cpp
@@ -35,20 +35,6 @@ namespace armarx::aron::cppserializer::serializer
ARMARX_CHECK_NOT_NULL(typenavigator);
}
- CppBlockPtr PoseSerializer::getResetHardBlock(const std::string& accessor) const
- {
- CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
- block_if_data->addLine(accessor + " = " + this->getFullTypenameGenerator() + "();");
- return ResolveMaybeResetHardBlock(accessor, block_if_data, typenavigator);
- }
-
- CppBlockPtr PoseSerializer::getResetSoftBlock(const std::string& accessor) const
- {
- CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
- block_if_data->addLine(accessor + " = " + this->getFullCppTypename() + "();");
- return ResolveMaybeResetSoftBlock(accessor, block_if_data, typenavigator);
- }
-
CppBlockPtr PoseSerializer::getWriteTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
@@ -75,7 +61,7 @@ namespace armarx::aron::cppserializer::serializer
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
block_if_data->addLine("if (not (" + accessor + nextEl() + "isApprox(" + otherInstanceAccessor + ")))");
- block_if_data->addLine("\t return false;");
+ block_if_data->addLineAsBlock("return false;");
return ResolveMaybeEqualsBlock(accessor, otherInstanceAccessor, block_if_data, typenavigator);
}
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Pose.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Pose.h
index 46e7b82a51ff696f2f1b853a2dc4b5deb2e29acd..45b8eb78c64e62a2ea7713ac977c9fb3e675de05 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Pose.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Pose.h
@@ -39,7 +39,7 @@ namespace armarx::aron::cppserializer::serializer
typedef std::shared_ptr<PoseSerializer> AronPoseTypeCppSerializerPtr;
class PoseSerializer :
- virtual public detail::NDArraySerializerBase<typenavigator::PoseNavigator, PoseSerializer>
+ virtual public detail::NDArraySerializerBase<typenavigator::PoseNavigator, PoseSerializer>
{
public:
using PointerType = AronPoseTypeCppSerializerPtr;
@@ -49,8 +49,6 @@ namespace armarx::aron::cppserializer::serializer
PoseSerializer(const typenavigator::PoseNavigatorPtr&);
// virtual implementations
- virtual CppBlockPtr getResetHardBlock(const std::string& accessor) const override;
- virtual CppBlockPtr getResetSoftBlock(const std::string& accessor) const override;
virtual CppBlockPtr getWriteTypeBlock(const std::string&) const override;
virtual CppBlockPtr getWriteBlock(const std::string&) const override;
virtual CppBlockPtr getReadBlock(const std::string&) const override;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Position.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Position.cpp
index b4409c2f9f226995c118deb33a8cb298462997cb..199c7e3053af9cc84016d14a320092667ce87c71 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Position.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Position.cpp
@@ -35,20 +35,6 @@ namespace armarx::aron::cppserializer::serializer
ARMARX_CHECK_NOT_NULL(typenavigator);
}
- CppBlockPtr PositionSerializer::getResetHardBlock(const std::string& accessor) const
- {
- CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
- block_if_data->addLine(accessor + " = " + this->getFullTypenameGenerator() + "();");
- return ResolveMaybeResetHardBlock(accessor, block_if_data, typenavigator);
- }
-
- CppBlockPtr PositionSerializer::getResetSoftBlock(const std::string& accessor) const
- {
- CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
- block_if_data->addLine(accessor + " = " + this->getFullCppTypename() + "();");
- return ResolveMaybeResetSoftBlock(accessor, block_if_data, typenavigator);
- }
-
CppBlockPtr PositionSerializer::getWriteTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
@@ -75,7 +61,7 @@ namespace armarx::aron::cppserializer::serializer
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
block_if_data->addLine("if (not (" + accessor + nextEl() + "isApprox(" + otherInstanceAccessor + ")))");
- block_if_data->addLine("\t return false;");
+ block_if_data->addLineAsBlock("return false;");
return ResolveMaybeEqualsBlock(accessor, otherInstanceAccessor, block_if_data, typenavigator);
}
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Position.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Position.h
index 1c2f17b9028670e8aa87b79aa30a50b55941baaf..acb8f9912f8169b161ccd5b6d80c30e546b7ec75 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Position.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Position.h
@@ -39,7 +39,7 @@ namespace armarx::aron::cppserializer::serializer
typedef std::shared_ptr<PositionSerializer> AronPositionTypeCppSerializerPtr;
class PositionSerializer :
- virtual public detail::NDArraySerializerBase<typenavigator::PositionNavigator, PositionSerializer>
+ virtual public detail::NDArraySerializerBase<typenavigator::PositionNavigator, PositionSerializer>
{
public:
using PointerType = AronPositionTypeCppSerializerPtr;
@@ -49,8 +49,6 @@ namespace armarx::aron::cppserializer::serializer
PositionSerializer(const typenavigator::PositionNavigatorPtr&);
// virtual implementations
- virtual CppBlockPtr getResetHardBlock(const std::string& accessor) const override;
- virtual CppBlockPtr getResetSoftBlock(const std::string& accessor) const override;
virtual CppBlockPtr getWriteTypeBlock(const std::string&) const override;
virtual CppBlockPtr getWriteBlock(const std::string&) const override;
virtual CppBlockPtr getReadBlock(const std::string&) const override;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.cpp
index 6998d81b564e532f5f174c8c07db8b4b79b1f703..39f178fd00661fe78478ee3e74fe0872b2e762a5 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.cpp
@@ -117,7 +117,7 @@ namespace armarx::aron::cppserializer::serializer
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
block_if_data->addLine("if (not (value == " + otherInstanceAccessor + ".value))");
- block_if_data->addLine("\t return false;");
+ block_if_data->addLineAsBlock("return false;");
return ResolveMaybeEqualsBlock(accessor, otherInstanceAccessor, block_if_data, typenavigator);
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/ObjectClass.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/ObjectClass.cpp
index e674c2445e24fa91af875bb81fbcd76e1d6d39d6..7653acba47e178b6337f8fbc9602037070b76836 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/ObjectClass.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/ObjectClass.cpp
@@ -100,13 +100,15 @@ namespace armarx::aron::cppserializer::serializer
CppBlockPtr ObjectClassSerializer::getWriteTypeBlock(const std::string&) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
+ b->addLine("w.writeStartObject({\"" + typenavigator->getObjectName() + "\", __aronMaybeType}); // of top level object " + getCoreCppTypename());
+
if (typenavigator->getExtends() != nullptr)
{
const auto extends_s = FromAronTypeNaviagtorPtr(typenavigator->getExtends());
- b->addLine(extends_s->getFullCppTypename() + "::writeType(w);");
+ b->addLine(extends_s->getFullCppTypename() + "::writeType(w, armarx::aron::type::Maybe::eNone, true);");
+ b->addLine("w.writeExtends();");
}
- b->addLine("w.writeStartObject({\"" + typenavigator->getObjectName() + "\", __aronMaybeType}); // of top level object " + getCoreCppTypename());
for (const auto& [key, child] : typenavigator->getMemberTypes())
{
const auto child_s = FromAronTypeNaviagtorPtr(child);
@@ -115,20 +117,25 @@ namespace armarx::aron::cppserializer::serializer
b->appendBlock(b2);
}
- b->addLine("w.writeEndObject(); // of top level object " + getCoreCppTypename());
+ b->addLine("if (!__aronExtends)");
+ b->addLineAsBlock("w.writeEndObject(); // of top level object " + getCoreCppTypename());
+
return b;
}
CppBlockPtr ObjectClassSerializer::getWriteBlock(const std::string& accessor) const
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+
+ block_if_data->addLine("if (!__aronExtends)");
+ block_if_data->addLineAsBlock("w.writeStartDict(); // of top level object " + getCoreCppTypename());
+
if (typenavigator->getExtends() != nullptr)
{
const auto extends_s = FromAronTypeNaviagtorPtr(typenavigator->getExtends());
- block_if_data->addLine(extends_s->getFullCppTypename() + "::write(w, aron_type);");
+ block_if_data->addLine(extends_s->getFullCppTypename() + "::write(w, true);");
}
- block_if_data->addLine("w.writeStartDict(); // of top level object " + getCoreCppTypename());
for (const auto& [key, child] : typenavigator->getMemberTypes())
{
const auto child_s = FromAronTypeNaviagtorPtr(child);
@@ -138,7 +145,9 @@ namespace armarx::aron::cppserializer::serializer
child_b->appendBlock(child_s->getWriteBlock(key));
block_if_data->appendBlock(child_b);
}
- block_if_data->addLine("w.writeEndDict(); // of top level object " + getCoreCppTypename());
+
+ block_if_data->addLine("if (!__aronExtends)");
+ block_if_data->addLineAsBlock("w.writeEndDict(); // of top level object " + getCoreCppTypename());
return ResolveMaybeWriteBlock(accessor, block_if_data, typenavigator);
}
@@ -151,10 +160,8 @@ namespace armarx::aron::cppserializer::serializer
block_if_data->addLine(extends_s->getFullCppTypename() + "::read(r);");
}
- block_if_data->addLine("if(!skip_first_readStartDict)");
- auto readStartDict = std::make_shared<CppBlock>();
- readStartDict->addLine("r.readStartDict(); // of top level object " + getCoreCppTypename());
- block_if_data->addBlock(readStartDict);
+ block_if_data->addLine("if(!__aronIsMember)");
+ block_if_data->addLineAsBlock("r.readStartDict(); // of top level object " + getCoreCppTypename());
for (const auto& [key, child] : typenavigator->getMemberTypes())
{
@@ -173,7 +180,7 @@ namespace armarx::aron::cppserializer::serializer
{
const auto extends_s = FromAronTypeNaviagtorPtr(typenavigator->getExtends());
block_if_data->addLine("if (not (" + extends_s->getFullCppTypename() + "::operator== (" + otherInstanceAccessor + ")))");
- block_if_data->addLine("\t return false;");
+ block_if_data->addLineAsBlock("return false;");
}
for (const auto& [key, child] : typenavigator->getMemberTypes())
{
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Data.h b/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Data.h
index 852bf2bbd0217b7fd9452648203c9f64a8665c2c..35ac224587ed6fe83afcd7b3dca4f3f014375f65 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Data.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Data.h
@@ -77,6 +77,10 @@ namespace armarx::aron::xmltypereader
static constexpr const char* RAW_PTR_NAME = "raw_ptr";
static constexpr const char* SHARED_PTR_NAME = "shared_ptr";
static constexpr const char* UNIQUE_PTR_NAME = "unique_ptr";
+ static constexpr const char* PACKAGE_NAME = "package";
+ static constexpr const char* DOC_BRIEF_NAME = "doc-brief";
+ static constexpr const char* DOC_AUTHOR_NAME = "doc-author";
+ static constexpr const char* DOC_PARAM_NAME = "doc-param";
// Second level tags. Only important if in specific top level tag
static constexpr const char* OBJECT_CHILD_TAG = "objectchild";
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Reader.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Reader.cpp
index 944f755f4ffdac48ae204903c0047a39c45e828f..7a89bb039550822a81f61e4ee1716f1e9c39688a 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Reader.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Reader.cpp
@@ -53,20 +53,13 @@ namespace armarx::aron::xmltypereader
void Reader::parseFile(const std::filesystem::path& _file)
{
fs::path file = _file;
- if (!file.empty() && file.is_relative())
- {
- if (std::optional<fs::path> resolved = detail::resolveRelativePackagePath(file))
- {
- file = resolved.value();
- }
- }
RapidXmlReaderPtr reader = RapidXmlReader::FromFile(file.string());
- parse(reader);
+ parse(reader, _file);
}
// private method reading nodes
- void Reader::parse(const RapidXmlReaderPtr& reader)
+ void Reader::parse(const RapidXmlReaderPtr& reader, const std::filesystem::path& filePath)
{
RapidXmlReaderNode root = reader->getRoot();
@@ -129,7 +122,7 @@ namespace armarx::aron::xmltypereader
std::vector<RapidXmlReaderNode> includes = children[cpp_includes_index].nodes();
for (const auto& include : includes)
{
- this->codeIncludes.push_back(readCodeInclude(include));
+ this->codeIncludes.push_back(readCodeInclude(include, filePath));
}
}
@@ -139,7 +132,7 @@ namespace armarx::aron::xmltypereader
for (const auto& aronInclude : children[include_aron_file_index].nodes())
{
// right now unused
- this->aronIncludes.push_back(readAronInclude(aronInclude));
+ this->aronIncludes.push_back(readAronInclude(aronInclude, filePath));
}
}
@@ -169,7 +162,7 @@ namespace armarx::aron::xmltypereader
}
}
- std::string Reader::readCodeInclude(const RapidXmlReaderNode& node)
+ std::string Reader::readCodeInclude(const RapidXmlReaderNode& node, const std::filesystem::path& filePath)
{
Data::EnforceTagName(node, Data::INCLUDE_TAG);
Data::EnforceAttribute(node, Data::INCLUDE_ATTRIBUTE_NAME);
@@ -177,22 +170,52 @@ namespace armarx::aron::xmltypereader
return include;
}
- std::string Reader::readAronInclude(const RapidXmlReaderNode& node)
+ std::string Reader::readAronInclude(const RapidXmlReaderNode& node, const std::filesystem::path& filePath)
{
Data::EnforceTagName(node, Data::INCLUDE_TAG);
- const std::string xmlinclude = Data::GetAttribute(node, Data::INCLUDE_ATTRIBUTE_NAME);
+ std::string specifiedPath = Data::GetAttribute(node, Data::INCLUDE_ATTRIBUTE_NAME);
+ specifiedPath = simox::alg::replace_all(specifiedPath, "<", "");
+ specifiedPath = simox::alg::replace_all(specifiedPath, ">", "");
+ const std::filesystem::path xmlincludepath(specifiedPath);
+
+ // add logic to allow relative paths:
+ std::filesystem::path resolved_absolute_path(xmlincludepath);
+ std::filesystem::path resolved_relative_path(xmlincludepath);
+
+ if (!xmlincludepath.empty() && xmlincludepath.is_relative())
+ {
+ if (std::optional<fs::path> resolvedPackagePath = resolveRelativePackagePath(xmlincludepath); resolvedPackagePath.has_value())
+ {
+ // check if relative path belongs to a package
+ resolved_absolute_path = resolvedPackagePath.value();
+ resolved_relative_path = xmlincludepath;
+ }
+ else
+ {
+ // perhaps the relative path is relative from file position?
+ // TODO: FixMe
+ resolved_absolute_path = filePath.parent_path() / xmlincludepath;
+ resolved_relative_path = filePath.parent_path() / xmlincludepath;
+
+ if (!fs::is_regular_file(resolved_absolute_path))
+ {
+ throw error::AronException("Reader", "readAronInclude", "Could not find an aron XML file. Last path tried was: " + resolved_absolute_path.string());
+ }
+ }
+ }
+ // else path is absolute
// parse parent xml file and add objects to alreday known
Reader anotherReader;
- anotherReader.parseFile(xmlinclude);
+ anotherReader.parseFile(resolved_absolute_path);
if (Data::HasAttribute(node, Data::AUTO_CODE_INCLUDE))
{
- std::string codeinclude = simox::alg::replace_last(xmlinclude, ".xml", ".aron.generated.h");
- this->codeIncludes.push_back(codeinclude);
+ std::string codeinclude = simox::alg::replace_last(resolved_relative_path, ".xml", ".aron.generated.h");
+ this->codeIncludes.push_back("<" + codeinclude + ">");
}
- return xmlinclude;
+ return resolved_absolute_path.string();
}
typenavigator::ObjectNavigatorPtr Reader::readGenerateObject(const RapidXmlReaderNode& node) const
@@ -208,7 +231,7 @@ namespace armarx::aron::xmltypereader
}
- std::optional<fs::path> detail::resolveRelativePackagePath(const fs::path& path)
+ std::optional<fs::path> Reader::resolveRelativePackagePath(const fs::path& path)
{
const std::string package = *path.begin();
armarx::CMakePackageFinder finder(package);
@@ -219,6 +242,7 @@ namespace armarx::aron::xmltypereader
fs::path absPath = includePath / path;
if (fs::is_regular_file(absPath))
{
+ // path is valid
return absPath;
}
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Reader.h b/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Reader.h
index 387b2888dc23a44f3efebe832163a9888be249bc..c44f7d629fff62d5fb284dfe28445f4f7c4b9f5d 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Reader.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Reader.h
@@ -54,21 +54,17 @@ namespace armarx::aron::xmltypereader
virtual void parseFile(const std::filesystem::path&) override;
private:
- void parse(const RapidXmlReaderPtr& node);
+ void parse(const RapidXmlReaderPtr& node, const std::filesystem::path& filePath);
- std::string readCodeInclude(const RapidXmlReaderNode& node);
- std::string readAronInclude(const RapidXmlReaderNode& node);
+ std::string readCodeInclude(const RapidXmlReaderNode& node, const std::filesystem::path& filePath);
+ std::string readAronInclude(const RapidXmlReaderNode& node, const std::filesystem::path& filePath);
typenavigator::ObjectNavigatorPtr readGenerateObject(const RapidXmlReaderNode& node) const;
typenavigator::IntEnumNavigatorPtr readGenerateIntEnum(const RapidXmlReaderNode& node) const;
+ std::optional<std::filesystem::path> resolveRelativePackagePath(const std::filesystem::path& path);
+
private:
ReaderFactory factory;
};
-
-
- namespace detail
- {
- std::optional<std::filesystem::path> resolveRelativePackagePath(const std::filesystem::path& path);
- }
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/ReaderFactory.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/ReaderFactory.cpp
index 6bc140e98a8d8ae555490e9c2b07b3360ac176cc..42c4ae9eea4efcd7dc3688164aec22bb49507959 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/ReaderFactory.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/ReaderFactory.cpp
@@ -135,6 +135,8 @@ namespace armarx::aron::xmltypereader
auto newObject = std::make_shared<codegeneratorhelper::GenerateObjectInfo>();
newObject->typeName = name;
newObject->correspondingType = aronObjectType;
+ newObject->doc_brief = Data::GetAttributeWithDefault(node, Data::DOC_BRIEF_NAME, "");
+ newObject->doc_author = Data::GetAttributeWithDefault(node, Data::DOC_AUTHOR_NAME, "");
if (extends != "")
{
@@ -151,6 +153,11 @@ namespace armarx::aron::xmltypereader
Data::EnforceAttribute(objectChild, Data::KEY_ATTRIBUTE_NAME);
const std::string key = objectChild.attribute_value(Data::KEY_ATTRIBUTE_NAME);
+ if (Data::HasAttribute(objectChild, Data::DOC_BRIEF_NAME))
+ {
+ newObject->doc_members.insert({key, Data::GetAttribute(objectChild, Data::DOC_BRIEF_NAME)});
+ }
+
std::vector<RapidXmlReaderNode> children = objectChild.nodes();
auto maybe = GetMaybe(children[0]);
@@ -394,16 +401,21 @@ namespace armarx::aron::xmltypereader
newEnumInfo->typeName = name;
newEnumInfo->correspondingType = aronIntEnumType;
- for (const RapidXmlReaderNode& objectChild : node.nodes())
+ for (const RapidXmlReaderNode& valueChild : node.nodes())
{
- Data::EnforceTagName(objectChild, Data::ENUM_VALUE_TAG);
- Data::EnforceChildSize(objectChild, 0);
+ Data::EnforceTagName(valueChild, Data::ENUM_VALUE_TAG);
+ Data::EnforceChildSize(valueChild, 0);
- Data::EnforceAttribute(objectChild, Data::KEY_ATTRIBUTE_NAME);
- const std::string key = objectChild.attribute_value(Data::KEY_ATTRIBUTE_NAME);
+ Data::EnforceAttribute(valueChild, Data::KEY_ATTRIBUTE_NAME);
+ const std::string key = valueChild.attribute_value(Data::KEY_ATTRIBUTE_NAME);
+
+ if (Data::HasAttribute(valueChild, Data::DOC_BRIEF_NAME))
+ {
+ newEnumInfo->doc_values.insert({key, Data::GetAttribute(valueChild, Data::DOC_BRIEF_NAME)});
+ }
- Data::EnforceAttribute(objectChild, Data::VALUE_ATTRIBUTE_NAME);
- const std::string value = objectChild.attribute_value(Data::VALUE_ATTRIBUTE_NAME);
+ Data::EnforceAttribute(valueChild, Data::VALUE_ATTRIBUTE_NAME);
+ const std::string value = valueChild.attribute_value(Data::VALUE_ATTRIBUTE_NAME);
aronIntEnumType->addAcceptedValue(key, std::stoi(value));
}
diff --git a/source/RobotAPI/libraries/aron/core/io/Data.h b/source/RobotAPI/libraries/aron/core/io/Data.h
index 6f9fe8ca878a6f7a8f697af1295fd6f0ccbe581b..e1c3cfcf026ba5019d5147e9c00cc2335c717065 100644
--- a/source/RobotAPI/libraries/aron/core/io/Data.h
+++ b/source/RobotAPI/libraries/aron/core/io/Data.h
@@ -46,6 +46,7 @@ namespace armarx::aron::io
static constexpr const char* READER_WRITER_VALUE_SLUG = "__ARON_VALUE";
static constexpr const char* READER_WRITER_OBJECT_NAME_SLUG = "__ARON_OBJECT_NAME";
+ static constexpr const char* READER_WRITER_OBJECT_EXTENDS_SLUG = "__ARON_OBJECT_EXTENDS";
static constexpr const char* READER_WRITER_DICT_ACCEPTED_TYPE_SLUG = "__ARON_DICT_ACCEPTED_TYPE";
static constexpr const char* READER_WRITER_LIST_ACCEPTED_TYPE_SLUG = "__ARON_LIST_ACCEPTED_TYPE";
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReader.cpp b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReader.cpp
index 5d614b7025a52239be1ecc9933202c5a5aa3d26f..a17cc3ed151006531771e31e4639db4a972d34d5 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReader.cpp
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReader.cpp
@@ -43,7 +43,7 @@ namespace armarx::aron::dataIO::reader
{
if (!n.is_object())
{
- throw error::AronException("NlohmannJSONReader", "NlohmannJSONReader", "Allowed are only objects in reader");
+ throw error::AronException("NlohmannJSONReader", "NlohmannJSONReader", "Allowed are only objects in reader. Got as json: " + n.dump(2));
}
if (n.at(io::Data::READER_WRITER_TYPE_SLUG) != io::Data::READER_WRITER_DICT_TYPENAME_SLUG)
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/Writer.h b/source/RobotAPI/libraries/aron/core/io/typeIO/Writer.h
index 7dc762492105af180e30773518b3b8ef1eaae963..db7b4ed1adc62ea9962bd14ce9993be51bb0cbec 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/Writer.h
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/Writer.h
@@ -141,5 +141,6 @@ namespace armarx::aron::typeIO
virtual void writeTime(const WritePrimitiveInput&) = 0;
virtual void writeKey(const std::string&) = 0;
+ virtual void writeExtends() = 0;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.cpp b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.cpp
index 9693eb6851131add3d419b8ecb55c15cc43518db..6a23d549a4ea915cfecc8e7645c88c7945355797 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.cpp
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.cpp
@@ -299,4 +299,20 @@ namespace armarx::aron::typeIO::writer
auto token = stack.top();
token->setCurrentKey(k);
}
+
+ void NavigatorWriter::writeExtends()
+ {
+ if (stack.size() < 2)
+ {
+ throw error::SizeNotValidException("NavigatorWriter", "writeExtends", "The stacksize must at least be 2 (one for base, one for derived)", stack.size(), 2);
+ }
+
+ auto base = stack.top();
+ stack.pop();
+ auto derived = stack.top();
+
+ auto base_obj = typenavigator::ObjectNavigator::DynamicCastAndCheck(base->getElement());
+ auto derived_obj = typenavigator::ObjectNavigator::DynamicCastAndCheck(derived->getElement());
+ derived_obj->setExtends(base_obj);
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.h b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.h
index b15ab9e9b35fb140869017c2399f4e7345eda226..2586935e519799b7f7dd9c3f971a45bc4ab45d8f 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.h
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.h
@@ -72,6 +72,7 @@ namespace armarx::aron::typeIO::writer
virtual void writeTime(const WritePrimitiveInput&) override;
virtual void writeKey(const std::string&) override;
+ virtual void writeExtends() override;
typenavigator::NavigatorPtr getResult() const
{
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.cpp b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.cpp
index 1ce3afe2394a3a20aa89948db49f97493d45865f..7a4359559aaf5169ef1bdac195937d540e8b3646 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.cpp
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.cpp
@@ -271,4 +271,28 @@ namespace armarx::aron::typeIO::writer
auto token = stack.top();
token->setCurrentKey(k);
}
+
+ void NlohmannJSONWriter::writeExtends()
+ {
+ if (stack.size() < 2)
+ {
+ throw error::SizeNotValidException("NavigatorWriter", "writeExtends", "The stacksize must at least be 2 (one for base, one for derived)", stack.size(), 2);
+ }
+
+ auto base = stack.top();
+ stack.pop();
+ auto derived = stack.top();
+
+ if (!base->getElement().is_object())
+ {
+ throw error::AronException("NlohmannJSONWriter", "writeExtends", "Could not inherit from a non-object.");
+ }
+
+ if (!derived->getElement().is_object())
+ {
+ throw error::AronException("NlohmannJSONWriter", "writeExtends", "Could not inherit a non-object.");
+ }
+
+ derived->getElement()[io::Data::READER_WRITER_OBJECT_EXTENDS_SLUG] = base->getElement();
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.h b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.h
index 3be0f4a1329aca74ad3c19710736a86f1c542582..055a493c878fbb76b4fed7dc41d08e680a71d976 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.h
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.h
@@ -69,6 +69,7 @@ namespace armarx::aron::typeIO::writer
virtual void writeTime(const WritePrimitiveInput&) override;
virtual void writeKey(const std::string&) override;
+ virtual void writeExtends() override;
nlohmann::json getResult() const
{
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/container/Object.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/container/Object.cpp
index 269ec6e20d39a25eefad600651dd9e7e19009062..05a47b98a4fd2b406ed59a058b30635a1bd29abd 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/container/Object.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/container/Object.cpp
@@ -74,6 +74,19 @@ namespace armarx::aron::typenavigator
}
// public member functions
+ std::map<std::string, NavigatorPtr> ObjectNavigator::getAllMemberTypes() const
+ {
+ std::map<std::string, NavigatorPtr> ret = memberTypes;
+ if (extends)
+ {
+ for (const auto& [key, t] : extends->getMemberTypes())
+ {
+ ret.insert({key, t});
+ }
+ }
+ return ret;
+ }
+
std::map<std::string, NavigatorPtr> ObjectNavigator::getMemberTypes() const
{
return memberTypes;
@@ -81,10 +94,14 @@ namespace armarx::aron::typenavigator
NavigatorPtr ObjectNavigator::getMemberType(const std::string& s) const
{
- if (memberTypes.find(s) == memberTypes.end())
+ if (memberTypes.find(s) == memberTypes.end() and !extends->hasMemberType(s))
{
throw error::StringNotValidException("ObjectNavigator", "getMemberType", "Member not set. The list of all members is: " + simox::alg::to_string(simox::alg::get_keys(memberTypes)), s);
}
+ if (memberTypes.find(s) == memberTypes.end())
+ {
+ return extends->getMemberType(s);
+ }
return memberTypes.at(s);
}
@@ -117,7 +134,7 @@ namespace armarx::aron::typenavigator
bool ObjectNavigator::hasMemberType(const std::string& k) const
{
- return memberTypes.count(k) > 0;
+ return memberTypes.count(k) > 0 or (extends && extends->hasMemberType(k));
}
std::string ObjectNavigator::getObjectName() const
@@ -137,6 +154,13 @@ namespace armarx::aron::typenavigator
{
ret.push_back(k);
}
+ if (extends)
+ {
+ for (const auto& s : extends->getAllKeys())
+ {
+ ret.push_back(s);
+ }
+ }
return ret;
}
@@ -158,6 +182,13 @@ namespace armarx::aron::typenavigator
{
ret.push_back(t);
}
+ if (extends)
+ {
+ for (const auto& t : extends->getChildren())
+ {
+ ret.push_back(t);
+ }
+ }
return ret;
}
@@ -168,7 +199,7 @@ namespace armarx::aron::typenavigator
std::string ObjectNavigator::getName() const
{
- return "AronObjectType<" + this->aron->objectName + ">";
+ return "AronObjectType<" + this->aron->objectName + (extends ? (" : " + extends->getName()) : "") + ">";
}
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/container/Object.h b/source/RobotAPI/libraries/aron/core/navigator/type/container/Object.h
index f3f9255646e22b826909ecc460a920a0b6071f97..71268a91ebf928b13a1347c778f758c43e756ace 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/container/Object.h
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/container/Object.h
@@ -37,7 +37,7 @@ namespace armarx::aron::typenavigator
typedef std::shared_ptr<ObjectNavigator> ObjectNavigatorPtr;
class ObjectNavigator :
- virtual public detail::ContainerNavigatorBase<type::AronObject, ObjectNavigator>
+ virtual public detail::ContainerNavigatorBase<type::AronObject, ObjectNavigator>
{
public:
// constructors
@@ -51,6 +51,7 @@ namespace armarx::aron::typenavigator
// public member functions
bool checkObjectName(const std::string&) const;
+ std::map<std::string, NavigatorPtr> getAllMemberTypes() const;
std::map<std::string, NavigatorPtr> getMemberTypes() const;
NavigatorPtr getMemberType(const std::string&) const;
std::string getObjectName() const;
diff --git a/source/RobotAPI/libraries/aron/core/test/CMakeLists.txt b/source/RobotAPI/libraries/aron/core/test/CMakeLists.txt
index 239c92ecff42e75ea7be37b5e43c8d442983f678..9ea4438bbe3381ee9c92ae3cd4d6c656606e916c 100644
--- a/source/RobotAPI/libraries/aron/core/test/CMakeLists.txt
+++ b/source/RobotAPI/libraries/aron/core/test/CMakeLists.txt
@@ -44,22 +44,22 @@ armarx_add_test(
ARON_FILES
# xmls/BaseClass.xml
# xmls/DerivedClassTest.xml
- xmls/DictTest.xml
- xmls/EigenMatrixTest.xml
- xmls/EigenQuaternionTest.xml
- xmls/EnumTest.xml
- xmls/HumanPoseTest.xml
- xmls/IVTCByteImageTest.xml
- xmls/ListTest.xml
- xmls/NaturalIKTest.xml
- xmls/ObjectTest.xml
- xmls/OpenCVMatTest.xml
- xmls/OrientationTest.xml
- xmls/PCLPointCloudTest.xml
- xmls/PoseTest.xml
- xmls/PositionTest.xml
- xmls/PrimitiveTest.xml
- xmls/OptionalTest.xml
+ aron/DictTest.xml
+ aron/EigenMatrixTest.xml
+ aron/EigenQuaternionTest.xml
+ aron/EnumTest.xml
+ aron/HumanPoseTest.xml
+ aron/IVTCByteImageTest.xml
+ aron/ListTest.xml
+ aron/NaturalIKTest.xml
+ aron/ObjectTest.xml
+ aron/OpenCVMatTest.xml
+ aron/OrientationTest.xml
+ aron/PCLPointCloudTest.xml
+ aron/PoseTest.xml
+ aron/PositionTest.xml
+ aron/PrimitiveTest.xml
+ aron/OptionalTest.xml
INCLUDE_DIRECTORIES
${Simox_INCLUDE_DIR}
${Eigen3_INCLUDE_DIR}
@@ -81,11 +81,29 @@ armarx_add_test(
ArmarXCore
RobotAPI::aron
ARON_FILES
- xmls/NaturalIKTest.xml
+ aron/NaturalIKTest.xml
INCLUDE_DIRECTORIES
${Simox_INCLUDE_DIR}
)
+######################
+# ARON EXTENDS TEST #
+######################
+armarx_add_test(
+ TEST_NAME
+ aronExtendsTest
+ TEST_FILE
+ aronExtendsTest.cpp
+ LIBS
+ Simox::SimoxUtility
+ ArmarXCore
+ RobotAPI::aron
+ ARON_FILES
+ aron/BaseClassTest.xml
+ aron/DerivedClassTest.xml
+ INCLUDE_DIRECTORIES
+ ${Simox_INCLUDE_DIR}
+)
########################
# ARON RANDOMIZED TEST #
@@ -103,24 +121,22 @@ armarx_add_test(
ivtopencv
${PCL_COMMON_LIBRARIES}
ARON_FILES
- # xmls/BaseClass.xml
- # xmls/DerivedClassTest.xml
- xmls/DictTest.xml
- xmls/EigenMatrixTest.xml
- xmls/EigenQuaternionTest.xml
- xmls/EnumTest.xml
- xmls/HumanPoseTest.xml
- xmls/IVTCByteImageTest.xml
- xmls/ListTest.xml
- xmls/NaturalIKTest.xml
- xmls/ObjectTest.xml
- xmls/OpenCVMatTest.xml
- xmls/OrientationTest.xml
- xmls/PCLPointCloudTest.xml
- xmls/PoseTest.xml
- xmls/PositionTest.xml
- xmls/PrimitiveTest.xml
- xmls/OptionalTest.xml
+ aron/DictTest.xml
+ aron/EigenMatrixTest.xml
+ aron/EigenQuaternionTest.xml
+ aron/EnumTest.xml
+ aron/HumanPoseTest.xml
+ aron/IVTCByteImageTest.xml
+ aron/ListTest.xml
+ aron/NaturalIKTest.xml
+ aron/ObjectTest.xml
+ aron/OpenCVMatTest.xml
+ aron/OrientationTest.xml
+ aron/PCLPointCloudTest.xml
+ aron/PoseTest.xml
+ aron/PositionTest.xml
+ aron/PrimitiveTest.xml
+ aron/OptionalTest.xml
INCLUDE_DIRECTORIES
${Simox_INCLUDE_DIR}
${Eigen3_INCLUDE_DIR}
diff --git a/source/RobotAPI/libraries/aron/core/test/xmls/BaseClass.xml b/source/RobotAPI/libraries/aron/core/test/aron/BaseClassTest.xml
similarity index 66%
rename from source/RobotAPI/libraries/aron/core/test/xmls/BaseClass.xml
rename to source/RobotAPI/libraries/aron/core/test/aron/BaseClassTest.xml
index 57d4e6951e98ccb690b8e2c61e6730c067cf01e0..089b6fdfe8b56088c2b74ce2afd7717933cd7fc8 100644
--- a/source/RobotAPI/libraries/aron/core/test/xmls/BaseClass.xml
+++ b/source/RobotAPI/libraries/aron/core/test/aron/BaseClassTest.xml
@@ -2,28 +2,25 @@
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
<GenerateTypes>
- <GenerateObject name='armarx::BaseClassTest'>
-
- <ObjectChild key='base_class_member1'>
+ <Object name='armarx::BaseClassTest' doc-brief="A base class for the tests" doc-author="fabian.peller-konrad@kit.edu">
+ <ObjectChild key='base_class_member1' doc-brief="This is a a fancy bool. Only set this if needed...">
<Bool />
</ObjectChild>
<ObjectChild key='base_class_member2'>
<List>
- <Type>
- <Float />
- </Type>
+ <Float />
</List>
</ObjectChild>
-
+
<ObjectChild key='base_class_member3'>
<Object name="InnerClass">
<ObjectChild key="inner_class_member">
<Bool />
</ObjectChild>
- </List>
+ </Object>
</ObjectChild>
- </GenerateObject>
+ </Object>
</GenerateTypes>
</AronTypeDefinition>
diff --git a/source/RobotAPI/libraries/aron/core/test/aron/DerivedClassTest.xml b/source/RobotAPI/libraries/aron/core/test/aron/DerivedClassTest.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fba1b8461bb41ffe9af7b62d044f6adf5aaea130
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/test/aron/DerivedClassTest.xml
@@ -0,0 +1,16 @@
+<!--This class contains the data structure for NaturalIKResults -->
+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+ <AronIncludes>
+ <Include include="<RobotAPI/libraries/aron/core/test/aron/BaseClassTest.xml>" autoinclude="true" />
+ </AronIncludes>
+ <GenerateTypes>
+ <Object name='armarx::DerivedClassTest' extends="armarx::BaseClassTest" doc-brief="This is a brief doc" doc-author="Itse me, Mario!">
+
+ <ObjectChild key='derived_class_member1' doc-brief="This is a member doc string">
+ <Int />
+ </ObjectChild>
+
+ </Object>
+ </GenerateTypes>
+</AronTypeDefinition>
diff --git a/source/RobotAPI/libraries/aron/core/test/xmls/DictTest.xml b/source/RobotAPI/libraries/aron/core/test/aron/DictTest.xml
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/test/xmls/DictTest.xml
rename to source/RobotAPI/libraries/aron/core/test/aron/DictTest.xml
diff --git a/source/RobotAPI/libraries/aron/core/test/xmls/EigenMatrixTest.xml b/source/RobotAPI/libraries/aron/core/test/aron/EigenMatrixTest.xml
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/test/xmls/EigenMatrixTest.xml
rename to source/RobotAPI/libraries/aron/core/test/aron/EigenMatrixTest.xml
diff --git a/source/RobotAPI/libraries/aron/core/test/xmls/EigenQuaternionTest.xml b/source/RobotAPI/libraries/aron/core/test/aron/EigenQuaternionTest.xml
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/test/xmls/EigenQuaternionTest.xml
rename to source/RobotAPI/libraries/aron/core/test/aron/EigenQuaternionTest.xml
diff --git a/source/RobotAPI/libraries/aron/core/test/xmls/EnumTest.xml b/source/RobotAPI/libraries/aron/core/test/aron/EnumTest.xml
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/test/xmls/EnumTest.xml
rename to source/RobotAPI/libraries/aron/core/test/aron/EnumTest.xml
diff --git a/source/RobotAPI/libraries/aron/core/test/xmls/HumanPoseTest.xml b/source/RobotAPI/libraries/aron/core/test/aron/HumanPoseTest.xml
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/test/xmls/HumanPoseTest.xml
rename to source/RobotAPI/libraries/aron/core/test/aron/HumanPoseTest.xml
diff --git a/source/RobotAPI/libraries/aron/core/test/aron/IKResult.xml b/source/RobotAPI/libraries/aron/core/test/aron/IKResult.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b382f9e9369e6833c88b10da32734f67bf5ccb7e
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/test/aron/IKResult.xml
@@ -0,0 +1,17 @@
+<!--This class contains the data structure for NaturalIKResults -->
+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+ <GenerateTypes>
+ <Object name='armarx::IKResult'>
+
+ <ObjectChild key='name'>
+ <String />
+ </ObjectChild>
+
+ </Object>
+ </GenerateTypes>
+</AronTypeDefinition>
+
+
+
+
diff --git a/source/RobotAPI/libraries/aron/core/test/xmls/IVTCByteImageTest.xml b/source/RobotAPI/libraries/aron/core/test/aron/IVTCByteImageTest.xml
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/test/xmls/IVTCByteImageTest.xml
rename to source/RobotAPI/libraries/aron/core/test/aron/IVTCByteImageTest.xml
diff --git a/source/RobotAPI/libraries/aron/core/test/xmls/ListTest.xml b/source/RobotAPI/libraries/aron/core/test/aron/ListTest.xml
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/test/xmls/ListTest.xml
rename to source/RobotAPI/libraries/aron/core/test/aron/ListTest.xml
diff --git a/source/RobotAPI/libraries/aron/core/test/xmls/NaturalIKTest.xml b/source/RobotAPI/libraries/aron/core/test/aron/NaturalIKTest.xml
similarity index 57%
rename from source/RobotAPI/libraries/aron/core/test/xmls/NaturalIKTest.xml
rename to source/RobotAPI/libraries/aron/core/test/aron/NaturalIKTest.xml
index 06dc659d12d955b30b2113ffe7125e2320d96127..769a899a51e82d2c25e533b96bd1054f66565eef 100644
--- a/source/RobotAPI/libraries/aron/core/test/xmls/NaturalIKTest.xml
+++ b/source/RobotAPI/libraries/aron/core/test/aron/NaturalIKTest.xml
@@ -2,7 +2,16 @@
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
<GenerateTypes>
+ <IntEnum name="armarx::NaturalIKControlMode">
+ <EnumValue key="CONTROL_MODE_0" value="0" />
+ <EnumValue key="CONTROL_MODE_1" value="1" />
+ <EnumValue key="CONTROL_MODE_2" value="2" />
+ </IntEnum>
+
<Object name='armarx::NaturalIKResult'>
+ <ObjectChild key='control_mode'>
+ <armarx::NaturalIKControlMode />
+ </ObjectChild>
<ObjectChild key='reached'>
<Bool />
@@ -13,7 +22,10 @@
<Float />
</List>
</ObjectChild>
-
</Object>
</GenerateTypes>
</AronTypeDefinition>
+
+
+
+
diff --git a/source/RobotAPI/libraries/aron/core/test/xmls/ObjectTest.xml b/source/RobotAPI/libraries/aron/core/test/aron/ObjectTest.xml
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/test/xmls/ObjectTest.xml
rename to source/RobotAPI/libraries/aron/core/test/aron/ObjectTest.xml
diff --git a/source/RobotAPI/libraries/aron/core/test/xmls/OpenCVMatTest.xml b/source/RobotAPI/libraries/aron/core/test/aron/OpenCVMatTest.xml
similarity index 95%
rename from source/RobotAPI/libraries/aron/core/test/xmls/OpenCVMatTest.xml
rename to source/RobotAPI/libraries/aron/core/test/aron/OpenCVMatTest.xml
index c5cfb1e95c41d72790a7a6a65b5d028adbeb0576..f4179798c6ed36ee9f48373ebe57c921bfcf448d 100644
--- a/source/RobotAPI/libraries/aron/core/test/xmls/OpenCVMatTest.xml
+++ b/source/RobotAPI/libraries/aron/core/test/aron/OpenCVMatTest.xml
@@ -4,8 +4,6 @@
<CodeIncludes>
<Include include="<opencv2/core/core.hpp>" />
</CodeIncludes>
- <AronIncludes>
- </AronIncludes>
<GenerateTypes>
<Object name='armarx::OpenCVMatTest'>
<ObjectChild key='the_2d_opencv_matrix'>
diff --git a/source/RobotAPI/libraries/aron/core/test/xmls/OptionalTest.xml b/source/RobotAPI/libraries/aron/core/test/aron/OptionalTest.xml
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/test/xmls/OptionalTest.xml
rename to source/RobotAPI/libraries/aron/core/test/aron/OptionalTest.xml
diff --git a/source/RobotAPI/libraries/aron/core/test/xmls/OrientationTest.xml b/source/RobotAPI/libraries/aron/core/test/aron/OrientationTest.xml
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/test/xmls/OrientationTest.xml
rename to source/RobotAPI/libraries/aron/core/test/aron/OrientationTest.xml
diff --git a/source/RobotAPI/libraries/aron/core/test/xmls/PCLPointCloudTest.xml b/source/RobotAPI/libraries/aron/core/test/aron/PCLPointCloudTest.xml
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/test/xmls/PCLPointCloudTest.xml
rename to source/RobotAPI/libraries/aron/core/test/aron/PCLPointCloudTest.xml
diff --git a/source/RobotAPI/libraries/aron/core/test/xmls/PoseTest.xml b/source/RobotAPI/libraries/aron/core/test/aron/PoseTest.xml
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/test/xmls/PoseTest.xml
rename to source/RobotAPI/libraries/aron/core/test/aron/PoseTest.xml
diff --git a/source/RobotAPI/libraries/aron/core/test/xmls/PositionTest.xml b/source/RobotAPI/libraries/aron/core/test/aron/PositionTest.xml
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/test/xmls/PositionTest.xml
rename to source/RobotAPI/libraries/aron/core/test/aron/PositionTest.xml
diff --git a/source/RobotAPI/libraries/aron/core/test/xmls/PrimitiveTest.xml b/source/RobotAPI/libraries/aron/core/test/aron/PrimitiveTest.xml
similarity index 100%
rename from source/RobotAPI/libraries/aron/core/test/xmls/PrimitiveTest.xml
rename to source/RobotAPI/libraries/aron/core/test/aron/PrimitiveTest.xml
diff --git a/source/RobotAPI/libraries/aron/core/test/aronExtendsTest.cpp b/source/RobotAPI/libraries/aron/core/test/aronExtendsTest.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..c9feaee398008091d3ef9e97161fec750e0b95ac
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/test/aronExtendsTest.cpp
@@ -0,0 +1,85 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package RobotAPI::ArmarXObjects::aron
+ * @author Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
+ * @date 2019
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#define BOOST_TEST_MODULE RobotAPI::ArmarXLibraries::aron
+
+#define ARMARX_BOOST_TEST
+
+// STD/STL
+#include <iostream>
+#include <cstdlib>
+#include <ctime>
+#include <numeric>
+
+// Boost
+#include <boost/algorithm/string.hpp>
+
+// Test
+#include <RobotAPI/Test.h>
+
+// ArmarX
+#include <ArmarXCore/libraries/cppgen/CppMethod.h>
+#include <ArmarXCore/libraries/cppgen/CppClass.h>
+#include <RobotAPI/libraries/aron/core/Exception.h>
+
+// Aron
+#include <RobotAPI/libraries/aron/core/Debug.h>
+#include <RobotAPI/libraries/aron/core/navigator/data/AllNavigators.h>
+
+// Generated File
+#include <RobotAPI/libraries/aron/core/test/aron/BaseClassTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/core/test/aron/DerivedClassTest.aron.generated.h>
+
+using namespace armarx;
+using namespace aron;
+
+BOOST_AUTO_TEST_CASE(AronExtendsTest)
+{
+ std::cout << "Aron extends test" << std::endl;
+ BaseClassTest base;
+ auto baseType = base.toAronType();
+
+ DerivedClassTest derived;
+ auto derivedType = derived.toAronType();
+
+ for (const auto& [key, value] : baseType->getMemberTypes())
+ {
+ BOOST_CHECK_EQUAL(derivedType->hasMemberType(key), true);
+ //BOOST_CHECK_EQUAL(value == derivedType->getMemberType(key), true);
+ }
+
+ derived.base_class_member1 = false;
+ derived.base_class_member2 = {1.0, 2.5, 3.8};
+ derived.base_class_member3.inner_class_member = true;
+
+ auto derivedAron = derived.toAron();
+ //BOOST_CHECK_EQUAL(derivedAron->fullfillsType(baseType), true);
+
+ BaseClassTest& casted = static_cast<BaseClassTest&>(derived);
+ BOOST_CHECK_EQUAL(casted.base_class_member1 == derived.base_class_member1, true);
+ BOOST_CHECK_EQUAL(casted.base_class_member2 == derived.base_class_member2, true);
+ BOOST_CHECK_EQUAL(casted.base_class_member3.inner_class_member == derived.base_class_member3.inner_class_member, true);
+
+ DerivedClassTest& casted_back = dynamic_cast<DerivedClassTest&>(casted);
+ BOOST_CHECK_EQUAL(casted_back == derived, true);
+}
+
diff --git a/source/RobotAPI/libraries/aron/core/test/xmls/DerivedClassTest.xml b/source/RobotAPI/libraries/aron/core/test/xmls/DerivedClassTest.xml
deleted file mode 100644
index de4be250d23c90f27d8198d890e7ef0576d672cb..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/aron/core/test/xmls/DerivedClassTest.xml
+++ /dev/null
@@ -1,19 +0,0 @@
-<!--This class contains the data structure for NaturalIKResults -->
-<?xml version="1.0" encoding="UTF-8" ?>
-<AronTypeDefinition>
- <CodeIncludes>
- <Include include="<RobotAPI/libraries/aron/test/aron/BaseClass.aron.generated.h>" />
- </CodeIncludes>
- <AronIncludes>
- <Include include="/home/fabian/Software/ArmarX/RobotAPI/source/RobotAPI/libraries/aron/test/xmls/BaseClass.xml" />
- </AronIncludes>
- <GenerateTypes>
- <GenerateObject name='armarx::DerivedClass' extends="armarx::BaseClassTest">
-
- <ObjectChild key='derived_class_member1'>
- <Bool />
- </ObjectChild>
-
- </GenerateObject>
- </GenerateTypes>
-</AronTypeDefinition>