Robotics Service Bus » RSBag

Turned parallel iterators into structures in src/view/serialized.lisp

refs #2572

• src/view/serialized.lisp (header): updated copyright
  (%iterator): new structure; state of an in-parallel steppable iterator
  (%iterator-step): adapted to changed iterator representation
  (%iterator-min): likewise
  (%iterator-for-forward-step): likewise
  (%iterator-for-backward-step): likewise
  (make-simple-sequence-iterator serialized): likewise
  (iterator-endp serialized serialized-iterator t t): likewise
  (iterator-element serialized-iterator serialized-iterator): likewise

Use integer representation of timestamps in src/backend/**/*.lisp

fixes #2572

• src/channel.lisp (header): updated copyright
  (channel-timestamps/raw channel): renamed channel-timestamps{ >
  /raw}; return uint64 timestamp sequence returned by backend
  (channel-timestamps channel): new method; wrap raw timestamp
  sequence in `channel-timestamp' instance which translates elements
  to `timestamp' instances
  (entry channel timestamp): translate timestamp to uint64 before
  calling backend
  (setf entry t channel timestamp): likewise
  (channel-timestamps): new class; transparently translates elements
  to `timestamp' instances
  (length channel-timestamps): new method; return length
  (elt channel-timestamps integer): new method; return translated
  element
  (channel-items::channel): renamed reader {channel-items ->
  }%channel
  (channel-items::timestamps): similar
  (shared-initialize :after channel-items t): retrieve raw channel
  timestamps
  (length channel-items): adapted to renamed reader
  (elt channel-items): likewise; translate raw timestamp to
  `timestamp' instance
• src/view/serialized.lisp (header): updated copyright
  (make-serialized-view bag): default comparator is `<'
  (make-serialized-view sequence): likewise
  (%make-key-function channel): retrieve raw timestamp from channel
  (%make-key-function channel-timestamp): new method; for
  `channel-timestamps' class
  (%make-key-function channel-items): adapted to renamed reader
  (serialized::compare): changed initform to `<'
• src/backend/util.lisp (header): updated copyright
  (uint64->timestamp): new function; moved here from
  src/backend/tidelog/util.lisp
  (timestamp->uint64): likewise
• src/backend/package.lisp (package rsbag.backend): added exported
  symbols uint64->timestamp and timestamp->uint64
• src/backend/tidelog/util.lisp (uint64->timestamp): removed; moved to
  src/backend/util.lisp
  (timestamp->uint64): likewise
• src/backend/tidelog/index.lisp (timestamps): changed documentation
  string w.r.t. representation of timestamps
  (elt timestamps integer): do not translate timestamp
  (index-timestamp->offset input-index integer): changed specializer
  `timestamp' -> `integer'
• src/backend/tidelog/file.lisp (header): updated copyright
  (put-entry file integer integer simple-array): changed specializer
  `timestamp' -> `integer'; do not translate timestamp
• src/backend/elan/types.lisp (header): updated copyright
  (timestamp/nanoseconds): new type; timestamp in nanoseconds
  (time-slot/cons): changed timestamp/{milliseconds -> nanoseconds}
• src/backend/elan/util.lisp (header): updated copyright
  (milliseconds->nanoseconds): new function; conversion
  (nanoseconds->milliseconds): likewise
  (nanoseconds->timestamp): likewise
  (timestamp->nanoseconds): likewise
  (millisecs->timestamp): removed; no longer needed
  (timestamp->millisecs): likewise
• src/backend/elan/xml.lisp (xml-> element eql time-slot/cons):
  convert time value to nanoseconds
  (->xml cons element eql time-slot/cons): corresponding
• src/backend/elan/file.lisp (shared-initialize :after file t):
  convert base timestamp to nanoseconds when resolving time values
  (close file): converter base timestamp from nanoseconds
  (get-timestamps file integer): do not translate returned timestamps
  (put-entry file integer integer string): changed specializer
  `timestamp' -> `integer'; do not translate timestamp
• test/mock-backend.lisp (put-entry mock-backend integer integer t):
  changed specializer timestamp -> integer
  (simple-channels): generate uint64 timestamps
• test/builder.lisp (header): updated copyright
  (replace-timestamps): new function; helper for
  `check-un-build-calls'; replace `timestamp' instance with integers
  for comparison
  (check-un-build-calls): use `replace-timestamps'
  (test rsbag-builder-root::bag/smoke): changed timestamps in mock
  data from `timestamp' instances to integers; timestamp replacement
  for comparison
  (test rsbag-builder-root::channel/smoke): likewise
• test/backend/tidelog/file.lisp
  (test backend-tidelog-root::repeated-timestamp): changed timestamp
  from `timestamp' instance to integer