From 0000bccd8336ab1ffebfd69cb82a8ed75e35457b Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Wed, 27 Oct 2021 09:46:43 +0200
Subject: [PATCH] Allow passing server memory to disk ltm
---
.../armem/server/ltm/disk/CoreSegment.cpp | 26 +++++++++++++-----
.../armem/server/ltm/disk/CoreSegment.h | 7 ++++-
.../armem/server/ltm/disk/Entity.cpp | 18 +++++++++++--
.../libraries/armem/server/ltm/disk/Entity.h | 5 ++++
.../armem/server/ltm/disk/EntitySnapshot.h | 1 +
.../armem/server/ltm/disk/Memory.cpp | 27 ++++++++++++++-----
.../libraries/armem/server/ltm/disk/Memory.h | 8 +++++-
.../armem/server/ltm/disk/ProviderSegment.cpp | 25 +++++++++++++----
.../armem/server/ltm/disk/ProviderSegment.h | 6 +++++
9 files changed, 100 insertions(+), 23 deletions(-)
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/CoreSegment.cpp b/source/RobotAPI/libraries/armem/server/ltm/disk/CoreSegment.cpp
index 5de81875d..b8715d2ad 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/CoreSegment.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/CoreSegment.cpp
@@ -1,10 +1,11 @@
-// Header
#include "CoreSegment.h"
-// ArmarX
#include <ArmarXCore/core/time/TimeUtil.h>
#include <ArmarXCore/core/logging/Logging.h>
+#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
+
+
namespace armarx::armem::server::ltm::disk
{
namespace
@@ -88,13 +89,24 @@ namespace armarx::armem::server::ltm::disk
});
}
- void CoreSegment::store(const armem::wm::CoreSegment& c)
+ template <class CoreSegmentT>
+ void CoreSegment::_store(const CoreSegmentT& c)
{
- c.forEachProviderSegment([this](const armem::wm::ProviderSegment& e)
+ c.forEachProviderSegment([this](const auto& provSegment)
{
- util::ensureFolderExists(std::filesystem::path(path) / e.id().providerSegmentName);
- ProviderSegment c(std::filesystem::path(path) / e.id().providerSegmentName);
- c.store(e);
+ util::ensureFolderExists(std::filesystem::path(path) / provSegment.id().providerSegmentName);
+ ProviderSegment c(std::filesystem::path(path) / provSegment.id().providerSegmentName);
+ c.store(provSegment);
});
}
+
+ void CoreSegment::store(const armem::wm::CoreSegment& c)
+ {
+ this->_store(c);
+ }
+
+ void CoreSegment::store(const armem::server::wm::CoreSegment& c)
+ {
+ this->_store(c);
+ }
}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/CoreSegment.h b/source/RobotAPI/libraries/armem/server/ltm/disk/CoreSegment.h
index a0d3872ce..5fe95ba66 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/CoreSegment.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/CoreSegment.h
@@ -20,7 +20,8 @@ namespace armarx::armem::server::ltm::disk
armem::wm::CoreSegment loadAll() override;
void convert(armem::wm::CoreSegment&) override;
- void store(const armem::wm::CoreSegment&) override;
+ void store(const armem::wm::CoreSegment& coreSegment) override;
+ void store(const armem::server::wm::CoreSegment& coreSegment);
bool forEachProviderSegment(std::function<void(ProviderSegment&)>&& func) const override;
@@ -28,6 +29,10 @@ namespace armarx::armem::server::ltm::disk
protected:
std::string getExpectedFolderName() const override;
+
+ private:
+ template <class CoreSegmentT> void _store(const CoreSegmentT& coreSegment);
+
};
} // namespace armarx::armem::server::ltm::disk
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.cpp b/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.cpp
index 5ddabc38e..42acf001b 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.cpp
@@ -5,6 +5,9 @@
#include <ArmarXCore/core/time/TimeUtil.h>
#include <ArmarXCore/core/logging/Logging.h>
+#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
+
+
namespace armarx::armem::server::ltm::disk
{
@@ -136,13 +139,24 @@ namespace armarx::armem::server::ltm::disk
});
}
- void Entity::store(const armem::wm::Entity& c)
+ template <class EntityT>
+ void Entity::_store(const EntityT& entity)
{
- c.forEachSnapshot([this](armem::wm::EntitySnapshot& e)
+ entity.forEachSnapshot([this](armem::wm::EntitySnapshot& e)
{
util::ensureFolderExists(std::filesystem::path(path) / std::to_string(e.id().timestamp.toMicroSeconds()));
EntitySnapshot c(std::filesystem::path(path) / std::to_string(e.id().timestamp.toMicroSeconds()));
c.store(e);
});
}
+
+ void Entity::store(const armem::wm::Entity& c)
+ {
+ this->_store(c);
+ }
+ void Entity::store(const armem::server::wm::Entity& c)
+ {
+ this->_store(c);
+ }
+
}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.h b/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.h
index 48b46c34e..e07e50b94 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.h
@@ -22,6 +22,7 @@ namespace armarx::armem::server::ltm::disk
armem::wm::Entity loadAll() override;
void convert(armem::wm::Entity&) override;
void store(const armem::wm::Entity&) override;
+ void store(const armem::server::wm::Entity&);
bool forEachSnapshot(std::function<void(EntitySnapshot&)>&& func) const override;
bool forEachSnapshotInIndexRange(long first, long last, std::function<void(EntitySnapshot&)>&& func) const override;
@@ -38,6 +39,10 @@ namespace armarx::armem::server::ltm::disk
protected:
std::string getExpectedFolderName() const override;
+
+ private:
+ template <class EntityT> void _store(const EntityT& entity);
+
};
} // namespace armarx::armem::server::ltm::disk
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.h b/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.h
index d93a62c9c..eef8d674f 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.h
@@ -23,6 +23,7 @@ namespace armarx::armem::server::ltm::disk
protected:
std::string getExpectedFolderName() const override;
+
};
} // namespace armarx::armem::server::ltm::disk
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.cpp b/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.cpp
index b75a3f557..aef82fa5f 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.cpp
@@ -1,10 +1,11 @@
-// Header
#include "Memory.h"
-// ArmarX
#include <ArmarXCore/core/time/TimeUtil.h>
#include <ArmarXCore/core/logging/Logging.h>
+#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
+
+
namespace armarx::armem::server::ltm::disk
{
namespace
@@ -116,7 +117,8 @@ namespace armarx::armem::server::ltm::disk
TIMING_END_STREAM(LTM_Memory_Convert, ARMARX_DEBUG);
}
- void Memory::store(const armem::wm::Memory& m)
+ template <class MemoryT>
+ void Memory::_store(const MemoryT& memory)
{
TIMING_START(LTM_Memory_Store);
@@ -127,11 +129,11 @@ namespace armarx::armem::server::ltm::disk
std::lock_guard l(ltm_mutex);
- m.forEachCoreSegment([this](const armem::wm::CoreSegment& e)
+ memory.forEachCoreSegment([this](const auto& core)
{
- util::ensureFolderExists(std::filesystem::path(path) / e.id().coreSegmentName);
- CoreSegment c(std::filesystem::path(path) / e.id().coreSegmentName);
- c.store(e);
+ util::ensureFolderExists(std::filesystem::path(path) / core.id().coreSegmentName);
+ CoreSegment c(std::filesystem::path(path) / core.id().coreSegmentName);
+ c.store(core);
});
// Finaly clear cache and put reference to lut
@@ -139,4 +141,15 @@ namespace armarx::armem::server::ltm::disk
TIMING_END_STREAM(LTM_Memory_Store, ARMARX_DEBUG);
}
+
+ void Memory::store(const armem::wm::Memory& m)
+ {
+ this->_store(m);
+ }
+
+ void Memory::store(const armem::server::wm::Memory& m)
+ {
+ this->_store(m);
+ }
+
}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.h b/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.h
index e9e422577..26ca95817 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.h
@@ -3,7 +3,7 @@
#include <filesystem>
// Base Class
-#include "../base/detail/BufferedMemoryBase.h"
+#include <RobotAPI/libraries/armem/server/ltm/base/detail/BufferedMemoryBase.h>
#include "detail/DiskStorage.h"
#include "CoreSegment.h"
@@ -22,7 +22,9 @@ namespace armarx::armem::server::ltm::disk
armem::wm::Memory loadAll() override;
void convert(armem::wm::Memory&) override;
+
void store(const armem::wm::Memory&) override;
+ void store(const armem::server::wm::Memory&);
bool forEachCoreSegment(std::function<void(CoreSegment&)>&& func) const override;
@@ -30,5 +32,9 @@ namespace armarx::armem::server::ltm::disk
protected:
std::string getExpectedFolderName() const override;
+
+ private:
+ template <class MemoryT> void _store(const MemoryT& memory);
+
};
} // namespace armarx::armem::server::ltm::disk
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/ProviderSegment.cpp b/source/RobotAPI/libraries/armem/server/ltm/disk/ProviderSegment.cpp
index bc3310c11..d5690e359 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/ProviderSegment.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/ProviderSegment.cpp
@@ -5,6 +5,9 @@
#include <ArmarXCore/core/time/TimeUtil.h>
#include <ArmarXCore/core/logging/Logging.h>
+#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
+
+
namespace armarx::armem::server::ltm::disk
{
namespace
@@ -89,13 +92,25 @@ namespace armarx::armem::server::ltm::disk
});
}
- void ProviderSegment::store(const armem::wm::ProviderSegment& p)
+
+ template <class ProviderSegmentT>
+ void ProviderSegment::_store(const ProviderSegmentT& providerSegment)
{
- p.forEachEntity([this](const armem::wm::Entity& e)
+ providerSegment.forEachEntity([this](const auto& entity)
{
- util::ensureFolderExists(std::filesystem::path(path) / e.id().entityName);
- Entity c(std::filesystem::path(path) / e.id().entityName);
- c.store(e);
+ util::ensureFolderExists(std::filesystem::path(path) / entity.id().entityName);
+ Entity c(std::filesystem::path(path) / entity.id().entityName);
+ c.store(entity);
});
}
+
+ void ProviderSegment::store(const armem::wm::ProviderSegment& p)
+ {
+ this->_store(p);
+ }
+
+ void ProviderSegment::store(const armem::server::wm::ProviderSegment& p)
+ {
+ this->_store(p);
+ }
}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/ProviderSegment.h b/source/RobotAPI/libraries/armem/server/ltm/disk/ProviderSegment.h
index 45ed5c8ac..52cef6f16 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/ProviderSegment.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/ProviderSegment.h
@@ -21,6 +21,7 @@ namespace armarx::armem::server::ltm::disk
armem::wm::ProviderSegment loadAll() override;
void convert(armem::wm::ProviderSegment&) override;
void store(const armem::wm::ProviderSegment&) override;
+ void store(const armem::server::wm::ProviderSegment&);
bool forEachEntity(std::function<void(Entity&)>&& func) const override;
@@ -28,6 +29,11 @@ namespace armarx::armem::server::ltm::disk
protected:
std::string getExpectedFolderName() const override;
+
+
+ private:
+ template <class ProviderSegmentT> void _store(const ProviderSegmentT& providerSegment);
+
};
} // namespace armarx::armem::server::ltm::disk
--
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