From 08e9b65cb51d15d3340b07eb2365bd6cff0dcd23 Mon Sep 17 00:00:00 2001
From: Fabian Peller <fabian.peller-konrad@kit.edu>
Date: Thu, 16 Mar 2023 10:07:57 +0000
Subject: [PATCH] rename other time values. Add lastAccessed timestamp and
counter
---
source/RobotAPI/interface/armem/memory.ice | 6 ++--
.../RobotAPI/libraries/armem/core/Commit.cpp | 2 +-
source/RobotAPI/libraries/armem/core/Commit.h | 6 ++--
.../armem/core/base/EntityInstanceBase.cpp | 15 +++++---
.../armem/core/base/EntityInstanceBase.h | 34 ++++++++++++++-----
.../armem/core/base/ice_conversions.cpp | 12 ++++---
.../libraries/armem/core/ice_conversions.cpp | 10 +++---
.../armem/core/wm/memory_definitions.cpp | 4 +--
.../armem/server/MemoryToIceAdapter.cpp | 2 +-
.../ltm/detail/EntityQueryProcessorBase.h | 1 +
.../wm/detail/EntityQueryProcessorBase.h | 8 ++++-
.../libraries/armem/server/query_proc/wm/wm.h | 10 ++++--
.../server/KnownGraspProviderSegment.cpp | 2 +-
.../armem_gui/instance/InstanceView.cpp | 4 ++-
.../client/instance/ObjectWriter.cpp | 2 +-
.../armem_objects/server/class/Segment.cpp | 2 +-
.../armem_objects/server/instance/Segment.cpp | 2 +-
.../server/description/Segment.cpp | 2 +-
.../server/localization/Segment.cpp | 2 +-
19 files changed, 85 insertions(+), 41 deletions(-)
diff --git a/source/RobotAPI/interface/armem/memory.ice b/source/RobotAPI/interface/armem/memory.ice
index 2b2dc5c81..63801dd4d 100644
--- a/source/RobotAPI/interface/armem/memory.ice
+++ b/source/RobotAPI/interface/armem/memory.ice
@@ -39,8 +39,10 @@ module armarx
class EntityInstanceMetadata
{
armarx::core::time::dto::DateTime referencedTime;
- armarx::core::time::dto::DateTime timeSent;
- armarx::core::time::dto::DateTime timeArrived;
+ armarx::core::time::dto::DateTime sentTime;
+ armarx::core::time::dto::DateTime arrivedTime;
+ armarx::core::time::dto::DateTime lastAccessedTime;
+ long accessed = 0;
float confidence = 1.0;
};
diff --git a/source/RobotAPI/libraries/armem/core/Commit.cpp b/source/RobotAPI/libraries/armem/core/Commit.cpp
index 33752d844..341d160ec 100644
--- a/source/RobotAPI/libraries/armem/core/Commit.cpp
+++ b/source/RobotAPI/libraries/armem/core/Commit.cpp
@@ -25,7 +25,7 @@ namespace armarx::armem
return os << "Entity update result: "
<< "\n- success: \t" << (rhs.success ? "true" : "false")
<< "\n- snapshotID: \t" << rhs.snapshotID
- << "\n- time arrived: \t" << toDateTimeMilliSeconds(rhs.timeArrived)
+ << "\n- time arrived: \t" << toDateTimeMilliSeconds(rhs.arrivedTime)
<< "\n- error message: \t" << rhs.errorMessage
<< "\n"
;
diff --git a/source/RobotAPI/libraries/armem/core/Commit.h b/source/RobotAPI/libraries/armem/core/Commit.h
index ae9efd877..81d041384 100644
--- a/source/RobotAPI/libraries/armem/core/Commit.h
+++ b/source/RobotAPI/libraries/armem/core/Commit.h
@@ -52,14 +52,14 @@ namespace armarx::armem
*
* Set automatically when sending the commit.
*/
- Time timeSent = Time::Invalid();
+ Time sentTime = Time::Invalid();
/**
* @brief Time when this update arrived at the memory server.
*
* Set by memory server on arrival.
*/
- Time timeArrived = Time::Invalid();
+ Time arrivedTime = Time::Invalid();
friend std::ostream& operator<<(std::ostream& os, const EntityUpdate& rhs);
@@ -74,7 +74,7 @@ namespace armarx::armem
bool success = false;
MemoryID snapshotID;
- Time timeArrived = Time::Invalid();
+ Time arrivedTime = Time::Invalid();
std::string errorMessage;
diff --git a/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.cpp b/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.cpp
index 4f202b43f..56f207e7e 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.cpp
+++ b/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.cpp
@@ -3,6 +3,12 @@
namespace armarx::armem::base
{
+ void EntityInstanceMetadata::access() const
+ {
+ accessed++;
+ lastAccessedTime = armarx::core::time::DateTime::Now();
+ }
+
bool EntityInstanceMetadata::operator==(const EntityInstanceMetadata& other) const
{
return referencedTime == other.referencedTime
@@ -16,10 +22,11 @@ namespace armarx::armem::base
std::ostream& armarx::armem::base::operator<<(std::ostream& os, const EntityInstanceMetadata& d)
{
os << "EntityInstanceMetadata: "
- << "\n- t_referenced = \t" << armem::toStringMicroSeconds(d.referencedTime) << " us"
- << "\n- t_sent = \t" << armem::toStringMicroSeconds(d.sentTime) << " us"
- << "\n- t_arrived = \t" << armem::toStringMicroSeconds(d.arrivedTime) << " us"
- << "\n- confidence = \t" << d.confidence << " us"
+ << "\n - t_referenced = \t" << armem::toStringMicroSeconds(d.referencedTime) << " us"
+ << "\n - t_sent = \t" << armem::toStringMicroSeconds(d.sentTime) << " us"
+ << "\n - t_arrived = \t" << armem::toStringMicroSeconds(d.arrivedTime) << " us"
+ << "\n - t_accessed = \t" << armem::toStringMicroSeconds(d.lastAccessedTime) << " us (" << d.accessed << ")"
+ << "\n - confidence = \t" << d.confidence << " us"
;
return os;
}
diff --git a/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h b/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h
index 92ca8dff0..26806524c 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h
@@ -9,35 +9,51 @@
namespace armarx::armem::base
{
+ struct Metadata
+ {
+ virtual void access() const = 0;
+
+ virtual ~Metadata() = default;
+ };
+
/**
* @brief Default data of an entity instance (empty).
*/
- struct NoData
+ struct NoData : public Metadata
{
+ void access() const final {}
+
+ virtual ~NoData() = default;
+
+ bool operator==(const NoData& other) { return true; }
+ bool operator!=(const NoData& other) { return false;}
};
/**
* @brief Metadata of an entity instance.
*/
- struct EntityInstanceMetadata
+ struct EntityInstanceMetadata : public Metadata
{
/// Time when this value was created.
- Time referencedTime;
+ Time referencedTime = Time::Invalid();
/// Time when this value was sent to the memory.
- Time sentTime;
+ Time sentTime = Time::Invalid();
/// Time when this value has arrived at the memory.
- Time arrivedTime;
+ Time arrivedTime = Time::Invalid();
/// An optional confidence, may be used for things like decay.
float confidence = 1.0;
/// An optional value indicating the last access
- Time lastAccessedTime = Time::Invalid();
+ mutable Time lastAccessedTime = Time::Invalid();
/// A counter how often the instance has been accessed
- unsigned long accessed = 0;
+ mutable unsigned long accessed = 0;
+
+ void access() const final;
+ virtual ~EntityInstanceMetadata() = default;
bool operator==(const EntityInstanceMetadata& other) const;
inline bool operator!=(const EntityInstanceMetadata& other) const
@@ -91,11 +107,11 @@ namespace armarx::armem::base
// Data
- EntityInstanceMetadata& metadata()
+ MetadataT& metadata()
{
return _metadata;
}
- const EntityInstanceMetadata& metadata() const
+ const MetadataT& metadata() const
{
return _metadata;
}
diff --git a/source/RobotAPI/libraries/armem/core/base/ice_conversions.cpp b/source/RobotAPI/libraries/armem/core/base/ice_conversions.cpp
index adc5ad57c..af2dfbcfa 100644
--- a/source/RobotAPI/libraries/armem/core/base/ice_conversions.cpp
+++ b/source/RobotAPI/libraries/armem/core/base/ice_conversions.cpp
@@ -56,16 +56,20 @@ namespace armarx::armem
void base::toIce(data::EntityInstanceMetadata& ice, const EntityInstanceMetadata& metadata)
{
ice.confidence = metadata.confidence;
- toIce(ice.timeArrived, metadata.arrivedTime);
+ toIce(ice.arrivedTime, metadata.arrivedTime);
toIce(ice.referencedTime, metadata.referencedTime);
- toIce(ice.timeSent, metadata.sentTime);
+ toIce(ice.sentTime, metadata.sentTime);
+ toIce(ice.lastAccessedTime, metadata.lastAccessedTime);
+ ice.accessed = metadata.accessed;
}
void base::fromIce(const data::EntityInstanceMetadata& ice, EntityInstanceMetadata& metadata)
{
metadata.confidence = ice.confidence;
- fromIce(ice.timeArrived, metadata.arrivedTime);
+ fromIce(ice.arrivedTime, metadata.arrivedTime);
fromIce(ice.referencedTime, metadata.referencedTime);
- fromIce(ice.timeSent, metadata.sentTime);
+ fromIce(ice.sentTime, metadata.sentTime);
+ fromIce(ice.lastAccessedTime, metadata.lastAccessedTime);
+ metadata.accessed = ice.accessed;
}
diff --git a/source/RobotAPI/libraries/armem/core/ice_conversions.cpp b/source/RobotAPI/libraries/armem/core/ice_conversions.cpp
index 6fccee2f6..5e1ace162 100644
--- a/source/RobotAPI/libraries/armem/core/ice_conversions.cpp
+++ b/source/RobotAPI/libraries/armem/core/ice_conversions.cpp
@@ -90,7 +90,7 @@ namespace armarx
fromIce(ice.referencedTime, update.referencedTime);
update.confidence = ice.confidence;
- fromIce(ice.timeSent, update.timeSent);
+ fromIce(ice.timeSent, update.sentTime);
}
void armem::toIce(data::EntityUpdate& ice, const EntityUpdate& update)
@@ -105,14 +105,14 @@ namespace armarx
toIce(ice.referencedTime, update.referencedTime);
ice.confidence = update.confidence;
- toIce(ice.timeSent, update.timeSent);
+ toIce(ice.timeSent, update.sentTime);
}
void armem::fromIce(const data::EntityUpdateResult& ice, EntityUpdateResult& result)
{
result.success = ice.success;
fromIce(ice.snapshotID, result.snapshotID);
- fromIce(ice.timeArrived, result.timeArrived);
+ fromIce(ice.timeArrived, result.arrivedTime);
result.errorMessage = ice.errorMessage;
}
@@ -120,7 +120,7 @@ namespace armarx
{
ice.success = result.success;
toIce(ice.snapshotID, result.snapshotID);
- toIce(ice.timeArrived, result.timeArrived);
+ toIce(ice.timeArrived, result.arrivedTime);
ice.errorMessage = result.errorMessage;
}
@@ -137,7 +137,7 @@ namespace armarx
void armem::fromIce(const data::EntityUpdate& ice, EntityUpdate& update, Time timeArrived)
{
fromIce(ice, update);
- update.timeArrived = timeArrived;
+ update.arrivedTime = timeArrived;
}
void armem::fromIce(const actions::data::MenuPtr& ice, actions::Menu& menu)
diff --git a/source/RobotAPI/libraries/armem/core/wm/memory_definitions.cpp b/source/RobotAPI/libraries/armem/core/wm/memory_definitions.cpp
index eaa3e3c20..bfc408ac9 100644
--- a/source/RobotAPI/libraries/armem/core/wm/memory_definitions.cpp
+++ b/source/RobotAPI/libraries/armem/core/wm/memory_definitions.cpp
@@ -38,8 +38,8 @@ namespace armarx::armem::wm
this->_metadata.confidence = update.confidence;
this->_metadata.referencedTime = update.referencedTime;
- this->_metadata.sentTime = update.timeSent;
- this->_metadata.arrivedTime = update.timeArrived;
+ this->_metadata.sentTime = update.sentTime;
+ this->_metadata.arrivedTime = update.arrivedTime;
}
}
diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
index 63b9bba20..b70d98e4f 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
@@ -187,7 +187,7 @@ namespace armarx::armem::server
result.success = true;
result.snapshotID = updateResult.id;
- result.timeArrived = update.timeArrived;
+ result.arrivedTime = update.arrivedTime;
for (const auto& snapshot : updateResult.removedSnapshots)
{
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/ltm/detail/EntityQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/ltm/detail/EntityQueryProcessorBase.h
index d9f64fc7a..42b87df82 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/ltm/detail/EntityQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/ltm/detail/EntityQueryProcessorBase.h
@@ -27,6 +27,7 @@ namespace armarx::armem::server::query_proc::ltm::detail
protected:
+ // default addResultSnapshot method. Always copies the data
void addResultSnapshot(ResultEntityT& result, const EntitySnapshotT& snapshot) const override
{
ResultSnapshotT s;
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/wm/detail/EntityQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/wm/detail/EntityQueryProcessorBase.h
index faa3fe544..5fbd2300c 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/wm/detail/EntityQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/wm/detail/EntityQueryProcessorBase.h
@@ -2,6 +2,7 @@
#include "../../base/EntityQueryProcessorBase.h"
+#include <ArmarXCore/core/logging/Logging.h>
namespace armarx::armem::server::query_proc::wm::detail
{
@@ -32,7 +33,12 @@ namespace armarx::armem::server::query_proc::wm::detail
protected:
void addResultSnapshot(ResultEntityT& result, const EntitySnapshotT& snapshot) const override
{
- result.addSnapshot(snapshot);
+ snapshot.forEachInstance([](const typename EntitySnapshotT::EntityInstanceT& instance)
+ {
+ instance.metadata().access();
+ });
+ EntitySnapshotT copy = snapshot;
+ result.addSnapshot(std::move(copy));
}
};
}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/wm/wm.h b/source/RobotAPI/libraries/armem/server/query_proc/wm/wm.h
index 27e88e828..312a39896 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/wm/wm.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/wm/wm.h
@@ -53,15 +53,21 @@ namespace armarx::armem::server::query_proc::wm::detail
bool withData = (dataMode == armem::query::DataMode::WithData);
if (withData)
{
- result.addSnapshot(server::wm::EntitySnapshot{ snapshot });
+ Base::addResultSnapshot(result, snapshot);
}
else
{
+ // 1. access real data
+ snapshot.forEachInstance([](const server::wm::EntityInstance& i)
+ {
+ i.metadata().access();
+ });
+
+ // 2. create copy and remove data from copy
server::wm::EntitySnapshot copy = snapshot;
copy.forEachInstance([](server::wm::EntityInstance & i)
{
i.data() = nullptr;
- return true;
});
result.addSnapshot(std::move(copy));
}
diff --git a/source/RobotAPI/libraries/armem_grasping/server/KnownGraspProviderSegment.cpp b/source/RobotAPI/libraries/armem_grasping/server/KnownGraspProviderSegment.cpp
index 17adf356e..00bd50a3d 100644
--- a/source/RobotAPI/libraries/armem_grasping/server/KnownGraspProviderSegment.cpp
+++ b/source/RobotAPI/libraries/armem_grasping/server/KnownGraspProviderSegment.cpp
@@ -127,7 +127,7 @@ namespace armarx::armem::grasping::segment
{
EntityUpdate& update = commit.add();
update.entityID = providerID.withEntityName(info.id().str());
- update.entityID.timestamp = update.timeArrived = update.referencedTime = update.timeSent = now;
+ update.entityID.timestamp = update.arrivedTime = update.referencedTime = update.sentTime = now;
update.instancesData =
{
diff --git a/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp b/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp
index e95234373..025eb36cc 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp
@@ -50,6 +50,7 @@ namespace armarx::armem::gui::instance
treeItemMetadata->addChild(new QTreeWidgetItem({"Time Created"}));
treeItemMetadata->addChild(new QTreeWidgetItem({"Time Sent"}));
treeItemMetadata->addChild(new QTreeWidgetItem({"Time Arrived"}));
+ treeItemMetadata->addChild(new QTreeWidgetItem({"Time Last Accessed"}));
QList<QTreeWidgetItem*> items = {treeItemInstanceID, treeItemMetadata};
tree->insertTopLevelItems(0, items);
@@ -112,7 +113,8 @@ namespace armarx::armem::gui::instance
std::to_string(metadata.confidence),
armem::toDateTimeMilliSeconds(metadata.referencedTime),
armem::toDateTimeMilliSeconds(metadata.sentTime),
- armem::toDateTimeMilliSeconds(metadata.arrivedTime)
+ armem::toDateTimeMilliSeconds(metadata.arrivedTime),
+ armem::toDateTimeMilliSeconds(metadata.lastAccessedTime) + " (" + std::to_string(metadata.accessed) + " times total)"
};
ARMARX_CHECK_EQUAL(static_cast<size_t>(treeItemMetadata->childCount()), items.size());
int i = 0;
diff --git a/source/RobotAPI/libraries/armem_objects/client/instance/ObjectWriter.cpp b/source/RobotAPI/libraries/armem_objects/client/instance/ObjectWriter.cpp
index 91eb015ab..8ee596b27 100644
--- a/source/RobotAPI/libraries/armem_objects/client/instance/ObjectWriter.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/instance/ObjectWriter.cpp
@@ -65,7 +65,7 @@ namespace armarx::armem::obj::instance
e.entityID.providerSegmentName = provider;
e.entityID.entityName = inst.pose.objectID.dataset + "/" + inst.pose.objectID.className + "/" + inst.pose.objectID.instanceName;
e.referencedTime = t;
- e.timeSent = armem::Time::Now();
+ e.sentTime = armem::Time::Now();
e.instancesData = { inst.toAron() };
auto res = memoryWriter.commit(c);
diff --git a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
index ad9b5f73e..c841afc4d 100644
--- a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
@@ -95,7 +95,7 @@ namespace armarx::armem::server::obj::clazz
EntityUpdate& update = commit.add();
update.entityID = providerID.withEntityName(info.id().str());
- update.timeArrived = update.referencedTime = update.timeSent = now;
+ update.arrivedTime = update.referencedTime = update.sentTime = now;
arondto::ObjectClass objectClass = objectClassFromInfo(info);
update.instancesData =
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
index f8a6d67c7..b0726c001 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
@@ -335,7 +335,7 @@ namespace armarx::armem::server::obj::instance
providerName.empty() ? pose.providerName : providerName);
update.entityID = providerID.withEntityName(pose.objectID.str());
- update.timeArrived = now;
+ update.arrivedTime = now;
update.referencedTime = pose.timestamp;
update.confidence = pose.confidence;
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp b/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
index 8c196a889..7a8f6ae03 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
@@ -58,7 +58,7 @@ namespace armarx::armem::server::robot_state::description
EntityUpdate update;
update.entityID = providerID.withEntityName("description");
- update.timeArrived = update.referencedTime = update.timeSent = now;
+ update.arrivedTime = update.referencedTime = update.sentTime = now;
arondto::RobotDescription dto;
robot::toAron(dto, robotDescription);
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp b/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp
index 522583f12..a503bae53 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp
@@ -187,7 +187,7 @@ namespace armarx::armem::server::robot_state::localization
EntityUpdate update;
update.entityID = providerID.withEntityName(transform.header.parentFrame + "," + transform.header.frame);
- update.timeArrived = update.referencedTime = update.timeSent = timestamp;
+ update.arrivedTime = update.referencedTime = update.sentTime = timestamp;
arondto::Transform aronTransform;
toAron(aronTransform, transform);
--
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