From 1169f0c0858067b8263d8a07200e992bdaf275db Mon Sep 17 00:00:00 2001
From: Firat Yusuf Duran <uzivy@student.kit.edu>
Date: Sun, 15 Sep 2024 12:54:09 +0200
Subject: [PATCH] skillmemory: change save by name to id
---
.../server/SkillsMemory/SkillsMemory.cpp | 4 +--
.../armem/server/SkillsMemory/SkillsMemory.h | 2 +-
.../segment/ComposedSkillLibrarySegment.cpp | 31 ++++++++++++-------
.../segment/ComposedSkillLibrarySegment.h | 2 +-
.../SkillManagerComponentPluginUser.cpp | 4 ++-
5 files changed, 26 insertions(+), 17 deletions(-)
diff --git a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
index c94e2b4d3..1119465a1 100644
--- a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
+++ b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
@@ -247,9 +247,9 @@ namespace armarx
return composedSkillCoreSegment.getSkills();
}
- std::optional<std::vector<skills::manager::arondto::FluxioSkill>> SkillsMemory::loadCompositeSkillsOfProvider(const std::string& providerName)
+ std::optional<std::vector<skills::manager::arondto::FluxioSkill>> SkillsMemory::loadCompositeSkillsOfProvider(const std::string& providerId)
{
- return composedSkillCoreSegment.getSkillsOfProvider(providerName);
+ return composedSkillCoreSegment.getSkillsOfProvider(providerId);
}
void SkillsMemory::addProfile(const skills::manager::arondto::FluxioProfile& profile)
diff --git a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h
index b5066346c..1155b05d8 100644
--- a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h
+++ b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h
@@ -115,7 +115,7 @@ namespace armarx
void saveSkill(const skills::manager::arondto::FluxioSkill& skillt) override;
std::optional<std::vector<skills::manager::arondto::FluxioSkill>> loadCompositeSkills() override;
- std::optional<std::vector<skills::manager::arondto::FluxioSkill>> loadCompositeSkillsOfProvider(const std::string& providerName) override;
+ std::optional<std::vector<skills::manager::arondto::FluxioSkill>> loadCompositeSkillsOfProvider(const std::string& providerId) override;
void addProfile(const skills::manager::arondto::FluxioProfile& profile) override;
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/ComposedSkillLibrarySegment.cpp b/source/RobotAPI/libraries/armem_skills/server/segment/ComposedSkillLibrarySegment.cpp
index d03f11177..ac2c9f665 100644
--- a/source/RobotAPI/libraries/armem_skills/server/segment/ComposedSkillLibrarySegment.cpp
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/ComposedSkillLibrarySegment.cpp
@@ -43,7 +43,7 @@ namespace armarx::skills::segment
ComposedSkillLibraryCoreSegment::addSkill(const skills::manager::arondto::FluxioSkill& skill)
{
// add skills
- armem::MemoryID provId = id().withProviderSegmentName(skill.skillProviderId.hint);
+ armem::MemoryID provId = id().withProviderSegmentName(skill.skillProviderId.id);
armem::Commit commit;
armem::EntityUpdate& entityUpdate = commit.add();
@@ -52,7 +52,7 @@ namespace armarx::skills::segment
entityUpdate.sentTime = armem::Time::Now();
entityUpdate.arrivedTime = armem::Time::Now();
entityUpdate.instancesData = {skill.toAron()};
- entityUpdate.entityID = provId.withEntityName(skill.name);
+ entityUpdate.entityID = provId.withEntityName(skill.id);
// Commit data to memory and notify
iceMemory.commit(commit);
@@ -88,23 +88,30 @@ namespace armarx::skills::segment
}
std::optional<std::vector<skills::manager::arondto::FluxioSkill>>
- ComposedSkillLibraryCoreSegment::getSkillsOfProvider(const std::string& providerName) const
+ ComposedSkillLibraryCoreSegment::getSkillsOfProvider(const std::string& providerId) const
{
- std::optional<std::vector<skills::manager::arondto::FluxioSkill>> opt = getSkills();
- if (!opt.has_value())
+ std::vector<skills::manager::arondto::FluxioSkill> ret;
+ armarx::armem::client::query::Builder qb;
+ qb.allLatestInProviderSegment(id().withProviderSegmentName(providerId));
+ armem::client::QueryResult qresult = iceMemory.query(qb.buildQueryInput());
+ if (!qresult.success)
{
+ ARMARX_WARNING << "Query failed: " << qresult.errorMessage;
return std::nullopt;
}
- std::vector<skills::manager::arondto::FluxioSkill> ret;
- for (const auto& skill : opt.value())
- {
- //TODO: check if id or name should be used here
- if (skill.skillProviderId.hint == providerName)
+ const armem::wm::Memory& data = qresult.memory;
+
+ data.forEachInstance(
+ [&ret](const armem::wm::EntityInstance& instance)
{
+ auto skill = instance.dataAs<skills::manager::arondto::FluxioSkill>();
+ if (skill.deleted)
+ {
+ return;
+ }
ret.push_back(skill);
- }
- }
+ });
return ret;
}
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/ComposedSkillLibrarySegment.h b/source/RobotAPI/libraries/armem_skills/server/segment/ComposedSkillLibrarySegment.h
index 0fdf34138..afb8fa9d5 100644
--- a/source/RobotAPI/libraries/armem_skills/server/segment/ComposedSkillLibrarySegment.h
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/ComposedSkillLibrarySegment.h
@@ -32,6 +32,6 @@ namespace armarx::skills::segment
void addSkill(const skills::manager::arondto::FluxioSkill& skill);
std::optional<std::vector<skills::manager::arondto::FluxioSkill>> getSkills() const;
- std::optional<std::vector<skills::manager::arondto::FluxioSkill>> getSkillsOfProvider(const std::string& providerName) const;
+ std::optional<std::vector<skills::manager::arondto::FluxioSkill>> getSkillsOfProvider(const std::string& providerId) const;
};
} // namespace armarx::skills::segment
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp
index 747d90b49..39b5d2d71 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp
@@ -4,6 +4,7 @@
#include <optional>
#include <string>
#include <vector>
+#include <boost/uuid/uuid_io.hpp>
#include <Ice/Exception.h>
#include <Ice/OutputStream.h>
@@ -40,8 +41,9 @@ namespace armarx
{
auto i = skills::ProviderInfo::FromIce(info);
this->plugin->addProvider(i);
+ std::string providerId = boost::uuids::to_string(armarx::plugins::SkillManagerComponentPlugin::createUuidWithString(info.providerId.providerName));
std::optional<std::vector<skills::manager::arondto::FluxioSkill>> opt =
- loadCompositeSkillsOfProvider(info.providerId.providerName);
+ loadCompositeSkillsOfProvider(providerId);
if (!opt.has_value()) {
ARMARX_ERROR << "Failed to load composite skills for provider " << info.providerId.providerName;
--
GitLab