diff --git a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
index 2249bdf242a197d1bff3be840d846f58a2487568..8865301a7396ee28d6c6ed99ea6a1cc2c34e189a 100644
--- a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
+++ b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
@@ -188,6 +188,9 @@ namespace armarx::armem::server::robot_state
startRobotUnitStream();
}
+
+ //load from LTM
+ this->reloadFromLTM();
}
void
diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
index 4aee9800a61ce9862b714d0ba3df58b11b08e32d..9391ae0e514e97559aead205c598aa2b87483b24 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
@@ -381,6 +381,16 @@ namespace armarx::armem::server
}
// LTM LOADING FROM LTM
+ armem::CommitResult
+ MemoryToIceAdapter::reloadFromLTM()
+ {
+ ARMARX_INFO << "Reloading of data from LTM into WM triggered";
+ armarx::armem::wm::Memory mem = this->longtermMemory->loadAllAndResolve();
+ auto com = armem::toCommit(mem);
+ auto res = this->commit(com);
+
+ return res;
+ }
// LTM STORING AND RECORDING
dto::DirectlyStoreResult
diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h
index 0ae95a4207d86842d1b11e82cd97af6030147401..2fb61e6f3ad9c494b99a79ecc106c5f497b18e79 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h
@@ -47,6 +47,7 @@ namespace armarx::armem::server
armem::structure::data::GetServerStructureResult getServerStructure();
// LTM LOADING AND REPLAYING
+ armem::CommitResult reloadFromLTM();
// LTM STORING AND RECORDING
dto::DirectlyStoreResult directlyStore(const dto::DirectlyStoreInput& directlStoreInput);
diff --git a/source/RobotAPI/libraries/armem/server/ltm/Memory.cpp b/source/RobotAPI/libraries/armem/server/ltm/Memory.cpp
index bb2fd2ceb33dbc846f2d1eb5761008766fed4f78..516e15c048de2f25ea969300544fccf66819d084 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/Memory.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/Memory.cpp
@@ -99,10 +99,14 @@ namespace armarx::armem::server::ltm
}
else
{
- ARMARX_WARNING << "Could not load the core segments of LTM " << id().str() << " as the path " << getFullPath().string() << " does not exist.";
+ ARMARX_WARNING << "Could not load the core segments of LTM "
+ << id().str()
+ << " as the path "
+ << getFullPath().string()
+ << " does not exist.";
}
- ARMARX_INFO << "All CoreSegments handeled";
+ ARMARX_DEBUG << "All CoreSegments handeled";
return true;
}
@@ -176,8 +180,6 @@ namespace armarx::armem::server::ltm
m.id() = id().getMemoryID().cleanID();
- ARMARX_INFO << VAROUT(id());
-
forEachCoreSegment(
[&m](auto& x)
{
@@ -192,6 +194,8 @@ namespace armarx::armem::server::ltm
{
std::lock_guard l(ltm_mutex); // we cannot load a memory multiple times simultaneously
+ ARMARX_DEBUG << VAROUT(fullPathExists());
+
if (/*(connected() && collectionExists()) ||*/ fullPathExists())
{
m.forEachCoreSegment(
@@ -205,6 +209,9 @@ namespace armarx::armem::server::ltm
processors);
c.resolve(e);
});
+ } else {
+ ARMARX_WARNING << "You are trying to resolve an LTM from a path that does not exist: "
+ << getFullPath();
}
}
@@ -254,6 +261,17 @@ namespace armarx::armem::server::ltm
//CachedBase::addToCache(memory);
}
+ void
+ Memory::_loadOnStartup(){
+ try{
+ armem::wm::Memory memory = this->loadAllAndResolve();
+ ARMARX_INFO << "Loading LTM from " << this->p.export_path << "/" << this->p.export_name << " on startup successful.";
+ }
+ catch(...){
+ ARMARX_INFO << "Could not load memory " << this->name() << " on startup.";
+ }
+ }
+
void
Memory::getAndSaveStatistics()
{
diff --git a/source/RobotAPI/libraries/armem/server/ltm/Memory.h b/source/RobotAPI/libraries/armem/server/ltm/Memory.h
index 05d04551d683cb3fb3fb773ca97ebb6cee8c3b6e..c7a7008f8000169b396a0944efe3a1396fce0d81 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/Memory.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/Memory.h
@@ -59,6 +59,7 @@ namespace armarx::armem::server::ltm
void _resolve(armem::wm::Memory&) final;
void _store(const armem::wm::Memory&) final;
void _directlyStore(const armem::wm::Memory&) final;
+ void _loadOnStartup() final;
private:
std::time_t current_date;
diff --git a/source/RobotAPI/libraries/armem/server/ltm/detail/MemoryBase.h b/source/RobotAPI/libraries/armem/server/ltm/detail/MemoryBase.h
index e085590fe495449d9f5b1893ce6eb5f6e6f87662..2b1dbb479199466cf091f78afaab403ebf2f55d3 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/detail/MemoryBase.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/detail/MemoryBase.h
@@ -52,10 +52,10 @@ namespace armarx::armem::server::ltm::detail
configure()
{
bool en = p.enabled_on_startup;
- ARMARX_INFO << VAROUT(p.import_name);
- ARMARX_INFO << VAROUT(p.import_path);
ARMARX_INFO << VAROUT(p.configuration_on_startup);
ARMARX_INFO << VAROUT(p.export_name);
+ ARMARX_INFO << VAROUT(p.export_path);
+
this->setExportName(p.export_name);
try
@@ -77,12 +77,7 @@ namespace armarx::armem::server::ltm::detail
{
this->startRecording();
}
-
- std::string importPath = p.import_path;
-
- if (importPath.length() > 0){
- this->loadOnStartup();
- }
+
}
/// enable this LTM
@@ -211,8 +206,6 @@ namespace armarx::armem::server::ltm::detail
defs->optional(p.enabled_on_startup, prefix + "enabled");
defs->optional(p.configuration_on_startup, prefix + "configuration");
defs->optional(p.export_name, prefix + "exportName");
- defs->optional(p.import_name, prefix + "importName");
- defs->optional(p.import_path, prefix + "importPath");
}
/// enable/disable
@@ -280,16 +273,12 @@ namespace armarx::armem::server::ltm::detail
return "LT-Memory";
}
- void loadOnStartup(){
- ARMARX_INFO << "Loading on startup from " << p.import_path << "/" << p.import_name;
- try{
- this->loadAllAndResolve();
- }
- catch(...){
- ARMARX_INFO << "Could not load memory " << this->name() << " on startup";
- }
+ void
+ loadOnStartup(){
+ _loadOnStartup();
}
+
protected:
/// configuration
virtual void
@@ -316,6 +305,7 @@ namespace armarx::armem::server::ltm::detail
virtual void _resolve(armem::wm::Memory& memory) = 0;
virtual void _store(const armem::wm::Memory& memory) = 0;
virtual void _directlyStore(const armem::wm::Memory& memory) = 0;
+ virtual void _loadOnStartup() = 0;
public:
// stuff for scenario parameters
@@ -327,8 +317,6 @@ namespace armarx::armem::server::ltm::detail
"\"PngConverter\": {}, \"ExrConverter\": {}}"; //record with 20 fps as standard
std::string export_name = "MemoryExport";
std::string export_path = "/tmp/ltm";
- std::string import_path = "/tmp/ltm";
- std::string import_name = "MemoryExport";
} p;
protected:
@@ -336,6 +324,6 @@ namespace armarx::armem::server::ltm::detail
mutable Statistics statistics;
- std::atomic_bool enabled = false;
+ std::atomic_bool enabled = true;
};
} // namespace armarx::armem::server::ltm::detail
diff --git a/source/RobotAPI/libraries/armem/server/ltm/detail/mixins/DiskStorageMixin.cpp b/source/RobotAPI/libraries/armem/server/ltm/detail/mixins/DiskStorageMixin.cpp
index 19bfcd18bdb28870df2a9e69b1d0c74e387e07ba..480f04cb0a0a188e833007d6c9a0c6d13418d2f7 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/detail/mixins/DiskStorageMixin.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/detail/mixins/DiskStorageMixin.cpp
@@ -39,20 +39,13 @@ namespace armarx::armem::server::ltm::detail::mixin
std::filesystem::path current_base_path = n;
current_base_path.append(dateString);
- //inform user about change:
- ARMARX_DEBUG << "Changed memory base path to include current date of "
- << dateString
- << " to "
- << this->getMemoryBasePath()
- ;
-
return current_base_path;
}
void
DiskMemoryItemMixin::setMixinExportName(const std::string& n)
{
- ARMARX_INFO << "Currently setting export name to: " << n;
+ ARMARX_DEBUG << "Currently setting export name to: " << n;
exportName = n;
}
@@ -81,7 +74,7 @@ namespace armarx::armem::server::ltm::detail::mixin
} else {
std::filesystem::path newPath;
newPath.assign(memoryBasePathString);
- return this->addDateToMemoryBasePath(newPath);
+ return newPath;
}
}
@@ -89,11 +82,17 @@ namespace armarx::armem::server::ltm::detail::mixin
DiskMemoryItemMixin::getFullPath() const
{
auto p = getMemoryBasePath() / exportName;
+ //p = this->addDateToMemoryBasePath(p);
//ARMARX_INFO << VAROUT(_id);
//ARMARX_INFO << VAROUT(_id.cleanID());
auto cleanID = _id.cleanID(); //somehow, the iDs are jumbled when loading the LTM from disk, this solves it for now
- return util::fs::toPath(p, cleanID);
+ auto fullPath = util::fs::toPath(p, cleanID);
+
+ //inform user about change:
+ ARMARX_DEBUG << "Full path is " << fullPath;
+
+ return fullPath;
}
bool
diff --git a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp
index 1c039d569d1dc5007f72e37ca6a69e200ab07699..456d46dcf547004d64df538b851273136481b7e5 100644
--- a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp
+++ b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp
@@ -174,4 +174,11 @@ namespace armarx::armem::server::plugins
return getAvailableEngines();
}
+ armem::CommitResult
+ ReadWritePluginUser::reloadFromLTM()
+ {
+ iceAdapter().reloadFromLTM();
+ return armem::CommitResult();
+ }
+
} // namespace armarx::armem::server::plugins
diff --git a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h
index 89dcb3239cc6a62275dbd744732f4a262474d447..289db221609ee4f157126a3fb898df00fd78f58f 100644
--- a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h
+++ b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h
@@ -87,6 +87,9 @@ namespace armarx::armem::server::plugins
virtual armem::prediction::data::EngineSupportMap
getAvailableEngines(const ::Ice::Current&) override;
+ //test
+ armem::CommitResult reloadFromLTM();
+
public:
Plugin& memoryServerPlugin();