From 304bc9702c9c18f4db5d4ac88864988b4b3f0bbe Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Wed, 26 May 2021 17:48:36 +0200
Subject: [PATCH] Limit history size of object instance segment by default
---
.../ArMemObjectMemory/config/ObjectMemory.cfg | 20 +++++++++++++++++--
.../armem_objects/server/instance/Segment.h | 3 ++-
2 files changed, 20 insertions(+), 3 deletions(-)
diff --git a/scenarios/ArMemObjectMemory/config/ObjectMemory.cfg b/scenarios/ArMemObjectMemory/config/ObjectMemory.cfg
index 77b3f690f..df483eb31 100644
--- a/scenarios/ArMemObjectMemory/config/ObjectMemory.cfg
+++ b/scenarios/ArMemObjectMemory/config/ObjectMemory.cfg
@@ -215,6 +215,22 @@ ArmarX.AdditionalPackages = ArmarXObjects
# ArmarX.ObjectMemory.mem.articulated.inst.MaxHistorySize = -1
+# ArmarX.ObjectMemory.mem.attachments.CoreSegmentName: Name of the object instance core segment.
+# Attributes:
+# - Default: Attachments
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.attachments.CoreSegmentName = Attachments
+
+
+# ArmarX.ObjectMemory.mem.attachments.MaxHistorySize: Maximal size of object poses history (-1 for infinite).
+# Attributes:
+# - Default: -1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.attachments.MaxHistorySize = -1
+
+
# ArmarX.ObjectMemory.mem.cls.CoreSegmentName: Name of the object clazz core segment.
# Attributes:
# - Default: Class
@@ -303,10 +319,10 @@ ArmarX.AdditionalPackages = ArmarXObjects
# ArmarX.ObjectMemory.mem.inst.MaxHistorySize: Maximal size of object poses history (-1 for infinite).
# Attributes:
-# - Default: -1
+# - Default: 25
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ObjectMemory.mem.inst.MaxHistorySize = -1
+# ArmarX.ObjectMemory.mem.inst.MaxHistorySize = 25
# ArmarX.ObjectMemory.mem.inst.calibration.offset: Offset for the node to be calibrated.
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
index 54314054a..5b7c268bb 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
@@ -159,7 +159,8 @@ namespace armarx::armem::server::obj::instance
struct Properties
{
std::string coreSegmentName = "Instance";
- long maxHistorySize = -1;
+ // -1 would be infinite, but this can let the RAM grow quickly.
+ long maxHistorySize = 25;
bool discardSnapshotsWhileAttached = true;
};
Properties p;
--
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