From 3258b4cdbf74a7b9e9b6a3532dafe143baa4543e Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Mon, 30 Aug 2021 09:20:22 +0200
Subject: [PATCH] Memory server plugin: Move interesting stuff to plugin,
provide methods to access them.
Use working memory name to set property
---
.../armem/server/ComponentPlugin.cpp | 76 ++++++++++++++-----
.../libraries/armem/server/ComponentPlugin.h | 67 +++++++++++-----
2 files changed, 103 insertions(+), 40 deletions(-)
diff --git a/source/RobotAPI/libraries/armem/server/ComponentPlugin.cpp b/source/RobotAPI/libraries/armem/server/ComponentPlugin.cpp
index 18a24d77f..c97d55af4 100644
--- a/source/RobotAPI/libraries/armem/server/ComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/armem/server/ComponentPlugin.cpp
@@ -17,10 +17,15 @@ namespace armarx::armem::server::plugins
{
MemoryNameSystemComponentPlugin::postCreatePropertyDefinitions(properties);
- ComponentPluginUser& parent = this->parent<ComponentPluginUser>();
- properties->topic(memoryListener, parent.memoryListenerDefaultName);
+ const std::string prefix = "mem.";
+ if (not workingMemory.name().empty()
+ and not properties->hasDefinition(prefix + "MemoryName"))
+ {
+ properties->optional(workingMemory.name(), prefix + "MemoryName", "Name of this memory server.");
+ }
+ properties->optional(longtermMemoryEnabled, prefix + "ltm.00_enabled");
- properties->optional(parent.longtermMemoryEnabled, "mem.ltm.00_enabled");
+ properties->topic(memoryTopic, memoryTopicDefaultName);
}
@@ -28,16 +33,16 @@ namespace armarx::armem::server::plugins
{
ComponentPluginUser& parent = this->parent<ComponentPluginUser>();
- if (isMemoryNameSystemEnabled() && parent.memoryNameSystem)
+ if (isMemoryNameSystemEnabled() && parent.memoryNameSystem())
{
registerMemory(parent);
}
- parent.iceMemory.setMemoryListener(memoryListener);
+ parent.iceAdapter().setMemoryListener(memoryTopic);
// establishing connection to ltm and mongodb
- if (parent.longtermMemoryEnabled)
+ if (parent.isLongtermMemoryEnabled())
{
- parent.longtermMemoryManager.reload();
+ parent.longtermMemoryManager().reload();
}
}
@@ -45,23 +50,30 @@ namespace armarx::armem::server::plugins
void ComponentPlugin::preOnDisconnectComponent()
{
ComponentPluginUser& parent = this->parent<ComponentPluginUser>();
- if (isMemoryNameSystemEnabled() && parent.memoryNameSystem)
+ if (isMemoryNameSystemEnabled() && memoryNameSystem)
{
removeMemory(parent);
}
}
+ void ComponentPlugin::setMemoryName(const std::string& memoryName)
+ {
+ workingMemory.name() = memoryName;
+ longtermMemoryManager.setName(memoryName);
+ }
+
+
data::RegisterMemoryResult ComponentPlugin::registerMemory(ComponentPluginUser& parent)
{
- MemoryID id = MemoryID().withMemoryName(parent.workingMemory.name());
+ MemoryID id = MemoryID().withMemoryName(parent.workingMemory().name());
MemoryInterfacePrx proxy = MemoryInterfacePrx::checkedCast(parent.getProxy());
ARMARX_CHECK_NOT_NULL(proxy);
data::RegisterMemoryResult result;
try
{
- parent.memoryNameSystem.registerServer(id, proxy);
+ parent.memoryNameSystem().registerServer(id, proxy);
result.success = true;
ARMARX_DEBUG << "Registered memory server for " << id << " in the Memory Name System (MNS).";
}
@@ -77,12 +89,12 @@ namespace armarx::armem::server::plugins
data::RemoveMemoryResult ComponentPlugin::removeMemory(ComponentPluginUser& parent)
{
- MemoryID id = MemoryID().withMemoryName(parent.workingMemory.name());
+ MemoryID id = MemoryID().withMemoryName(parent.workingMemory().name());
data::RemoveMemoryResult result;
try
{
- parent.memoryNameSystem.removeServer(id);
+ parent.memoryNameSystem().removeServer(id);
result.success = true;
ARMARX_DEBUG << "Removed memory server for " << id << " from the Memory Name System (MNS).";
}
@@ -116,8 +128,7 @@ namespace armarx::armem::server
// Set the name of a memory
void ComponentPluginUser::setMemoryName(const std::string& memoryName)
{
- workingMemory.name() = memoryName;
- longtermMemoryManager.setName(memoryName);
+ plugin->setMemoryName(memoryName);
}
@@ -132,7 +143,7 @@ namespace armarx::armem::server
data::AddSegmentsResult ComponentPluginUser::addSegments(const data::AddSegmentsInput& input, bool addCoreSegments)
{
ARMARX_TRACE;
- data::AddSegmentsResult result = iceMemory.addSegments(input, addCoreSegments);
+ data::AddSegmentsResult result = iceAdapter().addSegments(input, addCoreSegments);
return result;
}
@@ -140,7 +151,7 @@ namespace armarx::armem::server
data::CommitResult ComponentPluginUser::commit(const data::Commit& commitIce, const Ice::Current&)
{
ARMARX_TRACE;
- return iceMemory.commit(commitIce);
+ return iceAdapter().commit(commitIce);
}
@@ -148,7 +159,7 @@ namespace armarx::armem::server
armem::query::data::Result ComponentPluginUser::query(const armem::query::data::Input& input, const Ice::Current&)
{
ARMARX_TRACE;
- return iceMemory.query(input);
+ return iceAdapter().query(input);
}
@@ -156,10 +167,37 @@ namespace armarx::armem::server
data::StoreResult ComponentPluginUser::store(const data::StoreInput& input, const Ice::Current&)
{
ARMARX_TRACE;
- return iceMemory.store(input);
+ return iceAdapter().store(input);
+ }
+
+
+ ComponentPlugin& ComponentPluginUser::memoryServerPlugin()
+ {
+ return *plugin;
}
- // LTM LOADING
+ wm::Memory& ComponentPluginUser::workingMemory()
+ {
+ return plugin->workingMemory;
+ }
+
+
+ MemoryToIceAdapter& ComponentPluginUser::iceAdapter()
+ {
+ return plugin->iceAdapter;
+ }
+
+
+ bool ComponentPluginUser::isLongtermMemoryEnabled()
+ {
+ return plugin->longtermMemoryEnabled;
+ }
+
+
+ ltm::mongodb::MemoryManager& ComponentPluginUser::longtermMemoryManager()
+ {
+ return plugin->longtermMemoryManager;
+ }
}
diff --git a/source/RobotAPI/libraries/armem/server/ComponentPlugin.h b/source/RobotAPI/libraries/armem/server/ComponentPlugin.h
index 8a0c3fbc6..ba4e890f5 100644
--- a/source/RobotAPI/libraries/armem/server/ComponentPlugin.h
+++ b/source/RobotAPI/libraries/armem/server/ComponentPlugin.h
@@ -27,16 +27,25 @@ namespace armarx::armem::server::plugins
class ComponentPlugin : public client::plugins::MemoryNameSystemComponentPlugin
{
using Base = client::plugins::MemoryNameSystemComponentPlugin;
+
public:
using Base::MemoryNameSystemComponentPlugin;
virtual ~ComponentPlugin() override;
- void postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties) override;
+ virtual void postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties) override;
+
+ virtual void postOnConnectComponent() override;
+ virtual void preOnDisconnectComponent() override;
- void postOnConnectComponent() override;
- void preOnDisconnectComponent() override;
+ public:
+
+ /// Set the name of the wm and the ltm (if enabled)
+ void setMemoryName(const std::string& memoryName);
+
+
+ protected:
/**
* @brief Register the parent component in the MNS.
@@ -49,11 +58,37 @@ namespace armarx::armem::server::plugins
*/
data::RemoveMemoryResult removeMemory(ComponentPluginUser& parent);
- client::MemoryListenerInterfacePrx memoryListener;
+
+
+ public:
+
+ // Working Memory
+
+ /// The actual memory.
+ server::wm::Memory workingMemory;
+
+ /// Helps connecting `memory` to ice. Used to handle Ice callbacks.
+ MemoryToIceAdapter iceAdapter { &workingMemory, &longtermMemoryManager};
+
+
+ // Working Memory Updates
+
+ std::string memoryTopicDefaultName = "MemoryUpdates";
+ client::MemoryListenerInterfacePrx memoryTopic;
+
+
+ // Long-Term Memory
+
+ /// Indicates whether to use or not to use the ltm feature.
+ bool longtermMemoryEnabled = true;
+
+ /// A manager class for the ltm. It internally holds a normal wm instance as a cache.
+ server::ltm::mongodb::MemoryManager longtermMemoryManager;
std::string longTermMemoryDatabaseHost;
std::string longTermMemoryDatabaseUser;
std::string longTermMemoryDatabasePassword;
+
};
}
@@ -64,6 +99,8 @@ namespace armarx::armem::server
/**
* @brief Base class of memory server components.
+ *
+ * Implements the server ice interfaces using the ice adapter of the plugin.
*/
class ComponentPluginUser :
virtual public ManagedIceObject
@@ -94,27 +131,15 @@ namespace armarx::armem::server
virtual data::StoreResult store(const data::StoreInput&, const Ice::Current& = Ice::emptyCurrent) override;
- // LoadingInterface interface
-
-
public:
- /// The actual memory.
- server::wm::Memory workingMemory;
- // [[deprecated ("The global working memory mutex is deprecated. Use the core segment mutexes instead.")]]
- // std::mutex workingMemoryMutex;
+ ComponentPlugin& memoryServerPlugin();
- /// Parameter to indicate whether to use or not to use the ltm feature
- bool longtermMemoryEnabled = true;
+ server::wm::Memory& workingMemory();
+ MemoryToIceAdapter& iceAdapter();
- /// A manager class for the ltm. It internally holds a normal wm instance
- server::ltm::mongodb::MemoryManager longtermMemoryManager;
-
- /// property defaults
- std::string memoryListenerDefaultName = "MemoryUpdates";
-
- /// Helps connecting `memory` to ice. Used to handle Ice callbacks.
- MemoryToIceAdapter iceMemory { &workingMemory, &longtermMemoryManager};
+ bool isLongtermMemoryEnabled();
+ server::ltm::mongodb::MemoryManager& longtermMemoryManager();
private:
--
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