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Commit 337d018b authored by Fabian Tërnava's avatar Fabian Tërnava
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ltm updates and fixes to grasp memory

parent a519c1e1
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with 54 additions and 72 deletions
source/RobotAPI/components/armem/server/GraspMemory/GraspMemory.cpp
+ 4
− 5
View file @ 337d018b
......@@ -20,11 +20,12 @@ namespace armarx::armem::server::grasp
{
armarx::PropertyDefinitionsPtr GraspMemory::createPropertyDefinitions()
{
setMemoryName("Grasp");
armarx::PropertyDefinitionsPtr defs = new ComponentPropertyDefinitions(getConfigIdentifier());
defs->topic(debugObserver);
defs->optional(memoryName, "memory.Name", "Name of this memory server.");
defs->optional(enableRemoteGui, "remoteGui.enable", "Enable/Disable Remote GUI");
defs->optional(gui.trackNewEntities, "EnableTrackingOfNewEntities", "Enable/Disable the automatic visual tracking of newly commited Entities");
return defs;
......@@ -43,8 +44,6 @@ namespace armarx::armem::server::grasp
void GraspMemory::onInitComponent()
{
workingMemory().name() = memoryName;
workingMemory().addCoreSegment("GraspCandidate",
armarx::grasping::arondto::GraspCandidate::ToAronType());
workingMemory().addCoreSegment("BimanualGraspCandidate",
......@@ -464,7 +463,7 @@ namespace armarx::armem::server::grasp
}
else
{
providers.push_back(MemoryID(memoryName, gui.coreSegment, gui.provider));
providers.push_back(MemoryID(workingMemory().name(), gui.coreSegment, gui.provider));
}
for (MemoryID & provider : providers)
......@@ -514,7 +513,7 @@ namespace armarx::armem::server::grasp
{
if (workingMemory().getProviderSegment(provider).hasEntity(gui.entity))
{
entities.push_back(MemoryID(memoryName, gui.coreSegment, provider.providerSegmentName, gui.entity));
entities.push_back(MemoryID(workingMemory().name(), gui.coreSegment, provider.providerSegmentName, gui.entity));
}
}
}
......
source/RobotAPI/components/armem/server/GraspMemory/GraspMemory.h
+ 0
− 2
View file @ 337d018b
......@@ -64,8 +64,6 @@ namespace armarx::armem::server::grasp
DebugObserverInterfacePrx debugObserver;
std::string memoryName = "Grasp";
// segments
armem::grasping::segment::KnownGraspProviderSegment knownGraspProviderSegment;
......
source/RobotAPI/libraries/armem/server/ltm/base/detail/BufferedMemoryBase.h
+ 10
− 10
View file @ 337d018b
......@@ -12,23 +12,18 @@ namespace armarx::armem::server::ltm
using Base = MemoryBase<_CoreSegmentT>;
public:
BufferedMemoryBase() :
BufferedMemoryBase({})
{
}
BufferedMemoryBase(const MemoryID& id) :
Base(id)
Base(id),
buffer(std::make_shared<armem::wm::Memory>(id)),
to_store(std::make_shared<armem::wm::Memory>(id))
{
buffer = std::make_shared<armem::wm::Memory>(id);
to_store = std::make_shared<armem::wm::Memory>(id);
}
virtual ~BufferedMemoryBase() = default;
void setMemoryID(const MemoryID& id) override
{
ARMARX_CHECK_NOT_EMPTY(id.memoryName);
ARMARX_CHECK_NOT_EMPTY(id.memoryName) << " The full id was: " << id.str();
Base::setMemoryID(id.getMemoryID());
......@@ -76,8 +71,13 @@ namespace armarx::armem::server::ltm
}
/// configuration
virtual void configure()
void configure(const nlohmann::json& json) override
{
Base::configure(json);
if (json.find("BufferedMemoryBase.storeFrequency") != json.end())
{
storeFrequency = json.at("BufferedMemoryBase.storeFrequency");
}
}
protected:
......
source/RobotAPI/libraries/armem/server/ltm/base/detail/MemoryBase.h
+ 5
− 16
View file @ 337d018b
......@@ -35,26 +35,14 @@ namespace armarx::armem::server::ltm
public:
using CoreSegmentT = _CoreSegmentT;
MemoryBase() :
MemoryBase({})
{
}
MemoryBase(const MemoryID& id) :
MemoryItem(id)
{
}
/// initialize config
void init()
virtual void init()
{
// init without changing the memory id
init(this->id());
}
void init(const armem::MemoryID& wmMemoryId)
{
setMemoryID(wmMemoryId);
enabled = enabled_on_startup;
ARMARX_INFO << VAROUT(configuration_on_startup);
......@@ -62,7 +50,8 @@ namespace armarx::armem::server::ltm
{
const auto j = nlohmann::json::parse(configuration_on_startup);
this->configure(j);
}catch(...)
}
catch(...)
{
ARMARX_WARNING << "Failed to parse `" << configuration_on_startup << "`";
enabled = false;
......@@ -139,7 +128,7 @@ namespace armarx::armem::server::ltm
/// find core segment
virtual std::shared_ptr<CoreSegmentT> findCoreSegment(const std::string&) const = 0;
/// parameters
/// default parameters. Implementation should use the configuration to configure
virtual void createPropertyDefinitions(PropertyDefinitionsPtr& defs, const std::string& prefix)
{
defs->optional(enabled_on_startup, prefix + "enabled");
......@@ -195,7 +184,7 @@ namespace armarx::armem::server::ltm
public:
// stuff for scenario parameters
bool enabled_on_startup = false;
std::string configuration_on_startup = "";
std::string configuration_on_startup = "{}";
protected:
mutable std::recursive_mutex ltm_mutex;
......
source/RobotAPI/libraries/armem/server/ltm/disk/Memory.cpp
+ 24
− 15
View file @ 337d018b
......@@ -7,11 +7,17 @@
namespace armarx::armem::server::ltm::disk
{
void Memory::createPropertyDefinitions(PropertyDefinitionsPtr& properties, const std::string& prefix)
void Memory::configure(const nlohmann::json& json)
{
Base::createPropertyDefinitions(properties, prefix);
properties->optional(memoryParentPath, prefix + "storagepath", "The path to the memory storage (the memory will be stored in a seperate subfolder).");
properties->optional(sizeToCompressDataInMegaBytes, prefix + "sizeToCompressDataInMegaBytes", "The size in MB to compress away the current export. Exports are numbered (lower number means newer).");
Base::configure(json);
if (json.find("Memory.memoryParentPath") != json.end())
{
memoryParentPath = std::filesystem::path(json.at("Memory.memoryParentPath"));
}
if (json.find("Memory.sizeToCompressDataInMegaBytes") != json.end())
{
sizeToCompressDataInMegaBytes = json.at("Memory.sizeToCompressDataInMegaBytes");
}
}
Memory::Memory() :
......@@ -22,21 +28,18 @@ namespace armarx::armem::server::ltm::disk
Memory::Memory(const std::filesystem::path& p, const std::string& memoryName /* UNESCAPED */, const MemoryEncodingMode defaultEncodingMode) :
Base(MemoryID(memoryName, "")),
DiskMemoryItem(p, EscapeSegmentName(memoryName), ""),
exportEncodingMode(defaultEncodingMode)
defaultExportEncodingMode(defaultEncodingMode)
{
setMemoryID(MemoryID(memoryName, "")); // set Memory id and search for old exports
}
void Memory::setMemoryID(const MemoryID& id)
void Memory::init()
{
ARMARX_CHECK_NOT_EMPTY(id.memoryName);
Base::setMemoryID(id.getMemoryID());
escapedMemoryName = EscapeSegmentName(id.memoryName);
Base::init();
// Discover how many exports already exists
for (unsigned long i = 1; i < 10000; ++i)
{
std::filesystem::path exportPath = getMemoryBasePathForMode(exportEncodingMode, i);
std::filesystem::path exportPath = getMemoryBasePathForMode(defaultExportEncodingMode, i);
if (!std::filesystem::exists(exportPath))
{
break;
......@@ -44,12 +47,18 @@ namespace armarx::armem::server::ltm::disk
maxExportIndex = i;
}
}
void Memory::setMemoryID(const MemoryID& id)
{
Base::setMemoryID(id);
escapedMemoryName = EscapeSegmentName(id.memoryName);
}
bool Memory::forEachCoreSegment(std::function<void(CoreSegment&)>&& func) const
{
for (unsigned long i = 0; i <= maxExportIndex; ++i)
{
MemoryEncodingMode mode = i == 0 ? MemoryEncodingMode::FILESYSTEM : exportEncodingMode;
MemoryEncodingMode mode = i == 0 ? MemoryEncodingMode::FILESYSTEM : defaultExportEncodingMode;
auto mPath = getMemoryBasePathForMode(mode, i);
if (util::checkIfBasePathExists(mPath))
{
......@@ -69,7 +78,7 @@ namespace armarx::armem::server::ltm::disk
{
for (unsigned long i = 0; i <= maxExportIndex; ++i)
{
MemoryEncodingMode mode = i == 0 ? MemoryEncodingMode::FILESYSTEM : exportEncodingMode;
MemoryEncodingMode mode = i == 0 ? MemoryEncodingMode::FILESYSTEM : defaultExportEncodingMode;
auto mPath = getMemoryBasePathForMode(mode, i);
if (!util::checkIfBasePathExists(mPath))
......@@ -105,7 +114,7 @@ namespace armarx::armem::server::ltm::disk
for (unsigned long i = 0; i <= maxExportIndex; ++i)
{
MemoryEncodingMode mode = i == 0 ? MemoryEncodingMode::FILESYSTEM : exportEncodingMode;
MemoryEncodingMode mode = i == 0 ? MemoryEncodingMode::FILESYSTEM : defaultExportEncodingMode;
auto mPath = getMemoryBasePathForMode(mode, i);
if (!util::checkIfBasePathExists(mPath))
......@@ -129,7 +138,7 @@ namespace armarx::armem::server::ltm::disk
std::lock_guard l(ltm_mutex); // we cannot store a memory multiple times simultaneously
MemoryEncodingMode defaultMode = MemoryEncodingMode::FILESYSTEM;
MemoryEncodingMode encodeModeOfPast = exportEncodingMode;
MemoryEncodingMode encodeModeOfPast = defaultExportEncodingMode;
// Storage will always be in filesystem mode!
// Somehow, minizip was not able to write data to images. It always created a folder named xyz.png without any data in it...
// Another problem is that storing data directly in compressed format will require a lot of time when the compressed file is big (>20MB)
......
source/RobotAPI/libraries/armem/server/ltm/disk/Memory.h
+ 9
− 8
View file @ 337d018b
......@@ -23,20 +23,21 @@ namespace armarx::armem::server::ltm::disk
Memory();
Memory(const std::filesystem::path&, const std::string&, const MemoryEncodingMode defaultEncodingMode = MemoryEncodingMode::MINIZIP);
void setMemoryID(const MemoryID& id) override;
void init() final;
void setMemoryID(const MemoryID& id) final;
void createPropertyDefinitions(PropertyDefinitionsPtr& properties, const std::string& prefix) override;
void configure(const nlohmann::json& config) final;
bool forEachCoreSegment(std::function<void(CoreSegment&)>&& func) const override;
std::shared_ptr<CoreSegment> findCoreSegment(const std::string& coreSegmentName) const override;
bool forEachCoreSegment(std::function<void(CoreSegment&)>&& func) const final;
std::shared_ptr<CoreSegment> findCoreSegment(const std::string& coreSegmentName) const final;
protected:
void _loadAllReferences(armem::wm::Memory&) override;
void _resolve(armem::wm::Memory&) override;
void _directlyStore(const armem::wm::Memory&) override;
void _loadAllReferences(armem::wm::Memory&) final;
void _resolve(armem::wm::Memory&) final;
void _directlyStore(const armem::wm::Memory&) final;
private:
MemoryEncodingMode exportEncodingMode = MemoryEncodingMode::MINIZIP;
MemoryEncodingMode defaultExportEncodingMode = MemoryEncodingMode::MINIZIP;
unsigned long maxExportIndex = 0;
unsigned long sizeToCompressDataInMegaBytes = long(1) * 1024; // 1GB
......
source/RobotAPI/libraries/armem/server/ltm/io/Recording.h
+ 0
− 15
View file @ 337d018b
......@@ -105,19 +105,4 @@ namespace armarx::armem::server::ltm
};
void toIce(dto::RecordStatusResult& ice, const RecordStatusResult& input);
void fromIce(const dto::RecordStatusResult& ice, RecordStatusResult& input);
/* ===========================
* GetServerStructureResult
* ===========================
struct GetServerStructureResult : public detail::SuccessHeader
{
armem::wm::Memory serverStructure;
static GetServerStructureResult fromIce(const dto::GetServerStructureResult& ice);
dto::GetServerStructureResult toIce() const;
};
void toIce(dto::GetServerStructureResult& ice, const GetServerStructureResult& input);
void fromIce(const dto::GetServerStructureResult& ice, GetServerStructureResult& input);*/
}
source/RobotAPI/libraries/armem/server/plugins/Plugin.cpp
+ 2
− 1
View file @ 337d018b
......@@ -45,7 +45,8 @@ namespace armarx::armem::server::plugins
parent().offeringTopic(memoryTopicName);
ARMARX_TRACE;
longtermMemory.init(workingMemory.id());
longtermMemory.setMemoryID(workingMemory.id());
longtermMemory.init();
}
......
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