diff --git a/source/RobotAPI/components/armem/server/GraspMemory/GraspMemory.cpp b/source/RobotAPI/components/armem/server/GraspMemory/GraspMemory.cpp
index 680f19388b0e4846903396ff9e37ea43bbb322e5..deded9bcbcfee433d99146452f9a9425ec7a3797 100644
--- a/source/RobotAPI/components/armem/server/GraspMemory/GraspMemory.cpp
+++ b/source/RobotAPI/components/armem/server/GraspMemory/GraspMemory.cpp
@@ -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));
}
}
}
diff --git a/source/RobotAPI/components/armem/server/GraspMemory/GraspMemory.h b/source/RobotAPI/components/armem/server/GraspMemory/GraspMemory.h
index 00dcaa1f4335a84c1cb8ad97170c334e7d7838be..20e0055141b0d679455c77b290b661da68fdf227 100644
--- a/source/RobotAPI/components/armem/server/GraspMemory/GraspMemory.h
+++ b/source/RobotAPI/components/armem/server/GraspMemory/GraspMemory.h
@@ -64,8 +64,6 @@ namespace armarx::armem::server::grasp
DebugObserverInterfacePrx debugObserver;
- std::string memoryName = "Grasp";
-
// segments
armem::grasping::segment::KnownGraspProviderSegment knownGraspProviderSegment;
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/detail/BufferedMemoryBase.h b/source/RobotAPI/libraries/armem/server/ltm/base/detail/BufferedMemoryBase.h
index f61b4451d54b34b3aa0ddc330462a5ca884577f1..1104da67e9c19488daa3cc4d508a4355095d1704 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/detail/BufferedMemoryBase.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/detail/BufferedMemoryBase.h
@@ -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:
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/detail/MemoryBase.h b/source/RobotAPI/libraries/armem/server/ltm/base/detail/MemoryBase.h
index 97049d88999a24f7ad10c9e41f58792f7e462181..bec7576234c8f6bbc9064745f2d0cdc0f8ef333b 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/detail/MemoryBase.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/detail/MemoryBase.h
@@ -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;
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.cpp b/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.cpp
index 0a85e4ac5c0b019d201fe9c633476f7c45cd81cd..bc71c50fc07094c3b27a914c8d0af55c0d135810 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.cpp
@@ -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)
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.h b/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.h
index 085a56459efd9118d1c9afa4f7bd85f64f6ba38f..e2f8d4f14ea47c4498cb96a0a0098cfb0c040fde 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.h
@@ -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
diff --git a/source/RobotAPI/libraries/armem/server/ltm/io/Recording.h b/source/RobotAPI/libraries/armem/server/ltm/io/Recording.h
index 3d1def0b1c8803f772bf23a8863f62a4adc86704..1bdd4d0586c3bafc7806852868380ecd30692be3 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/io/Recording.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/io/Recording.h
@@ -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);*/
}
diff --git a/source/RobotAPI/libraries/armem/server/plugins/Plugin.cpp b/source/RobotAPI/libraries/armem/server/plugins/Plugin.cpp
index a7ce55ca1fd4a857d8d3bddac0fbf7a0308e2962..a0e13eddbea2173dffcc1db69d9e1ff55c55bc99 100644
--- a/source/RobotAPI/libraries/armem/server/plugins/Plugin.cpp
+++ b/source/RobotAPI/libraries/armem/server/plugins/Plugin.cpp
@@ -45,7 +45,8 @@ namespace armarx::armem::server::plugins
parent().offeringTopic(memoryTopicName);
ARMARX_TRACE;
- longtermMemory.init(workingMemory.id());
+ longtermMemory.setMemoryID(workingMemory.id());
+ longtermMemory.init();
}