From 375552834e936314fb31f8cb508a3caa0b043316 Mon Sep 17 00:00:00 2001
From: phesch <ulila@student.kit.edu>
Date: Thu, 28 Apr 2022 22:07:42 +0200
Subject: [PATCH] Implement improvements to prediction interface
---
.../server/ExampleMemory/ExampleMemory.cpp | 22 +++---
.../RobotAPI/interface/armem/prediction.ice | 12 ++-
.../libraries/armem/client/Prediction.cpp | 37 +++++++--
.../libraries/armem/client/Prediction.h | 21 ++++-
.../libraries/armem/client/Reader.cpp | 79 ++++++++++---------
.../RobotAPI/libraries/armem/client/Reader.h | 2 +-
.../libraries/armem/core/error/ArMemError.cpp | 17 ++++
.../libraries/armem/core/error/ArMemError.h | 12 ++-
.../server/plugins/ReadWritePluginUser.cpp | 7 +-
9 files changed, 143 insertions(+), 66 deletions(-)
diff --git a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
index 15efc34f0..1e8f29802 100644
--- a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
+++ b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
@@ -26,6 +26,7 @@
#include <SimoxUtility/algorithm/string.h>
+#include <RobotAPI/libraries/armem/client/Prediction.h>
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/core/error.h>
#include <RobotAPI/libraries/armem/core/ice_conversions_templates.h>
@@ -226,12 +227,12 @@ namespace armarx
armem::prediction::data::PredictionResult
ExampleMemory::predictSingle(const armem::prediction::data::PredictionRequest& request)
{
- armem::prediction::data::PredictionResult result;
+ armem::client::PredictionResult result;
- std::string engine = request.settings.predictionEngine;
+ std::string engine = request.settings.predictionEngineID;
if (engine.empty() || engine == "Latest")
{
- auto boID = fromIce<armem::MemoryID>(request.memoryID);
+ auto boID = fromIce<armem::MemoryID>(request.snapshotID);
armem::client::QueryBuilder builder;
builder.latestEntitySnapshot(boID);
auto queryResult =
@@ -246,34 +247,35 @@ namespace armarx
? latest->getInstance(boID)
: latest->getInstance(latest->getInstanceIndices().at(0));
result.success = true;
- result.prediction = instance.data()->toAronDictDTO();
+ result.snapshotID = boID;
+ result.prediction = instance.data();
}
else
{
result.success = false;
- result.errorMessage =
- "Could not find entity referenced by MemoryID " + boID.str();
+ result.errorMessage <<
+ "Could not find entity referenced by MemoryID " << boID;
}
}
else
{
result.success = false;
- result.errorMessage = "Could not find entity referenced by MemoryID " + boID.str();
+ result.errorMessage << "Could not find entity referenced by MemoryID " << boID;
}
}
else
{
result.success = false;
- result.errorMessage = "This memory does not support the prediction engine " + engine;
+ result.errorMessage << "This memory does not support the prediction engine \"" << engine << "\"";
}
- return result;
+ return result.toIce();
}
armem::prediction::data::PredictionEngineSeq
ExampleMemory::getAvailableEngines()
{
- return {"Latest"};
+ return {{"Latest"}};
}
// REMOTE GUI
diff --git a/source/RobotAPI/interface/armem/prediction.ice b/source/RobotAPI/interface/armem/prediction.ice
index b4f0efabe..f42535928 100644
--- a/source/RobotAPI/interface/armem/prediction.ice
+++ b/source/RobotAPI/interface/armem/prediction.ice
@@ -11,19 +11,24 @@ module armarx
{
module data
{
- sequence<string> PredictionEngineSeq;
+ // Holds properties of a prediction engine identified by its engineID.
+ struct PredictionEngine
+ {
+ string engineID;
+ }
+ sequence<PredictionEngine> PredictionEngineSeq;
// Settings to use for a given prediction (e.g. which engine to use)
struct PredictionSettings
{
- string predictionEngine = "";
+ string predictionEngineID = "";
};
// A single request for a prediction from a memory.
// The timestamp to request the prediction for is in the MemoryID.
struct PredictionRequest
{
- armem::data::MemoryID memoryID;
+ armem::data::MemoryID snapshotID;
PredictionSettings settings;
}
sequence<PredictionRequest> PredictionRequestSeq;
@@ -35,6 +40,7 @@ module armarx
bool success = false;
string errorMessage;
+ armem::data::MemoryID snapshotID;
aron::data::dto::Dict prediction;
}
sequence<PredictionResult> PredictionResultSeq;
diff --git a/source/RobotAPI/libraries/armem/client/Prediction.cpp b/source/RobotAPI/libraries/armem/client/Prediction.cpp
index fa7429f2c..f58649a45 100644
--- a/source/RobotAPI/libraries/armem/client/Prediction.cpp
+++ b/source/RobotAPI/libraries/armem/client/Prediction.cpp
@@ -28,6 +28,17 @@
namespace armarx::armem::client
{
+ PredictionEngine
+ PredictionEngine::fromIce(const armem::prediction::data::PredictionEngine& ice)
+ {
+ return armarx::fromIce<PredictionEngine>(ice);
+ }
+
+ armem::prediction::data::PredictionEngine
+ PredictionEngine::toIce() const
+ {
+ return armarx::toIce<armem::prediction::data::PredictionEngine>(*this);
+ }
PredictionSettings
PredictionSettings::fromIce(const armem::prediction::data::PredictionSettings& ice)
@@ -65,29 +76,41 @@ namespace armarx::armem::client
return armarx::toIce<armem::prediction::data::PredictionResult>(*this);
}
+ void
+ toIce(armem::prediction::data::PredictionEngine& ice, const PredictionEngine& engine)
+ {
+ ice.engineID = engine.engineID;
+ }
+
+ void
+ fromIce(const armem::prediction::data::PredictionEngine& ice, PredictionEngine& engine)
+ {
+ engine.engineID = ice.engineID;
+ }
+
void
toIce(armem::prediction::data::PredictionSettings& ice, const PredictionSettings& settings)
{
- ice.predictionEngine = settings.predictionEngine;
+ ice.predictionEngineID = settings.predictionEngineID;
}
void
fromIce(const armem::prediction::data::PredictionSettings& ice, PredictionSettings& settings)
{
- settings.predictionEngine = ice.predictionEngine;
+ settings.predictionEngineID = ice.predictionEngineID;
}
void
toIce(armem::prediction::data::PredictionRequest& ice, const PredictionRequest& request)
{
- toIce(ice.memoryID, request.memoryID);
+ toIce(ice.snapshotID, request.snapshotID);
toIce(ice.settings, request.predictionSettings);
}
void
fromIce(const armem::prediction::data::PredictionRequest& ice, PredictionRequest& request)
{
- fromIce(ice.memoryID, request.memoryID);
+ fromIce(ice.snapshotID, request.snapshotID);
fromIce(ice.settings, request.predictionSettings);
}
@@ -95,7 +118,8 @@ namespace armarx::armem::client
toIce(armem::prediction::data::PredictionResult& ice, const PredictionResult& result)
{
ice.success = result.success;
- ice.errorMessage = result.errorMessage;
+ ice.errorMessage = result.errorMessage.str();
+ toIce(ice.snapshotID, result.snapshotID);
ice.prediction = result.prediction->toAronDictDTO();
}
@@ -103,7 +127,8 @@ namespace armarx::armem::client
fromIce(const armem::prediction::data::PredictionResult& ice, PredictionResult& result)
{
result.success = ice.success;
- result.errorMessage = ice.errorMessage;
+ result.errorMessage.str(ice.errorMessage);
+ fromIce(ice.snapshotID, result.snapshotID);
result.prediction = aron::data::Dict::FromAronDictDTO(ice.prediction);
}
diff --git a/source/RobotAPI/libraries/armem/client/Prediction.h b/source/RobotAPI/libraries/armem/client/Prediction.h
index 840891141..a15387585 100644
--- a/source/RobotAPI/libraries/armem/client/Prediction.h
+++ b/source/RobotAPI/libraries/armem/client/Prediction.h
@@ -28,9 +28,18 @@
namespace armarx::armem::client
{
+
+ struct PredictionEngine
+ {
+ std::string engineID;
+
+ static PredictionEngine fromIce(const armem::prediction::data::PredictionEngine& ice);
+ armem::prediction::data::PredictionEngine toIce() const;
+ };
+
struct PredictionSettings
{
- std::string predictionEngine;
+ std::string predictionEngineID;
static PredictionSettings fromIce(const armem::prediction::data::PredictionSettings& ice);
armem::prediction::data::PredictionSettings toIce() const;
@@ -38,7 +47,7 @@ namespace armarx::armem::client
struct PredictionRequest
{
- armem::MemoryID memoryID;
+ armem::MemoryID snapshotID;
PredictionSettings predictionSettings;
static PredictionRequest fromIce(const armem::prediction::data::PredictionRequest& ice);
@@ -48,14 +57,20 @@ namespace armarx::armem::client
struct PredictionResult
{
bool success;
- std::string errorMessage;
+ std::stringstream errorMessage;
+ armem::MemoryID snapshotID;
aron::data::DictPtr prediction;
static PredictionResult fromIce(const armem::prediction::data::PredictionResult& ice);
armem::prediction::data::PredictionResult toIce() const;
};
+ void toIce(armem::prediction::data::PredictionEngine& ice,
+ const PredictionEngine& engine);
+ void fromIce(const armem::prediction::data::PredictionEngine& ice,
+ PredictionEngine& engine);
+
void toIce(armem::prediction::data::PredictionSettings& ice,
const PredictionSettings& settings);
void fromIce(const armem::prediction::data::PredictionSettings& ice,
diff --git a/source/RobotAPI/libraries/armem/client/Reader.cpp b/source/RobotAPI/libraries/armem/client/Reader.cpp
index 0cd573bd4..52be34eb4 100644
--- a/source/RobotAPI/libraries/armem/client/Reader.cpp
+++ b/source/RobotAPI/libraries/armem/client/Reader.cpp
@@ -3,11 +3,11 @@
#include <sstream>
#include <ArmarXCore/core/logging/Logging.h>
+#include <ArmarXCore/core/ice_conversions/ice_conversions_templates.h>
#include <RobotAPI/libraries/armem/aron/MemoryLink.aron.generated.h>
#include <RobotAPI/libraries/armem/core/MemoryID_operators.h>
#include <RobotAPI/libraries/armem/core/aron_conversions.h>
-#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/util/util.h>
#include <RobotAPI/libraries/aron/common/util/object_finders.h>
@@ -37,30 +37,22 @@ namespace armarx::armem::client
armem::query::data::Result
Reader::query(const armem::query::data::Input& input) const
{
- auto makeErrorMsg = [](auto e)
+ armem::query::data::Result result;
+ if (!readingPrx)
{
- std::stringstream ss;
- ss << "Memory query failed.\nReason: " << e.what();
- return ss.str();
- };
+ throw error::ProxyNotSet("ReadingMemoryInterfacePrx",
+ "Reading interface proxy must be set to perform a query.");
+ }
- armem::query::data::Result result;
- ARMARX_CHECK_NOT_NULL(readingPrx);
try
{
result = readingPrx->query(input);
}
- catch (const Ice::ConnectionRefusedException& e)
- {
- result.errorMessage = makeErrorMsg(e);
- }
- catch (const Ice::ConnectionLostException& e)
- {
- result.errorMessage = makeErrorMsg(e);
- }
- catch (const Ice::NotRegisteredException& e)
+ catch (const Ice::LocalException& e)
{
- result.errorMessage = makeErrorMsg(e);
+ std::stringstream sstream;
+ sstream << "Memory query failed.\nReason: " << e.what();
+ result.errorMessage = sstream.str();
}
return result;
}
@@ -99,15 +91,13 @@ namespace armarx::armem::client
armem::client::MemoryNameSystem& mns,
int recursionDepth) const
{
- auto makeErrorMsg = [](auto error)
+ if (!readingPrx)
{
- std::stringstream sstream;
- sstream << "Memory query failed.\nReason: " << error.what();
- return sstream.str();
- };
+ throw error::ProxyNotSet("ReadingMemoryInterfacePrx",
+ "Reading interface proxy must be set to perform a query.");
+ }
armem::query::data::Result result;
- ARMARX_CHECK_NOT_NULL(readingPrx);
try
{
result = readingPrx->query(input);
@@ -117,17 +107,11 @@ namespace armarx::armem::client
{ resolveMemoryLinks(instance, bObj.memory, mns, recursionDepth); });
result = bObj.toIce();
}
- catch (const Ice::ConnectionRefusedException& e)
- {
- result.errorMessage = makeErrorMsg(e);
- }
- catch (const Ice::ConnectionLostException& e)
- {
- result.errorMessage = makeErrorMsg(e);
- }
- catch (const Ice::NotRegisteredException& e)
+ catch (const Ice::LocalException& e)
{
- result.errorMessage = makeErrorMsg(e);
+ std::stringstream sstream;
+ sstream << "Memory query failed.\nReason: " << e.what();
+ result.errorMessage = sstream.str();
}
catch (const exceptions::local::ExpressionException& e)
{
@@ -454,7 +438,12 @@ namespace armarx::armem::client
std::vector<PredictionResult>
Reader::predict(const std::vector<PredictionRequest>& requests) const
{
- ARMARX_CHECK_NOT_NULL(predictionPrx);
+ if (!predictionPrx)
+ {
+ throw error::ProxyNotSet(
+ "PredictingMemoryInterfacePrx",
+ "Prediction interface proxy must be set to request a prediction.");
+ }
armem::prediction::data::PredictionRequestSeq iceRequests;
for (const auto& request : requests)
@@ -490,12 +479,17 @@ namespace armarx::armem::client
return boResults;
}
- std::vector<std::string>
+ std::vector<PredictionEngine>
Reader::getAvailablePredictionEngines() const
{
- ARMARX_CHECK_NOT_NULL(predictionPrx);
+ if (!predictionPrx)
+ {
+ throw error::ProxyNotSet(
+ "PredictingMemoryInterfacePrx",
+ "Prediction interface proxy must be set to request a prediction.");
+ }
- std::vector<std::string> engines;
+ std::vector<armem::prediction::data::PredictionEngine> engines;
try
{
engines = predictionPrx->getAvailableEngines();
@@ -505,6 +499,13 @@ namespace armarx::armem::client
// Just leave engines empty in this case.
}
- return engines;
+ std::vector<PredictionEngine> boEngines;
+ boEngines.reserve(engines.size());
+ for (const auto& engine : engines)
+ {
+ boEngines.push_back(armarx::fromIce<PredictionEngine>(engine));
+ }
+
+ return boEngines;
}
} // namespace armarx::armem::client
diff --git a/source/RobotAPI/libraries/armem/client/Reader.h b/source/RobotAPI/libraries/armem/client/Reader.h
index 2e5825a5e..beb0e53f5 100644
--- a/source/RobotAPI/libraries/armem/client/Reader.h
+++ b/source/RobotAPI/libraries/armem/client/Reader.h
@@ -185,7 +185,7 @@ namespace armarx::armem::client
*
* @return the vector of supported prediction engines
*/
- std::vector<std::string> getAvailablePredictionEngines() const;
+ std::vector<PredictionEngine> getAvailablePredictionEngines() const;
inline operator bool() const
{
diff --git a/source/RobotAPI/libraries/armem/core/error/ArMemError.cpp b/source/RobotAPI/libraries/armem/core/error/ArMemError.cpp
index ac8be17b5..87b687447 100644
--- a/source/RobotAPI/libraries/armem/core/error/ArMemError.cpp
+++ b/source/RobotAPI/libraries/armem/core/error/ArMemError.cpp
@@ -220,4 +220,21 @@ namespace armarx::armem::error
return ss.str();
}
+ ProxyNotSet::ProxyNotSet(const std::string& proxyName, const std::string& message) :
+ ArMemError(makeMsg(proxyName, message))
+ {
+ }
+
+ std::string
+ ProxyNotSet::makeMsg(const std::string& proxyName, const std::string& message)
+ {
+ std::stringstream sstream;
+ sstream << "Proxy \"" << proxyName << "\" not set.";
+ if (!message.empty())
+ {
+ sstream << "\n" << message;
+ }
+ return sstream.str();
+ }
+
} // namespace armarx::armem::error
diff --git a/source/RobotAPI/libraries/armem/core/error/ArMemError.h b/source/RobotAPI/libraries/armem/core/error/ArMemError.h
index 5678ee1a9..6f5be02a2 100644
--- a/source/RobotAPI/libraries/armem/core/error/ArMemError.h
+++ b/source/RobotAPI/libraries/armem/core/error/ArMemError.h
@@ -203,5 +203,15 @@ namespace armarx::armem::error
};
-}
+ /**
+ * @brief Indicates that a proxy required for an operation wasn't usable.
+ */
+ class ProxyNotSet : public ArMemError
+ {
+ public:
+ ProxyNotSet(const std::string& proxyName, const std::string& message = "");
+
+ static std::string makeMsg(const std::string& proxyName, const std::string& message = "");
+ };
+} // namespace armarx::armem::error
diff --git a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp
index 45b08dfd3..115e38311 100644
--- a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp
+++ b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp
@@ -1,6 +1,7 @@
#include "ReadWritePluginUser.h"
#include "Plugin.h"
+#include <RobotAPI/libraries/armem/client/Prediction.h>
#include <RobotAPI/libraries/armem/core/error.h>
#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
@@ -124,11 +125,11 @@ namespace armarx::armem::server::plugins
armem::prediction::data::PredictionResultSeq result;
for (auto request : requests)
{
- armem::prediction::data::PredictionResult singleResult;
+ armem::client::PredictionResult singleResult;
singleResult.success = false;
- singleResult.errorMessage = "This memory does not implement predictions.";
+ singleResult.errorMessage << "This memory does not implement predictions.";
singleResult.prediction = nullptr;
- result.push_back(singleResult);
+ result.push_back(singleResult.toIce());
}
return result;
}
--
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