From 385dafe2d0f0d9ab012189fb9e93f8cc65577aa6 Mon Sep 17 00:00:00 2001
From: phesch <ulila@student.kit.edu>
Date: Mon, 23 May 2022 19:54:53 +0200
Subject: [PATCH] Make Reader return BO types for prediction engines
---
.../armem/server/PredictingMemoryInterface.ice | 2 +-
source/RobotAPI/libraries/armem/client/Reader.cpp | 12 ++++--------
source/RobotAPI/libraries/armem/client/Reader.h | 5 ++---
3 files changed, 7 insertions(+), 12 deletions(-)
diff --git a/source/RobotAPI/interface/armem/server/PredictingMemoryInterface.ice b/source/RobotAPI/interface/armem/server/PredictingMemoryInterface.ice
index ead5ad03b..aeae37458 100644
--- a/source/RobotAPI/interface/armem/server/PredictingMemoryInterface.ice
+++ b/source/RobotAPI/interface/armem/server/PredictingMemoryInterface.ice
@@ -18,7 +18,7 @@ module armarx
predict(prediction::data::PredictionRequestSeq requests);
/* Get a map from memory segments to the prediction engines they support.
- * Best used with the armem::core::PrefixMap to easily retrieve
+ * Best used with the container_map operations to easily retrieve
* the available engine selection for fully evaluated MemoryIDs.
*/
prediction::data::EngineSupportMap getAvailableEngines();
diff --git a/source/RobotAPI/libraries/armem/client/Reader.cpp b/source/RobotAPI/libraries/armem/client/Reader.cpp
index ce2d0cfcf..9fb03536b 100644
--- a/source/RobotAPI/libraries/armem/client/Reader.cpp
+++ b/source/RobotAPI/libraries/armem/client/Reader.cpp
@@ -479,7 +479,7 @@ namespace armarx::armem::client
return boResults;
}
- armem::prediction::data::EngineSupportMap
+ std::map<MemoryID, std::vector<PredictionEngine>>
Reader::getAvailablePredictionEngines() const
{
if (!predictionPrx)
@@ -499,13 +499,9 @@ namespace armarx::armem::client
// Just leave engines empty in this case.
}
- //std::vector<PredictionEngine> boEngines;
- //boEngines.reserve(engines.size());
- //for (const auto& engine : engines)
- //{
- // boEngines.push_back(armarx::fromIce<PredictionEngine>(engine));
- //}
+ std::map<MemoryID, std::vector<PredictionEngine>> boMap;
+ armarx::fromIce(engines, boMap);
- return engines;
+ return boMap;
}
} // namespace armarx::armem::client
diff --git a/source/RobotAPI/libraries/armem/client/Reader.h b/source/RobotAPI/libraries/armem/client/Reader.h
index 34b3ce320..02e1442ef 100644
--- a/source/RobotAPI/libraries/armem/client/Reader.h
+++ b/source/RobotAPI/libraries/armem/client/Reader.h
@@ -178,15 +178,14 @@ namespace armarx::armem::client
*/
std::vector<PredictionResult> predict(const std::vector<PredictionRequest>& requests) const;
- //TODO(phesch): Fix this interface with the proper type
/**
* @brief Get the list of prediction engines supported by the memory.
*
* The `predictionPrx` must not be null when calling this function.
*
- * @return the vector of supported prediction engines
+ * @return a map from memory containers to their supported engines
*/
- armem::prediction::data::EngineSupportMap getAvailablePredictionEngines() const;
+ std::map<MemoryID, std::vector<PredictionEngine>> getAvailablePredictionEngines() const;
inline operator bool() const
{
--
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