From 3ccdae49b54ca1d6e82425cbea633a743df57098 Mon Sep 17 00:00:00 2001
From: joana <uhfpm@student.kit.edu>
Date: Thu, 9 Nov 2023 11:56:43 +0100
Subject: [PATCH] only record one LTM instance again and include date prefix
for export-path
---
.../armem/server/MemoryToIceAdapter.cpp | 15 ++++----
.../armem/server/MemoryToIceAdapter.h | 2 +-
.../libraries/armem/server/ltm/Memory.cpp | 22 +++++++++++-
.../libraries/armem/server/ltm/Memory.h | 3 ++
.../armem/server/ltm/detail/MemoryBase.h | 7 ++++
.../armem/server/ltm/detail/MemoryItem.h | 6 ++--
.../ltm/detail/mixins/DiskStorageMixin.cpp | 10 +++++-
.../ltm/detail/mixins/DiskStorageMixin.h | 1 +
.../libraries/armem/server/plugins/Plugin.cpp | 36 +++++++++++++------
.../libraries/armem/server/plugins/Plugin.h | 3 +-
10 files changed, 82 insertions(+), 23 deletions(-)
diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
index d9c6a40aa..a6a2f0d8b 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
@@ -36,6 +36,7 @@ namespace armarx::armem::server
void MemoryToIceAdapter::addSecondLTM(ltm::Memory *longtermMemory)
{
std::string name = longtermMemory->getExportName();
+ /*
if(name.find("MemoryExport2") != std::string::npos){
this->secondLTM = longtermMemory;
ARMARX_INFO << "added second longterm Memory";
@@ -66,7 +67,7 @@ namespace armarx::armem::server
} else if (name.find("MemoryExport11") != std::string::npos){
this->eleventhLTM = longtermMemory;
ARMARX_INFO << "added LTM 11";
- } /*else if (name.find("MemoryExport12") != std::string::npos){
+ } else if (name.find("MemoryExport12") != std::string::npos){
this->twelvethLTM = longtermMemory;
ARMARX_INFO << "added LTM 12";
} else if (name.find("MemoryExport13") != std::string::npos){
@@ -81,12 +82,13 @@ namespace armarx::armem::server
} else if (name.find("MemoryExport16") != std::string::npos){
this->sixteenthLTM = longtermMemory;
ARMARX_INFO << "added LTM 16";
- } */else {
+ } else {
ARMARX_WARNING << "trying to add a LTM to the MemoryToIceAdapter with an export name "
"that does not correspond to a predefined LTM. Currently supported "
"LTMs are MemoryExport2, MemoryExport3, MemoryExport4, MemoryExport5 to 16. "
"You tried to add " << name;
}
+ */
}
@@ -261,7 +263,7 @@ namespace armarx::armem::server
longtermMemory->store(m);
}
-
+ /*
if(secondLTM->isRecording()){
armem::wm::Memory mem(secondLTM->name());
armem::wm::toMemory(mem, updateResult.removedSnapshots);
@@ -331,7 +333,7 @@ namespace armarx::armem::server
eleventhLTM->store(mem);
}
- /*
+
if(twelvethLTM->isRecording()){
armem::wm::Memory mem(twelvethLTM->name());
@@ -526,6 +528,7 @@ namespace armarx::armem::server
ARMARX_IMPORTANT << "Enabling the recording of memory " << longtermMemory->id().str();
std::vector<armarx::armem::server::ltm::Memory*> ltms;
ltms.push_back(longtermMemory);
+ /*
ltms.push_back(secondLTM);
ltms.push_back(thirdLTM);
ltms.push_back(fourthLTM);
@@ -536,7 +539,7 @@ namespace armarx::armem::server
ltms.push_back(ninthLTM);
ltms.push_back(tenthLTM);
ltms.push_back(eleventhLTM);
- /*
+
ltms.push_back(twelvethLTM);
ltms.push_back(thirteenthLTM);
ltms.push_back(fourteenthLTM);
@@ -564,6 +567,7 @@ namespace armarx::armem::server
//all LTMs will be disabled:
std::vector<armarx::armem::server::ltm::Memory*> ltms;
ltms.push_back(longtermMemory);
+ /*
ltms.push_back(secondLTM);
ltms.push_back(thirdLTM);
ltms.push_back(fourthLTM);
@@ -574,7 +578,6 @@ namespace armarx::armem::server
ltms.push_back(ninthLTM);
ltms.push_back(tenthLTM);
ltms.push_back(eleventhLTM);
- /*
ltms.push_back(twelvethLTM);
ltms.push_back(thirteenthLTM);
ltms.push_back(fourteenthLTM);
diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h
index 8185bea42..73e1dd6b6 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h
@@ -64,6 +64,7 @@ namespace armarx::armem::server
public:
server::wm::Memory* workingMemory;
server::ltm::Memory* longtermMemory;
+ /*
server::ltm::Memory* secondLTM;
server::ltm::Memory* thirdLTM;
server::ltm::Memory* fourthLTM;
@@ -74,7 +75,6 @@ namespace armarx::armem::server
server::ltm::Memory* ninthLTM;
server::ltm::Memory* tenthLTM;
server::ltm::Memory* eleventhLTM;
- /*
server::ltm::Memory* twelvethLTM;
server::ltm::Memory* thirteenthLTM;
server::ltm::Memory* fourteenthLTM;
diff --git a/source/RobotAPI/libraries/armem/server/ltm/Memory.cpp b/source/RobotAPI/libraries/armem/server/ltm/Memory.cpp
index 5f007c028..40c933521 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/Memory.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/Memory.cpp
@@ -18,8 +18,27 @@ namespace armarx::armem::server::ltm
MongoDBStorageMixin::configureMixin(json);
}
- Memory::Memory() : Memory(std::filesystem::path("/tmp"), {}, "MemoryExport", "Test")
+ Memory::Memory() : Memory(std::filesystem::path("/tmp/ARMARX/LTM_Exports"), {}, "MemoryExport", "Test")
{
+ //set path to include date of creation as prefix:
+ this->current_date = std::chrono::system_clock::to_time_t(std::chrono::system_clock::now());
+ std::tm* localTime = std::localtime(&this->current_date);
+
+ // convert current time into string:
+ std::stringstream ss;
+ ss << std::put_time(localTime, "%Y_%m_%d");
+ std::string dateString = ss.str();
+
+ // change memory base path to include current date (date of memory creation)
+ std::filesystem::path current_base_path = this->getMemoryBasePath();
+ this->setMemoryBasePath(current_base_path.append(dateString));
+
+ //inform user about change:
+ ARMARX_DEBUG << "Changed memory base path to include current date of "
+ << dateString
+ << " to "
+ << this->getMemoryBasePath()
+ ;
}
Memory::Memory(const detail::mixin::Path& p,
@@ -42,6 +61,7 @@ namespace armarx::armem::server::ltm
MongoDBStorageMixin(s, exportName, MemoryID(memoryName, ""))
{
ARMARX_INFO << "Creating a new memory at " << p.string() << " and " << exportName;
+
}
void
diff --git a/source/RobotAPI/libraries/armem/server/ltm/Memory.h b/source/RobotAPI/libraries/armem/server/ltm/Memory.h
index 30e1929dd..effbee317 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/Memory.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/Memory.h
@@ -52,5 +52,8 @@ namespace armarx::armem::server::ltm
void _resolve(armem::wm::Memory&) final;
void _store(const armem::wm::Memory&) final;
void _directlyStore(const armem::wm::Memory&) final;
+
+ private:
+ std::time_t current_date;
};
} // namespace armarx::armem::server::ltm
diff --git a/source/RobotAPI/libraries/armem/server/ltm/detail/MemoryBase.h b/source/RobotAPI/libraries/armem/server/ltm/detail/MemoryBase.h
index 377d94984..0719a427b 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/detail/MemoryBase.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/detail/MemoryBase.h
@@ -190,6 +190,11 @@ namespace armarx::armem::server::ltm::detail
{
defs->optional(p.enabled_on_startup, prefix + "enabled");
defs->optional(p.configuration_on_startup, prefix + "configuration");
+ defs->optional(p.export_name, prefix + "exportName");
+ defs->optional(p.export_path, prefix + "exportPath");
+
+ ARMARX_INFO << "Setting property definitions";
+ _setExportName(p.export_name);
}
/// enable/disable
@@ -277,6 +282,8 @@ namespace armarx::armem::server::ltm::detail
std::string configuration_on_startup =
"{ \"SnapshotFrequencyFilter\": {\"WaitingTimeInMsForFilter\" : 3000}"
"}";
+ std::string export_name ="MemoryExportMB";
+ std::string export_path = "/tmp";
} p;
protected:
diff --git a/source/RobotAPI/libraries/armem/server/ltm/detail/MemoryItem.h b/source/RobotAPI/libraries/armem/server/ltm/detail/MemoryItem.h
index bf212bb37..821f131bb 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/detail/MemoryItem.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/detail/MemoryItem.h
@@ -23,12 +23,12 @@ namespace armarx::armem::server::ltm::detail
void setMemoryID(const MemoryID&);
void setMemoryName(const std::string& memoryName);
- std::string
- getExportName() const
+ virtual std::string getExportName() const
{
return exportName;
}
+
MemoryID
getMemoryID() const
{
@@ -54,7 +54,7 @@ namespace armarx::armem::server::ltm::detail
std::shared_ptr<Processors> processors;
private:
- std::string exportName = "MemoryExport";
+ std::string exportName = "MemoryExportMI";
MemoryID _id;
};
} // namespace armarx::armem::server::ltm::detail
diff --git a/source/RobotAPI/libraries/armem/server/ltm/detail/mixins/DiskStorageMixin.cpp b/source/RobotAPI/libraries/armem/server/ltm/detail/mixins/DiskStorageMixin.cpp
index baed67a4c..647c9025b 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/detail/mixins/DiskStorageMixin.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/detail/mixins/DiskStorageMixin.cpp
@@ -21,7 +21,7 @@ namespace armarx::armem::server::ltm::detail::mixin
const armem::MemoryID& id) :
memoryBasePath(memoryParentPath), exportName(exportName), _id(id)
{
- //ARMARX_INFO << "creating DiskMemoryItemMixin";
+ //ARMARX_INFO << "creating DiskMemoryItemMixin with name " << exportName;
//ARMARX_INFO << VAROUT(_id);
}
@@ -34,6 +34,7 @@ namespace armarx::armem::server::ltm::detail::mixin
void
DiskMemoryItemMixin::setMixinExportName(const std::string& n)
{
+ //ARMARX_INFO << "Currently setting export name to: " << n;
exportName = n;
}
@@ -71,6 +72,13 @@ namespace armarx::armem::server::ltm::detail::mixin
return util::fs::toPath(p, cleanID);
}
+ /*
+ std::string DiskMemoryItemMixin::getExportName() const
+ {
+ return exportName;
+ }
+ **/
+
bool
DiskMemoryItemMixin::memoryBasePathExists() const
{
diff --git a/source/RobotAPI/libraries/armem/server/ltm/detail/mixins/DiskStorageMixin.h b/source/RobotAPI/libraries/armem/server/ltm/detail/mixins/DiskStorageMixin.h
index b9550d411..fc87e06c0 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/detail/mixins/DiskStorageMixin.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/detail/mixins/DiskStorageMixin.h
@@ -27,6 +27,7 @@ namespace armarx::armem::server::ltm::detail::mixin
Path getMemoryBasePath() const;
Path getFullPath() const;
+ //std::string getExportName() const;
// Filesystem interaction
bool memoryBasePathExists() const;
diff --git a/source/RobotAPI/libraries/armem/server/plugins/Plugin.cpp b/source/RobotAPI/libraries/armem/server/plugins/Plugin.cpp
index bdb594c02..a3bb52a64 100644
--- a/source/RobotAPI/libraries/armem/server/plugins/Plugin.cpp
+++ b/source/RobotAPI/libraries/armem/server/plugins/Plugin.cpp
@@ -42,6 +42,7 @@ namespace armarx::armem::server::plugins
properties->optional(
workingMemory.name(), prefix + "MemoryName", "Name of this memory server.");
}
+ /*
// stuff for ltm
this->iceAdapter.addSecondLTM(&secondLTM);
@@ -54,7 +55,7 @@ namespace armarx::armem::server::plugins
this->iceAdapter.addSecondLTM(&ninthLTM);
this->iceAdapter.addSecondLTM(&tenthLTM);
this->iceAdapter.addSecondLTM(&eleventhLTM);
- /*
+
this->iceAdapter.addSecondLTM(&twelvethLTM);
this->iceAdapter.addSecondLTM(&thirteenthLTM);
this->iceAdapter.addSecondLTM(&fourteenthLTM);
@@ -64,6 +65,7 @@ namespace armarx::armem::server::plugins
longtermMemory.createPropertyDefinitions(properties, prefix + "ltm.");
+ /*
secondLTM.createPropertyDefinitions(properties, prefix + "ltm2.");
thirdLTM.createPropertyDefinitions(properties, prefix + "ltm3.");
fourthLTM.createPropertyDefinitions(properties, prefix + "ltm4.");
@@ -74,7 +76,7 @@ namespace armarx::armem::server::plugins
ninthLTM.createPropertyDefinitions(properties, prefix + "ltm9.");
tenthLTM.createPropertyDefinitions(properties, prefix + "ltm10.");
eleventhLTM.createPropertyDefinitions(properties, prefix + "ltm11.");
- /*
+
twelvethLTM.createPropertyDefinitions(properties, prefix + "ltm12.");
thirteenthLTM.createPropertyDefinitions(properties, prefix + "ltm13.");
fourteenthLTM.createPropertyDefinitions(properties, prefix + "ltm14.");
@@ -82,6 +84,8 @@ namespace armarx::armem::server::plugins
sixteenthLTM.createPropertyDefinitions(properties, prefix + "ltm16.");
*/
+
+
}
void
@@ -96,12 +100,14 @@ namespace armarx::armem::server::plugins
void
Plugin::postOnInitComponent()
{
+ /*
ARMARX_INFO << VAROUT(secondLTM.p.configuration_on_startup);
ARMARX_INFO << VAROUT(longtermMemory.p.configuration_on_startup);
ARMARX_INFO << VAROUT(thirdLTM.p.configuration_on_startup);
ARMARX_INFO << VAROUT(fourthLTM.p.configuration_on_startup);
ARMARX_INFO << VAROUT(fiftLTM.p.configuration_on_startup);
ARMARX_INFO << VAROUT(tenthLTM.p.configuration_on_startup);
+ */
Component& parent = this->parent<Component>();
// activate LTM
@@ -109,6 +115,7 @@ namespace armarx::armem::server::plugins
if (not workingMemory.id().memoryName.empty())
{
longtermMemory.setMemoryID(workingMemory.id());
+ /*
secondLTM.setMemoryID(MemoryID(workingMemory.id().memoryName));
thirdLTM.setMemoryID(MemoryID(workingMemory.id().memoryName));
fourthLTM.setMemoryID(MemoryID(workingMemory.id().memoryName));
@@ -119,7 +126,7 @@ namespace armarx::armem::server::plugins
ninthLTM.setMemoryID(MemoryID(workingMemory.id().memoryName));
tenthLTM.setMemoryID(MemoryID(workingMemory.id().memoryName));
eleventhLTM.setMemoryID(MemoryID(workingMemory.id().memoryName));
- /*
+
twelvethLTM.setMemoryID(MemoryID(workingMemory.id().memoryName));
thirteenthLTM.setMemoryID(MemoryID(workingMemory.id().memoryName));
fourteenthLTM.setMemoryID(MemoryID(workingMemory.id().memoryName));
@@ -130,6 +137,7 @@ namespace armarx::armem::server::plugins
else
{
longtermMemory.setMemoryID(MemoryID(parent.getDefaultName(), ""));
+ /*
secondLTM.setMemoryID(MemoryID(parent.getDefaultName(), ""));
thirdLTM.setMemoryID(MemoryID(parent.getDefaultName(), ""));
fourthLTM.setMemoryID(MemoryID(parent.getDefaultName(), ""));
@@ -140,7 +148,7 @@ namespace armarx::armem::server::plugins
ninthLTM.setMemoryID(MemoryID(parent.getDefaultName(), ""));
tenthLTM.setMemoryID(MemoryID(parent.getDefaultName(), ""));
eleventhLTM.setMemoryID(MemoryID(parent.getDefaultName(), ""));
- /*
+
twelvethLTM.setMemoryID(MemoryID(parent.getDefaultName(), ""));
thirteenthLTM.setMemoryID(MemoryID(parent.getDefaultName(), ""));
fourteenthLTM.setMemoryID(MemoryID(parent.getDefaultName(), ""));
@@ -149,6 +157,7 @@ namespace armarx::armem::server::plugins
*/
}
longtermMemory.configure();
+ /*
secondLTM.configure();
thirdLTM.configure();
fourthLTM.configure();
@@ -159,7 +168,7 @@ namespace armarx::armem::server::plugins
ninthLTM.configure();
tenthLTM.configure();
eleventhLTM.configure();
- /*
+
twelvethLTM.configure();
thirteenthLTM.configure();
fourteenthLTM.configure();
@@ -167,6 +176,9 @@ namespace armarx::armem::server::plugins
sixteenthLTM.configure();
*/
+
+ //ARMARX_INFO << VAROUT(longtermMemory.p);
+
initialized = true;
}
@@ -184,6 +196,7 @@ namespace armarx::armem::server::plugins
iceAdapter.setMemoryListener(memoryTopic);
connected = true;
+ ARMARX_INFO << "Export Name: " << longtermMemory.getExportName(); //TODO: remove after testing
}
void
@@ -192,6 +205,7 @@ namespace armarx::armem::server::plugins
ARMARX_INFO << "Preparing to save statistics for " << this->workingMemory.name();
try{
auto first_stats = longtermMemory.getFilterStatistics();
+ /*
auto stats = secondLTM.getFilterStatistics();
auto thirdStats = thirdLTM.getFilterStatistics();
auto fourthStats = fourthLTM.getFilterStatistics();
@@ -202,7 +216,7 @@ namespace armarx::armem::server::plugins
auto stats9 = ninthLTM.getFilterStatistics();
auto stats10 = tenthLTM.getFilterStatistics();
auto stats11 = eleventhLTM.getFilterStatistics();
- /*
+
auto stats12 = twelvethLTM.getFilterStatistics();
auto stats13 = thirteenthLTM.getFilterStatistics();
auto stats14 = fourteenthLTM.getFilterStatistics();
@@ -213,6 +227,7 @@ namespace armarx::armem::server::plugins
std::map<std::string, armarx::core::time::DateTime> times;
times["Started LTM1"] = longtermMemory.getStatistics().firstStarted;
times["Stopped LTM1"] = longtermMemory.getStatistics().firstStopped;
+ /*
times["Started LTM2"] = secondLTM.getStatistics().firstStarted;
times["Stopped LTM2"] = secondLTM.getStatistics().firstStopped;
times["Started LTM3"] = thirdLTM.getStatistics().firstStarted;
@@ -233,7 +248,7 @@ namespace armarx::armem::server::plugins
times["Stopped LTM10"] = tenthLTM.getStatistics().firstStopped;
times["Started LTM11"] = eleventhLTM.getStatistics().firstStarted;
times["Stopped LTM11"] = eleventhLTM.getStatistics().firstStopped;
- /*
+
times["Started LTM12"] = twelvethLTM.getStatistics().firstStarted;
times["Stopped LTM12"] = twelvethLTM.getStatistics().firstStopped;
times["Started LTM13"] = thirteenthLTM.getStatistics().firstStarted;
@@ -246,7 +261,8 @@ namespace armarx::armem::server::plugins
times["Stopped LTM16"] = sixteenthLTM.getStatistics().firstStopped;
*/
std::map<std::string, std::map<std::string, ltm::processor::SnapshotFilter::FilterStatistics>> information;
- information["LTM1"] = first_stats;
+ information["LTM"] = first_stats;
+ /*
if(stats.size() > 0){
information["LTM2"] = stats;
}
@@ -277,7 +293,7 @@ namespace armarx::armem::server::plugins
if(stats11.size() > 0){
information["LTM11"] = stats11;
}
- /*
+
if(stats12.size() > 0){
information["LTM12"] = stats12;
}
@@ -295,7 +311,7 @@ namespace armarx::armem::server::plugins
}
*/
- test::save_statistics(information, times, secondLTM.name());
+ //test::save_statistics(information, times, secondLTM.name());
} catch(...){
ARMARX_INFO << "Something went wrong after getting the statistics";
}
diff --git a/source/RobotAPI/libraries/armem/server/plugins/Plugin.h b/source/RobotAPI/libraries/armem/server/plugins/Plugin.h
index 10c3a73ee..2037cb44e 100644
--- a/source/RobotAPI/libraries/armem/server/plugins/Plugin.h
+++ b/source/RobotAPI/libraries/armem/server/plugins/Plugin.h
@@ -79,6 +79,7 @@ namespace armarx::armem::server::plugins
/// A manager class for the ltm. It internally holds a normal wm instance as a cache.
server::ltm::Memory longtermMemory;
+ /*
server::ltm::Memory secondLTM = server::ltm::Memory(std::filesystem::path("/tmp"), {}, "MemoryExport2", "LTM2");
server::ltm::Memory thirdLTM = server::ltm::Memory(std::filesystem::path("/tmp"), {}, "MemoryExport3", "LTM3");
server::ltm::Memory fourthLTM = server::ltm::Memory(std::filesystem::path("/tmp"), {}, "MemoryExport4", "LTM4");
@@ -89,7 +90,7 @@ namespace armarx::armem::server::plugins
server::ltm::Memory ninthLTM = server::ltm::Memory(std::filesystem::path("/tmp"), {}, "MemoryExport9", "LTM9");
server::ltm::Memory tenthLTM = server::ltm::Memory(std::filesystem::path("/tmp"), {}, "MemoryExport10", "LTM10");
server::ltm::Memory eleventhLTM = server::ltm::Memory(std::filesystem::path("/tmp"), {}, "MemoryExport11", "LTM11");
- /*
+
server::ltm::Memory twelvethLTM = server::ltm::Memory(std::filesystem::path("/tmp"), {}, "MemoryExport12", "LTM12");
server::ltm::Memory thirteenthLTM = server::ltm::Memory(std::filesystem::path("/tmp"), {}, "MemoryExport13", "LTM13");
server::ltm::Memory fourteenthLTM = server::ltm::Memory(std::filesystem::path("/tmp"), {}, "MemoryExport14", "LTM14");
--
GitLab