From 463c9578aaa8f4066c06950e797e5d660c9d16af Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Mon, 10 May 2021 08:25:37 +0200
Subject: [PATCH] Revert "armem_objects: attachments segment (first draft)"
This reverts commit 0bf60a5dafe4bee15314bc7ea09d9d185ab66785.
---
.../server/attachments/Segment.cpp | 127 ------------------
1 file changed, 127 deletions(-)
delete mode 100644 source/RobotAPI/libraries/armem_objects/server/attachments/Segment.cpp
diff --git a/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.cpp
deleted file mode 100644
index 9dcea186b..000000000
--- a/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.cpp
+++ /dev/null
@@ -1,127 +0,0 @@
-#include "Segment.h"
-
-#include <sstream>
-
-#include <ArmarXCore/core/time/TimeUtil.h>
-#include "ArmarXCore/core/logging/Logging.h"
-
-#include "RobotAPI/libraries/aron/common/aron_conversions.h"
-
-#include <RobotAPI/libraries/armem/core/aron_conversions.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/Visitor.h>
-#include "RobotAPI/libraries/armem/core/MemoryID.h"
-#include <RobotAPI/libraries/armem/client/Writer.h>
-#include <RobotAPI/libraries/armem/client/query/Builder.h>
-#include <RobotAPI/libraries/armem/client/query/query_fns.h>
-#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
-
-#include <RobotAPI/libraries/armem_objects/aron/Robot.aron.generated.h>
-#include <RobotAPI/libraries/armem_objects/aron_conversions.h>
-#include "RobotAPI/libraries/armem_objects/articulated_object_conversions.h"
-
-
-namespace armarx::armem::server::obj::attachments
-{
-
- Segment::Segment(armem::server::MemoryToIceAdapter& memoryToIceAdapter, std::mutex& memoryMutex) :
- iceMemory(memoryToIceAdapter),
- memoryMutex(memoryMutex)
- {
- Logging::setTag("Attachments");
- }
-
- Segment::~Segment() = default;
-
- void Segment::defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix)
- {
- defs->optional(p.coreClassSegmentName, prefix + "CoreSegmentName", "Name of the object instance core segment.");
- defs->optional(p.maxHistorySize, prefix + "MaxHistorySize", "Maximal size of object poses history (-1 for infinite).");
- }
-
- void Segment::init()
- {
- ARMARX_CHECK_NOT_NULL(iceMemory.workingMemory);
-
- coreSegment = &iceMemory.workingMemory->addCoreSegment(p.coreClassSegmentName, arondto::Robot::toInitialAronType());
- coreSegment->setMaxHistorySize(p.maxHistorySize);
- }
-
- void Segment::connect(viz::Client arviz)
- {
- // this->visu = std::make_unique<Visu>(arviz, *this);
- }
-
-
- std::unordered_map<armem::MemoryID, ::armarx::armem::articulated_object::ArticulatedObjectDescription> Segment::getKnownObjectClasses() const
- {
- std::unordered_map<armem::MemoryID, ::armarx::armem::articulated_object::ArticulatedObjectDescription> objects;
-
- for (const auto& [_, provSeg] : iceMemory.workingMemory->getCoreSegment(p.coreClassSegmentName))
- {
- for (const auto& [name, entity] : provSeg.entities())
- {
- const auto& entityInstance = entity.getLatestSnapshot().getInstance(0);
- const auto description = articulated_object::convertRobotDescription(entityInstance);
-
- if (not description)
- {
- ARMARX_WARNING << "Could not convert entity instance to 'RobotDescription'";
- continue;
- }
-
- ARMARX_DEBUG << "Key is " << armem::MemoryID(entity.id());
-
- objects.emplace(armem::MemoryID(entity.id()), *description);
- }
- }
-
- ARMARX_INFO << deactivateSpam(10) << "Number of known articulated object classes: " << objects.size();
-
- return objects;
- }
-
-
-
- // void Segment::RemoteGui::setup(const Segment& data)
- // {
- // using namespace armarx::RemoteGui::Client;
-
- // maxHistorySize.setValue(std::max(1, int(data.p.maxHistorySize)));
- // maxHistorySize.setRange(1, 1e6);
- // infiniteHistory.setValue(data.p.maxHistorySize == -1);
- // discardSnapshotsWhileAttached.setValue(data.p.discardSnapshotsWhileAttached);
-
- // GridLayout grid;
- // int row = 0;
- // grid.add(Label("Max History Size"), {row, 0}).add(maxHistorySize, {row, 1});
- // row++;
- // grid.add(Label("Infinite History Size"), {row, 0}).add(infiniteHistory, {row, 1});
- // row++;
- // grid.add(Label("Discard Snapshots while Attached"), {row, 0}).add(discardSnapshotsWhileAttached, {row, 1});
- // row++;
-
- // group.setLabel("Data");
- // group.addChild(grid);
- // }
-
- // void Segment::RemoteGui::update(Segment& data)
- // {
- // if (infiniteHistory.hasValueChanged() || maxHistorySize.hasValueChanged()
- // || discardSnapshotsWhileAttached.hasValueChanged())
- // {
- // std::scoped_lock lock(data.memoryMutex);
-
- // if (infiniteHistory.hasValueChanged() || maxHistorySize.hasValueChanged())
- // {
- // data.p.maxHistorySize = infiniteHistory.getValue() ? -1 : maxHistorySize.getValue();
- // if (data.coreSegment)
- // {
- // data.coreSegment->setMaxHistorySize(long(data.p.maxHistorySize));
- // }
- // }
-
- // data.p.discardSnapshotsWhileAttached = discardSnapshotsWhileAttached.getValue();
- // }
- // }
-
-} // namespace armarx::armem::server::obj::articulated_object_class
--
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