diff --git a/source/RobotAPI/libraries/armem/core/error/ArMemError.cpp b/source/RobotAPI/libraries/armem/core/error/ArMemError.cpp
index 003ef9fb5496b92814ad68cd9904987498460c46..fe96801cd8b5c58d19fe01aa73e02d0e0b3cb867 100644
--- a/source/RobotAPI/libraries/armem/core/error/ArMemError.cpp
+++ b/source/RobotAPI/libraries/armem/core/error/ArMemError.cpp
@@ -16,12 +16,17 @@ namespace armarx::armem::error
}
- InvalidArgument::InvalidArgument(const std::string& argument, const std::string& function, const std::string& message) :
+ InvalidArgument::InvalidArgument(const std::string& argument,
+ const std::string& function,
+ const std::string& message) :
ArMemError(makeMsg(argument, function, message))
{
}
- std::string InvalidArgument::makeMsg(const std::string& argument, const std::string& function, const std::string& message)
+ std::string
+ InvalidArgument::makeMsg(const std::string& argument,
+ const std::string& function,
+ const std::string& message)
{
std::stringstream ss;
ss << "Invalid value for argument '" << argument << "' in function " << function << "()";
@@ -38,24 +43,37 @@ namespace armarx::armem::error
ContainerNameMismatch::ContainerNameMismatch(const std::string& gottenName,
- const std::string& ownTerm, const std::string& containerName) :
+ const std::string& ownTerm,
+ const std::string& containerName) :
ArMemError(makeMsg(gottenName, ownTerm, containerName))
- {}
+ {
+ }
- std::string ContainerNameMismatch::makeMsg(const std::string& gottenName, const std::string& containerTerm, const std::string& containerName)
+ std::string
+ ContainerNameMismatch::makeMsg(const std::string& gottenName,
+ const std::string& containerTerm,
+ const std::string& containerName)
{
std::stringstream ss;
- ss << "Name '" << gottenName << "' does not match name of " << containerTerm << " '" << containerName << "'.";
+ ss << "Name '" << gottenName << "' does not match name of " << containerTerm << " '"
+ << containerName << "'.";
return ss.str();
}
- ContainerEntryAlreadyExists::ContainerEntryAlreadyExists(const std::string& existingTerm, const std::string& existingName, const std::string& ownTerm, const std::string& ownName) :
+ ContainerEntryAlreadyExists::ContainerEntryAlreadyExists(const std::string& existingTerm,
+ const std::string& existingName,
+ const std::string& ownTerm,
+ const std::string& ownName) :
ArMemError(makeMsg(existingTerm, existingName, ownTerm, ownName))
{
}
- std::string ContainerEntryAlreadyExists::makeMsg(const std::string& existingTerm, const std::string& existingName, const std::string& ownTerm, const std::string& ownName)
+ std::string
+ ContainerEntryAlreadyExists::makeMsg(const std::string& existingTerm,
+ const std::string& existingName,
+ const std::string& ownTerm,
+ const std::string& ownName)
{
std::stringstream ss;
ss << simox::alg::capitalize_words(existingTerm) << " with name '" << existingName << "' "
@@ -64,16 +82,21 @@ namespace armarx::armem::error
}
- MissingEntry::MissingEntry(const std::string& missingTerm, const std::string& missingName,
- const std::string& containerTerm, const std::string& containerName,
+ MissingEntry::MissingEntry(const std::string& missingTerm,
+ const std::string& missingName,
+ const std::string& containerTerm,
+ const std::string& containerName,
size_t size) :
ArMemError(makeMsg(missingTerm, missingName, containerTerm, containerName, size))
{
}
- std::string MissingEntry::makeMsg(const std::string& missingTerm, const std::string& missingName,
- const std::string& containerTerm, const std::string& containerName,
- size_t size)
+ std::string
+ MissingEntry::makeMsg(const std::string& missingTerm,
+ const std::string& missingName,
+ const std::string& containerTerm,
+ const std::string& containerName,
+ size_t size)
{
std::stringstream ss;
ss << "No " << missingTerm << " with name '" << missingName << "' "
@@ -82,15 +105,19 @@ namespace armarx::armem::error
}
-
- MissingData::MissingData(const std::string& missingTerm, const std::string& missingName,
- const std::string& ownTerm, const std::string& ownName) :
+ MissingData::MissingData(const std::string& missingTerm,
+ const std::string& missingName,
+ const std::string& ownTerm,
+ const std::string& ownName) :
ArMemError(makeMsg(missingTerm, missingName, ownTerm, ownName))
{
}
- std::string MissingData::makeMsg(const std::string& missingTerm, const std::string& missingName,
- const std::string& ownTerm, const std::string& ownName)
+ std::string
+ MissingData::makeMsg(const std::string& missingTerm,
+ const std::string& missingName,
+ const std::string& ownTerm,
+ const std::string& ownName)
{
std::stringstream ss;
ss << "No " << missingTerm << " data at '" << missingName << "' "
@@ -104,7 +131,8 @@ namespace armarx::armem::error
{
}
- std::string ParseIntegerError::makeMsg(std::string string, std::string semanticName)
+ std::string
+ ParseIntegerError::makeMsg(std::string string, std::string semanticName)
{
std::stringstream ss;
ss << "Failed to parse " << semanticName << " '" << string << "' as integer.";
@@ -112,13 +140,13 @@ namespace armarx::armem::error
}
-
InvalidMemoryID::InvalidMemoryID(const MemoryID& id, const std::string& message) :
ArMemError(makeMsg(id, message))
{
}
- std::string InvalidMemoryID::makeMsg(const MemoryID& id, const std::string& message)
+ std::string
+ InvalidMemoryID::makeMsg(const MemoryID& id, const std::string& message)
{
std::stringstream ss;
ss << "Invalid memory ID " << id << ": " << message;
@@ -126,13 +154,14 @@ namespace armarx::armem::error
}
-
- EntityHistoryEmpty::EntityHistoryEmpty(const std::string& entityName, const std::string& message) :
+ EntityHistoryEmpty::EntityHistoryEmpty(const std::string& entityName,
+ const std::string& message) :
ArMemError(makeMsg(entityName, message))
{
}
- std::string EntityHistoryEmpty::makeMsg(const std::string& entityName, const std::string& message)
+ std::string
+ EntityHistoryEmpty::makeMsg(const std::string& entityName, const std::string& message)
{
std::stringstream ss;
ss << "History of entity '" << entityName << "' is empty";
@@ -148,13 +177,13 @@ namespace armarx::armem::error
}
-
UnknownQueryType::UnknownQueryType(const std::string& term, const std::string& typeName) :
ArMemError(makeMsg(term, typeName))
{
}
- std::string UnknownQueryType::makeMsg(const std::string& term, const std::string& typeName)
+ std::string
+ UnknownQueryType::makeMsg(const std::string& term, const std::string& typeName)
{
std::stringstream ss;
ss << "Unknown " << term << " query type '" << typeName << "'.";
@@ -162,64 +191,22 @@ namespace armarx::armem::error
}
- PathNotARegularFile::PathNotARegularFile(const std::string& path, const std::string& message) :
- ArMemError(makeMsg(path, message))
- {
- }
-
- std::string PathNotARegularFile::makeMsg(const std::string& path, const std::string& message)
- {
- std::stringstream ss;
- ss << "The path '" << path << "' is not a regular file. Expecting a regular file there.";
- if (message.size() > 0)
- {
- ss << " " << message;
- }
- else
- {
- ss << ".";
- }
- return ss.str();
- }
-
- PathNotADirectory::PathNotADirectory(const std::string& path, const std::string& message) :
- ArMemError(makeMsg(path, message))
- {
- }
-
- std::string PathNotADirectory::makeMsg(const std::string& path, const std::string& message)
+ IOError::IOError(const std::string& path, const std::string& message) :
+ ArMemError(makeMsg(path, message)), path(path)
{
- std::stringstream ss;
- ss << "The path '" << path << "' is not a directory. Expecting a directory there.";
- if (message.size() > 0)
- {
- ss << " " << message;
- }
- else
- {
- ss << ".";
- }
- return ss.str();
}
- PathDoesNotExist::PathDoesNotExist(const std::string& path, const std::string& message) :
- ArMemError(makeMsg(path, message))
- {
- }
- std::string PathDoesNotExist::makeMsg(const std::string& path, const std::string& message)
+ std::string
+ IOError::makeMsg(const std::string& path, const std::string& message)
{
std::stringstream ss;
- ss << "The path '" << path << "' does not exist. Expecting a valid path.";
+ ss << "IOError on path \"" << path << "\".";
if (message.size() > 0)
{
- ss << " " << message;
- }
- else
- {
- ss << ".";
+ ss << "\n" << message;
}
return ss.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 219d489fad038da1098d724bddd9e2bc74b0a5d7..eb41318810e4f3512693ad71dce25f91282ec7b8 100644
--- a/source/RobotAPI/libraries/armem/core/error/ArMemError.h
+++ b/source/RobotAPI/libraries/armem/core/error/ArMemError.h
@@ -173,43 +173,22 @@ namespace armarx::armem::error
};
- /**
- * @brief Indicates that a path does not point to a directory.
- */
- class PathNotADirectory : public ArMemError
- {
- public:
-
- PathNotADirectory(const std::string& path, const std::string& message = "");
-
- static std::string makeMsg(const std::string& path, const std::string& message = "");
-
- };
/**
- * @brief Indicates that a path does not point to a regular file.
+ * @brief Indicates that something went wrong when accessing the filesystem.
*/
- class PathNotARegularFile : public ArMemError
+ class IOError : public ArMemError
{
public:
- PathNotARegularFile(const std::string& path, const std::string& message = "");
+ IOError(const std::string& path, const std::string& message = "");
static std::string makeMsg(const std::string& path, const std::string& message = "");
- };
- /**
- * @brief Indicates that a path does not exist.
- */
- class PathDoesNotExist : public ArMemError
- {
- public:
-
- PathDoesNotExist(const std::string& path, const std::string& message = "");
-
- static std::string makeMsg(const std::string& path, const std::string& message = "");
+ std::string path;
};
+
}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/LongtermMemoryBase.cpp b/source/RobotAPI/libraries/armem/server/ltm/LongtermMemoryBase.cpp
index 2e8c64d64121eccc007cad7ba2d55c2e361b94e2..53e6f0169ab5ccb459ff730d67651836e78d5ec1 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/LongtermMemoryBase.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/LongtermMemoryBase.cpp
@@ -1,20 +1,23 @@
-// Header
#include "LongtermMemoryBase.h"
-// ArmarX
-#include <ArmarXCore/core/time/TimeUtil.h>
#include <ArmarXCore/core/logging/Logging.h>
+#include <ArmarXCore/core/time/TimeUtil.h>
+
+#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
namespace armarx::armem::server::ltm
{
- void LongtermMemoryBase::setName(const std::string& name)
+ void
+ LongtermMemoryBase::setName(const std::string& name)
{
cache.name() = name;
lut.name() = name;
}
- armem::wm::Memory LongtermMemoryBase::getCacheAndLutNotConverted() const
+
+ armem::wm::Memory
+ LongtermMemoryBase::getCacheAndLutNotConverted() const
{
std::lock_guard l(cache_mutex);
std::lock_guard l2(lut_mutex);
@@ -32,23 +35,43 @@ namespace armarx::armem::server::ltm
return m;
}
- void LongtermMemoryBase::append(const armem::wm::Memory& m)
+
+ template <class ...Args>
+ void LongtermMemoryBase::_append(const armem::base::MemoryBase<Args...>& memory)
{
TIMING_START(LTM_Append);
- ARMARX_INFO << "Append memory with name '" << m.name() << "' into the LTM with name '" << cache.name() << "'";
+ ARMARX_INFO << "Append memory with name '" << memory.name() << "' into the LTM with name '"
+ << cache.name() << "'";
std::lock_guard l(cache_mutex);
- cache.append(m);
+ cache.append(memory);
encodeAndStore();
TIMING_END(LTM_Append);
}
- void LongtermMemoryBase::checkUpdateLatestSnapshot(const armem::wm::EntitySnapshot& newSnapshot)
+
+ void
+ LongtermMemoryBase::append(const armem::wm::Memory& memory)
+ {
+ this->_append(memory);
+ }
+
+
+ void
+ LongtermMemoryBase::append(const armem::server::wm::Memory& memory)
+ {
+ this->_append(memory);
+ }
+
+
+ void
+ LongtermMemoryBase::checkUpdateLatestSnapshot(const armem::wm::EntitySnapshot& newSnapshot)
{
// update map of latestSnapshots
- if (auto it = latestSnapshots.find(newSnapshot.id().getEntityID().str()); it != latestSnapshots.end())
+ if (auto it = latestSnapshots.find(newSnapshot.id().getEntityID().str());
+ it != latestSnapshots.end())
{
auto ptr = it->second;
if (ptr->id().timestamp > newSnapshot.id().timestamp)
@@ -64,7 +87,9 @@ namespace armarx::armem::server::ltm
}
}
- bool LongtermMemoryBase::containsCoreSegment(const MemoryID& coreSegmentID) const
+
+ bool
+ LongtermMemoryBase::containsCoreSegment(const MemoryID& coreSegmentID) const
{
//ARMARX_INFO << "Check if lut has core seg";
if (lut.hasCoreSegment(coreSegmentID.coreSegmentName))
@@ -75,7 +100,9 @@ namespace armarx::armem::server::ltm
return false;
}
- bool LongtermMemoryBase::containsProviderSegment(const MemoryID& providerSegmentID) const
+
+ bool
+ LongtermMemoryBase::containsProviderSegment(const MemoryID& providerSegmentID) const
{
//ARMARX_INFO << "Check if lut has prov seg";
if (lut.hasCoreSegment(providerSegmentID.coreSegmentName))
@@ -90,7 +117,9 @@ namespace armarx::armem::server::ltm
return false;
}
- bool LongtermMemoryBase::containsEntity(const MemoryID& entityID) const
+
+ bool
+ LongtermMemoryBase::containsEntity(const MemoryID& entityID) const
{
//ARMARX_INFO << "Check if lut has entity";
if (lut.hasCoreSegment(entityID.coreSegmentName))
@@ -109,7 +138,9 @@ namespace armarx::armem::server::ltm
return false;
}
- bool LongtermMemoryBase::containsSnapshot(const MemoryID& snapshotID) const
+
+ bool
+ LongtermMemoryBase::containsSnapshot(const MemoryID& snapshotID) const
{
//ARMARX_INFO << "Check if lut has snapshot";
if (lut.hasCoreSegment(snapshotID.coreSegmentName))
@@ -131,4 +162,5 @@ namespace armarx::armem::server::ltm
}
return false;
}
-}
+
+} // namespace armarx::armem::server::ltm
diff --git a/source/RobotAPI/libraries/armem/server/ltm/LongtermMemoryBase.h b/source/RobotAPI/libraries/armem/server/ltm/LongtermMemoryBase.h
index 097f951548cc777fa03cedbc5f425e867439cd48..463c4c37998bd95ce4ec81f2e92eb0c937e2dc7c 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/LongtermMemoryBase.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/LongtermMemoryBase.h
@@ -1,11 +1,14 @@
#pragma once
-// STD / STL
-#include <optional>
+#include <map>
#include <mutex>
+#include <optional>
+#include <string>
+
+#include <RobotAPI/libraries/armem/core/MemoryID.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
+#include <RobotAPI/libraries/armem/server/forward_declarations.h>
-// Memory
-#include "../../core/wm/memory_definitions.h"
namespace armarx::armem::server::ltm
{
@@ -26,10 +29,10 @@ namespace armarx::armem::server::ltm
struct ReloadResult
{
-
};
- void append(const armem::wm::Memory&);
+ void append(const armem::wm::Memory& memory);
+ void append(const armem::server::wm::Memory& memory);
virtual void reload() = 0;
virtual void convert(armem::wm::Memory&) = 0;
@@ -61,5 +64,11 @@ namespace armarx::armem::server::ltm
/// A map from entityID to its latest snapshot stored. When adding a new snapshot we compare it to the last one stored.
std::map<std::string, const armem::wm::EntitySnapshot*> latestSnapshots;
+
+ private:
+
+ template <class ...Args>
+ void _append(const armem::base::MemoryBase<Args...>& memory);
+
};
-}
+} // namespace armarx::armem::server::ltm
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/MemoryManager.h b/source/RobotAPI/libraries/armem/server/ltm/disk/MemoryManager.h
index 227d419119e3889006a3f0f30a4789e3b9e76dfe..e9eeffb05667a7e4feeb9c638abea41be02201cd 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/MemoryManager.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/MemoryManager.h
@@ -1,18 +1,16 @@
#pragma once
-// STD / STL
+#include <filesystem>
#include <mutex>
#include <optional>
-#include <filesystem>
-// Base Class
-#include "../LongtermMemoryBase.h"
+#include <RobotAPI/libraries/armem/server/ltm/LongtermMemoryBase.h>
+
namespace armarx::armem::server::ltm::disk
{
/// @brief A memory storing data in mongodb (needs 'armarx memory start' to start the mongod instance)
- class MemoryManager :
- public LongtermMemoryBase
+ class MemoryManager : public LongtermMemoryBase
{
using Base = LongtermMemoryBase;
@@ -23,14 +21,13 @@ namespace armarx::armem::server::ltm::disk
void convert(armem::wm::Memory&) override;
void encodeAndStore() override;
- void setBasePath(const std::filesystem::path& p)
+ void
+ setBasePath(const std::filesystem::path& p)
{
basePathToMemory = p;
}
protected:
-
-
private:
bool checkPath() const;
@@ -41,4 +38,5 @@ namespace armarx::armem::server::ltm::disk
static const constexpr char* TYPE_FILENAME = "type.aron.ltm.json";
static const constexpr char* DATA_FILENAME = "data.aron.ltm.json";
};
-}
+
+} // namespace armarx::armem::server::ltm::disk
diff --git a/source/RobotAPI/libraries/armem_gui/disk/ControlWidget.cpp b/source/RobotAPI/libraries/armem_gui/disk/ControlWidget.cpp
index e361438099e5e2a34b80d5f64f810a23fb3270d2..166256ba2e20bc72b560f481069b4fb9a927a825 100644
--- a/source/RobotAPI/libraries/armem_gui/disk/ControlWidget.cpp
+++ b/source/RobotAPI/libraries/armem_gui/disk/ControlWidget.cpp
@@ -1,6 +1,7 @@
#include "ControlWidget.h"
#include <RobotAPI/libraries/armem/server/ltm/disk/MemoryManager.h>
+#include <RobotAPI/libraries/armem/server/ltm/disk/operations.h>
#include <RobotAPI/libraries/armem/server/query_proc/ltm.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
@@ -148,18 +149,9 @@ namespace armarx::armem::gui::disk
{
if (dir.is_directory())
{
- const std::string key = dir.path().filename();
- armem::server::ltm::disk::MemoryManager manager;
- manager.setName(key);
- manager.setBasePath(path / key);
-
- manager.reload();
-
- armem::server::query_proc::ltm::MemoryQueryProcessor ltm_processor;
- armem::wm::Memory query_res = ltm_processor.process(queryIce, manager.getCacheAndLutNotConverted());
-
- manager.convert(query_res);
- memoryData[key] = std::move(query_res);
+ std::string memoryName = dir.path().filename();
+ armem::wm::Memory memory = armem::server::ltm::disk::load(dir.path());
+ memoryData[memoryName] = std::move(memory);
numLoaded++;
}