From 4bdfbea1fabb3c7abb026240cfa222433e9be00b Mon Sep 17 00:00:00 2001
From: armar-user <armar-user@kit.edu>
Date: Tue, 27 Jul 2021 17:22:41 +0200
Subject: [PATCH] changes to ltm
---
.../RobotStateMemory/RobotStateMemory.cpp | 1 +
.../core/base/detail/MemoryContainerBase.h | 2 +-
.../armem/core/longtermmemory/Memory.cpp | 63 ++++++++++++++++++-
.../armem/core/longtermmemory/Memory.h | 9 +++
.../armem/server/MemoryToIceAdapter.cpp | 2 +-
5 files changed, 73 insertions(+), 4 deletions(-)
diff --git a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
index 2867abe0a..c269bd56e 100644
--- a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
+++ b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
@@ -69,6 +69,7 @@ namespace armarx::armem::server::robot_state
const std::string prefix = "mem.";
workingMemory.name() = "RobotState";
+ longtermMemory.name() = "RobotState";
defs->optional(workingMemory.name(), prefix + "MemoryName", "Name of this memory server.");
const std::string robotUnitPrefix{sensorValuePrefix};
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/MemoryContainerBase.h b/source/RobotAPI/libraries/armem/core/base/detail/MemoryContainerBase.h
index 1a6a21665..518e3f877 100644
--- a/source/RobotAPI/libraries/armem/core/base/detail/MemoryContainerBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/detail/MemoryContainerBase.h
@@ -96,7 +96,7 @@ namespace armarx::armem::base::detail
{
DerivedT d;
this->_copySelfEmpty(d);
- return d;
+ return std::move(d);
}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.cpp
index 570a86158..95ad5af75 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.cpp
@@ -10,6 +10,54 @@
namespace armarx::armem::ltm
{
+ Memory::Memory(const Memory& other) :
+ Base(other),
+ dbsettings(other.dbsettings),
+ alwaysTransferSettings(other.alwaysTransferSettings),
+ periodicTransferSettings(other.periodicTransferSettings),
+ onFullTransferSettings(other.onFullTransferSettings),
+ mongoDBMutex()
+ {
+ // Do not copy _mutex.
+ }
+
+
+ Memory::Memory(Memory&& other) :
+ Base(other),
+ dbsettings(other.dbsettings),
+ alwaysTransferSettings(other.alwaysTransferSettings),
+ periodicTransferSettings(other.periodicTransferSettings),
+ onFullTransferSettings(other.onFullTransferSettings)
+ {
+ // Do not move _mutex.
+ }
+
+
+ Memory& Memory::operator=(const Memory& other)
+ {
+ Base::operator=(other);
+ dbsettings = other.dbsettings;
+ alwaysTransferSettings = other.alwaysTransferSettings;
+ periodicTransferSettings = other.periodicTransferSettings;
+ onFullTransferSettings = other.onFullTransferSettings;
+
+ // Don't copy _mutex.
+ return *this;
+ }
+
+
+ Memory& Memory::operator=(Memory&& other)
+ {
+ Base::operator=(other);
+ dbsettings = std::move(other.dbsettings);
+ alwaysTransferSettings = std::move(other.alwaysTransferSettings);
+ periodicTransferSettings = std::move(other.periodicTransferSettings);
+ onFullTransferSettings = std::move(other.onFullTransferSettings);
+
+ // Don't move _mutex.
+ return *this;
+ }
+
bool Memory::checkConnection() const
{
// Check connection:
@@ -67,22 +115,32 @@ namespace armarx::armem::ltm
return;
}
+ std::scoped_lock l(mongoDBMutex);
ARMARX_INFO << "(Re)Establishing connection to: " << dbsettings.toString();
_container.clear();
ARMARX_TRACE;
mongocxx::client& client = MongoDBConnectionManager::EstablishConnection(dbsettings);
ARMARX_TRACE;
- if (not(bool) client)
+ if (!client)
{
ARMARX_ERROR << "A client has died. Could not reload.";
return;
}
+
+ auto databases = client.list_databases();
+ for (const auto& doc : databases)
+ {
+ nlohmann::json json = nlohmann::json::parse(bsoncxx::to_json(doc));
+ ARMARX_INFO << "Found the database: " << json.at("name");
+ }
+
mongocxx::database db = client[dbsettings.database];
+ ARMARX_INFO << "Getting collection for id: " << id().str();
mongocxx::collection coll = db[id().str()];
mongocxx::cursor cursor = coll.find({});
- for (auto doc : cursor)
+ for (const auto& doc : cursor)
{
nlohmann::json json = nlohmann::json::parse(bsoncxx::to_json(doc));
ARMARX_INFO << "Memory: Found foreign key: " << json.at("foreign_key");
@@ -115,6 +173,7 @@ namespace armarx::armem::ltm
return;
}
+ std::scoped_lock l(mongoDBMutex);
ARMARX_INFO << "Merge memory with name '" << m.name() << "' into the LTM with name '" << name() << "'";
TIMING_START(LTM_Append);
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.h b/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.h
index a11404eca..43b67c82c 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.h
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.h
@@ -55,6 +55,12 @@ namespace armarx::armem::ltm
Mode mode;
};
+
+ Memory(const Memory& other);
+ Memory(Memory&& other);
+ Memory& operator=(const Memory& other);
+ Memory& operator=(Memory&& other);
+
// PropertyDefinitions related to LTM
void defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix = "");
@@ -88,6 +94,9 @@ namespace armarx::armem::ltm
PeriodicTransferSettings periodicTransferSettings;
OnFullTransferSettings onFullTransferSettings;
+ private:
+ mutable std::mutex mongoDBMutex;
+
};
}
diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
index b8634f385..0d6685c45 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
@@ -177,7 +177,7 @@ namespace armarx::armem::server
{
if (longtermMemory->alwaysTransferSettings.enabled)
{
- wm::Memory tmp("tmp");
+ wm::Memory tmp(longtermMemory->name());
tmp.update(update);
longtermMemory->append(tmp);
}
--
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