diff --git a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
index 036d27d2bf49f7d5ac9f84e940bf7e1e88b033b1..3678ecd55d64e033e03c1e5f7400db875054cc87 100644
--- a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
+++ b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
@@ -34,6 +34,7 @@
#include <RobotAPI/libraries/armem/client/query/query_fns.h>
#include <RobotAPI/libraries/armem/core/error.h>
#include <RobotAPI/libraries/armem/core/aron_conversions.h>
+#include <RobotAPI/libraries/armem/core/operations.h>
#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
#include <RobotAPI/components/armem/server/ExampleMemory/aron/ExampleData.aron.generated.h>
@@ -257,7 +258,6 @@ namespace armarx
armem::client::QueryResult qResult = memoryReader.query(builder.buildQueryInput());
ARMARX_INFO << qResult;
-
if (qResult.success)
{
ARMARX_IMPORTANT << "Getting entity via ID";
@@ -266,7 +266,8 @@ namespace armarx
ARMARX_CHECK_GREATER_EQUAL(memory.size(), 1);
const armem::wm::Entity* entity = memory.findEntity(entityID);
- ARMARX_CHECK_NOT_NULL(entity);
+ ARMARX_CHECK_NOT_NULL(entity)
+ << "Entity " << entityID << " was not found in " << armem::print(memory);
ARMARX_CHECK_GREATER_EQUAL(entity->size(), 1);
const armem::wm::EntitySnapshot& snapshot = entity->getLatestSnapshot();
diff --git a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
index e007e8f5e3ad47c57f9bb71c75e517d57af1addf..879809064b9cdb1429b49925e54ba5765cb534cf 100644
--- a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
+++ b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
@@ -60,8 +60,7 @@ namespace armarx
void ExampleMemory::onInitComponent()
{
- workingMemory.name() = p.memoryName;
- longtermMemory.name() = p.memoryName;
+ this->setMemoryName(p.memoryName);
// Usually, the memory server will specify a number of core segments with a specific aron type.
workingMemory.addCoreSegment("ExampleData", armem::example::ExampleData::toAronType());
@@ -70,7 +69,11 @@ namespace armarx
bool trim = true;
p.core.defaultCoreSegments = simox::alg::split(p.core._defaultSegmentsStr, ",", trim);
p.core._defaultSegmentsStr.clear();
- workingMemory.addCoreSegments(p.core.defaultCoreSegments);
+
+ for (const std::string& name : p.core.defaultCoreSegments)
+ {
+ workingMemory.addCoreSegment(name);
+ }
}
void ExampleMemory::onConnectComponent()
diff --git a/source/RobotAPI/components/armem/server/MotionMemory/MotionMemory.cpp b/source/RobotAPI/components/armem/server/MotionMemory/MotionMemory.cpp
index 350810558ce9d2200e61bda865dd1633da15c128..15253dffb3eb8c7e49c114d2a7659627cd797071 100644
--- a/source/RobotAPI/components/armem/server/MotionMemory/MotionMemory.cpp
+++ b/source/RobotAPI/components/armem/server/MotionMemory/MotionMemory.cpp
@@ -55,8 +55,7 @@ namespace armarx
void MotionMemory::onInitComponent()
{
- workingMemory.name() = memoryName;
- longtermMemory.name() = memoryName;
+ this->setMemoryName(memoryName);
mdbMotions.onInit();
}
diff --git a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
index 4dde0d39cfc4d248188e9af772af470914c73290..582cf20586d119f1ef232cb32c706bbd1eef1e4e 100644
--- a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
+++ b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
@@ -68,8 +68,7 @@ namespace armarx::armem::server::robot_state
const std::string prefix = "mem.";
- workingMemory.name() = "RobotState";
- longtermMemory.name() = "RobotState";
+ this->setMemoryName("RobotState");
defs->optional(workingMemory.name(), prefix + "MemoryName", "Name of this memory server.");
const std::string robotUnitPrefix{sensorValuePrefix};
diff --git a/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidget.ui b/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidget.ui
index 819331b5f27f58c036bb867e8a17dda8a0c8b977..58bead75ff15f27b039c50e712c1406f83e2fa32 100644
--- a/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidget.ui
+++ b/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidget.ui
@@ -34,7 +34,7 @@
</layout>
</item>
<item>
- <layout class="QHBoxLayout" name="ltmControlWidgetLayout">
+ <layout class="QHBoxLayout" name="diskControlWidgetLayout">
<property name="spacing">
<number>6</number>
</property>
diff --git a/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidgetController.cpp b/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidgetController.cpp
index 83d1d8743a3b6ed0ebfeca5c704c96334b22108a..780dec62f846b619ca75b683eae884593237a2f1 100644
--- a/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidgetController.cpp
@@ -43,7 +43,6 @@ namespace armarx
viewer = std::make_unique<MemoryViewer>(
widget.updateWidgetLayout,
- widget.ltmControlWidgetLayout,
widget.memoryGroupBox,
widget.treesLayout,
@@ -51,6 +50,8 @@ namespace armarx
widget.instanceGroupBox,
widget.treesLayout,
+ widget.diskControlWidgetLayout,
+
widget.statusLabel
);
viewer->setLogTag(getName());
diff --git a/source/RobotAPI/interface/armem/server/LoadingMemoryInterface.ice b/source/RobotAPI/interface/armem/server/LoadingMemoryInterface.ice
index bb1e7f221856b4505184fdeb380683c6f8cb917b..68a3ff2ef6fc06114eaff88dcb3e0393002b1160 100644
--- a/source/RobotAPI/interface/armem/server/LoadingMemoryInterface.ice
+++ b/source/RobotAPI/interface/armem/server/LoadingMemoryInterface.ice
@@ -11,7 +11,7 @@ module armarx
{
interface LoadingMemoryInterface
{
- armem::query::data::Result load(armem::query::data::Input query);
+
};
};
};
diff --git a/source/RobotAPI/libraries/armem/CMakeLists.txt b/source/RobotAPI/libraries/armem/CMakeLists.txt
index b08141a6ef60148532ce3f1097eafacb6ae384b9..1050253cf3728945f245c1a6496b749cc0b0d7c9 100644
--- a/source/RobotAPI/libraries/armem/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem/CMakeLists.txt
@@ -17,6 +17,9 @@ set(LIBS
ArmarXCoreInterfaces ArmarXCore
RemoteGui
aron
+
+ # Needed for LTM
+ RobotAPI::aron::converter::json
${LIBMONGOCXX_LIBRARIES}
${LIBBSONCXX_LIBRARIES}
)
@@ -34,9 +37,9 @@ set(LIB_FILES
core/base/detail/MemoryItem.cpp
core/base/detail/MemoryContainerBase.cpp
- core/base/detail/EntityContainerBase.cpp
core/base/detail/AronTyped.cpp
core/base/detail/iteration_mixins.cpp
+ core/base/detail/lookup_mixins.cpp
core/base/detail/negative_index_semantics.cpp
# core/base/CoreSegmentBase.cpp
@@ -48,28 +51,12 @@ set(LIB_FILES
core/base/ice_conversions.cpp
core/wm/memory_definitions.cpp
- core/wm/ice_conversions.cpp
- core/wm/json_conversions.cpp
core/wm/aron_conversions.cpp
+ core/wm/ice_conversions.cpp
+ core/wm/detail/data_lookup_mixins.cpp
core/wm/visitor/Visitor.cpp
core/wm/visitor/FunctionalVisitor.cpp
- core/longtermmemory/CoreSegment.cpp
- core/longtermmemory/Entity.cpp
- core/longtermmemory/EntityInstance.cpp
- core/longtermmemory/EntitySnapshot.cpp
- core/longtermmemory/Memory.cpp
- core/longtermmemory/ProviderSegment.cpp
- core/longtermmemory/mongodb/MongoDBConnectionManager.cpp
-
- core/diskmemory/TypeIO.cpp
- core/diskmemory/CoreSegment.cpp
- core/diskmemory/Entity.cpp
- core/diskmemory/EntityInstance.cpp
- core/diskmemory/EntitySnapshot.cpp
- core/diskmemory/Memory.cpp
- core/diskmemory/ProviderSegment.cpp
-
core/error/ArMemError.cpp
core/error/mns.cpp
@@ -94,6 +81,11 @@ set(LIB_FILES
server/MemoryRemoteGui.cpp
server/RemoteGuiAronDataVisitor.cpp
+ server/ltm/LongtermMemoryBase.cpp
+ server/ltm/disk/MemoryManager.cpp
+ server/ltm/mongodb/MemoryManager.cpp
+ server/ltm/mongodb/ConnectionManager.cpp
+
server/wm/memory_definitions.cpp
server/wm/ice_conversions.cpp
server/wm/detail/MaxHistorySize.cpp
@@ -107,7 +99,6 @@ set(LIB_FILES
server/query_proc/base/CoreSegmentQueryProcessorBase.cpp
server/query_proc/base/MemoryQueryProcessorBase.cpp
- server/query_proc/diskmemory.cpp
server/query_proc/ltm.cpp
server/query_proc/wm.cpp
@@ -129,8 +120,8 @@ set(LIB_HEADERS
core/SuccessHeader.h
core/Time.h
core/aron_conversions.h
- core/json_conversions.h
core/ice_conversions.h
+ core/json_conversions.h
core/ice_conversions_boost_templates.h
core/ice_conversions_templates.h
@@ -140,9 +131,10 @@ set(LIB_HEADERS
core/base/detail/MemoryItem.h
core/base/detail/MemoryContainerBase.h
- core/base/detail/EntityContainerBase.h
core/base/detail/AronTyped.h
+ core/base/detail/derived.h
core/base/detail/iteration_mixins.h
+ core/base/detail/lookup_mixins.h
core/base/detail/negative_index_semantics.h
core/base/CoreSegmentBase.h
@@ -157,29 +149,10 @@ set(LIB_HEADERS
core/wm/memory_definitions.h
core/wm/aron_conversions.h
core/wm/ice_conversions.h
- core/wm/json_conversions.h
+ core/wm/detail/data_lookup_mixins.h
core/wm/visitor/Visitor.h
core/wm/visitor/FunctionalVisitor.h
- core/longtermmemory/CoreSegment.h
- core/longtermmemory/Entity.h
- core/longtermmemory/EntityInstance.h
- core/longtermmemory/EntitySnapshot.h
- core/longtermmemory/Memory.h
- core/longtermmemory/ProviderSegment.h
- core/longtermmemory/mongodb/MongoDBConnectionManager.h
-
- core/diskmemory/TypeIO.h
- core/diskmemory/CoreSegment.h
- core/diskmemory/Entity.h
- core/diskmemory/EntityInstance.h
- core/diskmemory/EntitySnapshot.h
- core/diskmemory/Memory.h
- core/diskmemory/ProviderSegment.h
-
- core/ice_conversions_templates.h
- core/ice_conversions.h
-
client.h
client/ComponentPlugin.h
client/MemoryNameSystem.h
@@ -209,6 +182,11 @@ set(LIB_HEADERS
server/MemoryRemoteGui.h
server/RemoteGuiAronDataVisitor.h
+ server/ltm/LongtermMemoryBase.h
+ server/ltm/disk/MemoryManager.h
+ server/ltm/mongodb/MemoryManager.h
+ server/ltm/mongodb/ConnectionManager.h
+
server/wm/memory_definitions.h
server/wm/ice_conversions.h
server/wm/detail/MaxHistorySize.h
@@ -225,7 +203,6 @@ set(LIB_HEADERS
server/query_proc/base/CoreSegmentQueryProcessorBase.h
server/query_proc/base/MemoryQueryProcessorBase.h
- server/query_proc/diskmemory.h
server/query_proc/ltm.h
server/query_proc/wm.h
diff --git a/source/RobotAPI/libraries/armem/client/MemoryNameSystem.cpp b/source/RobotAPI/libraries/armem/client/MemoryNameSystem.cpp
index 4395b55fd45e6bdb019ee1285fbc5cc3dac648f9..cbacda1eb33a06e8ce202e2716f61adf4e53b1f6 100644
--- a/source/RobotAPI/libraries/armem/client/MemoryNameSystem.cpp
+++ b/source/RobotAPI/libraries/armem/client/MemoryNameSystem.cpp
@@ -272,11 +272,11 @@ namespace armarx::armem::client
{
if (id.hasInstanceIndex())
{
- result[id] = queryResult.memory.getEntityInstance(id);
+ result[id] = queryResult.memory.getInstance(id);
}
else if (id.hasTimestamp())
{
- result[id] = queryResult.memory.getEntitySnapshot(id).getInstance(0);
+ result[id] = queryResult.memory.getSnapshot(id).getInstance(0);
}
else if (id.hasEntityName())
{
diff --git a/source/RobotAPI/libraries/armem/client/Reader.cpp b/source/RobotAPI/libraries/armem/client/Reader.cpp
index 1f0e2ee51717e011de75f9fad4dd9c2c598ada88..2662f86e0d7f36827f9d5cff67f963ac29613de9 100644
--- a/source/RobotAPI/libraries/armem/client/Reader.cpp
+++ b/source/RobotAPI/libraries/armem/client/Reader.cpp
@@ -5,7 +5,6 @@
#include <ArmarXCore/core/logging/Logging.h>
#include <RobotAPI/libraries/armem/core/MemoryID_operators.h>
-#include <RobotAPI/libraries/armem/core/longtermmemory/Memory.h>
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
#include <RobotAPI/libraries/armem/util/util.h>
@@ -116,7 +115,7 @@ namespace armarx::armem::client
{
try
{
- wm::EntitySnapshot& snapshot = result.memory.getEntitySnapshot(snapshotID);
+ wm::EntitySnapshot& snapshot = result.memory.getSnapshot(snapshotID);
return snapshot;
}
catch (const armem::error::ArMemError&)
diff --git a/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.cpp b/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.cpp
index 3ac9f7438408460c157f7484d313ef0d6a3808a6..c2e4d5ed6df5c3e12c0d3e2ada0b93c91e232133 100644
--- a/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.cpp
@@ -45,16 +45,4 @@ namespace armarx::armem::client
memoryReader.setReadingMemory(memory);
}
-
- armem::data::WaitForMemoryResult ReaderComponentPluginUser::useMemoryServer(const std::string& memoryName)
- {
- armem::data::WaitForMemoryResult result;
- result.proxy = memoryNameSystem.useServer(memoryName);
- if (result.proxy)
- {
- setReadingMemoryServer(result.proxy);
- }
- return result;
- }
-
}
diff --git a/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.h b/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.h
index c0139e609e830e2c07517837f6cc3d48aff434db..059c5f93d5e8d872ecdc9bff86593db2c3de1163 100644
--- a/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.h
+++ b/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.h
@@ -50,10 +50,6 @@ namespace armarx::armem::client
ReaderComponentPluginUser();
~ReaderComponentPluginUser() override;
- [[deprecated("Use memoryNameSystem member instead of function inherited by ReaderComponentPluginUser.")]]
- virtual armem::data::WaitForMemoryResult useMemoryServer(const std::string& memoryName) override;
- using MemoryNameSystemComponentPluginUser::useMemoryServer;
-
protected:
diff --git a/source/RobotAPI/libraries/armem/core/Commit.cpp b/source/RobotAPI/libraries/armem/core/Commit.cpp
index fed012450b059f50159c659217694c160e8f636a..db5f1b630e84ff276901f3321dd2a3fbbccc0442 100644
--- a/source/RobotAPI/libraries/armem/core/Commit.cpp
+++ b/source/RobotAPI/libraries/armem/core/Commit.cpp
@@ -14,7 +14,7 @@ namespace armarx::armem
{
return os << "Entity update: "
<< "\n- success: \t" << rhs.entityID
- << "\n- timestamp: \t" << rhs.timeCreated
+ << "\n- timestamp: \t" << toDateTimeMilliSeconds(rhs.timeCreated)
<< "\n- #instances: \t" << rhs.instancesData.size()
<< "\n"
;
@@ -25,7 +25,7 @@ namespace armarx::armem
return os << "Entity update result: "
<< "\n- success: \t" << (rhs.success ? "true" : "false")
<< "\n- snapshotID: \t" << rhs.snapshotID
- << "\n- time arrived: \t" << rhs.timeArrived.toDateTime()
+ << "\n- time arrived: \t" << toDateTimeMilliSeconds(rhs.timeArrived)
<< "\n- error message: \t" << rhs.errorMessage
<< "\n"
;
diff --git a/source/RobotAPI/libraries/armem/core/MemoryID.cpp b/source/RobotAPI/libraries/armem/core/MemoryID.cpp
index f8d7c832401a4ebf335347c67745c1ce82af4e03..f3b8c662ddef099b18dc09e03a81f21bd7de2bde 100644
--- a/source/RobotAPI/libraries/armem/core/MemoryID.cpp
+++ b/source/RobotAPI/libraries/armem/core/MemoryID.cpp
@@ -245,6 +245,31 @@ namespace armarx::armem
return id;
}
+ MemoryID MemoryID::removeLeafItem() const
+ {
+ if (instanceIndex != -1)
+ {
+ return getEntitySnapshotID();
+ }
+ if (timestamp != Time::microSeconds(-1))
+ {
+ return getEntityID();
+ }
+ if (!entityName.empty())
+ {
+ return getProviderSegmentID();
+ }
+ if (!providerSegmentName.empty())
+ {
+ return getCoreSegmentID();
+ }
+ if (!coreSegmentName.empty())
+ {
+ return getMemoryID();
+ }
+ return {}; // return empty if already empty. Client needs to check (Avoids using optional as additional include)
+ }
+
void MemoryID::setMemoryID(const MemoryID& id)
{
memoryName = id.memoryName;
diff --git a/source/RobotAPI/libraries/armem/core/MemoryID.h b/source/RobotAPI/libraries/armem/core/MemoryID.h
index f9d3d5b58ca4670a8abb4333e417a9a2109843ae..d583e752258d69e8271e30be2a2d091493aa18cc 100644
--- a/source/RobotAPI/libraries/armem/core/MemoryID.h
+++ b/source/RobotAPI/libraries/armem/core/MemoryID.h
@@ -138,7 +138,11 @@ namespace armarx::armem
MemoryID getEntitySnapshotID() const;
MemoryID getEntityInstanceID() const;
- // Slice setters: Set upper part of the ID.
+ // Slice getter: remove the last set name
+ MemoryID removeLeafItem() const;
+
+
+ // Slice setters: Set part of the ID.
void setMemoryID(const MemoryID& id);
void setCoreSegmentID(const MemoryID& id);
diff --git a/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h b/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h
index 0de79cccd0af6a85dd396b8891e91c572ee24fb2..f4d0b530f43afcfa7f7aeba95389bdb8a5371918 100644
--- a/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h
@@ -5,8 +5,9 @@
#include "ProviderSegmentBase.h"
#include "detail/AronTyped.h"
-#include "detail/EntityContainerBase.h"
+#include "detail/MemoryContainerBase.h"
#include "detail/iteration_mixins.h"
+#include "detail/lookup_mixins.h"
namespace armarx::armem::base
@@ -17,13 +18,16 @@ namespace armarx::armem::base
*/
template <class _ProviderSegmentT, class _Derived>
class CoreSegmentBase :
- public detail::EntityContainerBase<_ProviderSegmentT, typename _ProviderSegmentT::EntityT, _Derived>,
- public detail::AronTyped,
- public detail::ForEachEntityInstanceMixin<_Derived>,
- public detail::ForEachEntitySnapshotMixin<_Derived>,
- public detail::ForEachEntityMixin<_Derived>
+ public detail::MemoryContainerBase<std::map<std::string, _ProviderSegmentT>, _Derived>
+ , public detail::AronTyped
+ , public detail::ForEachEntityInstanceMixin<_Derived>
+ , public detail::ForEachEntitySnapshotMixin<_Derived>
+ , public detail::ForEachEntityMixin<_Derived>
+ , public detail::GetFindInstanceMixin<_Derived>
+ , public detail::GetFindSnapshotMixin<_Derived>
+ , public detail::GetFindEntityMixin<_Derived>
{
- using Base = detail::EntityContainerBase<_ProviderSegmentT, typename _ProviderSegmentT::EntityT, _Derived>;
+ using Base = detail::MemoryContainerBase<std::map<std::string, _ProviderSegmentT>, _Derived>;
public:
@@ -35,6 +39,9 @@ namespace armarx::armem::base
using EntitySnapshotT = typename EntityT::EntitySnapshotT;
using EntityInstanceT = typename EntitySnapshotT::EntityInstanceT;
+ using ChildT = ProviderSegmentT;
+
+
struct UpdateResult
{
armarx::armem::UpdateType coreSegmentUpdateType;
@@ -80,69 +87,92 @@ namespace armarx::armem::base
// READ ACCESS
- inline const std::string& name() const
+ // Get key
+ inline std::string& name()
{
return this->id().coreSegmentName;
}
- inline std::string& name()
+ inline const std::string& name() const
{
- return const_cast<std::string&>(const_cast<const CoreSegmentBase*>(this)->name());
+ return this->id().coreSegmentName;
}
+ // Has child by key
bool hasProviderSegment(const std::string& name) const
{
- return this->_container.count(name) > 0;
+ return this->findProviderSegment(name) != nullptr;
+ }
+ // Has child by memory ID
+ bool hasProviderSegment(const MemoryID& providerSegmentID) const
+ {
+ return this->findProviderSegment(providerSegmentID) != nullptr;
}
- std::vector<std::string> getProviderSegmentNames() const
+
+ // Find child by key
+ ProviderSegmentT* findProviderSegment(const std::string& name)
{
- return simox::alg::get_keys(this->_container);
+ return detail::findChildByKey(name, this->_container);
+ }
+ const ProviderSegmentT* findProviderSegment(const std::string& name) const
+ {
+ return detail::findChildByKey(name, this->_container);
}
+ // Get child by key
ProviderSegmentT& getProviderSegment(const std::string& name)
{
- return const_cast<ProviderSegmentT&>(const_cast<const CoreSegmentBase*>(this)->getProviderSegment(name));
+ return detail::getChildByKey(name, this->_container, *this);
}
-
const ProviderSegmentT& getProviderSegment(const std::string& name) const
{
- auto it = this->_container.find(name);
- if (it != this->_container.end())
- {
- return it->second;
- }
- else
- {
- throw armem::error::MissingEntry::create<ProviderSegmentT>(name, *this);
- }
+ return detail::getChildByKey(name, this->_container, *this);
}
- using Base::getEntity;
- const EntityT& getEntity(const MemoryID& id) const
+ // Find child by MemoryID
+ ProviderSegmentT* findProviderSegment(const MemoryID& providerSegmentID)
{
- this->_checkContainerName(id.coreSegmentName, this->getKeyString());
- return getProviderSegment(id.providerSegmentName).getEntity(id);
+ detail::checkHasProviderSegmentName(providerSegmentID);
+ return this->findProviderSegment(providerSegmentID.providerSegmentName);
+ }
+ const ProviderSegmentT* findProviderSegment(const MemoryID& providerSegmentID) const
+ {
+ detail::checkHasProviderSegmentName(providerSegmentID);
+ return this->findProviderSegment(providerSegmentID.providerSegmentName);
}
- const EntityT* findEntity(const MemoryID& id) const
+ // Get child by MemoryID
+ ProviderSegmentT& getProviderSegment(const MemoryID& providerSegmentID)
{
- this->_checkContainerName(id.coreSegmentName, this->getKeyString());
- if (id.hasProviderSegmentName())
- {
- return getProviderSegment(id.providerSegmentName).findEntity(id);
- }
- else
- {
- for (const auto& [_, providerSegment] : this->_container)
- {
- if (auto entity = providerSegment.findEntity(id))
- {
- return entity;
- }
- }
- return nullptr;
- }
+ detail::checkHasProviderSegmentName(providerSegmentID);
+ return this->getProviderSegment(providerSegmentID.providerSegmentName);
+ }
+ const ProviderSegmentT& getProviderSegment(const MemoryID& providerSegmentID) const
+ {
+ detail::checkHasProviderSegmentName(providerSegmentID);
+ return this->getProviderSegment(providerSegmentID.providerSegmentName);
+ }
+
+ // get/findInstance are provided by GetFindInstanceMixin
+ // get/findSnapshot are provided by GetFindSnapshotMixin
+ // get/findEntity are provided by GetFindEntityMixin
+ using detail::GetFindEntityMixin<DerivedT>::hasEntity;
+ using detail::GetFindEntityMixin<DerivedT>::findEntity;
+
+ // Search all provider segments for the first matching entity.
+
+ bool hasEntity(const std::string& entityName) const
+ {
+ return this->findEntity(entityName) != nullptr;
+ }
+ EntityT* findEntity(const std::string& entityName)
+ {
+ return _findEntity(*this, entityName);
+ }
+ const EntityT* findEntity(const std::string& entityName) const
+ {
+ return _findEntity(*this, entityName);
}
@@ -170,6 +200,13 @@ namespace armarx::armem::base
// forEachInstance() is provided by ForEachEntityInstanceMixin.
+ // Get child keys
+ std::vector<std::string> getProviderSegmentNames() const
+ {
+ return simox::alg::get_keys(this->_container);
+ }
+
+
[[deprecated("Direct container access is deprecated. Use forEach*() instead.")]]
inline const auto& providerSegments() const
{
@@ -193,7 +230,7 @@ namespace armarx::armem::base
{
this->_checkContainerName(update.entityID.coreSegmentName, this->name());
- auto [inserted, provSeg] = addProviderSegmentIfMissing(update.entityID.providerSegmentName);
+ auto [inserted, provSeg] = _addProviderSegmentIfMissing(update.entityID.providerSegmentName);
// Update entry.
@@ -209,30 +246,6 @@ namespace armarx::armem::base
return ret;
}
- std::pair<bool, ProviderSegmentT*> addProviderSegmentIfMissing(const std::string& providerSegmentName)
- {
- ProviderSegmentT* provSeg;
-
- auto it = this->_container.find(providerSegmentName);
- if (it == this->_container.end())
- {
- if (_addMissingProviderSegmentDuringUpdate)
- {
- // Insert into map.
- provSeg = &addProviderSegment(providerSegmentName);
- return {true, provSeg};
- }
- else
- {
- throw error::MissingEntry::create<ProviderSegmentT>(providerSegmentName, *this);
- }
- }
- else
- {
- provSeg = &it->second;
- return {false, provSeg};
- }
- }
void append(const _Derived& m)
{
@@ -259,27 +272,29 @@ namespace armarx::armem::base
ProviderSegmentT& addProviderSegment(const std::string& name, aron::typenavigator::ObjectNavigatorPtr providerSegmentType = nullptr)
{
aron::typenavigator::ObjectNavigatorPtr type = providerSegmentType ? providerSegmentType : this->aronType();
- return addProviderSegment(ProviderSegmentT(name, this->id(), type));
+ return this->_derived().addProviderSegment(name, name, type);
}
/// Copy and insert a provider segment.
ProviderSegmentT& addProviderSegment(const ProviderSegmentT& providerSegment)
{
- return addProviderSegment(ProviderSegment(providerSegment));
+ return this->_derived().addProviderSegment(providerSegment.name(), ProviderSegmentT(providerSegment));
}
/// Move and insert a provider segment.
ProviderSegmentT& addProviderSegment(ProviderSegmentT&& providerSegment)
{
- if (hasProviderSegment(providerSegment.name()))
- {
- throw armem::error::ContainerEntryAlreadyExists(
- ProviderSegmentT::getLevelName(), providerSegment.name(), getLevelName(), this->getKeyString());
- }
+ const std::string name = providerSegment.name(); // Copy before move.
+ return this->_derived().addProviderSegment(name, std::move(providerSegment));
+ }
- auto it = this->_container.emplace(providerSegment.name(), std::move(providerSegment)).first;
- it->second.id().setCoreSegmentID(this->id());
- return it->second;
+ /// Insert a provider segment in-place.
+ template <class ...Args>
+ ProviderSegmentT& addProviderSegment(const std::string& name, Args... args)
+ {
+ ChildT& child = this->template _addChild<ChildT>(name, args...);
+ child.id() = this->id().withProviderSegmentName(name);
+ return child;
}
@@ -317,6 +332,50 @@ namespace armarx::armem::base
}
+ protected:
+
+ template <class ParentT>
+ static
+ auto*
+ _findEntity(ParentT&& parent, const std::string& entityName)
+ {
+ decltype(parent.findEntity(entityName)) result = nullptr;
+ parent.forEachProviderSegment([&result, &entityName](auto & provSeg)
+ {
+ result = provSeg.findEntity(entityName);
+ return result == nullptr; // Keep going if null, break if not null.
+ });
+ return result;
+ }
+
+
+ std::pair<bool, ProviderSegmentT*>
+ _addProviderSegmentIfMissing(const std::string& providerSegmentName)
+ {
+ ProviderSegmentT* provSeg;
+
+ auto it = this->_container.find(providerSegmentName);
+ if (it == this->_container.end())
+ {
+ if (_addMissingProviderSegmentDuringUpdate)
+ {
+ // Insert into map.
+ provSeg = &addProviderSegment(providerSegmentName);
+ return {true, provSeg};
+ }
+ else
+ {
+ throw error::MissingEntry::create<ProviderSegmentT>(providerSegmentName, *this);
+ }
+ }
+ else
+ {
+ provSeg = &it->second;
+ return {false, provSeg};
+ }
+ }
+
+
private:
bool _addMissingProviderSegmentDuringUpdate = true;
diff --git a/source/RobotAPI/libraries/armem/core/base/EntityBase.h b/source/RobotAPI/libraries/armem/core/base/EntityBase.h
index 05cbf780d1e95611d629d320581122b59c5f358c..ca9fdd8d63babff5ed51f7b731966b3ee91829df 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntityBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/EntityBase.h
@@ -11,6 +11,7 @@
#include "EntitySnapshotBase.h"
#include "detail/MemoryContainerBase.h"
#include "detail/iteration_mixins.h"
+#include "detail/lookup_mixins.h"
#include "detail/negative_index_semantics.h"
@@ -38,8 +39,9 @@ namespace armarx::armem::base
*/
template <class _EntitySnapshotT, class _Derived>
class EntityBase :
- public detail::MemoryContainerBase<std::map<Time, _EntitySnapshotT>, _Derived>,
- public detail::ForEachEntityInstanceMixin<_Derived>
+ public detail::MemoryContainerBase<std::map<Time, _EntitySnapshotT>, _Derived>
+ , public detail::ForEachEntityInstanceMixin<_Derived>
+ , public detail::GetFindInstanceMixin<_Derived>
{
using Base = detail::MemoryContainerBase<std::map<Time, _EntitySnapshotT>, _Derived>;
@@ -51,6 +53,8 @@ namespace armarx::armem::base
using EntitySnapshotT = _EntitySnapshotT;
using EntityInstanceT = typename EntitySnapshotT::EntityInstanceT;
+ using ChildT = EntitySnapshotT;
+
struct UpdateResult
{
armarx::armem::UpdateType entityUpdateType;
@@ -83,50 +87,43 @@ namespace armarx::armem::base
// READING
- inline const std::string& name() const
+ // Get key
+ inline std::string& name()
{
return this->id().entityName;
}
- inline std::string& name()
+ inline const std::string& name() const
{
- return const_cast<std::string&>(const_cast<const EntityBase*>(this)->name());
+ return this->id().entityName;
}
- /**
- * @brief Indicates whether a history entry for the given time exists.
- */
- bool hasSnapshot(const Time& time)
- {
- return const_cast<const EntityBase*>(this)->hasSnapshot(time);
- }
+
+ // Has child by key
+ /// Indicates whether a history entry for the given time exists.
bool hasSnapshot(const Time& time) const
{
- return this->_container.count(time) > 0;
+ return this->findSnapshot(time) != nullptr;
}
-
- /**
- * @brief Get the latest timestamp.
- * @throw `armem::error::EntityHistoryEmpty` If the history is empty.
- */
- Time getLatestTimestamp()
+ // Has child by MemoryID
+ bool hasSnapshot(const MemoryID& snapshotID) const
{
- return const_cast<const EntityBase*>(this)->getLatestTimestamp();
+ return this->findSnapshot(snapshotID) != nullptr;
}
- Time getLatestTimestamp() const
+
+ // Find child via key
+ EntitySnapshotT*
+ findSnapshot(const Time& timestamp)
{
- return getLatestItem().first;
+ return detail::findChildByKey(timestamp, this->_container);
}
-
- /**
- * @brief Get all timestamps in the history.
- */
- std::vector<Time> getTimestamps() const
+ const EntitySnapshotT*
+ findSnapshot(const Time& timestamp) const
{
- return simox::alg::get_keys(this->_container);
+ return detail::findChildByKey(timestamp, this->_container);
}
-
+ // Get child via key
/**
* @brief Get a snapshot.
* @param time The time.
@@ -134,33 +131,85 @@ namespace armarx::armem::base
*
* @throws `armem::error::MissingEntry` If there is no such entry.
*/
- EntitySnapshotT& getSnapshot(const Time& time)
+ EntitySnapshotT&
+ getSnapshot(const Time& time)
{
- return const_cast<EntitySnapshotT&>(const_cast<const EntityBase*>(this)->getSnapshot(time));
+ return detail::getChildByKey(time, this->_container, *this, [](const Time & time)
+ {
+ return toDateTimeMilliSeconds(time);
+ });
}
-
- const EntitySnapshotT& getSnapshot(const Time& time) const
+ const EntitySnapshotT&
+ getSnapshot(const Time& time) const
{
- auto it = this->_container.find(time);
- if (it != this->_container.end())
- {
- return it->second;
- }
- else
+ return detail::getChildByKey(time, this->_container, *this, [](const Time & time)
{
- throw armem::error::MissingEntry::create<EntitySnapshotT>(toDateTimeMilliSeconds(time), *this);
- }
+ return toDateTimeMilliSeconds(time);
+ });
+ }
+
+ // Find child via MemoryID
+ EntitySnapshotT*
+ findSnapshot(const MemoryID& snapshotID)
+ {
+ detail::checkHasTimestamp(snapshotID);
+ return this->findSnapshot(snapshotID.timestamp);
+ }
+ const EntitySnapshotT*
+ findSnapshot(const MemoryID& snapshotID) const
+ {
+ detail::checkHasTimestamp(snapshotID);
+ return this->findSnapshot(snapshotID.timestamp);
+ }
+
+ // Get child via MemoryID
+ EntitySnapshotT&
+ getSnapshot(const MemoryID& snapshotID)
+ {
+ detail::checkHasTimestamp(snapshotID);
+ return this->getSnapshot(snapshotID.timestamp);
+ }
+ const EntitySnapshotT&
+ getSnapshot(const MemoryID& snapshotID) const
+ {
+ detail::checkHasTimestamp(snapshotID);
+ return this->getSnapshot(snapshotID.timestamp);
+
}
- EntitySnapshotT& getSnapshot(const MemoryID& id)
+ // get/findInstance are provided by GetFindInstanceMixin
+
+
+ // More getter/finder for snapshots
+
+ /**
+ * @brief Get the latest timestamp.
+ * @throw `armem::error::EntityHistoryEmpty` If the history is empty.
+ */
+ Time getLatestTimestamp() const
{
- return const_cast<EntitySnapshotT&>(const_cast<const EntityBase*>(this)->getSnapshot(id));
+ return this->getLatestSnapshot().time();
+ }
+ /**
+ * @brief Get the oldest timestamp.
+ * @throw `armem::error::EntityHistoryEmpty` If the history is empty.
+ */
+ Time getFirstTimestamp() const
+ {
+ return this->getFirstSnapshot().time();
}
- const EntitySnapshotT& getSnapshot(const MemoryID& id) const
+ /**
+ * @brief Return the snapshot with the most recent timestamp.
+ * @return The latest snapshot or nullptr if the entity is empty.
+ */
+ EntitySnapshotT* findLatestSnapshot()
{
- this->_checkContainerName(id.entityName, this->name());
- return getSnapshot(id.timestamp);
+ return this->empty() ? nullptr : &this->_container.rbegin()->second;
+ }
+ const EntitySnapshotT* findLatestSnapshot() const
+ {
+ return this->empty() ? nullptr : &this->_container.rbegin()->second;
}
/**
@@ -174,12 +223,33 @@ namespace armarx::armem::base
}
const EntitySnapshotT& getLatestSnapshot() const
{
- return getLatestItem().second;
+ if (const EntitySnapshotT* snapshot = this->findLatestSnapshot())
+ {
+ return *snapshot;
+ }
+ else
+ {
+ throw armem::error::EntityHistoryEmpty(name(), "when getting the latest snapshot.");
+ }
}
+
/**
- * @brief Return the snapshot with the most recent timestamp.
- * @return The latest snapshot.
+ * @brief Return the snapshot with the least recent timestamp.
+ * @return The first snapshot or nullptr if the entity is empty.
+ */
+ EntitySnapshotT* findFirstSnapshot()
+ {
+ return this->empty() ? nullptr : &this->_container.begin()->second;
+ }
+ const EntitySnapshotT* findFirstSnapshot() const
+ {
+ return this->empty() ? nullptr : &this->_container.begin()->second;
+ }
+
+ /**
+ * @brief Return the snapshot with the least recent timestamp.
+ * @return The first snapshot.
* @throw `armem::error::EntityHistoryEmpty` If the history is empty.
*/
EntitySnapshotT& getFirstSnapshot()
@@ -188,22 +258,27 @@ namespace armarx::armem::base
}
const EntitySnapshotT& getFirstSnapshot() const
{
- return getFirstItem().second;
+ if (const EntitySnapshotT* snapshot = this->findFirstSnapshot())
+ {
+ return *snapshot;
+ }
+ else
+ {
+ throw armem::error::EntityHistoryEmpty(name(), "when getting the first snapshot.");
+ }
}
/**
* @brief Return the lastest snapshot before time.
* @param time The time.
- * @return The latest snapshot.
- * @throw `armem::error::EntityHistoryEmpty` If the history is empty.
- * @throw `armem::error::MissingEntry` If no such snapshot
+ * @return The latest snapshot < time or nullptr if none was found.
*/
- const EntitySnapshotT& getLatestSnapshotBefore(const Time& time) const
+ const EntitySnapshotT* findLatestSnapshotBefore(const Time& time) const
{
if (this->empty())
{
- throw error::EntityHistoryEmpty(this->name());
+ return nullptr;
}
// We want the rightmost element < time
@@ -213,7 +288,7 @@ namespace armarx::armem::base
// refIt = begin() => no element < time
if (greaterEq == this->_container.begin())
{
- throw error::MissingEntry::create<EntitySnapshotT>(toDateTimeMilliSeconds(time), *this);
+ return nullptr;
}
// end(): No element >= time, we can still have one < time (rbegin()) => std::prev(end())
@@ -223,29 +298,25 @@ namespace armarx::armem::base
typename ContainerT::const_iterator less = std::prev(greaterEq);
// we return the element before if possible
- return less->second;
+ return &less->second;
}
/**
- * @brief Return the lastest snapshot before or at time.
+ * @brief Return the latest snapshot before or at time.
* @param time The time.
- * @return The latest snapshot.
- * @throw `armem::error::EntityHistoryEmpty` If the history is empty.
- * @throw `armem::error::MissingEntry` If no such snapshot
+ * @return The latest snapshot <= time or nullptr if none was found.
*/
- const EntitySnapshotT& getLatestSnapshotBeforeOrAt(const Time& time) const
+ const EntitySnapshotT* findLatestSnapshotBeforeOrAt(const Time& time) const
{
- return getLatestSnapshotBefore(time + Time::microSeconds(1));
+ return findLatestSnapshotBefore(time + Time::microSeconds(1));
}
/**
* @brief Return first snapshot after or at time.
* @param time The time.
- * @return The first snapshot.
- * @throw `armem::error::EntityHistoryEmpty` If the history is empty.
- * @throw `armem::error::MissingEntry` If no such snapshot
+ * @return The first snapshot >= time or nullptr if none was found.
*/
- const EntitySnapshotT& getFirstSnapshotAfterOrAt(const Time& time) const
+ const EntitySnapshotT* findFirstSnapshotAfterOrAt(const Time& time) const
{
// We want the leftmost element >= time.
// That's lower bound.
@@ -253,21 +324,19 @@ namespace armarx::armem::base
if (greaterEq == this->_container.end())
{
- throw error::MissingEntry::create<EntitySnapshotT>(toDateTimeMilliSeconds(time), *this);
+ return nullptr;
}
- return greaterEq->second;
+ return &greaterEq->second;
}
/**
* @brief Return first snapshot after time.
* @param time The time.
- * @return The first snapshot.
- * @throw `armem::error::EntityHistoryEmpty` If the history is empty.
- * @throw `armem::error::MissingEntry` If no such snapshot
+ * @return The first snapshot >= time or nullptr if none was found.
*/
- const EntitySnapshotT& getFirstSnapshotAfter(const Time& time) const
+ const EntitySnapshotT* findFirstSnapshotAfter(const Time& time) const
{
- return getFirstSnapshotAfter(time - Time::microSeconds(1));
+ return findFirstSnapshotAfter(time - Time::microSeconds(1));
}
@@ -386,6 +455,14 @@ namespace armarx::armem::base
}
+ // Get child keys
+ /// @brief Get all timestamps in the history.
+ std::vector<Time> getTimestamps() const
+ {
+ return simox::alg::get_keys(this->_container);
+ }
+
+
[[deprecated("Direct container access is deprecated. Use forEach*() instead.")]]
inline const ContainerT& history() const
{
@@ -452,26 +529,33 @@ namespace armarx::armem::base
});
}
- /**
- * @brief Add a single snapshot with data.
- * @param snapshot The snapshot.
- * @return The stored snapshot.
- */
+
+ /// Add a snapshot at the given time.
+ EntitySnapshotT& addSnapshot(const Time& timestamp)
+ {
+ return this->addSnapshot(timestamp, EntitySnapshotT(timestamp));
+ }
+
+ /// Copy and insert a snapshot
EntitySnapshotT& addSnapshot(const EntitySnapshotT& snapshot)
{
- return addSnapshot(EntitySnapshotT(snapshot));
+ return this->addSnapshot(snapshot.time(), EntitySnapshotT(snapshot));
}
+ /// Move and insert a snapshot
EntitySnapshotT& addSnapshot(EntitySnapshotT&& snapshot)
{
- auto it = this->_container.emplace_hint(this->_container.end(), snapshot.time(), std::move(snapshot));
- it->second.id().setEntityID(this->id());
- return it->second;
+ Time timestamp = snapshot.time(); // Copy before move.
+ return this->addSnapshot(timestamp, std::move(snapshot));
}
- EntitySnapshotT& addSnapshot(const Time& timestamp)
+ /// Insert a snapshot in-place.
+ template <class ...Args>
+ EntitySnapshotT& addSnapshot(const Time& timestamp, Args... args)
{
- return addSnapshot(EntitySnapshotT(timestamp, this->id()));
+ auto it = this->_container.emplace_hint(this->_container.end(), timestamp, args...);
+ it->second.id() = this->id().withTimestamp(timestamp);
+ return it->second;
}
@@ -508,40 +592,6 @@ namespace armarx::armem::base
return "entity";
}
-
- protected:
-
- /**
- * @brief Return the snapshot with the most recent timestamp.
- * @return The latest snapshot.
- * @throw `armem::error::EntityHistoryEmpty` If the history is empty.
- */
- const typename ContainerT::value_type&
- getLatestItem() const
- {
- if (this->_container.empty())
- {
- throw armem::error::EntityHistoryEmpty(name(), "when getting the latest snapshot.");
- }
- return *this->_container.rbegin();
- }
-
- /**
- * @brief Return the snapshot with the least recent timestamp.
- * @return The first snapshot.
- * @throw `armem::error::EntityHistoryEmpty` If the history is empty.
- */
- const typename ContainerT::value_type&
- getFirstItem() const
- {
- if (this->_container.empty())
- {
- throw armem::error::EntityHistoryEmpty(name(), "when getting the first snapshot.");
- }
- return *this->_container.begin();
- }
-
-
};
}
diff --git a/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h b/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h
index fcb1869f791d9094fd793ff3af721e5fb942f111..8f7b8aafc4cebd74c241bfb1245388a943897e01 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h
@@ -72,6 +72,7 @@ namespace armarx::armem::base
}
+ // Key
inline int& index()
{
return id().instanceIndex;
@@ -82,6 +83,8 @@ namespace armarx::armem::base
}
+ // Data
+
EntityInstanceMetadata& metadata()
{
return _metadata;
@@ -102,6 +105,8 @@ namespace armarx::armem::base
}
+ // Misc
+
static std::string getLevelName()
{
return "entity instance";
@@ -113,7 +118,6 @@ namespace armarx::armem::base
}
-
protected:
/// The metadata.
@@ -122,7 +126,6 @@ namespace armarx::armem::base
/// The data. May be nullptr.
DataT _data;
-
};
}
diff --git a/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h b/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h
index 7653136447dbe968d3d53f878ba47619481594fc..0d0f091f59847cabd2b9d5f0982d634daaa2723a 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h
@@ -8,6 +8,7 @@
#include "EntityInstanceBase.h"
#include "detail/MemoryContainerBase.h"
#include "detail/iteration_mixins.h"
+#include "detail/lookup_mixins.h"
namespace armarx::armem::base::detail
@@ -55,37 +56,60 @@ namespace armarx::armem::base
// READING
+ // Get key
inline Time& time()
{
return this->id().timestamp;
}
-
inline const Time& time() const
{
return this->id().timestamp;
}
+
+ // Has child by key
bool hasInstance(int index) const
{
- size_t si = size_t(index);
- return index >= 0 && si < this->_container.size();
+ return this->findInstance(index) != nullptr;
+ }
+ // Has child by ID
+ bool hasInstance(const MemoryID& instanceID) const
+ {
+ return this->findInstance(instanceID) != nullptr;
+ }
+
+
+ // Find child by key
+ EntityInstanceT* findInstance(int index)
+ {
+ return const_cast<EntityInstanceT*>(const_cast<const EntitySnapshotBase*>(this)->findInstance(index));
+ }
+ const EntityInstanceT* findInstance(int index) const
+ {
+ const size_t si = static_cast<size_t>(index);
+ return (index >= 0 && si < this->_container.size())
+ ? &this->_container[si]
+ : nullptr;
}
+ // Get child by key
/**
* @brief Get the given instance.
* @param index The instance's index.
* @return The instance.
* @throw `armem::error::MissingEntry` If the given index is invalid.
*/
- EntityInstanceT& getInstance(int index)
+ EntityInstanceT&
+ getInstance(int index)
{
return const_cast<EntityInstanceT&>(const_cast<const EntitySnapshotBase*>(this)->getInstance(index));
}
- const EntityInstanceT& getInstance(int index) const
+ const EntityInstanceT&
+ getInstance(int index) const
{
- if (hasInstance(index))
+ if (const EntityInstanceT* instance = findInstance(index))
{
- return this->_container[static_cast<size_t>(index)];
+ return *instance;
}
else
{
@@ -93,23 +117,21 @@ namespace armarx::armem::base
}
}
- EntityInstanceT* findInstance(int index)
+ // Find child by MemoryID
+ EntityInstanceT*
+ findInstance(const MemoryID& instanceID)
{
- return const_cast<EntityInstanceT*>(const_cast<const EntitySnapshotBase*>(this)->findInstance(index));
+ detail::checkHasInstanceIndex(instanceID);
+ return this->findInstance(instanceID.instanceIndex);
}
- const EntityInstanceT* findInstance(int index) const
+ const EntityInstanceT*
+ findInstance(const MemoryID& instanceID) const
{
- if (hasInstance(index))
- {
- return &this->_container[static_cast<size_t>(index)];
- }
- else
- {
- return nullptr;
- }
+ detail::checkHasInstanceIndex(instanceID);
+ return this->findInstance(instanceID.instanceIndex);
}
-
+ // Get child by MemoryID
/**
* @brief Get the given instance.
* @param index The instance's index.
@@ -117,18 +139,17 @@ namespace armarx::armem::base
* @throw `armem::error::MissingEntry` If the given index is invalid.
* @throw `armem::error::InvalidMemoryID` If memory ID does not have an instance index.
*/
- EntityInstanceT& getInstance(const MemoryID& id)
+ EntityInstanceT&
+ getInstance(const MemoryID& instanceID)
{
- return const_cast<EntityInstanceT&>(const_cast<const EntitySnapshotBase*>(this)->getInstance(id));
+ detail::checkHasInstanceIndex(instanceID);
+ return this->getInstance(instanceID.instanceIndex);
}
-
- const EntityInstanceT& getInstance(const MemoryID& id) const
+ const EntityInstanceT&
+ getInstance(const MemoryID& instanceID) const
{
- if (!id.hasInstanceIndex())
- {
- throw armem::error::InvalidMemoryID(id, "ID has no instance index.");
- }
- return getInstance(id.instanceIndex);
+ detail::checkHasInstanceIndex(instanceID);
+ return this->getInstance(instanceID.instanceIndex);
}
@@ -151,6 +172,20 @@ namespace armarx::armem::base
return this->forEachChild(func);
}
+
+ // Get child keys
+ std::vector<int> getInstanceIndices() const
+ {
+ std::vector<int> indices;
+ indices.reserve(this->size());
+ for (size_t i = 0; i < this->size(); ++i)
+ {
+ indices.push_back(static_cast<int>(i));
+ }
+ return indices;
+ }
+
+
[[deprecated("Direct container access is deprecated. Use forEach*() instead.")]]
inline const std::vector<EntityInstanceT>& instances() const
{
diff --git a/source/RobotAPI/libraries/armem/core/base/MemoryBase.h b/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
index 9865f6da1398ac78dda2c704eff1d621b00442f4..e1729bbcd90cc6062e93b8e62ed8db29e3bb4387 100644
--- a/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
@@ -4,8 +4,9 @@
#include <string>
#include "CoreSegmentBase.h"
-#include "detail/EntityContainerBase.h"
+#include "detail/MemoryContainerBase.h"
#include "detail/iteration_mixins.h"
+#include "detail/lookup_mixins.h"
namespace armarx::armem::base
@@ -16,13 +17,17 @@ namespace armarx::armem::base
*/
template <class _CoreSegmentT, class _Derived>
class MemoryBase :
- public detail::EntityContainerBase<_CoreSegmentT, typename _CoreSegmentT::ProviderSegmentT::EntityT, _Derived>,
- public detail::ForEachEntityInstanceMixin<_Derived>,
- public detail::ForEachEntitySnapshotMixin<_Derived>,
- public detail::ForEachEntityMixin<_Derived>,
- public detail::ForEachProviderSegmentMixin<_Derived>
+ public detail::MemoryContainerBase<std::map<std::string, _CoreSegmentT>, _Derived>
+ , public detail::ForEachEntityInstanceMixin<_Derived>
+ , public detail::ForEachEntitySnapshotMixin<_Derived>
+ , public detail::ForEachEntityMixin<_Derived>
+ , public detail::ForEachProviderSegmentMixin<_Derived>
+ , public detail::GetFindInstanceMixin<_Derived>
+ , public detail::GetFindSnapshotMixin<_Derived>
+ , public detail::GetFindEntityMixin<_Derived>
+ , public detail::GetFindProviderSegmentMixin<_Derived>
{
- using Base = detail::EntityContainerBase<_CoreSegmentT, typename _CoreSegmentT::ProviderSegmentT::EntityT, _Derived>;
+ using Base = detail::MemoryContainerBase<std::map<std::string, _CoreSegmentT>, _Derived>;
public:
@@ -35,6 +40,8 @@ namespace armarx::armem::base
using EntitySnapshotT = typename EntityT::EntitySnapshotT;
using EntityInstanceT = typename EntitySnapshotT::EntityInstanceT;
+ using ChildT = CoreSegmentT;
+
struct UpdateResult
{
@@ -77,95 +84,77 @@ namespace armarx::armem::base
// READ ACCESS
- inline const std::string& name() const
+ // Get key
+ inline std::string& name()
{
return this->id().memoryName;
}
- inline std::string& name()
+ inline const std::string& name() const
{
- return const_cast<std::string&>(const_cast<const MemoryBase*>(this)->name());
+ return this->id().memoryName;
}
+ // Has child by key
bool hasCoreSegment(const std::string& name) const
{
- return this->_container.count(name) > 0;
+ return this->findCoreSegment(name) != nullptr;
+ }
+ // Has child by MemoryID
+ bool hasCoreSegment(const MemoryID& coreSegmentID) const
+ {
+ return this->findCoreSegment(coreSegmentID) != nullptr;
}
- std::vector<std::string> getCoreSegmentNames() const
+ // Find child by key
+ CoreSegmentT* findCoreSegment(const std::string& name)
{
- return simox::alg::get_keys(this->_container);
+ return detail::findChildByKey(name, this->_container);
+ }
+ const CoreSegmentT* findCoreSegment(const std::string& name) const
+ {
+ return detail::findChildByKey(name, this->_container);
}
+ // Get child by key
CoreSegmentT& getCoreSegment(const std::string& name)
{
- return const_cast<CoreSegmentT&>(const_cast<const MemoryBase*>(this)->getCoreSegment(name));
+ return detail::getChildByKey(name, this->_container, *this);
}
-
const CoreSegmentT& getCoreSegment(const std::string& name) const
{
- auto it = this->_container.find(name);
- if (it != this->_container.end())
- {
- return it->second;
- }
- else
- {
- throw armem::error::MissingEntry::create<CoreSegmentT>(name, *this);
- }
+ return detail::getChildByKey(name, this->_container, *this);
}
-
- bool hasProviderSegment(const MemoryID& providerSegmentID) const
+ // Find child by MemoryID
+ CoreSegmentT* findCoreSegment(const MemoryID& coreSegmentID)
{
- auto it = this->_container.find(providerSegmentID.coreSegmentName);
- if (it != this->_container.end())
- {
- return it->second.hasProviderSegment(providerSegmentID.providerSegmentName);
- }
- else
- {
- return false;
- }
+ detail::checkHasCoreSegmentName(coreSegmentID);
+ return this->findCoreSegment(coreSegmentID.coreSegmentName);
}
-
- ProviderSegmentT& getProviderSegment(const MemoryID& providerSegmentID)
+ const CoreSegmentT* findCoreSegment(const MemoryID& coreSegmentID) const
{
- return getCoreSegment(providerSegmentID.coreSegmentName).getProviderSegment(providerSegmentID.providerSegmentName);
+ detail::checkHasCoreSegmentName(coreSegmentID);
+ return this->findCoreSegment(coreSegmentID.coreSegmentName);
}
- const ProviderSegmentT& getProviderSegment(const MemoryID& providerSegmentID) const
+ // Get child by MemoryID
+ CoreSegmentT& getCoreSegment(const MemoryID& coreSegmentID)
{
- return getCoreSegment(providerSegmentID.coreSegmentName).getProviderSegment(providerSegmentID.providerSegmentName);
+ detail::checkHasCoreSegmentName(coreSegmentID);
+ return this->getCoreSegment(coreSegmentID.coreSegmentName);
}
-
-
- using Base::getEntity;
- const EntityT& getEntity(const MemoryID& id) const
+ const CoreSegmentT& getCoreSegment(const MemoryID& coreSegmentID) const
{
- this->_checkContainerName(id.memoryName, this->name());
- return getCoreSegment(id.coreSegmentName).getEntity(id);
+ detail::checkHasCoreSegmentName(coreSegmentID);
+ return this->getCoreSegment(coreSegmentID.coreSegmentName);
}
- const EntityT* findEntity(const MemoryID& id) const
- {
- this->_checkContainerName(id.memoryName, this->name());
- if (id.hasCoreSegmentName())
- {
- return getCoreSegment(id.coreSegmentName).findEntity(id);
- }
- else
- {
- for (const auto& [_, coreSegment] : this->_container)
- {
- if (auto entity = coreSegment.findEntity(id))
- {
- return entity;
- }
- }
- return nullptr;
- }
- }
+ // get/findInstance are provided by GetFindInstanceMixin
+ // get/findSnapshot are provided by GetFindSnapshotMixin
+ // get/findEntity are provided by GetFindEntityMixin
+ // get/findProviderSegment are provided by GetFindProviderSegmentMixin
+
// ITERATION
@@ -193,6 +182,12 @@ namespace armarx::armem::base
// forEachInstance() is provided by ForEachEntityInstanceMixin.
+ std::vector<std::string> getCoreSegmentNames() const
+ {
+ return simox::alg::get_keys(this->_container);
+ }
+
+
[[deprecated("Direct container access is deprecated. Use forEach*() instead.")]]
inline auto& coreSegments() const
{
@@ -216,39 +211,29 @@ namespace armarx::armem::base
CoreSegmentT& addCoreSegment(
const std::string& name, aron::typenavigator::ObjectNavigatorPtr coreSegmentType = nullptr)
{
- return _addCoreSegment(name, name, this->id(), coreSegmentType);
+ return this->_derived().addCoreSegment(name, name, coreSegmentType);
}
+
/// Copy and insert a core segment.
CoreSegmentT& addCoreSegment(const CoreSegmentT& coreSegment)
{
- return _addCoreSegment(coreSegment.name(), CoreSegmentT(coreSegment));
+ return this->_derived().addCoreSegment(coreSegment.name(), CoreSegmentT(coreSegment));
}
+
/// Move and insert a core segment.
CoreSegmentT& addCoreSegment(CoreSegmentT&& coreSegment)
{
- return _addCoreSegment(coreSegment.name(), coreSegment);
+ const std::string name = coreSegment.name(); // Copy before move.
+ return this->_derived().addCoreSegment(name, std::move(coreSegment));
}
- /**
- * @brief Add multiple core segments.
- * @param The core segment names.
- * @return The core segments. The contained pointers are never null.
- */
- std::vector<CoreSegmentT*> addCoreSegments(const std::vector<std::string>& names)
+ /// Move and insert a core segment.
+ template <class ...Args>
+ CoreSegmentT& addCoreSegment(const std::string& name, Args... args)
{
- std::vector<CoreSegmentT*> segments;
- for (const auto& name : names)
- {
- try
- {
- segments.push_back(&addCoreSegment(name));
- }
- catch (const armem::error::ContainerEntryAlreadyExists& e)
- {
- // ARMARX_INFO << e.what() << "\nIgnoring multiple addition.";
- }
- }
- return segments;
+ CoreSegmentT& child = this->template _addChild<ChildT>(name, args...);
+ child.id() = this->id().withCoreSegmentName(name);
+ return child;
}
@@ -343,58 +328,12 @@ namespace armarx::armem::base
return this->name();
}
- std::string dump() const
- {
- std::stringstream ss;
- ss << "Memory '" << this->name() << "': \n";
- forEachCoreSegment([&ss](const CoreSegmentT & cseg)
- {
- ss << "+- Core segment '" << cseg.name() << "' (" << cseg.size() << "): \n";
- cseg.forEachProviderSegment([&ss](const ProviderSegmentT & pseg)
- {
- ss << "| +- Provider segment '" << pseg.name() << "' (" << pseg.size() << "): \n";
- pseg.forEachEntity([&ss](const EntityT & entity)
- {
- ss << "| | +- Entity '" << entity.name() << "' (" << entity.size() << "): \n";
- return true;
- });
- return true;
- });
- return true;
- });
- return ss.str();
- }
-
-
- private:
-
- /**
- * This function allows to emplace a CoreSegment directly in the
- * container from its constructor arguments, instead of constructing
- * it outside and moving it.
- * This is necessary if CoreSegmentT is not movable.
- */
- template <class ...Args>
- CoreSegmentT& _addCoreSegment(const std::string& name, Args... args)
- {
- auto [it, inserted] = this->_container.try_emplace(name, args...);
- if (not inserted)
- {
- throw armem::error::ContainerEntryAlreadyExists(
- CoreSegmentT::getLevelName(), name, DerivedT::getLevelName(), this->name());
- }
- else
- {
- it->second.id().setMemoryID(this->id());
- it->second.id().coreSegmentName = name;
- return it->second;
- }
- }
+ protected:
std::pair<bool, CoreSegmentT*> _addCoreSegmentIfMissing(const std::string& coreSegmentName)
{
- CoreSegmentT* coreSeg;
+ CoreSegmentT* coreSeg = nullptr;
auto it = this->_container.find(coreSegmentName);
if (it == this->_container.end())
diff --git a/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h b/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h
index e5163241738a0e8dbba5edbd35f8e5a568060746..6a5497444c9e5959ac7d59300e1bc99e0fac2018 100644
--- a/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h
@@ -5,8 +5,9 @@
#include "EntityBase.h"
#include "detail/AronTyped.h"
-#include "detail/EntityContainerBase.h"
+#include "detail/MemoryContainerBase.h"
#include "detail/iteration_mixins.h"
+#include "detail/lookup_mixins.h"
namespace armarx::armem::base
@@ -17,12 +18,14 @@ namespace armarx::armem::base
*/
template <class _EntityT, class _Derived>
class ProviderSegmentBase :
- public detail::EntityContainerBase<_EntityT, _EntityT, _Derived>,
- public detail::AronTyped,
- public detail::ForEachEntityInstanceMixin<_Derived>,
- public detail::ForEachEntitySnapshotMixin<_Derived>
+ public detail::MemoryContainerBase<std::map<std::string, _EntityT>, _Derived>
+ , public detail::AronTyped
+ , public detail::ForEachEntityInstanceMixin<_Derived>
+ , public detail::ForEachEntitySnapshotMixin<_Derived>
+ , public detail::GetFindInstanceMixin<_Derived>
+ , public detail::GetFindSnapshotMixin<_Derived>
{
- using Base = detail::EntityContainerBase<_EntityT, _EntityT, _Derived>;
+ using Base = detail::MemoryContainerBase<std::map<std::string, _EntityT>, _Derived>;
public:
@@ -33,6 +36,8 @@ namespace armarx::armem::base
using EntitySnapshotT = typename EntityT::EntitySnapshotT;
using EntityInstanceT = typename EntitySnapshotT::EntityInstanceT;
+ using ChildT = EntityT;
+
struct UpdateResult
{
armarx::armem::UpdateType providerSegmentUpdateType;
@@ -48,6 +53,7 @@ namespace armarx::armem::base
{}
};
+
public:
ProviderSegmentBase()
@@ -76,65 +82,76 @@ namespace armarx::armem::base
// READ ACCESS
- inline const std::string& name() const
+ // Get key
+ inline std::string& name()
{
return this->id().providerSegmentName;
}
- inline std::string& name()
+ inline const std::string& name() const
{
- return const_cast<std::string&>(const_cast<const ProviderSegmentBase*>(this)->name());
+ return this->id().providerSegmentName;
}
+ // Has child by key
bool hasEntity(const std::string& name) const
{
- return this->_container.count(name) > 0;
+ return this->findEntity(name) != nullptr;
}
-
- std::vector<std::string> getEntityNames() const
+ // Has child by ID
+ bool hasEntity(const MemoryID& entityID) const
{
- return simox::alg::get_keys(this->_container);
+ return this->findEntity(entityID) != nullptr;
}
- using Base::getEntity;
- const EntityT& getEntity(const MemoryID& id) const
+
+ // Find child by key
+ EntityT* findEntity(const std::string& name)
{
- this->_checkContainerName(id.providerSegmentName, this->getKeyString());
- return getEntity(id.entityName);
+ return detail::findChildByKey(name, this->_container);
+ }
+ const EntityT* findEntity(const std::string& name) const
+ {
+ return detail::findChildByKey(name, this->_container);
}
+ // Get child by key
EntityT& getEntity(const std::string& name)
{
- return const_cast<EntityT&>(const_cast<const ProviderSegmentBase*>(this)->getEntity(name));
+ return detail::getChildByKey(name, this->_container, *this);
}
-
const EntityT& getEntity(const std::string& name) const
{
- auto it = this->_container.find(name);
- if (it != this->_container.end())
- {
- return it->second;
- }
- else
- {
- throw armem::error::MissingEntry::create<EntityT>(name, *this);
- }
+ return detail::getChildByKey(name, this->_container, *this);
}
- const EntityT* findEntity(const MemoryID& id) const
+ // Find child by MemoryID
+ EntityT* findEntity(const MemoryID& entityID)
{
- this->_checkContainerName(id.providerSegmentName, this->getKeyString());
- auto it = this->_container.find(id.entityName);
- if (it != this->_container.end())
- {
- return &it->second;
- }
- else
- {
- return nullptr;
- }
+ detail::checkHasEntityName(entityID);
+ return this->findEntity(entityID.entityName);
+ }
+ const EntityT* findEntity(const MemoryID& entityID) const
+ {
+ detail::checkHasEntityName(entityID);
+ return this->findEntity(entityID.entityName);
}
+ // Get child by MemoryID
+ EntityT& getEntity(const MemoryID& entityID)
+ {
+ detail::checkHasEntityName(entityID);
+ return this->getEntity(entityID.entityName);
+ }
+ const EntityT& getEntity(const MemoryID& entityID) const
+ {
+ detail::checkHasEntityName(entityID);
+ return this->getEntity(entityID.entityName);
+ }
+
+ // get/findInstance are provided by GetFindInstanceMixin
+ // get/findSnapshot are provided by GetFindSnapshotMixin
+
// ITERATION
@@ -157,8 +174,15 @@ namespace armarx::armem::base
return this->forEachChild(func);
}
- // forEachSnapshot() is provided by ForEachEntitySnapshotMixin.
- // forEachInstance() is provided by ForEachEntityInstanceMixin.
+ // forEachSnapshot() is provided by ForEachEntitySnapshotMixin
+ // forEachInstance() is provided by ForEachEntityInstanceMixin
+
+
+ // Get child keys
+ std::vector<std::string> getEntityNames() const
+ {
+ return simox::alg::get_keys(this->_container);
+ }
[[deprecated("Direct container access is deprecated. Use forEach*() instead.")]]
@@ -205,10 +229,8 @@ namespace armarx::armem::base
return ret;
}
- void append(const _Derived& m)
+ void append(const DerivedT& m)
{
- // ARMARX_INFO << "ProviderSegment: Merge name '" << m.name() << "' into '" << name() << "'";
-
m.forEachEntity([this](const EntityT & entity)
{
auto it = this->_container.find(entity.name());
@@ -221,22 +243,33 @@ namespace armarx::armem::base
});
}
+
/// Add an empty entity with the given name.
EntityT& addEntity(const std::string& name)
{
- return addEntity(EntityT(name, this->id()));
+ return this->_derived().addEntity(name, name);
}
+
/// Copy and insert an entity.
EntityT& addEntity(const EntityT& entity)
{
- return addEntity(EntityT(entity));
+ return this->_derived().addEntity(entity.name(), EntityT(entity));
}
+
/// Move and insert an entity.
EntityT& addEntity(EntityT&& entity)
{
- auto it = this->_container.emplace(entity.name(), std::move(entity)).first;
- it->second.id().setProviderSegmentID(this->id());
- return it->second;
+ const std::string name = entity.name(); // Copy before move.
+ return this->_derived().addEntity(name, std::move(entity));
+ }
+
+ /// Insert an entity in-place.
+ template <class ...Args>
+ EntityT& addEntity(const std::string& name, Args... args)
+ {
+ ChildT& child = this->template _addChild<ChildT>(name, args...);
+ child.id() = this->id().withEntityName(name);
+ return child;
}
@@ -244,7 +277,6 @@ namespace armarx::armem::base
bool equalsDeep(const DerivedT& other) const
{
- //std::cout << "ProviderSegment::equalsDeep" << std::endl;
if (this->size() != other.size())
{
return false;
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/EntityContainerBase.cpp b/source/RobotAPI/libraries/armem/core/base/detail/EntityContainerBase.cpp
deleted file mode 100644
index 05a23bc12fea34e175218498beca73e01b6f1b13..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/base/detail/EntityContainerBase.cpp
+++ /dev/null
@@ -1 +0,0 @@
-#include "EntityContainerBase.h"
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/EntityContainerBase.h b/source/RobotAPI/libraries/armem/core/base/detail/EntityContainerBase.h
deleted file mode 100644
index 53cddfff656cdf0fb000323afc4aefcc18c2f50f..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/base/detail/EntityContainerBase.h
+++ /dev/null
@@ -1,124 +0,0 @@
-#pragma once
-
-#include <RobotAPI/libraries/armem/core/Commit.h>
-#include <RobotAPI/libraries/armem/core/error/ArMemError.h>
-
-#include "MemoryContainerBase.h"
-
-#include <RobotAPI/libraries/armem/core/base/EntityBase.h>
-#include <RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h>
-
-
-namespace armarx::armem::base::detail
-{
-
- /**
- * @brief A container of entities at some point in the hierarchy.
- *
- * Can be updated by multiple entity updates.
- */
- template <class _ValueT, class _EntityT, class _Derived>
- class EntityContainerBase :
- public MemoryContainerBase<std::map<std::string, _ValueT>, _Derived>
- {
- using Base = MemoryContainerBase<std::map<std::string, _ValueT>, _Derived>;
-
- public:
-
- using DerivedT = _Derived;
- using ValueT = _ValueT;
-
- using EntityT = _EntityT;
- using EntitySnapshotT = typename EntityT::EntitySnapshotT;
- using EntityInstanceT = typename EntitySnapshotT::EntityInstanceT;
-
- public:
-
- // `using Base::MemoryContainerBase` breaks code completion of QtCreator.
- using MemoryContainerBase<std::map<std::string, _ValueT>, _Derived>::MemoryContainerBase;
- using MemoryContainerBase<std::map<std::string, _ValueT>, _Derived>::operator=;
-
- /**
- * @brief Retrieve an entity.
- * @param id The entity ID.
- * @return The entity.
- * @throw An exception deriving from `armem::error::ArMemError` if the entity is missing.
- */
- // const EntityT& getEntity(const MemoryID& id) const;
- EntityT& getEntity(const MemoryID& id)
- {
- return const_cast<EntityT&>(const_cast<const EntityContainerBase*>(this)->_derived().getEntity(id));
- }
-
- /**
- * @brief Find an entity.
- *
- * Search for the entity with the given ID and return a pointer to the
- * first match. If `id` is underspecified (e.g. no provider segment name),
- * search all children until the first match is found.
- *
- * If no matching entity is found, return `nullptr`.
- *
- * @param id The entities ID.
- * @return A pointer to the first matching entity or `nullptr` if none was found.
- */
- // const EntityT* findEntity(const MemoryID& id) const;
- EntityT* findEntity(const MemoryID& id)
- {
- return const_cast<EntityT*>(const_cast<const EntityContainerBase*>(this)->_derived().findEntity(id));
- }
-
-
- /**
- * @brief Retrieve an entity snapshot.
- *
- * Uses `getEntity()` to retrieve the respective entity.
- *
- * @param id The snapshot ID.
- * @return The entity snapshot.
- * @throw An exception deriving from `armem::error::ArMemError` if the snapshot is missing.
- */
- EntitySnapshotT& getEntitySnapshot(const MemoryID& id)
- {
- return const_cast<EntitySnapshotT&>(const_cast<const EntityContainerBase*>(this)->_derived().getEntitySnapshot(id));
- }
-
- const EntitySnapshotT& getEntitySnapshot(const MemoryID& id) const
- {
- const EntityT& entity = _derived().getEntity(id);
-
- if (id.hasTimestamp())
- {
- return entity.getSnapshot(id);
- }
- else
- {
- return entity.getLatestSnapshot();
- }
- }
-
- EntityInstanceT& getEntityInstance(const MemoryID& id)
- {
- return getEntitySnapshot(id).getInstance(id);
- }
-
- const EntityInstanceT& getEntityInstance(const MemoryID& id) const
- {
- return getEntitySnapshot(id).getInstance(id);
- }
-
-
- private:
-
- DerivedT& _derived()
- {
- return static_cast<DerivedT&>(*this);
- }
- const DerivedT& _derived() const
- {
- return static_cast<const DerivedT&>(*this);
- }
-
- };
-
-}
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/MemoryContainerBase.h b/source/RobotAPI/libraries/armem/core/base/detail/MemoryContainerBase.h
index 4d7cbec1877176f511e854eeefa60a9d6159aded..3e22caa31456c6a2afab30a721d064bb661427f5 100644
--- a/source/RobotAPI/libraries/armem/core/base/detail/MemoryContainerBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/detail/MemoryContainerBase.h
@@ -108,6 +108,15 @@ namespace armarx::armem::base::detail
return _container;
}
+ DerivedT& _derived()
+ {
+ return static_cast<DerivedT&>(*this);
+ }
+ const DerivedT& _derived() const
+ {
+ return static_cast<DerivedT&>(*this);
+ }
+
/**
* @throw `armem::error::ContainerNameMismatch` if `gottenName` does not match `actualName`.
@@ -123,6 +132,19 @@ namespace armarx::armem::base::detail
}
+ template <class ChildT, class KeyT, class ...ChildArgs>
+ ChildT& _addChild(const KeyT& key, ChildArgs... childArgs)
+ {
+ auto [it, inserted] = this->_container.try_emplace(key, childArgs...);
+ if (not inserted)
+ {
+ throw armem::error::ContainerEntryAlreadyExists(
+ ChildT::getLevelName(), key, DerivedT::getLevelName(), this->_derived().name());
+ }
+ return it->second;
+ }
+
+
protected:
mutable ContainerT _container;
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/derived.h b/source/RobotAPI/libraries/armem/core/base/detail/derived.h
new file mode 100644
index 0000000000000000000000000000000000000000..721becfa05e34e603f2c1bdb852cea191faf42a5
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/base/detail/derived.h
@@ -0,0 +1,22 @@
+#pragma once
+
+
+namespace armarx::armem::base::detail
+{
+
+ template <class DerivedT, class ThisT>
+ DerivedT&
+ derived(ThisT* t)
+ {
+ return static_cast<DerivedT&>(*t);
+ }
+
+
+ template <class DerivedT, class ThisT>
+ const DerivedT&
+ derived(const ThisT* t)
+ {
+ return static_cast<const DerivedT&>(*t);
+ }
+
+}
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/lookup_mixins.cpp b/source/RobotAPI/libraries/armem/core/base/detail/lookup_mixins.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..2b35f0b895cf6e4ef3e53a81a8af3ac0eb31a89d
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/base/detail/lookup_mixins.cpp
@@ -0,0 +1,63 @@
+#include "lookup_mixins.h"
+
+#include <RobotAPI/libraries/armem/core/error/ArMemError.h>
+
+
+namespace armarx::armem::base
+{
+
+ void detail::checkHasInstanceIndex(const MemoryID& instanceID)
+ {
+ if (not instanceID.hasInstanceIndex())
+ {
+ throw armem::error::InvalidMemoryID(instanceID, "Instance ID has no instance index.");
+ }
+ }
+
+
+ void detail::checkHasTimestamp(const MemoryID& snapshotID)
+ {
+ if (not snapshotID.hasTimestamp())
+ {
+ throw armem::error::InvalidMemoryID(snapshotID, "Snapshot ID has no timestamp.");
+ }
+ }
+
+
+ void detail::checkHasEntityName(const MemoryID& entityID)
+ {
+ if (not entityID.hasEntityName())
+ {
+ throw armem::error::InvalidMemoryID(entityID, "Entity ID has no entity name.");
+ }
+ }
+
+
+ void detail::checkHasProviderSegmentName(const MemoryID& providerSegmentID)
+ {
+ if (not providerSegmentID.hasProviderSegmentName())
+ {
+ throw armem::error::InvalidMemoryID(providerSegmentID, "Provider segment ID has no provider segment name.");
+ }
+ }
+
+
+ void detail::checkHasCoreSegmentName(const MemoryID& coreSegmentID)
+ {
+ if (not coreSegmentID.hasCoreSegmentName())
+ {
+ throw armem::error::InvalidMemoryID(coreSegmentID, "Core segment ID has no core segment name.");
+ }
+ }
+
+
+ void detail::checkHasMemoryName(const MemoryID& memoryID)
+ {
+ if (not memoryID.hasMemoryName())
+ {
+ throw armem::error::InvalidMemoryID(memoryID, "Memory ID has no memory name.");
+ }
+ }
+
+
+}
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/lookup_mixins.h b/source/RobotAPI/libraries/armem/core/base/detail/lookup_mixins.h
new file mode 100644
index 0000000000000000000000000000000000000000..030db150d382a2f61d671c27ee017031fb06679b
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/base/detail/lookup_mixins.h
@@ -0,0 +1,274 @@
+#pragma once
+
+#include "derived.h"
+
+#include <RobotAPI/libraries/armem/core/MemoryID.h>
+#include <RobotAPI/libraries/armem/core/error/ArMemError.h>
+
+
+namespace armarx::armem::base::detail
+{
+
+ void checkHasInstanceIndex(const MemoryID& instanceID);
+ void checkHasTimestamp(const MemoryID& snapshotID);
+ void checkHasEntityName(const MemoryID& entityID);
+ void checkHasProviderSegmentName(const MemoryID& providerSegmentID);
+ void checkHasCoreSegmentName(const MemoryID& coreSegmentID);
+ void checkHasMemoryName(const MemoryID& memory);
+
+
+ template <class KeyT, class ContainerT>
+ auto* findChildByKey(const KeyT& key, ContainerT&& container)
+ {
+ auto it = container.find(key);
+ return it != container.end() ? &it->second : nullptr;
+ }
+
+ template <class KeyT, class ContainerT, class ParentT, class KeyStringFn>
+ auto&
+ getChildByKey(
+ const KeyT& key,
+ ContainerT&& container,
+ const ParentT& parent,
+ KeyStringFn&& keyStringFn)
+ {
+ if (auto* child = findChildByKey(key, container))
+ {
+ return *child;
+ }
+ else
+ {
+ throw armem::error::MissingEntry::create<typename ParentT::ChildT>(keyStringFn(key), parent);
+ }
+ }
+ template <class KeyT, class ContainerT, class ParentT>
+ auto&
+ getChildByKey(
+ const KeyT& key,
+ ContainerT&& container,
+ const ParentT& parent)
+ {
+ return getChildByKey(key, container, parent, [](const KeyT & key)
+ {
+ return key;
+ });
+ }
+
+
+ template <class DerivedT>
+ struct GetFindInstanceMixin
+ {
+ // Relies on this->find/getSnapshot()
+
+ bool hasInstance(const MemoryID& instanceID) const
+ {
+ return derived<DerivedT>(this).findInstance(instanceID) != nullptr;
+ }
+
+ /**
+ * @brief Find an entity instance.
+ * @param id The instance ID.
+ * @return The instance or nullptr if it is missing.
+ */
+ auto*
+ findInstance(const MemoryID& instanceID)
+ {
+ auto* snapshot = derived<DerivedT>(this).findSnapshot(instanceID);
+ return snapshot ? snapshot->findInstance(instanceID) : nullptr;
+ }
+ const auto*
+ findInstance(const MemoryID& instanceID) const
+ {
+ const auto* snapshot = derived<DerivedT>(this).findSnapshot(instanceID);
+ return snapshot ? snapshot->findInstance(instanceID) : nullptr;
+ }
+
+ /**
+ * @brief Retrieve an entity instance.
+ * @param id The instance ID.
+ * @return The instance if it is found.
+ * @throw `armem::error::ArMemError` if it is missing.
+ */
+ auto&
+ getInstance(const MemoryID& instanceID)
+ {
+ return derived<DerivedT>(this).getSnapshot(instanceID).getInstance(instanceID);
+ }
+ const auto&
+ getInstance(const MemoryID& instanceID) const
+ {
+ return derived<DerivedT>(this).getSnapshot(instanceID).getInstance(instanceID);
+ }
+ };
+
+
+ template <class DerivedT>
+ struct GetFindSnapshotMixin
+ {
+ // Relies on this->find/getEntity()
+
+ bool hasSnapshot(const MemoryID& snapshotID) const
+ {
+ return derived<DerivedT>(this).findSnapshot(snapshotID) != nullptr;
+ }
+
+ /**
+ * @brief Find an entity snapshot.
+ * @param id The snapshot ID.
+ * @return The snapshot or nullptr if it is missing.
+ */
+ auto*
+ findSnapshot(const MemoryID& snapshotID)
+ {
+ auto* entity = derived<DerivedT>(this).findEntity(snapshotID);
+ return entity ? entity->findSnapshot(snapshotID) : nullptr;
+ }
+ const auto*
+ findSnapshot(const MemoryID& snapshotID) const
+ {
+ auto* entity = derived<DerivedT>(this).findEntity(snapshotID);
+ return entity ? entity->findSnapshot(snapshotID) : nullptr;
+ }
+
+ /**
+ * @brief Retrieve an entity snapshot.
+ * @param id The snapshot ID.
+ * @return The snapshot if it is found.
+ * @throw `armem::error::ArMemError` if it is missing.
+ */
+ auto&
+ getSnapshot(const MemoryID& snapshotID)
+ {
+ return derived<DerivedT>(this).getEntity(snapshotID).getSnapshot(snapshotID);
+ }
+ const auto&
+ getSnapshot(const MemoryID& snapshotID) const
+ {
+ return derived<DerivedT>(this).getEntity(snapshotID).getSnapshot(snapshotID);
+ }
+
+
+ // More elaborate cases
+
+ auto* findLatestEntitySnapshot(const MemoryID& entityID)
+ {
+ auto* entity = derived<DerivedT>(this).findEntity(entityID);
+ return entity ? entity->findLatestSnapshot() : nullptr;
+ }
+ const auto* findLatestEntitySnapshot(const MemoryID& entityID) const
+ {
+ auto* entity = derived<DerivedT>(this).findEntity(entityID);
+ return entity ? entity->findLatestSnapshot() : nullptr;
+ }
+
+ auto* findLatestInstance(const MemoryID& entityID, int instanceIndex = 0)
+ {
+ auto* snapshot = derived<DerivedT>(this).findLatestEntitySnapshot(entityID);
+ return snapshot ? snapshot->findInstance(instanceIndex) : nullptr;
+ }
+ const auto* findLatestInstance(const MemoryID& entityID, int instanceIndex = 0) const
+ {
+ auto* snapshot = derived<DerivedT>(this).findLatestEntitySnapshot(entityID);
+ return snapshot ? snapshot->findInstance(instanceIndex) : nullptr;
+ }
+
+ };
+
+
+
+ template <class DerivedT>
+ struct GetFindEntityMixin
+ {
+ // Relies on this->find/getProviderSegment()
+
+ bool hasEntity(const MemoryID& entityID) const
+ {
+ return derived<DerivedT>(this).findEntity(entityID) != nullptr;
+ }
+
+ /**
+ * @brief Find an entity.
+ * @param id The entity ID.
+ * @return The entity or nullptr if it is missing.
+ */
+ auto*
+ findEntity(const MemoryID& entityID)
+ {
+ auto* provSeg = derived<DerivedT>(this).findProviderSegment(entityID);
+ return provSeg ? provSeg->findEntity(entityID) : nullptr;
+ }
+ const auto*
+ findEntity(const MemoryID& entityID) const
+ {
+ auto* provSeg = derived<DerivedT>(this).findProviderSegment(entityID);
+ return provSeg ? provSeg->findEntity(entityID) : nullptr;
+ }
+
+ /**
+ * @brief Retrieve an entity.
+ * @param id The entity ID.
+ * @return The entity if it is found.
+ * @throw `armem::error::ArMemError` if it is missing.
+ */
+ auto&
+ getEntity(const MemoryID& entityID)
+ {
+ return derived<DerivedT>(this).getProviderSegment(entityID).getEntity(entityID);
+ }
+ const auto&
+ getEntity(const MemoryID& entityID) const
+ {
+ return derived<DerivedT>(this).getProviderSegment(entityID).getEntity(entityID);
+ }
+ };
+
+
+
+ template <class DerivedT>
+ struct GetFindProviderSegmentMixin
+ {
+ // Relies on this->find/getCoreSegment()
+
+ bool hasProviderSegment(const MemoryID& providerSegmentID) const
+ {
+ return derived<DerivedT>(this).findProviderSegment(providerSegmentID) != nullptr;
+ }
+
+ /**
+ * @brief Retrieve a provider segment.
+ * @param id The provider segment ID.
+ * @return The provider segment if it is found or nullptr if it missing.
+ */
+ auto*
+ findProviderSegment(const MemoryID& providerSegmentID)
+ {
+ auto* provSeg = derived<DerivedT>(this).findCoreSegment(providerSegmentID);
+ return provSeg ? provSeg->findProviderSegment(providerSegmentID) : nullptr;
+ }
+ const auto*
+ findProviderSegment(const MemoryID& providerSegmentID) const
+ {
+ auto* provSeg = derived<DerivedT>(this).findCoreSegment(providerSegmentID);
+ return provSeg ? provSeg->findProviderSegment(providerSegmentID) : nullptr;
+ }
+
+ /**
+ * @brief Retrieve a provider segment.
+ * @param id The provider segment ID.
+ * @return The provider segment if it is found.
+ * @throw `armem::error::ArMemError` if it is missing.
+ */
+ auto&
+ getProviderSegment(const MemoryID& providerSegmentID)
+ {
+ return derived<DerivedT>(this).getCoreSegment(providerSegmentID).getProviderSegment(providerSegmentID);
+ }
+ const auto&
+ getProviderSegment(const MemoryID& providerSegmentID) const
+ {
+ return derived<DerivedT>(this).getCoreSegment(providerSegmentID).getProviderSegment(providerSegmentID);
+ }
+
+ };
+
+}
diff --git a/source/RobotAPI/libraries/armem/core/base/ice_conversions.h b/source/RobotAPI/libraries/armem/core/base/ice_conversions.h
index 646754cc4cbfc3d61c0ce0b1e19c333ee2d7f92b..182e0c0a47aff1a75b356b9cc0b3930450de75e4 100644
--- a/source/RobotAPI/libraries/armem/core/base/ice_conversions.h
+++ b/source/RobotAPI/libraries/armem/core/base/ice_conversions.h
@@ -110,7 +110,6 @@ namespace armarx::armem::base
detail::toIce(ice.aronType, providerSegment.aronType());
ARMARX_CHECK(!providerSegment.aronType() || ice.aronType);
- // toIce(ice.entities, providerSegment.entities());
ice.entities.clear();
providerSegment.forEachEntity([&ice](const auto & entity)
{
@@ -125,7 +124,6 @@ namespace armarx::armem::base
detail::fromIce(ice.aronType, providerSegment.aronType());
ARMARX_CHECK(!providerSegment.aronType() || ice.aronType);
- // fromIce(ice.entities, providerSegment.entities());
providerSegment.clear();
for (const auto& [key, entity] : ice.entities)
{
@@ -142,12 +140,10 @@ namespace armarx::armem::base
detail::toIce(ice.aronType, coreSegment.aronType());
ARMARX_CHECK(!coreSegment.aronType() || ice.aronType);
- // toIce(ice.providerSegments, coreSegment.providerSegments());
ice.providerSegments.clear();
coreSegment.forEachProviderSegment([&ice](const auto & providerSegment)
{
armem::toIce(ice.providerSegments[providerSegment.name()], providerSegment);
- return true;
});
}
template <class ...Args>
@@ -176,7 +172,6 @@ namespace armarx::armem::base
memory.forEachCoreSegment([&ice](const auto & coreSegment)
{
armem::toIce(ice.coreSegments[coreSegment.name()], coreSegment);
- return true;
});
}
template <class ...Args>
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.cpp
deleted file mode 100644
index 204aa8f86e20d99df852abbdc79be3d1a07ef39f..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.cpp
+++ /dev/null
@@ -1,106 +0,0 @@
-#include "CoreSegment.h"
-
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-#include "TypeIO.h"
-
-
-namespace armarx::armem::d_ltm
-{
-
- std::filesystem::path CoreSegment::_fullPath() const
- {
- if (path)
- {
- return _fullPath(*path);
- }
- return std::filesystem::path();
- }
-
- std::filesystem::path CoreSegment::_fullPath(const std::filesystem::path& path) const
- {
- return path / id().memoryName / id().coreSegmentName;
- }
-
- wm::CoreSegment CoreSegment::convert() const
- {
- wm::CoreSegment m(id());
- for (const auto& [_, s] : _container)
- {
- m.addProviderSegment(s.convert(_aronType));
- }
- return m;
- }
-
- void CoreSegment::reload(const std::shared_ptr<std::filesystem::path>& p_ptr)
- {
- if (!p_ptr)
- {
- ARMARX_WARNING << "The entered is NULL.";
- }
- std::filesystem::path p = _fullPath(*p_ptr);
- if (std::filesystem::is_regular_file(p))
- {
- ARMARX_ERROR << "The entered path is leading to a file! Abort due to error.";
- }
-
- _container.clear();
- path = p_ptr;
-
- if (!std::filesystem::exists(p))
- {
- ARMARX_INFO << "The entered path does not exist. Assuming an empty container.";
- }
- else
- {
- for (const auto& d : std::filesystem::directory_iterator(p))
- {
- if (d.is_directory())
- {
- std::string k = d.path().filename();
- auto wms = _container.emplace(k, id().withProviderSegmentName(k));
- wms.first->second.reload(p_ptr);
- }
-
- if (d.is_regular_file())
- {
- if (auto type = TypeIO::readAronType(d.path()))
- {
- _aronType = type;
- }
- }
- }
- }
- }
-
- void CoreSegment::append(const wm::CoreSegment& m)
- {
- std::filesystem::create_directories(_fullPath());
- TypeIO::writeAronType(_aronType, _fullPath());
-
- m.forEachProviderSegment([this](const wm::ProviderSegment & s)
- {
- if (auto it = _container.find(s.name()); it != _container.end())
- {
- it->second.append(s);
- }
- else
- {
- try
- {
- std::filesystem::create_directory(_fullPath() / s.name());
- }
- catch (...)
- {
- ARMARX_WARNING << GetHandledExceptionString();
- return false;
- }
-
- auto wms = _container.emplace(s.name(), id().withProviderSegmentName(s.name()));
- wms.first->second.path = path;
- wms.first->second.append(s);
- }
- return true;
- });
- }
-}
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.h b/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.h
deleted file mode 100644
index 2d8bd8f29e7027ea63b797d0a19f4b96e116898e..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.h
+++ /dev/null
@@ -1,42 +0,0 @@
-#pragma once
-
-#include <filesystem>
-
-#include <RobotAPI/libraries/armem/core/base/CoreSegmentBase.h>
-#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
-
-#include "ProviderSegment.h"
-
-
-namespace armarx::armem::d_ltm
-{
-
- /**
- * @brief Data of a core segment containing multiple provider segments.
- */
- class CoreSegment :
- public base::CoreSegmentBase<ProviderSegment, CoreSegment>
- {
- using Base = base::CoreSegmentBase<ProviderSegment, CoreSegment>;
-
- public:
-
- using Base::CoreSegmentBase;
-
-
- // Conversion
- wm::CoreSegment convert() const;
-
- // Filesystem connection
- void reload(const std::shared_ptr<std::filesystem::path>&);
- void append(const wm::CoreSegment&);
-
- private:
- std::filesystem::path _fullPath() const;
- std::filesystem::path _fullPath(const std::filesystem::path&) const;
-
- public:
- std::shared_ptr<std::filesystem::path> path;
- };
-
-}
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/Entity.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/Entity.cpp
deleted file mode 100644
index d4d0ac233f1fac1e910869f56cc12541928798ce..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/diskmemory/Entity.cpp
+++ /dev/null
@@ -1,86 +0,0 @@
-#include "Entity.h"
-
-#include <ArmarXCore/core/logging/Logging.h>
-
-
-namespace armarx::armem::d_ltm
-{
- std::filesystem::path Entity::_fullPath() const
- {
- if (path)
- {
- return _fullPath(*path);
- }
- return std::filesystem::path();
- }
-
- std::filesystem::path Entity::_fullPath(const std::filesystem::path& path) const
- {
- return path / id().memoryName / id().coreSegmentName / id().providerSegmentName / id().entityName;
- }
-
- wm::Entity Entity::convert(const aron::typenavigator::NavigatorPtr& expectedStructure) const
- {
- wm::Entity m(id());
- for (const auto& [_, s] : _container)
- {
- m.addSnapshot(s.convert(expectedStructure));
- }
- return m;
- }
-
- void Entity::reload(const std::shared_ptr<std::filesystem::path>& p_ptr)
- {
- if (!p_ptr)
- {
- ARMARX_WARNING << "The entered is NULL.";
- }
- std::filesystem::path p = _fullPath(*p_ptr);
- if (std::filesystem::is_regular_file(p))
- {
- ARMARX_ERROR << "The entered path is leading to a file! Abort due to error.";
- }
-
- _container.clear();
- path = p_ptr;
-
- if (!std::filesystem::exists(p))
- {
- ARMARX_INFO << "The entered path does not exist. Assuming an empty container.";
- }
- else
- {
- for (const auto& d : std::filesystem::directory_iterator(p))
- {
- if (d.is_directory())
- {
- std::string k = d.path().filename();
- armem::Time t = armem::Time::microSeconds(std::stol(k));
- auto wms = _container.emplace(std::make_pair(t, id().withTimestamp(t)));
- wms.first->second.reload(p_ptr);
- }
- }
- }
- }
-
- void Entity::append(const wm::Entity& m)
- {
- std::filesystem::create_directories(_fullPath());
- m.forEachSnapshot([this](const wm::EntitySnapshot & s)
- {
- if (auto it = _container.find(s.time()); it != _container.end())
- {
- // timestamp already exists
- // We assume that a snapshot does not change, so ignore
- }
- else
- {
- std::filesystem::create_directory(_fullPath() / std::to_string(s.time().toMicroSeconds()));
- auto wms = _container.emplace(std::make_pair(s.time(), id().withTimestamp(s.time())));
- wms.first->second.path = path;
- wms.first->second.setTo(s);
- }
- return true;
- });
- }
-}
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/Entity.h b/source/RobotAPI/libraries/armem/core/diskmemory/Entity.h
deleted file mode 100644
index 63011ceff58a0ec7ff4b77bf2afeaa0252bbcec0..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/diskmemory/Entity.h
+++ /dev/null
@@ -1,58 +0,0 @@
-#pragma once
-
-#include <filesystem>
-
-#include <RobotAPI/libraries/armem/core/base/EntityBase.h>
-#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
-
-#include "EntitySnapshot.h"
-
-
-
-namespace armarx::armem::d_ltm
-{
- /**
- * @brief An entity over a period of time.
- *
- * An entity should be a physical thing or abstract concept existing
- * (and potentially evolving) over some time.
- *
- * Examples are:
- * - objects (the green box)
- * - agents (robot, human)
- * - locations (frige, sink)
- * - grasp affordances (general, or for a specific object)
- * - images
- * - point clouds
- * - other sensory values
- *
- * At each point in time (`EntitySnapshot`), the entity can have a
- * (potentially variable) number of instances (`EntityInstance`),
- * each containing a single `AronData` object of a specific `AronType`.
- */
- class Entity :
- public base::EntityBase<EntitySnapshot, Entity>
- {
- using Base = base::EntityBase<EntitySnapshot, Entity>;
-
- public:
-
- using Base::EntityBase;
-
-
- // Conversion
- wm::Entity convert(const aron::typenavigator::NavigatorPtr& expectedStructure) const;
-
- // Filesystem connection
- void reload(const std::shared_ptr<std::filesystem::path>&);
- void append(const wm::Entity&);
-
- private:
- std::filesystem::path _fullPath() const;
- std::filesystem::path _fullPath(const std::filesystem::path&) const;
-
- public:
- std::shared_ptr<std::filesystem::path> path;
- };
-
-}
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.cpp
deleted file mode 100644
index 56786756655453bb97952a206ff642b9f65174cb..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.cpp
+++ /dev/null
@@ -1,120 +0,0 @@
-#include "EntityInstance.h"
-
-#include <RobotAPI/libraries/armem/core/error.h>
-#include <RobotAPI/libraries/armem/core/wm/aron_conversions.h>
-#include <RobotAPI/libraries/armem/core/wm/json_conversions.h>
-
-#include <RobotAPI/libraries/aron/core/navigator/data/container/Dict.h>
-
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-#include <SimoxUtility/json/json.hpp>
-
-#include <iostream>
-#include <fstream>
-
-
-namespace armarx::armem::d_ltm
-{
-
- bool EntityInstance::equalsDeep(const EntityInstance& other) const
- {
- return id() == other.id();
- }
-
-
-
- void EntityInstance::update(const EntityUpdate& update)
- {
- ARMARX_CHECK_FITS_SIZE(this->index(), update.instancesData.size());
- }
-
-
- std::filesystem::path EntityInstance::_fullPath() const
- {
- if (path)
- {
- return _fullPath(*path);
- }
- ARMARX_WARNING << "The path of the disk memory instance with id '" << id().str() << "' is not set. This may lead to errors.";
- return std::filesystem::path();
- }
-
- std::filesystem::path EntityInstance::_fullPath(const std::filesystem::path& path) const
- {
- return path / id().memoryName / id().coreSegmentName / id().providerSegmentName / id().entityName / std::to_string(id().timestamp.toMicroSeconds()) / std::to_string(id().instanceIndex);
- }
-
- wm::EntityInstance EntityInstance::convert(const aron::typenavigator::NavigatorPtr& expectedStructure) const
- {
- std::filesystem::path p = _fullPath(); // here we assume that "reload" has been called first
- std::filesystem::path d = p / (std::string(DATA_FILENAME) + ".json");
-
- if (std::filesystem::is_regular_file(d))
- {
- std::ifstream ifs(d);
- std::string file_content((std::istreambuf_iterator<char>(ifs)), (std::istreambuf_iterator<char>()));
-
- nlohmann::json j = nlohmann::json::parse(file_content);
- auto aron = std::make_shared<aron::datanavigator::DictNavigator>();
- to_aron(aron, j, expectedStructure);
- wm::EntityInstance e(id());
- from_aron(aron, e);
- return e;
- }
- else
- {
- throw error::ArMemError("An diskMemory EntityInstance is not leading to a regular file. The path was: " + d.string());
- }
- }
-
- void EntityInstance::reload(const std::shared_ptr<std::filesystem::path>& p_ptr)
- {
- if (!p_ptr)
- {
- ARMARX_WARNING << "The entered path is NULL.";
- }
- std::filesystem::path p = _fullPath(*p_ptr);
- if (!std::filesystem::is_directory(p))
- {
- ARMARX_ERROR << "The entered path is not leading to a file! This is an error since if the folder for an EntityInstance exists there must be a data file in it (containing at least the metadata).";
- }
- else
- {
- path = p_ptr;
- }
- }
-
- void EntityInstance::setTo(const wm::EntityInstance& m)
- {
- std::filesystem::path p = _fullPath();
-
- try
- {
- std::filesystem::create_directories(p);
- }
- catch (...)
- {
- ARMARX_WARNING << GetHandledExceptionString();
- return;
- }
-
- std::filesystem::path d = p / (std::string(DATA_FILENAME) + ".json");
-
- if (std::filesystem::is_regular_file(d))
- {
- std::filesystem::remove(d);
- }
-
- std::ofstream ofs;
- ofs.open(d);
-
- auto aron = std::make_shared<aron::datanavigator::DictNavigator>();
- to_aron(aron, m);
- nlohmann::json j;
- from_aron(aron, j);
-
- ofs << j.dump(2);
- ofs.close();
- }
-}
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.h b/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.h
deleted file mode 100644
index c56a944f264c08e1f26b35df1ecb622dff92c0e6..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.h
+++ /dev/null
@@ -1,54 +0,0 @@
-#pragma once
-
-#include <filesystem>
-
-#include <RobotAPI/libraries/armem/core/base/EntityInstanceBase.h>
-#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
-
-#include <RobotAPI/libraries/aron/core/navigator/type/forward_declarations.h>
-
-
-namespace armarx::armem::d_ltm
-{
- /**
- * @brief Data of a single entity instance.
- */
- class EntityInstance :
- public base::EntityInstanceBase<base::NoData, base::NoData>
- {
- using Base = base::EntityInstanceBase<base::NoData, base::NoData>;
-
- public:
-
- using Base::EntityInstanceBase;
-
-
- /**
- * @brief Fill `*this` with the update's values.
- * @param update The update.
- * @param index The instances index.
- */
- void update(const EntityUpdate& update);
-
- bool equalsDeep(const EntityInstance& other) const;
-
-
- // Conversion
- wm::EntityInstance convert(const aron::typenavigator::NavigatorPtr& expectedStructure) const;
-
- // Filesystem connection
- void reload(const std::shared_ptr<std::filesystem::path>&);
- void setTo(const wm::EntityInstance&);
-
-
- private:
- std::filesystem::path _fullPath() const;
- std::filesystem::path _fullPath(const std::filesystem::path&) const;
-
- public:
- std::shared_ptr<std::filesystem::path> path;
-
- private:
- static const constexpr char* DATA_FILENAME = "data";
- };
-}
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.cpp
deleted file mode 100644
index 9354ab7d52e0dcbd058aec022892132b753b51ab..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.cpp
+++ /dev/null
@@ -1,105 +0,0 @@
-#include "EntitySnapshot.h"
-
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-#include "error.h"
-
-
-namespace armarx::armem::d_ltm
-{
-
- std::filesystem::path EntitySnapshot::_fullPath() const
- {
- if (path)
- {
- return _fullPath(*path);
- }
- return std::filesystem::path();
- }
-
- std::filesystem::path EntitySnapshot::_fullPath(const std::filesystem::path& path) const
- {
- return path / id().memoryName / id().coreSegmentName / id().providerSegmentName
- / id().entityName
- / std::to_string(id().timestamp.toMicroSeconds());
- }
-
- wm::EntitySnapshot EntitySnapshot::convert(const aron::typenavigator::NavigatorPtr& expectedStructure) const
- {
- wm::EntitySnapshot m(id());
- for (const auto& s : _container)
- {
- m.addInstance(s.convert(expectedStructure));
- }
- return m;
- }
-
- void EntitySnapshot::reload(const std::shared_ptr<std::filesystem::path>& p_ptr)
- {
- if (!p_ptr)
- {
- ARMARX_WARNING << "The entered is NULL.";
- }
- std::filesystem::path p = _fullPath(*p_ptr);
- if (!std::filesystem::is_directory(p))
- {
- ARMARX_ERROR << "The entered path is not leading to a directory! Every EntitySnapshot must at least contain one EntityInstance.";
- }
- else
- {
- _container.clear();
- path = p_ptr;
-
- // todo
- for (int i = 0; i < 1000; ++i)
- {
- std::filesystem::path d = p / std::to_string(i);
- if (std::filesystem::is_directory(d))
- {
- auto& wms = _container.emplace_back(id().withInstanceIndex(i));
- wms.reload(p_ptr);
- }
- else
- {
- break;
- }
- }
- }
- }
-
- void EntitySnapshot::setTo(const wm::EntitySnapshot& m)
- {
- try
- {
- std::filesystem::create_directories(_fullPath());
- }
- catch (...)
- {
- ARMARX_WARNING << GetHandledExceptionString();
- return;
- }
-
- // We remove the content here and reset it with new values
- _container.clear();
-
- int i = 0;
- m.forEachInstance([this, &i](wm::EntityInstance & s)
- {
- try
- {
- std::filesystem::create_directory(_fullPath() / std::to_string(i));
- }
- catch (...)
- {
- ARMARX_WARNING << GetHandledExceptionString();
- return true;
- }
-
- auto& wms = _container.emplace_back(id().withInstanceIndex(i++));
- wms.path = path;
- wms.setTo(s);
-
- return true;
- });
- }
-}
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.h b/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.h
deleted file mode 100644
index 9587e3be44435814d4709979a1fb394c67b953c7..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.h
+++ /dev/null
@@ -1,43 +0,0 @@
-#pragma once
-
-#include <filesystem>
-
-#include <RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h>
-#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
-
-#include "EntityInstance.h"
-
-#include <RobotAPI/libraries/aron/core/navigator/type/forward_declarations.h>
-
-
-namespace armarx::armem::d_ltm
-{
-
- /**
- * @brief Data of an entity at one point in time.
- */
- class EntitySnapshot :
- public base::EntitySnapshotBase<EntityInstance, EntitySnapshot>
- {
- using Base = base::EntitySnapshotBase<EntityInstance, EntitySnapshot>;
-
- public:
-
- using Base::EntitySnapshotBase;
-
-
- // Conversion
- void reload(const std::shared_ptr<std::filesystem::path>&);
- wm::EntitySnapshot convert(const aron::typenavigator::NavigatorPtr& expectedStructure) const;
-
- // FS connection
- void setTo(const wm::EntitySnapshot&);
-
- private:
- std::filesystem::path _fullPath() const;
- std::filesystem::path _fullPath(const std::filesystem::path&) const;
-
- public:
- std::shared_ptr<std::filesystem::path> path;
- };
-}
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/Memory.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/Memory.cpp
deleted file mode 100644
index 3fc60e0496aa21c441cf5e8a60443e43ef741a46..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/diskmemory/Memory.cpp
+++ /dev/null
@@ -1,94 +0,0 @@
-#include "Memory.h"
-
-#include <ArmarXCore/core/logging/Logging.h>
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-#include "error.h"
-
-
-namespace armarx::armem::d_ltm
-{
- std::filesystem::path Memory::_fullPath() const
- {
- if (path)
- {
- return _fullPath(*path);
- }
- return std::filesystem::path();
- }
-
- std::filesystem::path Memory::_fullPath(const std::filesystem::path& path) const
- {
- return path / id().memoryName;
- }
-
- wm::Memory Memory::convert() const
- {
- wm::Memory m(id());
- for (const auto& [k, s] : _container)
- {
- m.addCoreSegment(s.convert());
- }
- return m;
- }
-
- void Memory::reload(const std::filesystem::path& p)
- {
- if (std::filesystem::is_regular_file(p))
- {
- ARMARX_ERROR << "The entered path is leading to a file! Abort due to error.";
- }
-
- _container.clear();
- path = std::make_shared<std::filesystem::path>(p.parent_path());
-
- if (!std::filesystem::exists(p))
- {
- ARMARX_INFO << "The entered path does not exist. Returning empty memory.";
- }
- else
- {
- id() = MemoryID().withMemoryName(p.filename());
-
- for (const auto& d : std::filesystem::directory_iterator(p))
- {
- if (d.is_directory())
- {
- std::string k = d.path().filename();
- auto wms = _container.emplace(k, id().withCoreSegmentName(k));
- wms.first->second.reload(path);
- }
- }
- }
- }
-
- void Memory::append(const wm::Memory& m)
- {
- std::filesystem::create_directories(_fullPath());
- m.forEachCoreSegment([this](const wm::CoreSegment & s) -> bool
- {
- if (auto it = _container.find(s.name()); it != _container.end())
- {
- it->second.append(s);
- }
- else
- {
- try
- {
- std::filesystem::create_directory(_fullPath() / s.name());
- }
- catch (...)
- {
- ARMARX_WARNING << GetHandledExceptionString();
- return false;
- }
-
- auto wms = _container.emplace(s.name(), id().withCoreSegmentName(s.name()));
- wms.first->second.path = path;
- wms.first->second.append(s);
- }
-
- return true;
- });
- }
-}
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/Memory.h b/source/RobotAPI/libraries/armem/core/diskmemory/Memory.h
deleted file mode 100644
index aaa1e460a5bff94195ae6da7662a7e53b33861e4..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/diskmemory/Memory.h
+++ /dev/null
@@ -1,41 +0,0 @@
-#pragma once
-
-#include <filesystem>
-
-#include <RobotAPI/libraries/armem/core/base/MemoryBase.h>
-#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
-
-#include "CoreSegment.h"
-
-
-namespace armarx::armem::d_ltm
-{
-
- /**
- * @brief Data of a memory consisting of multiple core segments.
- */
- class Memory :
- public base::MemoryBase<CoreSegment, Memory>
- {
- using Base = base::MemoryBase<CoreSegment, Memory>;
-
- public:
-
- using Base::MemoryBase;
-
-
- // Conversion
- wm::Memory convert() const;
-
- // Filesystem connection
- void reload(const std::filesystem::path&);
- void append(const wm::Memory&);
-
- private:
- std::filesystem::path _fullPath() const;
- std::filesystem::path _fullPath(const std::filesystem::path&) const;
-
- public:
- std::shared_ptr<std::filesystem::path> path;
- };
-}
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.cpp
deleted file mode 100644
index 08ed0c2b07edc156764f02dc88c5f76160f9d355..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.cpp
+++ /dev/null
@@ -1,125 +0,0 @@
-#include "ProviderSegment.h"
-
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-#include "TypeIO.h"
-
-
-namespace armarx::armem::d_ltm
-{
- std::filesystem::path ProviderSegment::_fullPath() const
- {
- if (path)
- {
- return _fullPath(*path);
- }
- return std::filesystem::path();
- }
-
- std::filesystem::path ProviderSegment::_fullPath(const std::filesystem::path& path) const
- {
- return path / id().memoryName / id().coreSegmentName / id().providerSegmentName;
- }
-
- wm::ProviderSegment ProviderSegment::convert(const aron::typenavigator::NavigatorPtr& expectedStructure) const
- {
- wm::ProviderSegment m(id());
- for (const auto& [_, s] : _container)
- {
- if (hasAronType())
- {
- m.addEntity(s.convert(_aronType));
- }
- else
- {
- m.addEntity(s.convert(expectedStructure));
- }
- }
- return m;
- }
-
- void ProviderSegment::reload(const std::shared_ptr<std::filesystem::path>& p_ptr)
- {
- if (!p_ptr)
- {
- ARMARX_WARNING << "The entered is NULL.";
- }
- std::filesystem::path p = _fullPath(*p_ptr);
- if (std::filesystem::is_regular_file(p))
- {
- ARMARX_ERROR << "The entered path is leading to a file! Abort due to error.";
- }
-
- _container.clear();
- path = p_ptr;
-
- if (!std::filesystem::exists(p))
- {
- ARMARX_INFO << "The entered path does not exist. Assuming an empty container.";
- }
- else
- {
- for (const auto& d : std::filesystem::directory_iterator(p))
- {
- if (d.is_directory())
- {
- std::string k = d.path().filename();
- auto wms = _container.emplace(k, id().withEntityName(k));
- wms.first->second.reload(p_ptr);
- }
-
- if (d.is_regular_file())
- {
- if (auto type = TypeIO::readAronType(d.path()))
- {
- _aronType = type;
- }
- }
- }
- }
- }
-
- void ProviderSegment::append(const wm::ProviderSegment& m)
- {
-
- try
- {
- std::filesystem::create_directories(_fullPath());
-
- }
- catch (...)
- {
- ARMARX_WARNING << GetHandledExceptionString();
- return;
- }
-
- TypeIO::writeAronType(_aronType, _fullPath());
-
- m.forEachEntity([this](const wm::Entity & s)
- {
- if (auto it = _container.find(s.name()); it != _container.end())
- {
- it->second.append(s);
- }
- else
- {
-
- try
- {
- std::filesystem::create_directory(_fullPath() / s.name());
- }
- catch (...)
- {
- ARMARX_WARNING << GetHandledExceptionString();
- return false;
- }
-
- auto wms = _container.emplace(s.name(), id().withEntityName(s.name()));
- wms.first->second.path = path;
- wms.first->second.append(s);
- }
-
- return true;
- });
- }
-}
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.h b/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.h
deleted file mode 100644
index 0e866b08cc5c50f623fd9b5676136834078c953a..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.h
+++ /dev/null
@@ -1,42 +0,0 @@
-#pragma once
-
-#include <filesystem>
-
-#include <RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h>
-#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
-
-#include "Entity.h"
-
-
-namespace armarx::armem::d_ltm
-{
-
- /**
- * @brief Data of a provider segment containing multiple entities.
- */
- class ProviderSegment :
- public base::ProviderSegmentBase<Entity, ProviderSegment>
- {
- using Base = base::ProviderSegmentBase<Entity, ProviderSegment>;
-
- public:
-
- using Base::ProviderSegmentBase;
-
-
- // Conversion
- wm::ProviderSegment convert(const aron::typenavigator::NavigatorPtr& expectedStructure) const;
-
- // Filesystem connection
- void reload(const std::shared_ptr<std::filesystem::path>&);
- void append(const wm::ProviderSegment&);
-
- private:
- std::filesystem::path _fullPath() const;
- std::filesystem::path _fullPath(const std::filesystem::path&) const;
-
- public:
- std::shared_ptr<std::filesystem::path> path;
- };
-
-}
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/TypeIO.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/TypeIO.cpp
deleted file mode 100644
index dc7f7a83706c7b9f69cc05a6e81bcf810c10a249..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/diskmemory/TypeIO.cpp
+++ /dev/null
@@ -1,71 +0,0 @@
-#include "TypeIO.h"
-
-#include <iostream>
-#include <fstream>
-#include <filesystem>
-
-#include <RobotAPI/libraries/aron/core/navigator/type/container/Object.h>
-#include <RobotAPI/libraries/aron/core/io/typeIO/visitor/Visitor.h>
-#include <RobotAPI/libraries/aron/core/io/typeIO/converter/Converter.h>
-#include <RobotAPI/libraries/aron/core/io/typeIO/reader/nlohmannJSON/NlohmannJSONReader.h>
-#include <RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.h>
-#include <RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.h>
-
-
-namespace armarx::armem::d_ltm
-{
-
- aron::typenavigator::ObjectNavigatorPtr TypeIO::unwrapType(const aron::typenavigator::ObjectNavigatorPtr& type)
- {
- return aron::typenavigator::ObjectNavigator::DynamicCastAndCheck(type->getMemberType(TYPE_WRAPPER_DATA_FIELD));
- }
-
- aron::typenavigator::ObjectNavigatorPtr TypeIO::wrapType(const aron::typenavigator::ObjectNavigatorPtr& type)
- {
- aron::typenavigator::ObjectNavigatorPtr typeWrapped(new aron::typenavigator::ObjectNavigator());
- typeWrapped->setObjectName(type->getObjectName() + "__ltm_type_export");
- typeWrapped->addMemberType(TYPE_WRAPPER_DATA_FIELD, type);
-
- typeWrapped->addMemberType(TYPE_WRAPPER_TIME_STORED_FIELD, std::make_shared<aron::typenavigator::LongNavigator>());
- typeWrapped->addMemberType(TYPE_WRAPPER_TIME_CREATED_FIELD, std::make_shared<aron::typenavigator::LongNavigator>());
- typeWrapped->addMemberType(TYPE_WRAPPER_TIME_SENT_FIELD, std::make_shared<aron::typenavigator::LongNavigator>());
- typeWrapped->addMemberType(TYPE_WRAPPER_TIME_ARRIVED_FIELD, std::make_shared<aron::typenavigator::LongNavigator>());
- typeWrapped->addMemberType(TYPE_WRAPPER_CONFIDENCE_FIELD, std::make_shared<aron::typenavigator::DoubleNavigator>());
-
- return typeWrapped;
- }
-
- aron::typenavigator::ObjectNavigatorPtr TypeIO::readAronType(const std::filesystem::__cxx11::path& filepath)
- {
- if (std::filesystem::is_regular_file(filepath))
- {
- if (filepath.filename() == (std::string(TYPE_FILENAME) + ".json"))
- {
- std::ifstream ifs(filepath);
- std::string file_content((std::istreambuf_iterator<char>(ifs)), (std::istreambuf_iterator<char>()));
-
- aron::typeIO::reader::NlohmannJSONReader typeReader(file_content);
- aron::typeIO::writer::NavigatorWriter navWriter;
- aron::typeIO::Converter::ReadAndConvert(typeReader, navWriter);
- return aron::typenavigator::ObjectNavigator::DynamicCastAndCheck(navWriter.getResult());
- }
- }
- return nullptr;
- }
-
- void TypeIO::writeAronType(const aron::typenavigator::ObjectNavigatorPtr& type, const std::filesystem::__cxx11::path& filepath)
- {
- if (type)
- {
- std::ofstream ofs(filepath);
-
- aron::typeIO::writer::NlohmannJSONWriter typeWriter;
- aron::typeIO::Visitor::VisitAndSetup(typeWriter, type);
- std::string new_file_full_content = typeWriter.getResult().dump(2);
-
- ofs << new_file_full_content;
- }
- }
-
-
-}
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/TypeIO.h b/source/RobotAPI/libraries/armem/core/diskmemory/TypeIO.h
deleted file mode 100644
index 4311bdcd7034a08b30b7c7f6ae9ee3eab0952fac..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/diskmemory/TypeIO.h
+++ /dev/null
@@ -1,37 +0,0 @@
-#pragma once
-
-#include <filesystem>
-
-#include <RobotAPI/libraries/aron/core/navigator/type/container/Object.h>
-
-
-namespace armarx::armem::d_ltm
-{
-
- /**
- * @brief An entity container with a specific (Aron) type.
- */
- class TypeIO
- {
- public:
-
- static aron::typenavigator::ObjectNavigatorPtr unwrapType(const aron::typenavigator::ObjectNavigatorPtr& type);
- static aron::typenavigator::ObjectNavigatorPtr wrapType(const aron::typenavigator::ObjectNavigatorPtr& type);
-
- static aron::typenavigator::ObjectNavigatorPtr readAronType(const std::filesystem::path& filepath);
- static void writeAronType(const aron::typenavigator::ObjectNavigatorPtr& type, const std::filesystem::path& filepath);
-
-
- private:
-
- static const constexpr char* TYPE_FILENAME = "type";
- static constexpr const char* TYPE_WRAPPER_DATA_FIELD = "__ARON_DATA";
- static constexpr const char* TYPE_WRAPPER_TIME_STORED_FIELD = "__WRITER_METADATA__TIME_STORED";
- static constexpr const char* TYPE_WRAPPER_TIME_CREATED_FIELD = "__ENTITY_METADATA__TIME_CREATED";
- static constexpr const char* TYPE_WRAPPER_TIME_SENT_FIELD = "__ENTITY_METADATA__TIME_SENT";
- static constexpr const char* TYPE_WRAPPER_TIME_ARRIVED_FIELD = "__ENTITY_METADATA__TIME_ARRIVED";
- static constexpr const char* TYPE_WRAPPER_CONFIDENCE_FIELD = "__ENTITY_METADATA__CONFIDENCE";
-
- };
-
-}
diff --git a/source/RobotAPI/libraries/armem/core/error/ArMemError.cpp b/source/RobotAPI/libraries/armem/core/error/ArMemError.cpp
index 8936fab6fe953bc3b7fee870a97ffee598234ea7..003ef9fb5496b92814ad68cd9904987498460c46 100644
--- a/source/RobotAPI/libraries/armem/core/error/ArMemError.cpp
+++ b/source/RobotAPI/libraries/armem/core/error/ArMemError.cpp
@@ -59,7 +59,7 @@ namespace armarx::armem::error
{
std::stringstream ss;
ss << simox::alg::capitalize_words(existingTerm) << " with name '" << existingName << "' "
- << " already exists in " << ownTerm << " '" << ownName << "'.";
+ << "already exists in " << ownTerm << " '" << ownName << "'.";
return ss.str();
}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.cpp
deleted file mode 100644
index 1fc021d65fe460b4b91331196446ef8661337aa6..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.cpp
+++ /dev/null
@@ -1,86 +0,0 @@
-#include "CoreSegment.h"
-
-#include "error.h"
-
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-#include <SimoxUtility/json/json.hpp>
-
-
-namespace armarx::armem::ltm
-{
-
- wm::CoreSegment CoreSegment::convert() const
- {
- wm::CoreSegment m(id());
- for (const auto& [_, s] : _container)
- {
- m.addProviderSegment(s.convert());
- }
- return m;
- }
-
- void CoreSegment::reload()
- {
- _container.clear();
-
- mongocxx::client& client = MongoDBConnectionManager::EstablishConnection(dbsettings);
- mongocxx::database db = client[dbsettings.database];
- mongocxx::collection coll = db[id().str()];
-
-
- mongocxx::cursor cursor = coll.find({});
- for (auto doc : cursor)
- {
- nlohmann::json json = nlohmann::json::parse(bsoncxx::to_json(doc));
- ARMARX_INFO << "CoreSegment: Found foreign key: " << json.at("foreign_key");
-
- MemoryID i = MemoryID::fromString(json.at("foreign_key").get<std::string>());
- if (i.coreSegmentName != id().coreSegmentName)
- {
- throw error::InvalidMemoryID(i, "A MemoryID in mongodb was invalid. Found the wrong coreSegment name. Expected " + id().coreSegmentName);
- }
-
- std::string k = i.providerSegmentName;
-
- if (auto it = _container.find(k); it != _container.end())
- {
- throw error::ArMemError("Somehow after clearing the (core) container a key k = " + k + " was found. Do you have double entries in mongodb?");
- }
- else
- {
- auto wms = _container.emplace(k, id().withProviderSegmentName(k));
- wms.first->second.dbsettings = dbsettings;
- wms.first->second.reload();
- }
- }
-
- ARMARX_INFO << "After reload has core segment " << id().str() << " size: " << _container.size();
- }
-
- void CoreSegment::append(const wm::CoreSegment& m)
- {
- mongocxx::client& client = MongoDBConnectionManager::EstablishConnection(dbsettings);
- mongocxx::database db = client[dbsettings.database];
- mongocxx::collection coll = db[id().str()];
-
- m.forEachProviderSegment([this, &coll](const wm::ProviderSegment & provSeg)
- {
- auto it = _container.find(provSeg.name());
- if (it == _container.end())
- {
- bsoncxx::builder::stream::document builder;
- bsoncxx::document::value foreign_key = builder
- << "foreign_key" << provSeg.id().str()
- << bsoncxx::builder::stream::finalize;
- coll.insert_one(foreign_key.view());
-
- it = _container.emplace(provSeg.name(), id().withProviderSegmentName(provSeg.name())).first;
- it->second.dbsettings = dbsettings;
- }
- it->second.append(provSeg);
-
- return true;
- });
- }
-}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.h b/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.h
deleted file mode 100644
index 32f05ef2f773388b6006c573b7017064193d80c3..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.h
+++ /dev/null
@@ -1,39 +0,0 @@
-#pragma once
-
-#include "ProviderSegment.h"
-#include "mongodb/MongoDBConnectionManager.h"
-
-#include <RobotAPI/libraries/armem/core/base/CoreSegmentBase.h>
-#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
-
-
-namespace armarx::armem::ltm
-{
-
- /**
- * @brief Data of a core segment containing multiple provider segments.
- */
- class CoreSegment :
- public base::CoreSegmentBase<ProviderSegment, CoreSegment>
- {
- using Base = base::CoreSegmentBase<ProviderSegment, CoreSegment>;
-
- public:
-
- using Base::CoreSegmentBase;
-
-
- // Conversion
- wm::CoreSegment convert() const;
-
- // MongoDB connection
- void reload();
- void append(const wm::CoreSegment&);
-
- public:
-
- MongoDBConnectionManager::MongoDBSettings dbsettings;
-
- };
-
-}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.cpp
deleted file mode 100644
index 6604c26e935cb4619fc7439d8e9a1f318a14ff63..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.cpp
+++ /dev/null
@@ -1,151 +0,0 @@
-#include "Entity.h"
-
-#include <ArmarXCore/core/logging/Logging.h>
-
-#include <SimoxUtility/json/json.hpp>
-
-
-namespace armarx::armem::ltm
-{
-
- wm::Entity Entity::convert() const
- {
- wm::Entity m(id());
- for (const auto& [_, s] : _container)
- {
- m.addSnapshot(s.convert());
- }
- return m;
- }
-
- void Entity::reload()
- {
- _container.clear();
-
- mongocxx::client& client = MongoDBConnectionManager::EstablishConnection(dbsettings);
- mongocxx::database db = client[dbsettings.database];
- mongocxx::collection coll = db[id().str()];
-
- mongocxx::cursor cursor = coll.find({});
- int i = 0;
- for (auto doc : cursor)
- {
- nlohmann::json json = nlohmann::json::parse(bsoncxx::to_json(doc));
-
- auto k = armem::Time::microSeconds(json.at("timestamp"));
- //ARMARX_INFO << "Entity: Found timestamp: " << std::to_string(k.toMicroSeconds());
-
- if (auto it = _container.find(k); it != _container.end())
- {
- throw error::ArMemError("Somehow after clearing the (entity) container a key k = " + std::to_string(k.toMicroSeconds()) + " was found. Do you have double entries in mongodb?");
- }
- else
- {
- auto wms = _container.emplace(std::make_pair(k, id().withTimestamp(k)));
- wms.first->second.dbsettings = dbsettings;
- wms.first->second.reload();
- }
- ++i;
- }
-
- ARMARX_INFO << "After reload has entity " << id().str() << " size: " << _container.size();
- }
-
- void Entity::append(const wm::Entity& m)
- {
- mongocxx::client& client = MongoDBConnectionManager::EstablishConnection(dbsettings);
- mongocxx::database db = client[dbsettings.database];
- mongocxx::collection coll = db[id().str()];
-
- m.forEachSnapshot([this](const wm::EntitySnapshot & snapshot)
- {
- if (auto it = _container.find(snapshot.time()); it != _container.end())
- {
- // timestamp already exists
- // We assume that a snapshot does not change, so ignore
- }
- else
- {
- auto wms = _container.emplace(std::make_pair(snapshot.time(), id().withTimestamp(snapshot.time())));
- wms.first->second.dbsettings = dbsettings;
- wms.first->second.setTo(snapshot, snapshot.time());
- //truncateHistoryToSize();
- }
- return true;
- });
- }
-
- bool Entity::hasSnapshot(const Time& time) const
- {
- // check cache
- if (Base::hasSnapshot(time))
- {
- return true;
- }
- // check mongodb
- mongocxx::client& client = MongoDBConnectionManager::EstablishConnection(dbsettings);
- mongocxx::database db = client[dbsettings.database];
- mongocxx::collection coll = db[id().str()];
-
- bsoncxx::stdx::optional<bsoncxx::document::value> maybe_result =
- coll.find_one(document{} << "timestamp" << time.toMicroSeconds() << finalize);
- if (!maybe_result)
- {
- return false;
- }
-
- nlohmann::json json = nlohmann::json::parse(bsoncxx::to_json(*maybe_result));
- MemoryID id = MemoryID::fromString(json["id"].get<std::string>());
- nlohmann::json instances = json["instances"];
- EntitySnapshot snapshot(id);
- snapshot.dbsettings = dbsettings;
-
- for (size_t i = 0; i < instances.size(); ++i)
- {
- EntityInstance instance(id.withInstanceIndex(static_cast<int>(i)));
- snapshot.addInstance(instance);
- }
-
- _container.emplace(time, snapshot);
- //truncateHistoryToSize();
- return true;
- }
-
- std::vector<Time> Entity::getTimestamps() const
- {
- // get from cache
- std::vector<Time> ret; // = Base::getTimestamps();
-
- // get missing from mongodb
- mongocxx::client& client = MongoDBConnectionManager::EstablishConnection(dbsettings);
- mongocxx::database db = client[dbsettings.database];
- mongocxx::collection coll = db[id().str()];
-
- auto cursor = coll.find({});
- for (auto doc : cursor)
- {
- auto json = nlohmann::json::parse(bsoncxx::to_json(doc));
- auto ts = json["timestamp"].get<long>();
- ret.push_back(Time::microSeconds(ts));
- }
- return ret;
- }
-
- const EntitySnapshot& Entity::getSnapshot(const Time& time) const
- {
- if (!hasSnapshot(time))
- {
- throw error::MissingEntry::create<EntitySnapshotT>(toDateTimeMilliSeconds(time), *this);
- }
-
- // the above command already puts the reference to the cache
- return Base::getSnapshot(time);
- }
-
- auto Entity::getLatestItem() const -> const ContainerT::value_type&
- {
- // Directly query mongodb (cache cant know whether it is the latest or not)
- // TODO
- return Base::getLatestItem();
- }
-}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.h b/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.h
deleted file mode 100644
index 99bc3a736f0abe803ec101a81f4b1ac75b87d92e..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.h
+++ /dev/null
@@ -1,63 +0,0 @@
-#pragma once
-
-#include "EntitySnapshot.h"
-#include "mongodb/MongoDBConnectionManager.h"
-
-#include <RobotAPI/libraries/armem/core/base/EntityBase.h>
-#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
-
-
-namespace armarx::armem::ltm
-{
- /**
- * @brief An entity over a period of time.
- *
- * An entity should be a physical thing or abstract concept existing
- * (and potentially evolving) over some time.
- *
- * Examples are:
- * - objects (the green box)
- * - agents (robot, human)
- * - locations (frige, sink)
- * - grasp affordances (general, or for a specific object)
- * - images
- * - point clouds
- * - other sensory values
- *
- * At each point in time (`EntitySnapshot`), the entity can have a
- * (potentially variable) number of instances (`EntityInstance`),
- * each containing a single `AronData` object of a specific `AronType`.
- */
- class Entity :
- public base::EntityBase<EntitySnapshot, Entity>
- {
- using Base = base::EntityBase<EntitySnapshot, Entity>;
-
- public:
-
- using Base::EntityBase;
-
-
- // Conversion
- wm::Entity convert() const;
-
- // MongoDB connection
- void reload();
- void append(const wm::Entity&);
-
- // overrides for LTM lookups
- bool hasSnapshot(const Time& time) const;
- std::vector<Time> getTimestamps() const;
- const EntitySnapshot& getSnapshot(const Time& time) const;
-
-
- protected:
- // overrides for LTM storage
- const ContainerT::value_type& getLatestItem() const;
-
- public:
- MongoDBConnectionManager::MongoDBSettings dbsettings;
-
- };
-
-}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.cpp
deleted file mode 100644
index 63fe18145c561e9efda0ba2a14cb07175b029d1c..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.cpp
+++ /dev/null
@@ -1,24 +0,0 @@
-#include "EntityInstance.h"
-
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-
-namespace armarx::armem::ltm
-{
-
- bool EntityInstance::equalsDeep(const EntityInstance& other) const
- {
- return id() == other.id() && _metadata == other.metadata();
- }
-
- void EntityInstance::update(const EntityUpdate& update)
- {
- ARMARX_CHECK_FITS_SIZE(this->index(), update.instancesData.size());
-
- this->_metadata.confidence = update.confidence;
- this->_metadata.timeCreated = update.timeCreated;
- this->_metadata.timeSent = update.timeSent;
- this->_metadata.timeArrived = update.timeArrived;
- }
-
-}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.h b/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.h
deleted file mode 100644
index 6046f6ac50902d6f7f770361915dbd30d5a15ec1..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.h
+++ /dev/null
@@ -1,35 +0,0 @@
-#pragma once
-
-#include <RobotAPI/libraries/armem/core/base/EntityInstanceBase.h>
-
-
-namespace armarx::armem::ltm
-{
-
- using EntityInstanceMetadata = base::EntityInstanceMetadata;
-
-
- /**
- * @brief Data of a single entity instance.
- */
- class EntityInstance :
- public base::EntityInstanceBase<base::NoData, EntityInstanceMetadata>
- {
- using Base = base::EntityInstanceBase<base::NoData, EntityInstanceMetadata>;
-
- public:
-
- using Base::EntityInstanceBase;
-
-
- /**
- * @brief Fill `*this` with the update's values.
- * @param update The update.
- * @param index The instances index.
- */
- void update(const EntityUpdate& update);
-
- bool equalsDeep(const EntityInstance& other) const;
-
- };
-}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.cpp
deleted file mode 100644
index 8cbe688125a7571a3e8f0a19031b25722bb79bbf..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.cpp
+++ /dev/null
@@ -1,109 +0,0 @@
-#include "EntitySnapshot.h"
-
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-#include <RobotAPI/libraries/aron/core/navigator/data/container/Dict.h>
-
-#include <RobotAPI/libraries/armem/core/wm/aron_conversions.h>
-#include <RobotAPI/libraries/armem/core/wm/json_conversions.h>
-
-
-#include "error.h"
-
-
-namespace armarx::armem::ltm
-{
-
- wm::EntitySnapshot EntitySnapshot::convert(const aron::typenavigator::NavigatorPtr& expectedStructure) const
- {
- mongocxx::client& client = MongoDBConnectionManager::EstablishConnection(dbsettings);
- mongocxx::database db = client[dbsettings.database];
- mongocxx::collection coll = db[id().getEntityID().str()];
-
- auto res = coll.find_one(document{} << "id" << id().getEntitySnapshotID().str() << finalize);
- if (!res)
- {
- throw error::ArMemError("Could not load an instance from the memory '" + id().getEntityID().str() + "'. Tried to access: " + id().getEntitySnapshotID().str());
- }
-
- nlohmann::json json = nlohmann::json::parse(bsoncxx::to_json(*res));
- nlohmann::json instances = json["instances"];
-
- if (instances.size() != _container.size())
- {
- throw error::ArMemError("The size of the mongodb entity entry at id " + id().getEntitySnapshotID().str() + " has wrong size. Expected: " + std::to_string(_container.size()) + " but got: " + std::to_string(instances.size()));
- }
-
- wm::EntitySnapshot m(id());
- for (unsigned int i = 0; i < _container.size(); ++i)
- {
- nlohmann::json doc = instances[i++];
-
- auto aron = std::make_shared<aron::datanavigator::DictNavigator>();
- to_aron(aron, doc, expectedStructure);
- wm::EntityInstance e(id());
- from_aron(aron, e);
- m.addInstance(e);
- }
- return m;
- }
-
- void EntitySnapshot::reload()
- {
- _container.clear();
-
- mongocxx::client& client = MongoDBConnectionManager::EstablishConnection(dbsettings);
- mongocxx::database db = client[dbsettings.database];
- mongocxx::collection coll = db[id().getEntityID().str()];
-
- auto res = coll.find_one(document{} << "id" << id().getEntitySnapshotID().str() << finalize);
-
- if (!res)
- {
- throw error::ArMemError("Could not load an instance from the memory '" + id().getEntityID().str() + "'. Tried to access: " + id().getEntitySnapshotID().str());
- }
-
- nlohmann::json json = nlohmann::json::parse(bsoncxx::to_json(*res));
- for (unsigned int i = 0; i < json.at("instances").size(); ++i)
- {
- _container.emplace_back(id().withInstanceIndex(i));
- }
- }
-
- void EntitySnapshot::setTo(const wm::EntitySnapshot& m, const armem::Time& t)
- {
- // We remove the contente here and reset it with new values
- _container.clear();
-
- mongocxx::client& client = MongoDBConnectionManager::EstablishConnection(dbsettings);
- mongocxx::database db = client[dbsettings.database];
- mongocxx::collection coll = db[id().getEntityID().str()];
-
- bsoncxx::builder::stream::document builder{};
- auto in_array = builder
- << "id" << id().getEntitySnapshotID().str()
- << "timestamp" << t.toMicroSeconds()
- << "instances";
- auto array_builder = bsoncxx::builder::basic::array{};
-
- int i = 0;
- m.forEachInstance([this, &array_builder, &i](const wm::EntityInstance & instance)
- {
- auto wms = _container.emplace_back(id().withInstanceIndex(i++));
-
- auto aron = std::make_shared<aron::datanavigator::DictNavigator>();
- to_aron(aron, instance);
- nlohmann::json j;
- from_aron(aron, j);
-
- auto doc_value = bsoncxx::from_json(j.dump(2));
- array_builder.append(doc_value);
-
- return true;
- });
-
- auto after_array = in_array << array_builder;
- bsoncxx::document::value doc = after_array << bsoncxx::builder::stream::finalize;
- coll.insert_one(doc.view());
- }
-}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.h b/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.h
deleted file mode 100644
index 3029f8a7ca0278b9a505ee2fa5a744cfab327359..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.h
+++ /dev/null
@@ -1,41 +0,0 @@
-#pragma once
-
-#include "EntityInstance.h"
-#include "mongodb/MongoDBConnectionManager.h"
-
-#include <RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h>
-#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
-
-#include <RobotAPI/libraries/aron/core/navigator/type/forward_declarations.h>
-
-
-namespace armarx::armem::ltm
-{
-
- /**
- * @brief Data of an entity at one point in time.
- */
- class EntitySnapshot :
- public base::EntitySnapshotBase<EntityInstance, EntitySnapshot>
- {
- using Base = base::EntitySnapshotBase<EntityInstance, EntitySnapshot>;
-
- public:
-
- using Base::EntitySnapshotBase;
-
-
- // Conversion
- wm::EntitySnapshot convert(const aron::typenavigator::NavigatorPtr& = nullptr) const;
-
- // MongoDB connection
- void reload();
- void setTo(const wm::EntitySnapshot&, const armem::Time& t);
-
-
- public:
-
- MongoDBConnectionManager::MongoDBSettings dbsettings;
-
- };
-}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.cpp
deleted file mode 100644
index ab4cb5d13ec0a30c0e8dc04125b61bd4b031df99..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.cpp
+++ /dev/null
@@ -1,236 +0,0 @@
-#include "Memory.h"
-
-#include "error.h"
-
-#include <ArmarXCore/core/application/properties/PluginAll.h>
-#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-#include <ArmarXCore/core/logging/Logging.h>
-#include <ArmarXCore/core/time/TimeUtil.h>
-
-
-namespace armarx::armem::ltm
-{
-
- Memory::Memory(const Memory& other) :
- Base(other),
- dbsettings(other.dbsettings),
- periodicTransferSettings(other.periodicTransferSettings),
- onFullTransferSettings(other.onFullTransferSettings),
- mongoDBMutex()
- {
- // Do not copy _mutex.
- }
-
-
- Memory::Memory(Memory&& other) :
- Base(std::move(other)),
- dbsettings(other.dbsettings),
- periodicTransferSettings(other.periodicTransferSettings),
- onFullTransferSettings(other.onFullTransferSettings),
- reloaded(other.reloaded)
- {
- // Do not move _mutex.
- }
-
-
- Memory& Memory::operator=(const Memory& other)
- {
- Base::operator=(other);
-
- dbsettings = other.dbsettings;
- periodicTransferSettings = other.periodicTransferSettings;
- onFullTransferSettings = other.onFullTransferSettings;
-
- // Don't copy _mutex.
- return *this;
- }
-
-
- Memory& Memory::operator=(Memory&& other)
- {
- Base::operator=(std::move(other));
-
- dbsettings = std::move(other.dbsettings);
- periodicTransferSettings = std::move(other.periodicTransferSettings);
- onFullTransferSettings = std::move(other.onFullTransferSettings);
- reloaded = other.reloaded;
-
- // Don't move _mutex.
- return *this;
- }
-
- bool Memory::checkConnection() const
- {
- // Check connection:
- ARMARX_INFO << "Checking connection";
- if (!MongoDBConnectionManager::ConnectionIsValid(dbsettings))
- {
- ARMARX_WARNING << deactivateSpam("ConnectionIsNotValid")
- << "The connection to mongocxx for memory '" << name() << "' is not valid. Settings are: " << dbsettings.toString()
- << "\nTo start it, run e.g.: \n"
- << "armarx memory start"
- << "\n\n";
- return false;
- }
- return true;
- }
-
- void Memory::defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix)
- {
- defs->optional(dbsettings.host, prefix + ".ltm.10_host");
- defs->optional(dbsettings.port, prefix + "ltm.11_port");
- defs->optional(dbsettings.user, prefix + "ltm.20_user");
- defs->optional(dbsettings.password, prefix + "ltm.21_password");
- defs->optional(dbsettings.database, prefix + "ltm.22_database");
- defs->optional(periodicTransferSettings.enabled, prefix + "ltm.30_enablePeriodicTransfer", "Enable transfer based on periodic interval.");
- defs->optional(onFullTransferSettings.enabled, prefix + "ltm.31_enableOnFullTransfer", "Enable transfer whenever the wm is full (see maxHistorySize).");
- }
-
- wm::Memory Memory::convert() const
- {
- wm::Memory m(id());
-
- std::lock_guard l(mongoDBMutex);
- if (!checkConnection())
- {
- return m;
- }
-
- ARMARX_INFO << "Converting Memory with connection to: " << dbsettings.toString();
-
- TIMING_START(LTM_Convert);
-
- for (const auto& [_, s] : _container)
- {
- m.addCoreSegment(s.convert());
- }
-
- TIMING_END(LTM_Convert);
- return m;
- }
-
- void Memory::reload()
- {
- std::lock_guard l(mongoDBMutex);
- reloaded = false;
-
- if (!checkConnection())
- {
- return;
- }
-
- ARMARX_INFO << "(Re)Establishing connection to: " << dbsettings.toString();
-
- TIMING_START(LTM_Reload);
- _container.clear();
-
- mongocxx::client& client = MongoDBConnectionManager::EstablishConnection(dbsettings);
- 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()];
-
- ARMARX_IMPORTANT << "Memory Container size is: " << _container.size();
-
- mongocxx::cursor cursor = coll.find({});
- 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");
-
- MemoryID i((std::string) json.at("foreign_key"));
- if (i.memoryName != id().memoryName)
- {
- throw error::InvalidMemoryID(i, "A MemoryID in mongodb was invalid. Found the wrong memory name. Expected " + id().memoryName);
- }
-
- std::string k = i.coreSegmentName;
-
- if (auto it = _container.find(k); it != _container.end())
- {
- throw error::ArMemError("Somehow after clearing the (memory) container a key k = " + k + " was found. Do you have double entries in mongodb?");
- }
- else
- {
- auto wms = _container.emplace(k, id().withCoreSegmentName(k));
- wms.first->second.dbsettings = dbsettings;
- wms.first->second.reload();
- }
- }
-
- reloaded = true;
- for (const auto& m : toAppendQueue)
- {
- _append(m);
- }
-
- TIMING_END(LTM_Reload);
- ARMARX_INFO << "After reload memory " << id().str() << " size: " << _container.size() << ". Setting reloaded: " << reloaded;
- }
-
- void Memory::_append(const wm::Memory& m)
- {
- if (!checkConnection() || !reloaded)
- {
- // We ignore if not fully loaded yet
- return;
- }
-
- //ARMARX_INFO << "Merge memory with name '" << m.name() << "' into the LTM with name '" << name() << "'";
-
- TIMING_START(LTM_Append);
-
- mongocxx::client& client = MongoDBConnectionManager::EstablishConnection(dbsettings);
- mongocxx::database db = client[dbsettings.database];
- mongocxx::collection coll = db[id().str()];
-
- m.forEachCoreSegment([this, &coll](const wm::CoreSegment & s)
- {
- if (auto it = _container.find(s.name()); it != _container.end())
- {
- // TODO check if foreign key exists
- it->second.append(s);
- }
- else
- {
- auto builder = bsoncxx::builder::stream::document{};
- bsoncxx::document::value foreign_key = builder
- << "foreign_key" << s.id().withCoreSegmentName(s.name()).str()
- << bsoncxx::builder::stream::finalize;
- coll.insert_one(foreign_key.view());
-
- auto wms = _container.emplace(s.name(), id().withCoreSegmentName(s.name()));
- wms.first->second.dbsettings = dbsettings;
- wms.first->second.append(s);
- }
-
- return true;
- });
-
- TIMING_END(LTM_Append);
- }
-
- void Memory::append(const wm::Memory& m)
- {
- std::lock_guard l(mongoDBMutex);
- if (!checkConnection() || !reloaded)
- {
- toAppendQueue.push_back(m);
- return;
- }
- _append(m);
- }
-}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.h b/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.h
deleted file mode 100644
index 41e82bce38b50f9e122e34056c2b5fd74cec4bac..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.h
+++ /dev/null
@@ -1,87 +0,0 @@
-#pragma once
-
-#include "CoreSegment.h"
-#include "mongodb/MongoDBConnectionManager.h"
-
-#include <RobotAPI/libraries/armem/core/base/MemoryBase.h>
-#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
-
-#include <ArmarXCore/core/application/properties/forward_declarations.h>
-
-#include <mutex>
-
-
-namespace armarx::armem::ltm
-{
- /**
- * @brief Data of a memory consisting of multiple core segments.
- */
- class Memory :
- public base::MemoryBase<CoreSegment, Memory>
- {
- using Base = base::MemoryBase<CoreSegment, Memory>;
-
- public:
-
- struct TransferSettings
- {
- bool enabled = false;
- };
-
- struct PeriodicTransferSettings : public TransferSettings
- {
- bool deleteFromWMOnTransfer = false;
- int frequencyHz = 1;
- };
-
- struct OnFullTransferSettings : public TransferSettings
- {
- enum class Mode
- {
- TRANSFER_LATEST,
- TRANSFER_LEAST_USED
- };
-
- Mode mode;
- int batch_size = 20;
- };
-
-
- public:
-
- using Base::MemoryBase;
-
- 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 = "");
-
- // Conversion
- wm::Memory convert() const;
-
- // MongoDB connection
- void reload();
- void append(const wm::Memory&);
-
-
- private:
- bool checkConnection() const;
-
- void _append(const wm::Memory&);
-
- public:
- MongoDBConnectionManager::MongoDBSettings dbsettings;
-
- PeriodicTransferSettings periodicTransferSettings;
- OnFullTransferSettings onFullTransferSettings;
-
- private:
- bool reloaded = false;
- mutable std::mutex mongoDBMutex;
-
- std::vector<wm::Memory> toAppendQueue;
- };
-}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.cpp
deleted file mode 100644
index 8126867e4db4be01c91dfb582b67c94303751927..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.cpp
+++ /dev/null
@@ -1,87 +0,0 @@
-#include "ProviderSegment.h"
-
-#include "error.h"
-
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-#include <SimoxUtility/json/json.hpp>
-
-
-namespace armarx::armem::ltm
-{
-
- wm::ProviderSegment ProviderSegment::convert() const
- {
- wm::ProviderSegment m(id());
- for (const auto& [_, s] : _container)
- {
- m.addEntity(s.convert());
- }
- return m;
- }
-
- void ProviderSegment::reload()
- {
- _container.clear();
-
- mongocxx::client& client = MongoDBConnectionManager::EstablishConnection(dbsettings);
- mongocxx::database db = client[dbsettings.database];
- mongocxx::collection coll = db[id().str()];
-
- mongocxx::cursor cursor = coll.find({});
- for (auto doc : cursor)
- {
- nlohmann::json json = nlohmann::json::parse(bsoncxx::to_json(doc));
-
- MemoryID i((std::string) json.at("foreign_key"));
- if (i.providerSegmentName != id().providerSegmentName)
- {
- throw error::InvalidMemoryID(i, "A MemoryID in mongodb was invalid. Found the wrong providerSegment name. Expected " + id().providerSegmentName);
- }
-
- std::string k = i.entityName;
-
- if (auto it = _container.find(k); it != _container.end())
- {
- throw error::ArMemError("Somehow after clearing the (provvider) container a key k = " + k + " was found. Do you have double entries in mongodb?");
- }
- else
- {
- auto wms = _container.emplace(k, id().withEntityName(k));
- wms.first->second.dbsettings = dbsettings;
- wms.first->second.reload();
- }
- }
-
- ARMARX_INFO << "After reload has provider segment " << id().str() << " size: " << _container.size();
- }
-
- void ProviderSegment::append(const wm::ProviderSegment& m)
- {
- mongocxx::client& client = MongoDBConnectionManager::EstablishConnection(dbsettings);
- mongocxx::database db = client[dbsettings.database];
- mongocxx::collection coll = db[id().str()];
-
- m.forEachEntity([this, &coll](const wm::Entity & s)
- {
- if (auto it = _container.find(s.name()); it != _container.end())
- {
- it->second.append(s);
- }
- else
- {
- auto builder = bsoncxx::builder::stream::document{};
- bsoncxx::document::value foreign_key = builder
- << "foreign_key" << s.id().withEntityName(s.name()).str()
- << bsoncxx::builder::stream::finalize;
- coll.insert_one(foreign_key.view());
-
- auto wms = _container.emplace(s.name(), id().withEntityName(s.name()));
- wms.first->second.dbsettings = dbsettings;
- wms.first->second.append(s);
- }
-
- return true;
- });
- }
-}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.h b/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.h
deleted file mode 100644
index bf1d5e3a9f4cbd816e087957d0bb3d6351b0b6cd..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.h
+++ /dev/null
@@ -1,37 +0,0 @@
-#pragma once
-
-#include "Entity.h"
-#include "mongodb/MongoDBConnectionManager.h"
-
-#include <RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h>
-#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
-
-
-namespace armarx::armem::ltm
-{
-
- /**
- * @brief Data of a provider segment containing multiple entities.
- */
- class ProviderSegment :
- public base::ProviderSegmentBase<Entity, ProviderSegment>
- {
- using Base = base::ProviderSegmentBase<Entity, ProviderSegment>;
-
- public:
-
- using Base::ProviderSegmentBase;
-
-
- // Conversion
- wm::ProviderSegment convert() const;
-
- // MongoDB connection
- void reload();
- void append(const wm::ProviderSegment&);
-
- public:
- MongoDBConnectionManager::MongoDBSettings dbsettings;
- };
-
-}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/mongodb/MongoDBConnectionManager.h b/source/RobotAPI/libraries/armem/core/longtermmemory/mongodb/MongoDBConnectionManager.h
deleted file mode 100644
index 0cd3cb5ba8f6c575d6d3dd9357f16884f508914c..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/mongodb/MongoDBConnectionManager.h
+++ /dev/null
@@ -1,75 +0,0 @@
-#pragma once
-
-#include <string>
-#include <vector>
-#include <map>
-#include <memory>
-#include <iostream>
-
-#include <bsoncxx/json.hpp>
-#include <mongocxx/client.hpp>
-#include <mongocxx/stdx.hpp>
-#include <mongocxx/uri.hpp>
-#include <mongocxx/instance.hpp>
-#include <bsoncxx/builder/stream/helpers.hpp>
-#include <bsoncxx/builder/stream/document.hpp>
-#include <bsoncxx/builder/stream/array.hpp>
-
-
-namespace armarx::armem::ltm
-{
-
- using bsoncxx::builder::stream::close_array;
- using bsoncxx::builder::stream::close_document;
- using bsoncxx::builder::stream::document;
- using bsoncxx::builder::stream::finalize;
- using bsoncxx::builder::stream::open_array;
- using bsoncxx::builder::stream::open_document;
-
-
- /**
- * @brief Data of a memory consisting of multiple core segments.
- */
- class MongoDBConnectionManager
- {
- public:
- struct MongoDBSettings
- {
- std::string host = "localhost";
- unsigned int port = 25270;
- std::string user = "";
- std::string password = "";
- std::string database = "Test";
-
-
- bool isSet() const
- {
- // we always need a user and a host
- return !host.empty() and port != 0 and !user.empty();
- }
-
- std::string uri() const
- {
- return "mongodb://" + host + ":" + std::to_string(port) + user;
- }
-
- std::string toString() const
- {
- return uri() + ":" + password + "/" + database;
- }
- };
-
- static mongocxx::client& EstablishConnection(const MongoDBSettings& settings);
- static bool ConnectionIsValid(const MongoDBSettings& settings, bool force = false);
- static bool ConnectionExists(const MongoDBSettings& settings);
-
- private:
- static void initialize_if();
-
-
- private:
- static bool initialized;
- static std::map<std::string, mongocxx::client> Connections;
-
- };
-}
diff --git a/source/RobotAPI/libraries/armem/core/operations.cpp b/source/RobotAPI/libraries/armem/core/operations.cpp
index b9ebedd316a41494d93bf99b1700fd83c475ba71..533bc623f3844a06ab7b87d858c00942a637fcbc 100644
--- a/source/RobotAPI/libraries/armem/core/operations.cpp
+++ b/source/RobotAPI/libraries/armem/core/operations.cpp
@@ -1,5 +1,9 @@
#include "operations.h"
+#include <RobotAPI/libraries/armem/core/Time.h>
+
+#include <SimoxUtility/algorithm/string/string_tools.h>
+
namespace armarx
{
@@ -26,7 +30,72 @@ namespace armarx
return up;
}
-}
+ template <class DataT>
+ static std::string makeLine(int depth, const DataT& data, std::optional<size_t> size = std::nullopt)
+ {
+ std::stringstream ss;
+ while (depth > 1)
+ {
+ ss << "| ";
+ depth--;
+ }
+ if (depth > 0)
+ {
+ ss << "+- ";
+ }
+ ss << simox::alg::capitalize_words(DataT::getLevelName());
+ ss << " '" << simox::alg::capitalize_words(data.getKeyString()) << "'";
+ if (size.has_value())
+ {
+ ss << " (size " << size.value() << ")";
+ }
+ ss << "\n";
+ return ss.str();
+ }
+
+
+ template <class DataT>
+ static std::string _print(const DataT& data, int maxDepth, int depth)
+ {
+ std::stringstream ss;
+ ss << makeLine(depth, data, data.size());
+ if (maxDepth < 0 || maxDepth > 0)
+ {
+ data.forEachChild([&ss, maxDepth, depth](const auto& instance)
+ {
+ ss << armem::print(instance, maxDepth - 1, depth + 1);
+ });
+ }
+ return ss.str();
+ }
+ std::string armem::print(const wm::Memory& data, int maxDepth, int depth)
+ {
+ return _print(data, maxDepth, depth);
+ }
+ std::string armem::print(const wm::CoreSegment& data, int maxDepth, int depth)
+ {
+ return _print(data, maxDepth, depth);
+ }
+ std::string armem::print(const wm::ProviderSegment& data, int maxDepth, int depth)
+ {
+ return _print(data, maxDepth, depth);
+ }
+ std::string armem::print(const wm::Entity& data, int maxDepth, int depth)
+ {
+ return _print(data, maxDepth, depth);
+ }
+ std::string armem::print(const wm::EntitySnapshot& data, int maxDepth, int depth)
+ {
+ return _print(data, maxDepth, depth);
+ }
+ std::string armem::print(const wm::EntityInstance& data, int maxDepth, int depth)
+ {
+ (void) maxDepth;
+ std::stringstream ss;
+ ss << makeLine(depth, data);
+ return ss.str();
+ }
+}
diff --git a/source/RobotAPI/libraries/armem/core/operations.h b/source/RobotAPI/libraries/armem/core/operations.h
index 3b0182e324f32b832c97aaafa04ada90e604c9fa..775b6dd07216a13dcffafc73f8651f6722b56b09 100644
--- a/source/RobotAPI/libraries/armem/core/operations.h
+++ b/source/RobotAPI/libraries/armem/core/operations.h
@@ -2,6 +2,8 @@
#include "wm/memory_definitions.h"
+#include <string>
+
/*
* Functions performing some "advanced" operations on the memory
@@ -15,11 +17,14 @@ namespace armarx::armem
std::vector<aron::datanavigator::DictNavigatorPtr>
getAronData(const wm::EntitySnapshot& snapshot);
- EntityUpdate toEntityUpdate(const wm::EntitySnapshot& snapshot);
+
+ EntityUpdate
+ toEntityUpdate(const wm::EntitySnapshot& snapshot);
template <class ContainerT>
- Commit toCommit(const ContainerT& container)
+ Commit
+ toCommit(const ContainerT& container)
{
Commit commit;
container.forEachSnapshot([&commit](const wm::EntitySnapshot & snapshot)
@@ -30,5 +35,27 @@ namespace armarx::armem
return commit;
}
+
+ template <class ContainerT>
+ const typename ContainerT::EntityInstanceT*
+ findFirstInstance(const ContainerT& container)
+ {
+ const typename ContainerT::EntityInstanceT* instance = nullptr;
+ container.forEachInstance([&instance](const wm::EntityInstance & i)
+ {
+ instance = &i;
+ return false;
+ });
+ return instance;
+ }
+
+
+ std::string print(const wm::Memory& data, int maxDepth = -1, int depth = 0);
+ std::string print(const wm::CoreSegment& data, int maxDepth = -1, int depth = 0);
+ std::string print(const wm::ProviderSegment& data, int maxDepth = -1, int depth = 0);
+ std::string print(const wm::Entity& data, int maxDepth = -1, int depth = 0);
+ std::string print(const wm::EntitySnapshot& data, int maxDepth = -1, int depth = 0);
+ std::string print(const wm::EntityInstance& data, int maxDepth = -1, int depth = 0);
+
}
diff --git a/source/RobotAPI/libraries/armem/core/wm/detail/data_lookup_mixins.cpp b/source/RobotAPI/libraries/armem/core/wm/detail/data_lookup_mixins.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..50fd63bf64dabfedbab4e980f9450563d301e02b
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/wm/detail/data_lookup_mixins.cpp
@@ -0,0 +1,7 @@
+#include "data_lookup_mixins.h"
+
+
+namespace armarx::armem::base
+{
+
+}
diff --git a/source/RobotAPI/libraries/armem/core/wm/detail/data_lookup_mixins.h b/source/RobotAPI/libraries/armem/core/wm/detail/data_lookup_mixins.h
new file mode 100644
index 0000000000000000000000000000000000000000..280a465cbaac7408259e2c439c827bdbc0fc19e5
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/wm/detail/data_lookup_mixins.h
@@ -0,0 +1,45 @@
+#pragma once
+
+#include <RobotAPI/libraries/armem/core/forward_declarations.h>
+#include <RobotAPI/libraries/armem/core/base/detail/derived.h>
+
+#include <RobotAPI/libraries/aron/core/navigator/data/forward_declarations.h>
+
+#include <optional>
+
+
+namespace armarx::armem::wm::detail
+{
+ using base::detail::derived;
+
+
+ template <class DerivedT>
+ struct FindInstanceDataMixin
+ {
+ aron::datanavigator::DictNavigatorPtr
+ findLatestInstanceData(const MemoryID& entityID, int instanceIndex = 0) const
+ {
+ const auto* instance = derived<DerivedT>(this).findLatestInstance(entityID, instanceIndex);
+ return instance ? instance->data() : nullptr;
+ }
+
+
+ template <class AronDtoT>
+ std::optional<AronDtoT>
+ findLatestInstanceDataAs(const MemoryID& entityID, int instanceIndex = 0) const
+ {
+ if (aron::datanavigator::DictNavigatorPtr data = derived<DerivedT>(this).findLatestInstanceData(entityID, instanceIndex))
+ {
+ AronDtoT aron;
+ aron.fromAron(data);
+ return aron;
+ }
+ else
+ {
+ return std::nullopt;
+ }
+ }
+
+ };
+
+}
diff --git a/source/RobotAPI/libraries/armem/core/wm/ice_conversions.cpp b/source/RobotAPI/libraries/armem/core/wm/ice_conversions.cpp
index 70a905a931fd331a6ecdfbc2c278924b0da9144a..ba6c9782e0e2663ee9395fde31956d5fdbfc2ad2 100644
--- a/source/RobotAPI/libraries/armem/core/wm/ice_conversions.cpp
+++ b/source/RobotAPI/libraries/armem/core/wm/ice_conversions.cpp
@@ -15,7 +15,6 @@ namespace armarx::armem
base::fromIce(ice, data);
}
-
void wm::toIce(data::EntitySnapshot& ice, const EntitySnapshot& snapshot)
{
base::toIce(ice, snapshot);
diff --git a/source/RobotAPI/libraries/armem/core/wm/json_conversions.h b/source/RobotAPI/libraries/armem/core/wm/json_conversions.h
deleted file mode 100644
index 4ce93812b606688e642eecc0b7856210adce1a90..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/core/wm/json_conversions.h
+++ /dev/null
@@ -1,14 +0,0 @@
-#pragma once
-
-#include <RobotAPI/libraries/aron/core/navigator/data/forward_declarations.h>
-#include <RobotAPI/libraries/aron/core/navigator/type/forward_declarations.h>
-
-#include <SimoxUtility/json/json.hpp>
-
-
-namespace armarx::armem
-{
- void from_aron(const aron::datanavigator::DictNavigatorPtr&, nlohmann::json&);
- void to_aron(aron::datanavigator::DictNavigatorPtr&, const nlohmann::json&,
- const aron::typenavigator::NavigatorPtr& expectedStructure = nullptr);
-}
diff --git a/source/RobotAPI/libraries/armem/core/wm/memory_definitions.cpp b/source/RobotAPI/libraries/armem/core/wm/memory_definitions.cpp
index c9516fc3b74ce05797d7d8c39b12f83b0bdf740d..de5ad02c2e9e4f24304c2ae9b9eb97f0cd3e53ee 100644
--- a/source/RobotAPI/libraries/armem/core/wm/memory_definitions.cpp
+++ b/source/RobotAPI/libraries/armem/core/wm/memory_definitions.cpp
@@ -9,6 +9,7 @@
#include <vector>
+
namespace armarx::armem::wm
{
@@ -41,52 +42,4 @@ namespace armarx::armem::wm
this->_metadata.timeArrived = update.timeArrived;
}
-
-
- std::optional<wm::EntitySnapshot> CoreSegment::getLatestEntitySnapshot(const MemoryID& entityID) const
- {
- const wm::Entity& entity = this->getEntity(entityID);
- if (entity.empty())
- {
- return std::nullopt;
- }
- else
- {
- return entity.getLatestSnapshot();
- }
- }
-
-
- std::optional<wm::EntityInstance> CoreSegment::getLatestEntityInstance(
- const MemoryID& entityID, int instanceIndex) const
- {
- auto snapshot = getLatestEntitySnapshot(entityID);
- if (snapshot.has_value()
- and instanceIndex >= 0
- and static_cast<size_t>(instanceIndex) < snapshot->size())
- {
- return snapshot->getInstance(instanceIndex);
- }
- else
- {
- return std::nullopt;
- }
- }
-
-
- armarx::aron::datanavigator::DictNavigatorPtr
- CoreSegment::getLatestEntityInstanceData(const MemoryID& entityID, int instanceIndex) const
- {
- auto instance = getLatestEntityInstance(entityID, instanceIndex);
- if (instance.has_value())
- {
- return instance->data();
- }
- else
- {
- return nullptr;
- }
- }
-
-
}
diff --git a/source/RobotAPI/libraries/armem/core/wm/memory_definitions.h b/source/RobotAPI/libraries/armem/core/wm/memory_definitions.h
index 679153b47809682fec38adb5baea609dd99c5c28..5bfc4aa3ee3893b2b0086ffeb0a6dc03520e392b 100644
--- a/source/RobotAPI/libraries/armem/core/wm/memory_definitions.h
+++ b/source/RobotAPI/libraries/armem/core/wm/memory_definitions.h
@@ -1,5 +1,7 @@
#pragma once
+#include "detail/data_lookup_mixins.h"
+
#include <RobotAPI/libraries/armem/core/base/EntityInstanceBase.h>
#include <RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h>
#include <RobotAPI/libraries/armem/core/base/EntityBase.h>
@@ -7,7 +9,7 @@
#include <RobotAPI/libraries/armem/core/base/CoreSegmentBase.h>
#include <RobotAPI/libraries/armem/core/base/MemoryBase.h>
-#include <optional>
+#include <RobotAPI/libraries/aron/core/navigator/data/forward_declarations.h>
namespace armarx::armem::wm
@@ -56,6 +58,7 @@ namespace armarx::armem::wm
/// @see base::EntityBase
class Entity :
public base::EntityBase<EntitySnapshot, Entity>
+ , public detail::FindInstanceDataMixin<Entity>
{
public:
@@ -68,10 +71,13 @@ namespace armarx::armem::wm
/// @see base::ProviderSegmentBase
class ProviderSegment :
public base::ProviderSegmentBase<Entity, ProviderSegment>
+ , public detail::FindInstanceDataMixin<ProviderSegment>
{
+ using Base = base::ProviderSegmentBase<Entity, ProviderSegment>;
+
public:
- using base::ProviderSegmentBase<Entity, ProviderSegment>::ProviderSegmentBase;
+ using Base::ProviderSegmentBase;
};
@@ -80,6 +86,7 @@ namespace armarx::armem::wm
/// @see base::CoreSegmentBase
class CoreSegment :
public base::CoreSegmentBase<ProviderSegment, CoreSegment>
+ , public detail::FindInstanceDataMixin<CoreSegment>
{
using Base = base::CoreSegmentBase<ProviderSegment, CoreSegment>;
@@ -87,34 +94,6 @@ namespace armarx::armem::wm
using Base::CoreSegmentBase;
-
- // Non-locking interface
-
- std::optional<wm::EntitySnapshot> getLatestEntitySnapshot(
- const MemoryID& entityID) const;
- std::optional<wm::EntityInstance> getLatestEntityInstance(
- const MemoryID& entityID, int instanceIndex = 0) const;
- armarx::aron::datanavigator::DictNavigatorPtr getLatestEntityInstanceData(
- const MemoryID& entityID, int instanceIndex = 0) const;
-
-
- template <class AronDtoT>
- std::optional<AronDtoT> getLatestEntityInstanceDataAs(
- const MemoryID& entityID, int instanceIndex = 0) const
- {
- wm::EntityInstanceDataPtr data = getLatestEntityInstanceData(entityID, instanceIndex);
- if (data)
- {
- AronDtoT aron;
- aron.fromAron(data);
- return aron;
- }
- else
- {
- return std::nullopt;
- }
- }
-
};
@@ -122,6 +101,7 @@ namespace armarx::armem::wm
/// @see base::MemoryBase
class Memory :
public base::MemoryBase<CoreSegment, Memory>
+ , public detail::FindInstanceDataMixin<Memory>
{
using Base = base::MemoryBase<CoreSegment, Memory>;
diff --git a/source/RobotAPI/libraries/armem/core/wm/visitor/Visitor.cpp b/source/RobotAPI/libraries/armem/core/wm/visitor/Visitor.cpp
index 1140bc11be0a43e41e2e5c690ae8a73132440a6b..9448f55f8f68385d716f9b8e7da26e890ffb48fd 100644
--- a/source/RobotAPI/libraries/armem/core/wm/visitor/Visitor.cpp
+++ b/source/RobotAPI/libraries/armem/core/wm/visitor/Visitor.cpp
@@ -3,6 +3,7 @@
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
+#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/core/error.h>
diff --git a/source/RobotAPI/libraries/armem/server/ComponentPlugin.cpp b/source/RobotAPI/libraries/armem/server/ComponentPlugin.cpp
index ae847a803dc64e68b53c432b222cb6ddbe2fcd86..86b1d93ef683c19bf169a6fb447673eef656472e 100644
--- a/source/RobotAPI/libraries/armem/server/ComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/armem/server/ComponentPlugin.cpp
@@ -20,8 +20,7 @@ namespace armarx::armem::server::plugins
ComponentPluginUser& parent = this->parent<ComponentPluginUser>();
properties->topic(memoryListener, parent.memoryListenerDefaultName);
- properties->optional(parent.longtermMemoryEnabled, "memory.ltm.00_enabled");
- parent.longtermMemory.defineProperties(properties, "memory");
+ properties->optional(parent.longtermMemoryEnabled, "mem.ltm.00_enabled");
}
@@ -38,7 +37,7 @@ namespace armarx::armem::server::plugins
// establishing connection to ltm and mongodb
if (parent.longtermMemoryEnabled)
{
- parent.longtermMemory.reload();
+ parent.longtermMemoryManager.reload();
}
}
@@ -114,17 +113,25 @@ namespace armarx::armem::server
ComponentPluginUser::~ComponentPluginUser() = default;
+ // Set the name of a memory
+ void ComponentPluginUser::setMemoryName(const std::string& name)
+ {
+ workingMemory.name() = name;
+ longtermMemoryManager.setName(name);
+ }
+
// WRITING
data::AddSegmentsResult ComponentPluginUser::addSegments(const data::AddSegmentsInput& input, const Ice::Current&)
{
+ ARMARX_TRACE;
bool addCoreSegmentOnUsage = false;
return addSegments(input, addCoreSegmentOnUsage);
}
data::AddSegmentsResult ComponentPluginUser::addSegments(const data::AddSegmentsInput& input, bool addCoreSegments)
{
- // std::scoped_lock lock(workingMemoryMutex);
+ ARMARX_TRACE;
data::AddSegmentsResult result = iceMemory.addSegments(input, addCoreSegments);
return result;
}
@@ -132,7 +139,7 @@ namespace armarx::armem::server
data::CommitResult ComponentPluginUser::commit(const data::Commit& commitIce, const Ice::Current&)
{
- // std::scoped_lock lock(workingMemoryMutex);
+ ARMARX_TRACE;
return iceMemory.commit(commitIce);
}
@@ -140,7 +147,7 @@ namespace armarx::armem::server
// READING
armem::query::data::Result ComponentPluginUser::query(const armem::query::data::Input& input, const Ice::Current&)
{
- // std::scoped_lock lock(workingMemoryMutex);
+ ARMARX_TRACE;
return iceMemory.query(input);
}
@@ -148,16 +155,11 @@ namespace armarx::armem::server
// LTM STORING
data::StoreResult ComponentPluginUser::store(const data::StoreInput& input, const Ice::Current&)
{
- std::scoped_lock lock(/*workingMemoryMutex,*/ longtermMemoryMutex);
+ ARMARX_TRACE;
return iceMemory.store(input);
}
// LTM LOADING
- armem::query::data::Result ComponentPluginUser::load(const armem::query::data::Input& input, const Ice::Current&)
- {
- std::scoped_lock lock(longtermMemoryMutex);
- return iceMemory.load(input);
- }
}
diff --git a/source/RobotAPI/libraries/armem/server/ComponentPlugin.h b/source/RobotAPI/libraries/armem/server/ComponentPlugin.h
index 0b2b872c1ff4686eecefd8ae8508bcfc45600d5f..35a03e7b0a3ddd4f8aafebadbbd60474dc613c8e 100644
--- a/source/RobotAPI/libraries/armem/server/ComponentPlugin.h
+++ b/source/RobotAPI/libraries/armem/server/ComponentPlugin.h
@@ -9,7 +9,7 @@
#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
-#include <RobotAPI/libraries/armem/core/longtermmemory/Memory.h>
+#include <RobotAPI/libraries/armem/server/ltm/mongodb/MemoryManager.h>
#include <RobotAPI/libraries/armem/client/MemoryNameSystemComponentPlugin.h>
#include "MemoryToIceAdapter.h"
@@ -75,6 +75,9 @@ namespace armarx::armem::server
ComponentPluginUser();
virtual ~ComponentPluginUser() override;
+ /// Set the name of the wm and the ltm (if enabled)
+ void setMemoryName(const std::string&);
+
// WritingInterface interface
virtual data::AddSegmentsResult addSegments(const data::AddSegmentsInput& input, const Ice::Current& = Ice::emptyCurrent) override;
@@ -92,7 +95,6 @@ namespace armarx::armem::server
// LoadingInterface interface
- virtual armem::query::data::Result load(const armem::query::data::Input&, const Ice::Current& = Ice::emptyCurrent) override;
public:
@@ -102,15 +104,17 @@ namespace armarx::armem::server
// [[deprecated ("The global working memory mutex is deprecated. Use the core segment mutexes instead.")]]
// std::mutex workingMemoryMutex;
+ /// Parameter to indicate whether to use or not to use the ltm feature
bool longtermMemoryEnabled = true;
- ltm::Memory longtermMemory;
- std::mutex longtermMemoryMutex;
+
+ /// A manager class for the ltm. It internally holds a normal wm instance
+ server::ltm::mongodb::MemoryManager longtermMemoryManager;
/// property defaults
std::string memoryListenerDefaultName = "MemoryUpdates";
/// Helps connecting `memory` to ice. Used to handle Ice callbacks.
- MemoryToIceAdapter iceMemory { &workingMemory, &longtermMemory};
+ MemoryToIceAdapter iceMemory { &workingMemory, &longtermMemoryManager};
private:
diff --git a/source/RobotAPI/libraries/armem/server/MemoryRemoteGui.cpp b/source/RobotAPI/libraries/armem/server/MemoryRemoteGui.cpp
index 6664288a0fa5f86da4df906819cba3be385cbcb9..57b495a527d07924176314edc70fbfa1c53f1cae 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryRemoteGui.cpp
+++ b/source/RobotAPI/libraries/armem/server/MemoryRemoteGui.cpp
@@ -3,6 +3,7 @@
#include "RemoteGuiAronDataVisitor.h"
#include <RobotAPI/libraries/aron/core/navigator/data/AllNavigators.h>
+#include <RobotAPI/libraries/aron/core/navigator/type/container/Object.h>
#include <RobotAPI/libraries/aron/core/navigator/visitors/DataVisitor.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
@@ -32,11 +33,27 @@ namespace armarx::armem::server
return group;
}
+
+ static std::string getTypeString(const armem::base::detail::AronTyped& typed)
+ {
+ std::stringstream type;
+ if (typed.aronType())
+ {
+ type << " (" << typed.aronType()->getName() << ")";
+ }
+ else
+ {
+ type << " (no Aron type)";
+ }
+ return type.str();
+ }
+
template <class ...Args>
MemoryRemoteGui::GroupBox MemoryRemoteGui::_makeGroupBox(const armem::base::CoreSegmentBase<Args...>& coreSegment) const
{
GroupBox group;
- group.setLabel(makeGroupLabel("Core Segment", coreSegment.name(), coreSegment.size()));
+ group.setLabel(makeGroupLabel("Core Segment", coreSegment.name(), coreSegment.size())
+ + getTypeString(coreSegment));
if (coreSegment.empty())
{
@@ -49,11 +66,13 @@ namespace armarx::armem::server
return group;
}
+
template <class ...Args>
MemoryRemoteGui::GroupBox MemoryRemoteGui::_makeGroupBox(const armem::base::ProviderSegmentBase<Args...>& providerSegment) const
{
GroupBox group;
- group.setLabel(makeGroupLabel("Provider Segment", providerSegment.name(), providerSegment.size()));
+ group.setLabel(makeGroupLabel("Provider Segment", providerSegment.name(), providerSegment.size())
+ + getTypeString(providerSegment));
if (providerSegment.empty())
{
@@ -66,6 +85,7 @@ namespace armarx::armem::server
return group;
}
+
template <class ...Args>
MemoryRemoteGui::GroupBox MemoryRemoteGui::_makeGroupBox(const armem::base::EntityBase<Args...>& entity) const
{
@@ -111,8 +131,10 @@ namespace armarx::armem::server
MemoryRemoteGui::GroupBox MemoryRemoteGui::makeGroupBox(const armem::server::wm::CoreSegment& coreSegment) const
{
- std::scoped_lock lock(coreSegment.mutex());
- return this->_makeGroupBox(coreSegment);
+ return coreSegment.doLocked([this, &coreSegment]()
+ {
+ return this->_makeGroupBox(coreSegment);
+ });
}
diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
index 52fb496592390a1f7df893d0709c73937da55ae5..73d00c3a370fd14e40771df77d0d96cc6b9dbf42 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
@@ -17,8 +17,8 @@
namespace armarx::armem::server
{
- MemoryToIceAdapter::MemoryToIceAdapter(wm::Memory* workingMemory, ltm::Memory* longtermMemory) :
- workingMemory(workingMemory), longtermMemory(longtermMemory)
+ MemoryToIceAdapter::MemoryToIceAdapter(wm::Memory* workingMemory, server::ltm::mongodb::MemoryManager* longtermMemory) :
+ workingMemory(workingMemory), longtermMemoryManager(longtermMemory)
{
}
@@ -34,6 +34,7 @@ namespace armarx::armem::server
data::AddSegmentResult
MemoryToIceAdapter::addSegment(const data::AddSegmentInput& input, bool addCoreSegments)
{
+ ARMARX_TRACE;
ARMARX_CHECK_NOT_NULL(workingMemory);
data::AddSegmentResult output;
@@ -60,20 +61,22 @@ namespace armarx::armem::server
if (input.providerSegmentName.size() > 0)
{
- std::scoped_lock lock(coreSegment->mutex());
- try
- {
- coreSegment->addProviderSegment(input.providerSegmentName);
- }
- catch (const armem::error::ContainerEntryAlreadyExists&)
+ coreSegment->doLocked([&coreSegment, &input]()
{
- // This is ok.
- if (input.clearWhenExists)
+ try
{
- server::wm::ProviderSegment& provider = coreSegment->getProviderSegment(input.providerSegmentName);
- provider.clear();
+ coreSegment->addProviderSegment(input.providerSegmentName);
}
- }
+ catch (const armem::error::ContainerEntryAlreadyExists&)
+ {
+ // This is ok.
+ if (input.clearWhenExists)
+ {
+ server::wm::ProviderSegment& provider = coreSegment->getProviderSegment(input.providerSegmentName);
+ provider.clear();
+ }
+ }
+ });
}
armem::MemoryID segmentID;
@@ -90,6 +93,7 @@ namespace armarx::armem::server
data::AddSegmentsResult
MemoryToIceAdapter::addSegments(const data::AddSegmentsInput& input, bool addCoreSegments)
{
+ ARMARX_TRACE;
ARMARX_CHECK_NOT_NULL(workingMemory);
data::AddSegmentsResult output;
@@ -104,6 +108,7 @@ namespace armarx::armem::server
data::CommitResult
MemoryToIceAdapter::commit(const data::Commit& commitIce, Time timeArrived)
{
+ ARMARX_TRACE;
ARMARX_CHECK_NOT_NULL(workingMemory);
auto handleException = [](const std::string & what)
{
@@ -141,6 +146,7 @@ namespace armarx::armem::server
data::CommitResult
MemoryToIceAdapter::commit(const data::Commit& commitIce)
{
+ ARMARX_TRACE;
return commit(commitIce, armem::Time::now());
}
@@ -148,18 +154,21 @@ namespace armarx::armem::server
armem::CommitResult
MemoryToIceAdapter::commit(const armem::Commit& commit)
{
+ ARMARX_TRACE;
return this->_commit(commit, false);
}
armem::CommitResult MemoryToIceAdapter::commitLocking(const armem::Commit& commit)
{
+ ARMARX_TRACE;
return this->_commit(commit, true);
}
armem::CommitResult MemoryToIceAdapter::_commit(const armem::Commit& commit, bool locking)
{
+ ARMARX_TRACE;
std::vector<data::MemoryID> updatedIDs;
const bool publishUpdates = bool(memoryListenerTopic);
@@ -179,7 +188,7 @@ namespace armarx::armem::server
// also store in ltm if transfermode is set to always
// TODO: Move outside of loop?
- if (longtermMemory)
+ if (longtermMemoryManager)
{
}
@@ -226,6 +235,7 @@ namespace armarx::armem::server
armem::query::data::Result
MemoryToIceAdapter::query(const armem::query::data::Input& input)
{
+ ARMARX_TRACE;
ARMARX_CHECK_NOT_NULL(workingMemory);
// Core segment processors will aquire the core segment locks.
@@ -234,25 +244,16 @@ namespace armarx::armem::server
armem::wm::Memory wmResult = wmServerProcessor.process(input.memoryQueries, *workingMemory);
query_proc::ltm::MemoryQueryProcessor ltmProcessor;
- ltm::Memory ltmResult = ltmProcessor.process(input, *longtermMemory);
+ armem::wm::Memory ltmResult = ltmProcessor.process(input, longtermMemoryManager->getCacheAndLutNotConverted());
armem::query::data::Result result;
if (not ltmResult.empty())
{
ARMARX_INFO << "The LTM returned data after query";
- // ATTENTION: This code block moves data from LTM back into WM.
- // However, since some segments are constrained, the WM might send data back to LTM.
- // This may also affect the data returned by the current query.
- // However, this is expected behavior, since we copy the data in the processor (copyEmpty) we can safely return the copy and
- // remove the original memory reference from WM here.
- armem::wm::Memory ltmConverted = ltmResult.convert();
- if (ltmConverted.empty())
- {
- ARMARX_ERROR << "A converted memory contains no data although the original memory contained data. This indicates that something is wrong.";
- }
+ longtermMemoryManager->convert(ltmResult); // convert memory ==> meaning resolving lut references to e.g. mongodb
- wmResult.append(ltmConverted);
+ wmResult.append(ltmResult);
if (wmResult.empty())
{
ARMARX_ERROR << "A merged Memory has no data although at least the LTM result contains data. This indicates that something is wrong.";
@@ -264,13 +265,13 @@ namespace armarx::armem::server
query_proc::wm::MemoryQueryProcessor wm2wmProcessor(
input.withData ? armem::DataMode::WithData : armem::DataMode::NoData);
- armem::wm::Memory merged_result = wm2wmProcessor.process(queryInput.toIce(), wmResult);
- if (merged_result.empty())
+ armem::wm::Memory mergedResult = wm2wmProcessor.process(queryInput.toIce(), wmResult);
+ if (mergedResult.empty())
{
ARMARX_ERROR << "A merged and postprocessed Memory has no data although at least the LTM result contains data. This indicates that something is wrong.";
}
- result.memory = toIce<data::MemoryPtr>(merged_result);
+ result.memory = toIce<data::MemoryPtr>(mergedResult);
// also move results of ltm to wm
//this->commit(toCommit(ltm_converted));
@@ -296,26 +297,19 @@ namespace armarx::armem::server
client::QueryResult MemoryToIceAdapter::query(const client::QueryInput& input)
{
+ ARMARX_TRACE;
return client::QueryResult::fromIce(query(input.toIce()));
}
// LTM LOADING FROM LTM
- query::data::Result MemoryToIceAdapter::load(const armem::query::data::Input& query)
- {
- ARMARX_CHECK_NOT_NULL(longtermMemory);
- query::data::Result output;
-
- output.success = true;
- return output;
- }
-
// LTM STORING
data::StoreResult MemoryToIceAdapter::store(const armem::data::StoreInput& input)
{
+ ARMARX_TRACE;
ARMARX_CHECK_NOT_NULL(workingMemory);
- ARMARX_CHECK_NOT_NULL(longtermMemory);
+ ARMARX_CHECK_NOT_NULL(longtermMemoryManager);
data::StoreResult output;
for (const auto& query : input.query.memoryQueries)
@@ -332,14 +326,10 @@ namespace armarx::armem::server
{
armem::wm::Memory m;
fromIce(queryResult.memory, m);
- longtermMemory->append(m);
+ longtermMemoryManager->append(m);
}
return output;
}
-
-
-
-
}
diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h
index 6aa68b5714ad369e3b2bbad08d7c1ca06ab04bb8..f924399c7eb749f8404f28c1c2a9bd7945112a7c 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h
@@ -4,7 +4,7 @@
#include <RobotAPI/interface/armem/client/MemoryListenerInterface.h>
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
-#include <RobotAPI/libraries/armem/core/longtermmemory/Memory.h>
+#include <RobotAPI/libraries/armem/server/ltm/mongodb/MemoryManager.h>
#include <RobotAPI/libraries/armem/client/Query.h>
#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
@@ -24,7 +24,7 @@ namespace armarx::armem::server
/// Construct an MemoryToIceAdapter from an existing Memory.
MemoryToIceAdapter(server::wm::Memory* workingMemory = nullptr,
- ltm::Memory* longtermMemory = nullptr);
+ server::ltm::mongodb::MemoryManager* longtermMemory = nullptr);
void setMemoryListener(client::MemoryListenerInterfacePrx memoryListenerTopic);
@@ -48,7 +48,6 @@ namespace armarx::armem::server
client::QueryResult query(const client::QueryInput& input);
// LTM LOADING
- query::data::Result load(const armem::query::data::Input& input);
// LTM STORING
data::StoreResult store(const armem::data::StoreInput& input);
@@ -56,7 +55,7 @@ namespace armarx::armem::server
public:
server::wm::Memory* workingMemory;
- ltm::Memory* longtermMemory;
+ server::ltm::mongodb::MemoryManager* longtermMemoryManager;
client::MemoryListenerInterfacePrx memoryListenerTopic;
diff --git a/source/RobotAPI/libraries/armem/server/ltm/LongtermMemoryBase.cpp b/source/RobotAPI/libraries/armem/server/ltm/LongtermMemoryBase.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..2e8c64d64121eccc007cad7ba2d55c2e361b94e2
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/ltm/LongtermMemoryBase.cpp
@@ -0,0 +1,134 @@
+// Header
+#include "LongtermMemoryBase.h"
+
+// ArmarX
+#include <ArmarXCore/core/time/TimeUtil.h>
+#include <ArmarXCore/core/logging/Logging.h>
+
+
+namespace armarx::armem::server::ltm
+{
+ void LongtermMemoryBase::setName(const std::string& name)
+ {
+ cache.name() = name;
+ lut.name() = name;
+ }
+
+ armem::wm::Memory LongtermMemoryBase::getCacheAndLutNotConverted() const
+ {
+ std::lock_guard l(cache_mutex);
+ std::lock_guard l2(lut_mutex);
+
+ armem::wm::Memory m(lut.name());
+ m.append(cache);
+ m.append(lut);
+
+ // debug output
+ //lut.forEachSnapshot([](const auto & e)
+ //{
+ // ARMARX_INFO << "The SNapshot: " << e.id().str() << " has size: " << e.size();
+ //});
+
+ return m;
+ }
+
+ void LongtermMemoryBase::append(const armem::wm::Memory& m)
+ {
+ TIMING_START(LTM_Append);
+ ARMARX_INFO << "Append memory with name '" << m.name() << "' into the LTM with name '" << cache.name() << "'";
+
+ std::lock_guard l(cache_mutex);
+ cache.append(m);
+
+ encodeAndStore();
+
+ TIMING_END(LTM_Append);
+ }
+
+ void LongtermMemoryBase::checkUpdateLatestSnapshot(const armem::wm::EntitySnapshot& newSnapshot)
+ {
+ // update map of latestSnapshots
+ if (auto it = latestSnapshots.find(newSnapshot.id().getEntityID().str()); it != latestSnapshots.end())
+ {
+ auto ptr = it->second;
+ if (ptr->id().timestamp > newSnapshot.id().timestamp)
+ {
+ ptr = &newSnapshot;
+ }
+ // else ignore ==> no update
+ }
+ else
+ {
+ // no entry yet
+ latestSnapshots.emplace(newSnapshot.id().getEntityID().str(), &newSnapshot);
+ }
+ }
+
+ bool LongtermMemoryBase::containsCoreSegment(const MemoryID& coreSegmentID) const
+ {
+ //ARMARX_INFO << "Check if lut has core seg";
+ if (lut.hasCoreSegment(coreSegmentID.coreSegmentName))
+ {
+ //ARMARX_INFO << "lus has core seg";
+ return true;
+ }
+ return false;
+ }
+
+ bool LongtermMemoryBase::containsProviderSegment(const MemoryID& providerSegmentID) const
+ {
+ //ARMARX_INFO << "Check if lut has prov seg";
+ if (lut.hasCoreSegment(providerSegmentID.coreSegmentName))
+ {
+ auto core = lut.getCoreSegment(providerSegmentID.coreSegmentName);
+ if (core.hasProviderSegment(providerSegmentID.providerSegmentName))
+ {
+ //ARMARX_INFO << "lus has prov seg";
+ return true;
+ }
+ }
+ return false;
+ }
+
+ bool LongtermMemoryBase::containsEntity(const MemoryID& entityID) const
+ {
+ //ARMARX_INFO << "Check if lut has entity";
+ if (lut.hasCoreSegment(entityID.coreSegmentName))
+ {
+ auto core = lut.getCoreSegment(entityID.coreSegmentName);
+ if (core.hasProviderSegment(entityID.providerSegmentName))
+ {
+ auto prov = core.getProviderSegment(entityID.providerSegmentName);
+ if (prov.hasEntity(entityID.entityName))
+ {
+ //ARMARX_INFO << "lus has entity";
+ return true;
+ }
+ }
+ }
+ return false;
+ }
+
+ bool LongtermMemoryBase::containsSnapshot(const MemoryID& snapshotID) const
+ {
+ //ARMARX_INFO << "Check if lut has snapshot";
+ if (lut.hasCoreSegment(snapshotID.coreSegmentName))
+ {
+ auto core = lut.getCoreSegment(snapshotID.coreSegmentName);
+ if (core.hasProviderSegment(snapshotID.providerSegmentName))
+ {
+ auto prov = core.getProviderSegment(snapshotID.providerSegmentName);
+ if (prov.hasEntity(snapshotID.entityName))
+ {
+ auto entity = prov.getEntity(snapshotID.entityName);
+ if (entity.hasSnapshot(snapshotID.timestamp))
+ {
+ //ARMARX_INFO << "lut has snapshot";
+ return true;
+ }
+ }
+ }
+ }
+ return false;
+ }
+}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/LongtermMemoryBase.h b/source/RobotAPI/libraries/armem/server/ltm/LongtermMemoryBase.h
new file mode 100644
index 0000000000000000000000000000000000000000..097f951548cc777fa03cedbc5f425e867439cd48
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/ltm/LongtermMemoryBase.h
@@ -0,0 +1,65 @@
+#pragma once
+
+// STD / STL
+#include <optional>
+#include <mutex>
+
+// Memory
+#include "../../core/wm/memory_definitions.h"
+
+namespace armarx::armem::server::ltm
+{
+ /// @brief Interface functions for the longterm memory classes
+ class LongtermMemoryBase
+ {
+ public:
+ struct AppendResult
+ {
+ std::vector<MemoryID> addedCoreSegments;
+ std::vector<MemoryID> addedProviderSegments;
+ std::vector<MemoryID> addedEntities;
+
+ std::vector<MemoryID> addedSnapshots;
+ std::vector<MemoryID> replacedSnapshots;
+ std::vector<MemoryID> ignoredSnapshots;
+ };
+
+ struct ReloadResult
+ {
+
+ };
+
+ void append(const armem::wm::Memory&);
+
+ virtual void reload() = 0;
+ virtual void convert(armem::wm::Memory&) = 0;
+ virtual void encodeAndStore() = 0;
+
+ // pass through to internal memory
+ void setName(const std::string& name);
+
+ // get merged internal memory
+ armem::wm::Memory getCacheAndLutNotConverted() const;
+
+ protected:
+ void checkUpdateLatestSnapshot(const armem::wm::EntitySnapshot& newSnapshot);
+
+ bool containsCoreSegment(const MemoryID&) const;
+ bool containsProviderSegment(const MemoryID&) const;
+ bool containsEntity(const MemoryID&) const;
+ bool containsSnapshot(const MemoryID&) const;
+
+ protected:
+ /// Internal memory for data consolidated from wm to ltm (cache)
+ armem::wm::Memory cache;
+ mutable std::recursive_mutex cache_mutex;
+
+ /// Internal memory for indexes (lut)
+ armem::wm::Memory lut;
+ mutable std::recursive_mutex lut_mutex;
+
+ /// 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;
+
+ };
+}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/MemoryManager.cpp b/source/RobotAPI/libraries/armem/server/ltm/disk/MemoryManager.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..d3a018d44acd587cd1c020127652c54a59a076e7
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/MemoryManager.cpp
@@ -0,0 +1,401 @@
+// Header
+#include "MemoryManager.h"
+
+// STD / STL
+#include <iostream>
+#include <fstream>
+
+// Simox
+#include <SimoxUtility/json.h>
+
+// ArmarX
+#include <ArmarXCore/core/time/TimeUtil.h>
+#include <RobotAPI/libraries/aron/core/navigator/data/container/Dict.h>
+#include <RobotAPI/libraries/armem/core/wm/aron_conversions.h>
+#include <RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h>
+
+namespace
+{
+ // check whether a string is a number (timestamp folders)
+ bool isNumber(const std::string& s)
+ {
+ for (char const& ch : s)
+ {
+ if (std::isdigit(ch) == 0)
+ {
+ return false;
+ }
+ }
+ return true;
+ }
+}
+
+namespace armarx::armem::server::ltm::disk
+{
+ namespace fs = std::filesystem;
+
+ bool MemoryManager::checkPath() const
+ {
+ // Check connection:
+ ARMARX_INFO << "Checking Path";
+ if (!fs::exists(basePathToMemory) || !fs::is_directory(basePathToMemory) || basePathToMemory.filename() != lut.name())
+ {
+ ARMARX_WARNING << deactivateSpam("PathIsNotValid")
+ << "The entered path is not valid. Please use a path leading to a memory folder with name: " << lut.name() << "."
+ << "\n\n";
+ return false;
+ }
+
+ return true;
+ }
+
+ void MemoryManager::reload()
+ {
+ TIMING_START(LTM_Reload);
+ ARMARX_INFO << "(Re)Loading a memory from: " << basePathToMemory.string();
+
+ if (!checkPath())
+ {
+ // abort
+ ARMARX_WARNING << "Could not (pre)load a memory from the filesystem.";
+ return;
+ }
+
+ armem::wm::Memory temp(lut.id()); // a temporary client wm. We will append temp to the lut at the end of this metho (append ignores duplicate entries)
+ ARMARX_INFO << "Loading memory: " << temp.id().str();
+
+ // ///////////////////////////////
+ // Iterate over core segments
+ // ///////////////////////////////
+ for (const auto& d : std::filesystem::directory_iterator(basePathToMemory))
+ // Although this looks like code duplication, we need a distinguition between memories,
+ // core, prov and entities because of a different structure
+ // (only core and prov have same structure)
+ {
+
+ if (!d.is_directory())
+ {
+ continue;
+ }
+
+ std::string k = d.path().filename();
+ if (temp.hasCoreSegment(k))
+ {
+ throw error::ArMemError("Somehow the (memory) container already contains the key k = " + k + ". This should not happen.");
+ }
+
+ // ///////////////////////////////
+ // Add and iterate over core segments
+ // ///////////////////////////////
+ auto& cSeg = temp.addCoreSegment(k);
+ for (const auto& d : std::filesystem::directory_iterator(d))
+ {
+ if (!d.is_directory())
+ {
+ continue;
+ }
+
+ std::string k = d.path().filename();
+ if (cSeg.hasProviderSegment(k))
+ {
+ throw error::ArMemError("Somehow the (core) container already contains the key k = " + k + ". This should not happen.");
+ }
+
+ // ///////////////////////////////
+ // Add and iterate over provider segments
+ // ///////////////////////////////
+ auto& pSeg = cSeg.addProviderSegment(k);
+ for (const auto& d : std::filesystem::directory_iterator(d))
+ {
+ if (!d.is_directory())
+ {
+ continue;
+ }
+
+ std::string k = d.path().filename();
+ if (pSeg.hasEntity(k))
+ {
+ throw error::ArMemError("Somehow the (provider) container already contains the key k = " + k + ". This should not happen.");
+ }
+
+ // ///////////////////////////////
+ // Add and iterate over entities
+ // ///////////////////////////////
+ auto& eSeg = pSeg.addEntity(k);
+ for (const auto& d : std::filesystem::directory_iterator(d))
+ {
+ if (!d.is_directory())
+ {
+ continue;
+ }
+
+ std::string k = d.path().filename();
+ if (!isNumber(k))
+ {
+ continue;
+ }
+
+ auto ts = armem::Time::microSeconds(std::stol(k));
+ // TODO catch exceptions?
+
+ if (eSeg.hasSnapshot(ts))
+ {
+ throw error::ArMemError("Somehow the (entity) container already contains the key k = " + k + ". This should not happen.");
+ }
+
+ // ///////////////////////////////
+ // Add and iterate over entities
+ // ///////////////////////////////
+ auto& sSeg = eSeg.addSnapshot(ts);
+ for (unsigned int i = 0; i < 10000; ++i) // ugly workaround to get the folders in the correct order
+ {
+ fs::path p = d / std::to_string(i);
+ if (!fs::exists(p) || !fs::is_directory(p))
+ {
+ // early stopping
+ break;
+ }
+
+ fs::path data = p / DATA_FILENAME;
+ if (!fs::exists(data) || !fs::is_regular_file(data))
+ {
+ // do not set data
+ continue;
+ }
+
+ // else we have an instance
+ /*std::ifstream ifs(data);
+ std::string file_content((std::istreambuf_iterator<char>(ifs)), (std::istreambuf_iterator<char>()));
+
+ nlohmann::json j = nlohmann::json::parse(file_content);
+ auto aron = aron::converter::AronNlohmannJSONConverter::ConvertFromNlohmannJSON(j);*/
+
+ sSeg.addInstance();
+ //from_aron(aron, instance);
+ }
+ }
+ }
+ }
+ }
+
+ std::lock_guard l(cache_mutex); // we always take the cache mutex BEFORE the lut mutex! (otherwise we may have deadlocks)
+ std::lock_guard l2(lut_mutex);
+ lut.append(temp);
+ ARMARX_INFO << "After reload memory " << lut.id().str() << " has size: " << lut.size();
+
+ TIMING_END(LTM_Reload);
+ }
+
+ void MemoryManager::convert(armem::wm::Memory& m)
+ {
+ TIMING_START(LTM_Convert);
+ if (!checkPath())
+ {
+ // abort
+ ARMARX_WARNING << "Could not convert a memory from the filesystem.";
+ return;
+ }
+
+ // update emtpy data ptr
+ m.forEachCoreSegment([this](armem::wm::CoreSegment & e)
+ {
+ e.forEachProviderSegment([this](armem::wm::ProviderSegment & e)
+ {
+ e.forEachEntity([this](armem::wm::Entity & e)
+ {
+ e.forEachSnapshot([this](armem::wm::EntitySnapshot & e)
+ {
+ // check whether data is nullptr
+ bool allDataIsNull = e.size() > 0;
+ e.forEachInstance([&allDataIsNull](armem::wm::EntityInstance & e)
+ {
+ if (e.data())
+ {
+ allDataIsNull = false;
+ return false; // means break
+ }
+ return true;
+ });
+
+ if (allDataIsNull) // an entry from the lut (probably... for now we assume that every entry either has data (cache) or has null (lut))
+ {
+ // Get data from mongodb
+ auto p = basePathToMemory / e.id().coreSegmentName / e.id().providerSegmentName / e.id().entityName / std::to_string(e.id().timestamp.toMicroSeconds());
+
+ if (fs::exists(p) && fs::is_directory(p))
+ {
+ for (unsigned int i = 0; i < e.size(); ++i)
+ {
+ auto data = p / std::to_string(i) / DATA_FILENAME;
+
+ if (fs::exists(data) && fs::is_regular_file(data))
+ {
+ auto& ins = e.getInstance(i);
+
+ std::ifstream ifs(data);
+ std::string file_content((std::istreambuf_iterator<char>(ifs)), (std::istreambuf_iterator<char>()));
+ nlohmann::json doc = nlohmann::json::parse(file_content);
+
+ auto aron = aron::converter::AronNlohmannJSONConverter::ConvertFromNlohmannJSON(doc);
+
+ wm::EntityInstance tmp(e.id().withInstanceIndex(i));
+ from_aron(aron, tmp);
+
+ ins.data() = tmp.data();
+ }
+ }
+ }
+ // else leave snapshot untouched
+ }
+ });
+ });
+ });
+ });
+ TIMING_END(LTM_Convert);
+ }
+
+ void MemoryManager::encodeAndStore()
+ {
+ TIMING_START(LTM_Encode);
+ if (!checkPath())
+ {
+ // abort
+ ARMARX_WARNING << "Could not (pre)load a memory from the filesystem.";
+ return;
+ }
+
+ std::lock_guard l(cache_mutex);
+
+ // ///////////////////////////////
+ // Iterate over core segments
+ // ///////////////////////////////
+ fs::path mPath = basePathToMemory;
+ cache.forEachCoreSegment([&mPath](armem::wm::CoreSegment & e)
+ {
+ fs::path cPath = mPath / e.id().coreSegmentName;
+ if (!fs::exists(cPath))
+ {
+ // not found
+ fs::create_directory(cPath);
+ }
+ if (!fs::is_directory(cPath))
+ {
+ throw error::ArMemError("Could not create the (core) folder: " + cPath.string());
+ }
+
+ // ///////////////////////////////
+ // Iterate over provider segments
+ // ///////////////////////////////
+ e.forEachProviderSegment([&cPath](armem::wm::ProviderSegment & e)
+ {
+ fs::path pPath = cPath / e.id().providerSegmentName;
+ if (!fs::exists(pPath))
+ {
+ // not found
+ fs::create_directory(pPath);
+ }
+ if (!fs::is_directory(pPath))
+ {
+ throw error::ArMemError("Could not create the (provider) folder: " + pPath.string());
+ }
+
+ // ///////////////////////////////
+ // Iterate over entities
+ // ///////////////////////////////
+ e.forEachEntity([&pPath](armem::wm::Entity & e)
+ {
+ fs::path ePath = pPath / e.id().entityName;
+ if (!fs::exists(ePath))
+ {
+ // not found
+ fs::create_directory(ePath);
+ }
+ if (!fs::is_directory(ePath))
+ {
+ throw error::ArMemError("Could not create the (entity) folder: " + ePath.string());
+ }
+
+ // ///////////////////////////////
+ // Iterate over snapshots
+ // ///////////////////////////////
+ e.forEachSnapshot([&ePath](armem::wm::EntitySnapshot & e)
+ {
+ fs::path sPath = ePath / std::to_string(e.id().timestamp.toMicroSeconds());
+ if (!fs::exists(sPath))
+ {
+ // not found
+ fs::create_directory(sPath);
+ }
+ else
+ {
+ ARMARX_INFO << "The snapshot " << sPath.string() << " already exists. Ingoring it.";
+ return; // continue if already exists
+ }
+
+ if (!fs::is_directory(sPath))
+ {
+ throw error::ArMemError("Could not create the (timestamp) folder: " + sPath.string());
+ }
+
+ // ///////////////////////////////
+ // Iterate over instances
+ // ///////////////////////////////
+ e.forEachInstance([&sPath](armem::wm::EntityInstance & e)
+ {
+ fs::path iPath = sPath / std::to_string(e.id().instanceIndex);
+ if (!fs::exists(iPath))
+ {
+ // not found
+ fs::create_directory(iPath);
+ }
+ else
+ {
+ // This is strange, since we know, that the snapshot folder did not exist.
+ // However, we ignore and continue
+ ARMARX_INFO << "Somehow the instance folder " << iPath.string() << " already exists, although the snapshot folder was newly created. Ignore this.";
+ return;
+ }
+ if (!fs::is_directory(iPath))
+ {
+ throw error::ArMemError("Could not create the (instance) folder: " + iPath.string());
+ }
+
+ fs::path data = iPath / DATA_FILENAME;
+ if (fs::exists(data))
+ {
+ // Should not be the case. Anyway, if it happens, create new file!
+ fs::remove(data);
+ }
+
+ std::ofstream ofs;
+ ofs.open(data);
+
+ auto aron = std::make_shared<aron::datanavigator::DictNavigator>();
+ to_aron(aron, e);
+ nlohmann::json j = aron::converter::AronNlohmannJSONConverter::ConvertToNlohmannJSON(aron);
+
+ ofs << j.dump(2);
+ ofs.close();
+ });
+ });
+ });
+ });
+
+ });
+
+ // what to do with clear text data after encoding?
+ // TODO!
+
+ // Finaly clear cache and put reference to lut
+ cache.forEachInstance([](armem::wm::EntityInstance & i)
+ {
+ i.data() = nullptr;
+ });
+
+ std::lock_guard l2(lut_mutex);
+ lut.append(cache);
+ cache.clear();
+
+ TIMING_END(LTM_Encode);
+ }
+}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/MemoryManager.h b/source/RobotAPI/libraries/armem/server/ltm/disk/MemoryManager.h
new file mode 100644
index 0000000000000000000000000000000000000000..227d419119e3889006a3f0f30a4789e3b9e76dfe
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/MemoryManager.h
@@ -0,0 +1,44 @@
+#pragma once
+
+// STD / STL
+#include <mutex>
+#include <optional>
+#include <filesystem>
+
+// Base Class
+#include "../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
+ {
+ using Base = LongtermMemoryBase;
+
+ public:
+ MemoryManager() = default;
+
+ void reload() override;
+ void convert(armem::wm::Memory&) override;
+ void encodeAndStore() override;
+
+ void setBasePath(const std::filesystem::path& p)
+ {
+ basePathToMemory = p;
+ }
+
+ protected:
+
+
+ private:
+ bool checkPath() const;
+
+ public:
+ std::filesystem::path basePathToMemory;
+
+ private:
+ static const constexpr char* TYPE_FILENAME = "type.aron.ltm.json";
+ static const constexpr char* DATA_FILENAME = "data.aron.ltm.json";
+ };
+}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/mongodb/MongoDBConnectionManager.cpp b/source/RobotAPI/libraries/armem/server/ltm/mongodb/ConnectionManager.cpp
similarity index 51%
rename from source/RobotAPI/libraries/armem/core/longtermmemory/mongodb/MongoDBConnectionManager.cpp
rename to source/RobotAPI/libraries/armem/server/ltm/mongodb/ConnectionManager.cpp
index fd2bbbb6ccb8aee93c4d343b818dc55872f7838a..ad2d95b0fed35991ae99e050a9939537a840a2a2 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/mongodb/MongoDBConnectionManager.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/mongodb/ConnectionManager.cpp
@@ -1,13 +1,15 @@
-#include "MongoDBConnectionManager.h"
+#include "ConnectionManager.h"
-namespace armarx::armem::ltm
+namespace armarx::armem::server::ltm::mongodb
{
- bool MongoDBConnectionManager::initialized = false;
- std::map<std::string, mongocxx::client> MongoDBConnectionManager::Connections = {};
+ std::mutex ConnectionManager::initializationMutex;
+ bool ConnectionManager::initialized = false;
+ std::map<std::string, std::unique_ptr<mongocxx::pool>> ConnectionManager::Connections = {};
- void MongoDBConnectionManager::initialize_if()
+ void ConnectionManager::initialize_if()
{
+ std::lock_guard l(initializationMutex); // all others have to wait until the initialization is complete
if (!initialized)
{
initialized = true;
@@ -15,7 +17,7 @@ namespace armarx::armem::ltm
}
}
- mongocxx::client& MongoDBConnectionManager::EstablishConnection(const MongoDBSettings& settings)
+ mongocxx::pool& ConnectionManager::Connect(const MongoDBSettings& settings)
{
initialize_if();
@@ -24,36 +26,36 @@ namespace armarx::armem::ltm
if (it == Connections.end())
{
mongocxx::uri uri(uri_str);
- auto con = Connections.emplace(uri_str, mongocxx::client(uri));
- return con.first->second;
+ auto pool = std::make_unique<mongocxx::pool>(uri);
+ auto con = Connections.emplace(settings.key(), std::move(pool));
+ return *con.first->second;
}
else
{
// A connection already exists. We do not need to open another one.
- return it->second;
+ return *it->second;
}
}
- bool MongoDBConnectionManager::ConnectionIsValid(const MongoDBSettings& settings, bool force)
+ bool ConnectionManager::ConnectionIsValid(const MongoDBSettings& settings, bool forceNewConnection)
{
initialize_if();
try
{
- if (!force)
+ if (!forceNewConnection)
{
- const auto uri_str = settings.uri();
- auto it = Connections.find(uri_str);
+ auto it = Connections.find(settings.key());
if (it != Connections.end())
{
- auto admin = it->second["admin"];
+ auto client = it->second->acquire();
+ auto admin = client->database("admin");
auto result = admin.run_command(bsoncxx::builder::basic::make_document(bsoncxx::builder::basic::kvp("isMaster", 1)));
return true;
}
}
- const auto uri_str = settings.uri();
- mongocxx::uri uri(uri_str);
+ mongocxx::uri uri(settings.uri());
auto client = mongocxx::client(uri);
auto admin = client["admin"];
auto result = admin.run_command(bsoncxx::builder::basic::make_document(bsoncxx::builder::basic::kvp("isMaster", 1)));
@@ -65,12 +67,11 @@ namespace armarx::armem::ltm
}
}
- bool MongoDBConnectionManager::ConnectionExists(const MongoDBSettings& settings)
+ bool ConnectionManager::ConnectionExists(const MongoDBSettings& settings)
{
initialize_if();
- const auto uri_str = settings.uri();
- auto it = Connections.find(uri_str);
+ auto it = Connections.find(settings.key());
return it != Connections.end();
}
}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/mongodb/ConnectionManager.h b/source/RobotAPI/libraries/armem/server/ltm/mongodb/ConnectionManager.h
new file mode 100644
index 0000000000000000000000000000000000000000..15fac008d7963c034ce40fe55a4606ffe3fead3f
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/ltm/mongodb/ConnectionManager.h
@@ -0,0 +1,97 @@
+#pragma once
+
+#include <string>
+#include <mutex>
+#include <map>
+#include <memory>
+#include <sstream>
+
+#include <bsoncxx/json.hpp>
+#include <mongocxx/client.hpp>
+#include <mongocxx/pool.hpp>
+#include <mongocxx/stdx.hpp>
+#include <mongocxx/uri.hpp>
+#include <mongocxx/instance.hpp>
+#include <bsoncxx/builder/stream/helpers.hpp>
+#include <bsoncxx/builder/stream/document.hpp>
+#include <bsoncxx/builder/stream/array.hpp>
+
+
+namespace armarx::armem::server::ltm::mongodb
+{
+
+ using PoolClientPtr = mongocxx::pool::entry;
+
+ /**
+ * @brief A manager of multiple mongodb connection
+ */
+ class ConnectionManager
+ {
+ public:
+ struct MongoDBSettings
+ {
+ std::string host = "localhost";
+ unsigned int port = 25276;
+ std::string user = "";
+ std::string password = "";
+ std::string database = "Test";
+ int minPoolSize = 5;
+ int maxPoolSize = 100;
+
+
+ bool isSet() const
+ {
+ // we always need a host and a port
+ return !host.empty() and port != 0;
+ }
+
+ std::string baseUri() const
+ {
+ std::stringstream ss;
+ ss << "mongodb://";
+
+ if (!user.empty())
+ {
+ ss << user;
+ if (!password.empty())
+ {
+ ss << ":" << password;
+ }
+ ss << "@";
+ }
+ ss << host;
+ return ss.str();
+ }
+
+ std::string key() const
+ {
+ // TODO: What happens if a connection exists and you would like to open another one with a different user (e.g. that sees different things)?
+ return "mongodb://" + host + ":" + std::to_string(port);
+ }
+
+ std::string uri() const
+ {
+ return baseUri() + ":" + std::to_string(port) + "/?minPoolSize=" + std::to_string(minPoolSize) + "&maxPoolSize=" + std::to_string(maxPoolSize);
+ }
+
+ std::string toString() const
+ {
+ return uri() + "&database=" + database;
+ }
+ };
+
+ static mongocxx::pool& Connect(const MongoDBSettings& settings);
+ static bool ConnectionIsValid(const MongoDBSettings& settings, bool forceNewConnection = false);
+ static bool ConnectionExists(const MongoDBSettings& settings);
+
+ private:
+ static void initialize_if();
+
+
+ private:
+ static std::mutex initializationMutex;
+ static bool initialized;
+ static std::map<std::string, std::unique_ptr<mongocxx::pool>> Connections;
+
+ };
+}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/mongodb/MemoryManager.cpp b/source/RobotAPI/libraries/armem/server/ltm/mongodb/MemoryManager.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..6419584d4a1bd0e870a4dc48ff703c938c0a7789
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/ltm/mongodb/MemoryManager.cpp
@@ -0,0 +1,424 @@
+// Header
+#include "MemoryManager.h"
+
+// Simox
+#include <SimoxUtility/json.h>
+
+// ArmarX
+#include <ArmarXCore/core/time/TimeUtil.h>
+#include <RobotAPI/libraries/aron/core/navigator/data/container/Dict.h>
+#include <RobotAPI/libraries/armem/core/wm/aron_conversions.h>
+#include <RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h>
+
+
+namespace armarx::armem::server::ltm::mongodb
+{
+ namespace bsoncxxbuilder = bsoncxx::builder::stream;
+ namespace bsoncxxdoc = bsoncxx::document;
+
+ PoolClientPtr MemoryManager::checkConnection() const
+ {
+ // Check connection:
+ ARMARX_INFO << "Checking connection";
+ if (!ConnectionManager::ConnectionIsValid(dbsettings))
+ {
+ ARMARX_WARNING << deactivateSpam("ConnectionIsNotValid")
+ << "The connection to mongocxx for ltm '" << cache.name() << "' is not valid. Settings are: " << dbsettings.toString()
+ << "\nTo start it, run e.g.: \n"
+ << "armarx memory start"
+ << "\n\n";
+ return nullptr;
+ }
+
+ auto& pool = ConnectionManager::Connect(dbsettings);
+ auto client = pool.acquire();
+
+ return client;
+ }
+
+ void MemoryManager::reload()
+ {
+ TIMING_START(LTM_Reload);
+ ARMARX_INFO << "(Re)Establishing connection to: " << dbsettings.toString();
+
+ auto client = checkConnection();
+ if (!client)
+ {
+ // abort
+ ARMARX_WARNING << "A connection to: " << dbsettings.toString() << " is not possible. Could not (pre)load data from mongodb.";
+ return;
+ }
+
+ auto databases = client->list_databases();
+ for (const auto& doc : databases)
+ {
+ auto el = doc["name"];
+ ARMARX_INFO << "Found Memory-Collection in MongoDB: " << el.get_utf8().value;
+ }
+
+ armem::wm::Memory temp(lut.id()); // a temporary client wm. We will append temp to the lut at the end of this metho (append ignores duplicate entries)
+ mongocxx::database db = client->database(dbsettings.database);
+
+ ARMARX_INFO << "Loading memory: " << temp.id().str();
+
+ // ///////////////////////////////
+ // Iterate over core segments
+ // ///////////////////////////////
+ mongocxx::collection mColl = db.collection(temp.id().str());
+ mongocxx::cursor cursor = mColl.find({});
+ for (const auto& doc : cursor) // Although this looks like code duplication, we need a distinguition between memories,
+ // core, prov and entities because of a different structure
+ // (only core and prov have same structure)
+ {
+ auto el = doc[MONGO_FOREIGN_KEY];
+ auto foreignKey = el.get_utf8().value;
+
+ MemoryID i((std::string) foreignKey);
+ if (i.memoryName != temp.id().memoryName)
+ {
+ throw error::InvalidMemoryID(i, "A MemoryID in mongodb was invalid. Found the wrong memory name: " + i.str());
+ }
+
+ std::string k = i.coreSegmentName;
+
+ if (temp.hasCoreSegment(k))
+ {
+ throw error::ArMemError("Somehow the (memory) container already contains the key k = " + k + ". Do you have double entries in mongodb?");
+ }
+ else
+ {
+ // ///////////////////////////////
+ // Add and iterate over provider segments
+ // ///////////////////////////////
+ auto& cSeg = temp.addCoreSegment(k);
+ mongocxx::collection cColl = db.collection(cSeg.id().str());
+ mongocxx::cursor cursor = cColl.find({});
+ for (const auto& doc : cursor)
+ {
+ auto el = doc[MONGO_FOREIGN_KEY];
+ auto foreignKey = el.get_utf8().value;
+
+ MemoryID i((std::string) foreignKey);
+ if (i.coreSegmentName != cSeg.id().coreSegmentName || i.memoryName != cSeg.id().memoryName)
+ {
+ throw error::InvalidMemoryID(i, "A MemoryID in mongodb was invalid. Found the wrong memory name: " + i.str());
+ }
+
+ std::string k = i.providerSegmentName;
+ if (cSeg.hasProviderSegment(k))
+ {
+ throw error::ArMemError("Somehow the (core segment) container already contains the key k = " + k + ". Do you have double entries in mongodb?");
+ }
+ else
+ {
+ // ///////////////////////////////
+ // Add and iterate over entities
+ // ///////////////////////////////
+ auto& pSeg = cSeg.addProviderSegment(k);
+ mongocxx::collection pColl = db.collection(pSeg.id().str());
+ mongocxx::cursor cursor = pColl.find({});
+ for (const auto& doc : cursor)
+ {
+ auto el = doc[MONGO_FOREIGN_KEY];
+ auto foreignKey = el.get_utf8().value;
+
+ MemoryID i((std::string) foreignKey);
+ if (i.providerSegmentName != pSeg.id().providerSegmentName || i.coreSegmentName != pSeg.id().coreSegmentName || i.memoryName != pSeg.id().memoryName)
+ {
+ throw error::InvalidMemoryID(i, "A MemoryID in mongodb was invalid. Found the wrong memory name: " + i.str());
+ }
+
+ std::string k = i.entityName;
+ if (pSeg.hasEntity(k))
+ {
+ throw error::ArMemError("Somehow the (provider segment) container already contains the key k = " + k + ". Do you have double entries in mongodb?");
+ }
+ else
+ {
+ // ///////////////////////////////
+ // Add and iterate over snapshots
+ // ///////////////////////////////
+ auto& eSeg = pSeg.addEntity(k);
+ mongocxx::collection eColl = db.collection(eSeg.id().str());
+ mongocxx::cursor cursor = eColl.find({});
+ for (const auto& doc : cursor)
+ {
+ auto ts = armem::Time::microSeconds(doc[MONGO_TIMESTAMP].get_int64().value);
+ auto& newSnapshot = eSeg.addSnapshot(ts);
+
+ auto i = doc[MONGO_INSTANCES];
+ unsigned long length = std::distance(i.get_array().value.begin(), i.get_array().value.end());
+ ARMARX_INFO << "The array legth for an snapshot '" << newSnapshot.id().str() << "' is: " << length;
+
+ for (unsigned long i = 0; i < length; ++i)
+ {
+ // add an empty instance as reference
+ newSnapshot.addInstance({});
+ }
+
+
+ // check to update lastSnapshot map
+ checkUpdateLatestSnapshot(newSnapshot);
+ }
+ }
+ }
+ }
+ }
+ }
+ }
+
+ std::lock_guard l(cache_mutex); // we always take the cache mutex BEFORE the lut mutex! (otherwise we may have deadlocks)
+ std::lock_guard l2(lut_mutex);
+ lut.append(temp);
+ ARMARX_INFO << "After reload memory " << lut.id().str() << " has size: " << lut.size();
+
+ TIMING_END(LTM_Reload);
+ }
+
+ void MemoryManager::convert(armem::wm::Memory& m)
+ {
+ TIMING_START(LTM_Convert);
+
+ auto client = checkConnection();
+ if (!client)
+ {
+ // abort
+ ARMARX_WARNING << "A connection to: " << dbsettings.toString() << " is not possible. Could not convert information, therefore returning leaving input untouched.";
+ return;
+ }
+ mongocxx::database db = client->database(dbsettings.database);
+
+ // update emtpy data ptr
+ m.forEachCoreSegment([&db](armem::wm::CoreSegment & e)
+ {
+ e.forEachProviderSegment([&db](armem::wm::ProviderSegment & e)
+ {
+ e.forEachEntity([&db](armem::wm::Entity & e)
+ {
+ e.forEachSnapshot([&db](armem::wm::EntitySnapshot & e)
+ {
+ // check whether data is nullptr
+ bool allDataIsNull = e.size() > 0;
+ e.forEachInstance([&allDataIsNull](armem::wm::EntityInstance & e)
+ {
+ if (e.data())
+ {
+ allDataIsNull = false;
+ return false; // means break
+ }
+ return true;
+ });
+
+ if (allDataIsNull) // an entry from the lut (probably... for now we assume that every entry either has data (cache) or has null (lut))
+ {
+ // Get data from mongodb
+ auto eColl = db.collection(e.id().getEntityID().str());
+ auto q = bsoncxxbuilder::document{} << std::string(MONGO_TIMESTAMP) << e.id().timestamp.toMicroSeconds() << bsoncxxbuilder::finalize;
+ auto res = eColl.find_one(q.view());
+
+ if (!res)
+ {
+ throw error::ArMemError("Could not load an instance from the memory '" + e.id().getEntityID().str() + "'. Tried to access: " + e.id().getEntitySnapshotID().str());
+ }
+
+ // convert full json of this entry
+ nlohmann::json json = nlohmann::json::parse(bsoncxx::to_json(*res));
+ nlohmann::json instances = json[MONGO_INSTANCES];
+
+ if (instances.size() != e.size())
+ {
+ throw error::ArMemError("The size of the mongodb entity entry at id " + e.id().getEntitySnapshotID().str() + " has wrong size. Expected: " + std::to_string(e.size()) + " but got: " + std::to_string(instances.size()));
+ }
+
+ for (unsigned int i = 0; i < e.size(); ++i)
+ {
+ auto& ins = e.getInstance(i);
+
+ // get ionstance json
+ nlohmann::json doc = instances[i];
+ auto aron = aron::converter::AronNlohmannJSONConverter::ConvertFromNlohmannJSON(doc);
+
+ // remove metadata
+ wm::EntityInstance tmp(e.id().withInstanceIndex(i));
+ from_aron(aron, tmp);
+
+ // set data
+ ins.data() = tmp.data();
+ }
+ }
+ });
+ });
+ });
+ });
+ TIMING_END(LTM_Convert);
+ }
+
+ void MemoryManager::encodeAndStore()
+ {
+ TIMING_START(LTM_Encode);
+ ARMARX_INFO << "Encode cache " << cache.id().str() << " with size: " << cache.size();
+
+ auto client = checkConnection();
+ if (!client)
+ {
+ // abort
+ ARMARX_WARNING << "A connection to: " << dbsettings.toString() << " is not possible. Could not consolidate data from cache to mongodb.";
+ return;
+ }
+
+ std::lock_guard l(cache_mutex);
+ mongocxx::database db = client->database(dbsettings.database);
+ auto mColl = db.collection(cache.id().str());
+
+ // ///////////////////////////////
+ // Iterate over core segments
+ // ///////////////////////////////
+ cache.forEachCoreSegment([this, &db, &mColl](armem::wm::CoreSegment & e)
+ {
+ auto cColl = db.collection(e.id().str());
+
+ if (!containsCoreSegment(mColl, e.id()))
+ {
+ // not found
+ mongodbInsertForeignKey(mColl, e.id().str());
+ }
+
+ // ///////////////////////////////
+ // Iterate over provider segments
+ // ///////////////////////////////
+ e.forEachProviderSegment([this, &db, &cColl](armem::wm::ProviderSegment & e)
+ {
+ auto pColl = db.collection(e.id().str());
+
+ if (!containsProviderSegment(cColl, e.id()))
+ {
+ // not found
+ mongodbInsertForeignKey(cColl, e.id().str());
+ }
+
+ // ///////////////////////////////
+ // Iterate over each segments
+ // ///////////////////////////////
+ e.forEachEntity([this, &db, &pColl](armem::wm::Entity & e)
+ {
+ auto eColl = db.collection(e.id().str());
+
+ if (!containsEntity(pColl, e.id()))
+ {
+ // not found
+ mongodbInsertForeignKey(pColl, e.id().str());
+ }
+
+ // ///////////////////////////////
+ // Iterate over snapshots
+ // ///////////////////////////////
+ e.forEachSnapshot([this, &eColl](armem::wm::EntitySnapshot & e)
+ {
+ if (!this->containsSnapshot(eColl, e.id()))
+ {
+ // timestamp not found in mongodb ==> new entry
+ bsoncxxbuilder::document builder{};
+ auto in_array = builder
+ << std::string(MONGO_ID) << e.id().str()
+ << std::string(MONGO_TIMESTAMP) << e.id().timestamp.toMicroSeconds()
+ << std::string(MONGO_INSTANCES);
+ auto array_builder = bsoncxx::builder::basic::array{};
+
+ e.forEachInstance([&array_builder](const wm::EntityInstance & e)
+ {
+ auto aron = std::make_shared<aron::datanavigator::DictNavigator>();
+ to_aron(aron, e);
+ nlohmann::json j = aron::converter::AronNlohmannJSONConverter::ConvertToNlohmannJSON(aron);
+
+ auto doc_value = bsoncxx::from_json(j.dump(2));
+ array_builder.append(doc_value);
+ });
+
+ auto after_array = in_array << array_builder;
+ bsoncxx::document::value doc = after_array << bsoncxx::builder::stream::finalize;
+ ARMARX_INFO << "Insert into mongodb: " << e.id().timestamp.toMicroSeconds();
+ eColl.insert_one(doc.view());
+
+ // check to update lastSnapshot map
+ checkUpdateLatestSnapshot(e);
+ }
+ else
+ {
+ ARMARX_INFO << "Timestamp already found for id: " << e.id().str();
+ // timestamp already in mongodb. Ignore it
+ }
+ });
+ });
+ });
+ });
+
+ // what to do with clear text data after encoding?
+ // TODO!
+
+ // Finaly clear cache and put reference to lut
+ cache.forEachInstance([](armem::wm::EntityInstance & i)
+ {
+ i.data() = nullptr;
+ });
+
+ std::lock_guard l2(lut_mutex);
+ lut.append(cache);
+ cache.clear();
+
+ TIMING_END(LTM_Encode);
+ }
+
+ void MemoryManager::mongodbInsertForeignKey(mongocxx::collection& coll, const std::string& key)
+ {
+ auto q = bsoncxxbuilder::document{} << std::string(MONGO_FOREIGN_KEY) << key << bsoncxxbuilder::finalize;
+ coll.insert_one(q.view());
+ }
+
+ bool MemoryManager::mongodbContainsForeignKey(mongocxx::collection& coll, const std::string& key) const
+ {
+ // check mongodb
+ auto q = bsoncxxbuilder::document{} << std::string(MONGO_FOREIGN_KEY) << key << bsoncxxbuilder::finalize;
+ auto res = coll.find_one(q.view());
+ return (bool) res;
+ }
+
+ bool MemoryManager::containsCoreSegment(mongocxx::collection& mColl, const MemoryID& coreSegmentID) const
+ {
+ if (Base::containsCoreSegment(coreSegmentID))
+ {
+ return true;
+ }
+ return mongodbContainsForeignKey(mColl, coreSegmentID.str());
+ }
+
+ bool MemoryManager::containsProviderSegment(mongocxx::collection& cColl, const MemoryID& providerSegmentID) const
+ {
+ if (Base::containsProviderSegment(providerSegmentID))
+ {
+ return true;
+ }
+ return mongodbContainsForeignKey(cColl, providerSegmentID.str());
+ }
+
+ bool MemoryManager::containsEntity(mongocxx::collection& pColl, const MemoryID& entityID) const
+ {
+ if (Base::containsEntity(entityID))
+ {
+ return true;
+ }
+ return mongodbContainsForeignKey(pColl, entityID.str());
+ }
+
+ bool MemoryManager::containsSnapshot(mongocxx::collection& eColl, const MemoryID& snapshotID) const
+ {
+ if (Base::containsSnapshot(snapshotID))
+ {
+ return true;
+ }
+
+ // check mongodb
+ auto q = bsoncxxbuilder::document{} << std::string(MONGO_TIMESTAMP) << snapshotID.timestamp.toMicroSeconds() << bsoncxxbuilder::finalize;
+ auto res = eColl.find_one(q.view());
+ return (bool) res;
+ }
+}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/mongodb/MemoryManager.h b/source/RobotAPI/libraries/armem/server/ltm/mongodb/MemoryManager.h
new file mode 100644
index 0000000000000000000000000000000000000000..189ccc42563d17dd63116dc3210d99d648b28c31
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/ltm/mongodb/MemoryManager.h
@@ -0,0 +1,51 @@
+#pragma once
+
+// STD / STL
+#include <mutex>
+#include <optional>
+
+// Base Class
+#include "../LongtermMemoryBase.h"
+
+// Data
+# include "ConnectionManager.h"
+
+namespace armarx::armem::server::ltm::mongodb
+{
+ /// @brief A memory storing data in mongodb (needs 'armarx memory start' to start the mongod instance)
+ class MemoryManager :
+ public LongtermMemoryBase
+ {
+ using Base = LongtermMemoryBase;
+
+ public:
+ MemoryManager() = default;
+
+ void reload() override;
+ void convert(armem::wm::Memory&) override;
+ void encodeAndStore() override;
+
+ protected:
+
+
+ private:
+ PoolClientPtr checkConnection() const; // return nullptr if not possible
+
+ void mongodbInsertForeignKey(mongocxx::collection&, const std::string& key);
+
+ bool mongodbContainsForeignKey(mongocxx::collection&, const std::string& key) const;
+ bool containsCoreSegment(mongocxx::collection&, const MemoryID&) const;
+ bool containsProviderSegment(mongocxx::collection&, const MemoryID&) const;
+ bool containsEntity(mongocxx::collection&, const MemoryID&) const;
+ bool containsSnapshot(mongocxx::collection&, const MemoryID&) const;
+
+ public:
+ ConnectionManager::MongoDBSettings dbsettings;
+
+ private:
+ static const constexpr char* MONGO_FOREIGN_KEY = "foreign_key";
+ static const constexpr char* MONGO_ID = "id";
+ static const constexpr char* MONGO_TIMESTAMP = "timestamp";
+ static const constexpr char* MONGO_INSTANCES = "instances";
+ };
+}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/CoreSegmentQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/base/CoreSegmentQueryProcessorBase.h
index 3050e6e4e91a90bfbfa97feff7f3afc6cb804f41..0c6199eac95465a27da8bc0d59b4fcd40607d139 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/CoreSegmentQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/CoreSegmentQueryProcessorBase.h
@@ -1,14 +1,11 @@
#pragma once
-#include <regex>
-
-#include <ArmarXCore/core/logging/Logging.h>
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include "BaseQueryProcessorBase.h"
-#include <RobotAPI/interface/armem/query.h>
#include <RobotAPI/libraries/armem/core/error.h>
+#include <RobotAPI/interface/armem/query.h>
-#include "BaseQueryProcessorBase.h"
+#include <regex>
namespace armarx::armem::server::query_proc::base
@@ -74,7 +71,7 @@ namespace armarx::armem::server::query_proc::base
{
coreSegment.forEachProviderSegment([this, &query, &result](const ProviderSegmentT & providerSegment)
{
- childProcessor.process(result.addProviderSegment(providerSegment.name()), query.providerSegmentQueries, providerSegment);
+ this->_processResult(result, providerSegment, query);
});
}
@@ -82,14 +79,10 @@ namespace armarx::armem::server::query_proc::base
const armem::query::data::core::Single& query,
const CoreSegmentT& coreSegment) const
{
- try
+ const ProviderSegmentT* providerSegment = coreSegment.findProviderSegment(query.providerSegmentName);
+ if (providerSegment)
{
- const ProviderSegmentT& providerSegment = coreSegment.getProviderSegment(query.providerSegmentName);
- childProcessor.process(result.addProviderSegment(providerSegment.name()), query.providerSegmentQueries, providerSegment);
- }
- catch (const error::MissingEntry&)
- {
- // Leave empty.
+ this->_processResult(result, *providerSegment, query);
}
}
@@ -97,18 +90,29 @@ namespace armarx::armem::server::query_proc::base
const armem::query::data::core::Regex& query,
const CoreSegmentT& coreSegment) const
{
- std::regex regex(query.providerSegmentNameRegex);
+ const std::regex regex(query.providerSegmentNameRegex);
coreSegment.forEachProviderSegment(
[this, &result, &query, ®ex](const ProviderSegmentT & providerSegment)
{
if (std::regex_search(providerSegment.name(), regex))
{
- childProcessor.process(result.addProviderSegment(providerSegment.name()), query.providerSegmentQueries, providerSegment);
+ this->_processResult(result, providerSegment, query);
}
});
}
+ private:
+
+ void _processResult(ResultCoreSegmentT& result,
+ const ProviderSegmentT& providerSegment,
+ const armem::query::data::CoreSegmentQuery& query) const
+ {
+ ResultProviderSegmentT& added = result.addProviderSegment(providerSegment.name(), providerSegment.aronType());
+ childProcessor.process(added, query.providerSegmentQueries, providerSegment);
+ }
+
+
protected:
ChildProcessorT childProcessor;
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.cpp b/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.cpp
index 5cbac85a8dc5f8899e7c72434516063121a2b4c1..d9df528842d11fd66ba38877318785d6c4dd5263 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.cpp
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.cpp
@@ -1 +1,12 @@
#include "EntityQueryProcessorBase.h"
+
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+
+namespace armarx::armem::server::query_proc::base
+{
+ void detail::checkReferenceTimestampNonNegative(const Time& timestamp)
+ {
+ ARMARX_CHECK_NONNEGATIVE(timestamp.toMicroSeconds()) << "Reference timestamp must be non-negative.";
+ }
+}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.h
index 0c4a842fa2772ae18b475b9e28ad3b13077bb49d..b0210c37e4ed71b64875a79453e56d928852b54f 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.h
@@ -8,13 +8,14 @@
#include <RobotAPI/interface/armem/query.h>
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-#include <ArmarXCore/core/logging/Logging.h>
-
#include <cstdint>
#include <iterator>
+namespace armarx::armem::server::query_proc::base::detail
+{
+ void checkReferenceTimestampNonNegative(const Time& timestamp);
+}
namespace armarx::armem::server::query_proc::base
{
@@ -93,43 +94,33 @@ namespace armarx::armem::server::query_proc::base
{
if (query.timestamp < 0)
{
- try
+ if (const ResultSnapshotT* snapshot = entity.findLatestSnapshot())
{
- addResultSnapshot(result, entity.getLatestSnapshot());
- }
- catch (const armem::error::EntityHistoryEmpty&)
- {
- if (false)
- {
- ARMARX_IMPORTANT << "Failed to retrieve latest snapshot from entity " << entity.id() << ". "
- << "Entity has not timestamps.";
- }
+ addResultSnapshot(result, *snapshot);
}
}
else
{
const Time time = fromIce<Time>(query.timestamp);
- try
+ if (const ResultSnapshotT* snapshot = entity.findSnapshot(time))
{
- auto snapshot = entity.getSnapshot(time);
- addResultSnapshot(result, snapshot);
+ addResultSnapshot(result, *snapshot);
}
- catch (const armem::error::MissingEntry&)
+ else
{
// Leave empty.
- if (false)
+#if 0
+ std::stringstream ss;
+ ss << "Failed to retrieve snapshot with timestamp "
+ << armem::toDateTimeMilliSeconds(time)
+ << " from entity " << entity.id() << ".\n"
+ << "Entity has timestamps: ";
+ for (const Time& t : entity.getTimestamps())
{
- std::stringstream ss;
- ss << "Failed to retrieve snapshot with timestamp "
- << armem::toDateTimeMilliSeconds(time)
- << " from entity " << entity.id() << ".\n"
- << "Entity has timestamps: ";
- for (const Time& t : entity.getTimestamps())
- {
- ss << "\n- " << armem::toDateTimeMilliSeconds(t);
- }
- ARMARX_IMPORTANT << ss.str();
+ ss << "\n- " << armem::toDateTimeMilliSeconds(t);
}
+ ARMARX_IMPORTANT << ss.str();
+#endif
}
}
}
@@ -181,17 +172,12 @@ namespace armarx::armem::server::query_proc::base
const armem::query::data::entity::BeforeOrAtTime& query,
const EntityT& entity) const
{
- const auto referenceTimestamp = fromIce<Time>(query.timestamp);
- ARMARX_CHECK(referenceTimestamp.toMicroSeconds() >= 0) << "Reference timestamp is negative!";
+ const Time referenceTimestamp = fromIce<Time>(query.timestamp);
+ detail::checkReferenceTimestampNonNegative(referenceTimestamp);
- try
+ if (auto* beforeOrAt = entity.findLatestSnapshotBeforeOrAt(referenceTimestamp))
{
- auto beforeOrAt = entity.getLatestSnapshotBeforeOrAt(referenceTimestamp);
- addResultSnapshot(result, beforeOrAt);
- }
- catch (const armem::error::MissingEntry&)
- {
- // Leave empty.
+ addResultSnapshot(result, *beforeOrAt);
}
}
@@ -200,8 +186,8 @@ namespace armarx::armem::server::query_proc::base
const armem::query::data::entity::BeforeTime& query,
const EntityT& entity) const
{
- const armem::Time referenceTimestamp = fromIce<Time>(query.timestamp);
- ARMARX_CHECK(referenceTimestamp.toMicroSeconds() >= 0) << "Reference timestamp must be non-negative.";
+ const Time referenceTimestamp = fromIce<Time>(query.timestamp);
+ detail::checkReferenceTimestampNonNegative(referenceTimestamp);
std::vector<const EntitySnapshotT*> befores;
entity.forEachSnapshotBefore(referenceTimestamp, [&befores](const EntitySnapshotT & s)
@@ -231,11 +217,11 @@ namespace armarx::armem::server::query_proc::base
const armem::query::data::entity::TimeApprox& query,
const EntityT& entity) const
{
- const auto referenceTimestamp = fromIce<Time>(query.timestamp);
- ARMARX_CHECK(referenceTimestamp.toMicroSeconds() >= 0) << "Reference timestamp is negative!";
+ const Time referenceTimestamp = fromIce<Time>(query.timestamp);
+ detail::checkReferenceTimestampNonNegative(referenceTimestamp);
- const auto referenceTimestampMicroSeconds = referenceTimestamp.toMicroSeconds();
- const auto epsDuration = fromIce<Time>(query.eps).toMicroSeconds();
+ const float referenceTimestampMicroSeconds = referenceTimestamp.toMicroSeconds();
+ const float epsDuration = fromIce<Time>(query.eps).toMicroSeconds();
// elements have to be in range [t_ref - eps, t_ref + eps] if eps is positive
const auto isInRange = [&](const Time & t) -> bool
@@ -248,15 +234,14 @@ namespace armarx::armem::server::query_proc::base
return std::abs(t.toMicroSeconds() - referenceTimestampMicroSeconds) <= epsDuration;
};
- try
+ // last element before or at timestamp
+ if (auto* beforeOrAt = entity.findLatestSnapshotBeforeOrAt(referenceTimestamp))
{
- // last element before or at timestamp
- auto beforeOrAt = entity.getLatestSnapshotBeforeOrAt(referenceTimestamp);
- const auto timestampOfMatchBefore = beforeOrAt.id().timestamp;
+ const auto timestampOfMatchBefore = beforeOrAt->id().timestamp;
const auto isPerfectMatch = timestampOfMatchBefore == referenceTimestamp;
if (isInRange(timestampOfMatchBefore))
{
- addResultSnapshot(result, beforeOrAt);
+ addResultSnapshot(result, *beforeOrAt);
}
// earsly stop, not necessary to also get the next since the match is perfect
@@ -266,16 +251,16 @@ namespace armarx::armem::server::query_proc::base
}
// first element after or at timestamp (or at because of fewer checks, we can assure that there is not element at)
- const auto after = entity.getFirstSnapshotAfterOrAt(referenceTimestamp);
- const auto timestampOfMatchAfter = after.id().timestamp;
- if (isInRange(timestampOfMatchAfter))
+ const auto* after = entity.findFirstSnapshotAfterOrAt(referenceTimestamp);
+ if (after)
{
- addResultSnapshot(result, after);
+ const auto timestampOfMatchAfter = after->id().timestamp;
+ if (isInRange(timestampOfMatchAfter))
+ {
+ addResultSnapshot(result, *after);
+ }
}
}
- catch (const armem::error::MissingEntry&)
- {
- }
}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/MemoryQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/base/MemoryQueryProcessorBase.h
index df71683c29f2cb17db976e8be971725934b03348..91c41d9f54cb762654db9763dfe6d9c3af1aa60d 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/MemoryQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/MemoryQueryProcessorBase.h
@@ -5,9 +5,6 @@
#include <RobotAPI/libraries/armem/core/error.h>
#include <RobotAPI/interface/armem/query.h>
-#include <ArmarXCore/core/logging/Logging.h>
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
#include <regex>
@@ -76,7 +73,7 @@ namespace armarx::armem::server::query_proc::base
{
memory.forEachCoreSegment([this, &result, &query](const CoreSegmentT & coreSegment)
{
- childProcessor.process(result.addCoreSegment(coreSegment.name()), query.coreSegmentQueries, coreSegment);
+ this->_processResult(result, coreSegment, query);
});
}
@@ -84,13 +81,9 @@ namespace armarx::armem::server::query_proc::base
const armem::query::data::memory::Single& query,
const MemoryT& memory) const
{
- try
- {
- const CoreSegmentT& coreSegment = memory.getCoreSegment(query.coreSegmentName);
- childProcessor.process(result.addCoreSegment(coreSegment.name()), query.coreSegmentQueries, coreSegment);
- }
- catch (const error::MissingEntry&)
+ if (const CoreSegmentT* coreSegment = memory.findCoreSegment(query.coreSegmentName))
{
+ this->_processResult(result, *coreSegment, query);
}
}
@@ -103,12 +96,23 @@ namespace armarx::armem::server::query_proc::base
{
if (std::regex_search(coreSegment.name(), regex))
{
- childProcessor.process(result.addCoreSegment(coreSegment.name()), query.coreSegmentQueries, coreSegment);
+ this->_processResult(result, coreSegment, query);
}
});
}
+ private:
+
+ void _processResult(ResultMemoryT& result,
+ const CoreSegmentT& coreSegment,
+ const armem::query::data::MemoryQuery& query) const
+ {
+ ResultCoreSegmentT& added = result.addCoreSegment(coreSegment.name(), coreSegment.aronType());
+ childProcessor.process(added, query.coreSegmentQueries, coreSegment);
+ }
+
+
protected:
ChildProcessorT childProcessor;
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/ProviderSegmentQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/base/ProviderSegmentQueryProcessorBase.h
index 5102a12829c106e58159e7dcc35a7df0890f93d5..46f146694825936d4834b579093881e8452db3ca 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/ProviderSegmentQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/ProviderSegmentQueryProcessorBase.h
@@ -70,7 +70,7 @@ namespace armarx::armem::server::query_proc::base
{
providerSegment.forEachEntity([this, &result, &query](const EntityT & entity)
{
- childProcessor.process(result.addEntity(entity.name()), query.entityQueries, entity);
+ this->_processResult(result, entity, query);
});
}
@@ -78,14 +78,9 @@ namespace armarx::armem::server::query_proc::base
const armem::query::data::provider::Single& query,
const ProviderSegmentT& providerSegment) const
{
- try
+ if (const EntityT* entity = providerSegment.findEntity(query.entityName))
{
- const EntityT& entity = providerSegment.getEntity(query.entityName);
- childProcessor.process(result.addEntity(entity.name()), query.entityQueries, entity);
- }
- catch (const error::MissingEntry&)
- {
- // Leave empty.
+ this->_processResult(result, *entity, query);
}
}
@@ -98,13 +93,24 @@ namespace armarx::armem::server::query_proc::base
{
if (std::regex_search(entity.name(), regex))
{
- childProcessor.process(result.addEntity(entity.name()), query.entityQueries, entity);
+ this->_processResult(result, entity, query);
}
return true;
});
}
+ private:
+
+ void _processResult(ResultProviderSegmentT& result,
+ const EntityT& entity,
+ const armem::query::data::ProviderSegmentQuery& query) const
+ {
+ ResultEntityT& added = result.addEntity(entity.name());
+ childProcessor.process(added, query.entityQueries, entity);
+ }
+
+
protected:
ChildProcessorT childProcessor;
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory.cpp b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory.cpp
deleted file mode 100644
index a695cf43d51dcbbc2329fa1c48fbe8e63565c24f..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory.cpp
+++ /dev/null
@@ -1,7 +0,0 @@
-#include "diskmemory.h"
-
-
-namespace armarx::armem::server::query_proc::d_ltm
-{
-}
-
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory.h b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory.h
deleted file mode 100644
index 0f2ffe791d192b9bc2b5f2a2be311735808427a4..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory.h
+++ /dev/null
@@ -1,32 +0,0 @@
-#pragma once
-
-#include <RobotAPI/libraries/armem/core/diskmemory/Memory.h>
-#include <RobotAPI/libraries/armem/server/query_proc/base.h>
-
-
-namespace armarx::armem::server::query_proc::d_ltm
-{
- static const base::QueryTarget queryTarget = query::data::QueryTarget::LTM;
-
-
- class EntityQueryProcessor :
- public base::EntityQueryProcessorBase<queryTarget, armem::d_ltm::Entity, armem::d_ltm::Entity>
- {
- };
-
- class ProviderSegmentQueryProcessor :
- public base::ProviderSegmentQueryProcessorBase <queryTarget, armem::d_ltm::ProviderSegment, armem::d_ltm::ProviderSegment, EntityQueryProcessor >
- {
- };
-
- class CoreSegmentQueryProcessor :
- public base::CoreSegmentQueryProcessorBase<queryTarget, armem::d_ltm::CoreSegment, armem::d_ltm::CoreSegment, ProviderSegmentQueryProcessor>
- {
- };
-
- class MemoryQueryProcessor :
- public base::MemoryQueryProcessorBase <queryTarget, armem::d_ltm::Memory, armem::d_ltm::Memory, CoreSegmentQueryProcessor >
- {
- };
-
-}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/ltm.h b/source/RobotAPI/libraries/armem/server/query_proc/ltm.h
index ae0dc778c821ae138c98b8554a22237bf26e5989..05734c2e15d6836b69719283805fcfc5c1d7702d 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/ltm.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/ltm.h
@@ -1,6 +1,6 @@
#pragma once
-#include <RobotAPI/libraries/armem/core/longtermmemory/Memory.h>
+#include <RobotAPI/libraries/armem/server/ltm/LongtermMemoryBase.h>
#include <RobotAPI/libraries/armem/server/query_proc/base.h>
@@ -10,22 +10,22 @@ namespace armarx::armem::server::query_proc::ltm
class EntityQueryProcessor :
- public base::EntityQueryProcessorBase<queryTarget, armem::ltm::Entity, armem::ltm::Entity>
+ public base::EntityQueryProcessorBase<queryTarget, armem::wm::Entity, armem::wm::Entity>
{
};
class ProviderSegmentQueryProcessor :
- public base::ProviderSegmentQueryProcessorBase <queryTarget, armem::ltm::ProviderSegment, armem::ltm::ProviderSegment, EntityQueryProcessor >
+ public base::ProviderSegmentQueryProcessorBase <queryTarget, armem::wm::ProviderSegment, armem::wm::ProviderSegment, EntityQueryProcessor >
{
};
class CoreSegmentQueryProcessor :
- public base::CoreSegmentQueryProcessorBase <queryTarget, armem::ltm::CoreSegment, armem::ltm::CoreSegment, ProviderSegmentQueryProcessor>
+ public base::CoreSegmentQueryProcessorBase <queryTarget, armem::wm::CoreSegment, armem::wm::CoreSegment, ProviderSegmentQueryProcessor>
{
};
class MemoryQueryProcessor :
- public base::MemoryQueryProcessorBase <queryTarget, armem::ltm::Memory, armem::ltm::Memory, CoreSegmentQueryProcessor >
+ public base::MemoryQueryProcessorBase <queryTarget, armem::wm::Memory, armem::wm::Memory, CoreSegmentQueryProcessor >
{
};
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/wm.cpp b/source/RobotAPI/libraries/armem/server/query_proc/wm.cpp
index 4e968623d63aa57213507879608c81823d31c7d6..0ace705be878087b9023ea574f50769489514cb5 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/wm.cpp
+++ b/source/RobotAPI/libraries/armem/server/query_proc/wm.cpp
@@ -55,8 +55,10 @@ namespace armarx::armem::server::query_proc::wm_server
const armem::query::data::CoreSegmentQuery& query,
const CoreSegment& coreSegment) const
{
- std::scoped_lock lock(coreSegment.mutex());
- CoreSegmentQueryProcessorBase::process(result, query, coreSegment);
+ coreSegment.doLocked([&]()
+ {
+ CoreSegmentQueryProcessorBase::process(result, query, coreSegment);
+ });
}
diff --git a/source/RobotAPI/libraries/armem/server/segment/Segment.cpp b/source/RobotAPI/libraries/armem/server/segment/Segment.cpp
index 050e77d392da77bc5c4e4edfcf11f76ee6e1e051..d538568c2430c9ffbd00c9b48bebcd46086280ea 100644
--- a/source/RobotAPI/libraries/armem/server/segment/Segment.cpp
+++ b/source/RobotAPI/libraries/armem/server/segment/Segment.cpp
@@ -48,14 +48,6 @@ namespace armarx::armem::server::segment
}
- std::mutex& wm::CoreSegmentBase::mutex() const
- {
- ARMARX_CHECK_NOT_NULL(segment);
- return segment->mutex();
- }
-
-
-
wm::ProviderSegmentBase::ProviderSegmentBase(
armem::server::MemoryToIceAdapter& iceMemory,
const std::string& defaultProviderSegmentName,
diff --git a/source/RobotAPI/libraries/armem/server/segment/Segment.h b/source/RobotAPI/libraries/armem/server/segment/Segment.h
index 7808e99d31f4df3543bfbd5b882a408dda143ed5..dc35846aa89d14c125e5a6f3093e1a19ee85c6e2 100644
--- a/source/RobotAPI/libraries/armem/server/segment/Segment.h
+++ b/source/RobotAPI/libraries/armem/server/segment/Segment.h
@@ -1,29 +1,16 @@
#pragma once
-// STD/STL
-#include <mutex>
-#include <string>
+#include <RobotAPI/libraries/armem/server/forward_declarations.h>
+#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
+
+#include <RobotAPI/libraries/aron/core/navigator/type/forward_declarations.h>
-// ArmarX
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/application/properties/forward_declarations.h>
-#include <RobotAPI/libraries/aron/core/navigator/type/forward_declarations.h>
+#include <string>
-namespace armarx::armem
-{
- namespace server
- {
- class MemoryToIceAdapter;
-
- namespace wm
- {
- class CoreSegment;
- class ProviderSegment;
- }
- }
-}
namespace armarx::armem::server::segment
{
namespace detail
@@ -88,7 +75,11 @@ namespace armarx::armem::server::segment
// virtual void onConnect() override;
- std::mutex& mutex() const;
+ template <class FunctionT>
+ auto doLocked(FunctionT&& function) const
+ {
+ return segment->doLocked(function);
+ }
protected:
diff --git a/source/RobotAPI/libraries/armem/server/segment/SpecializedSegment.cpp b/source/RobotAPI/libraries/armem/server/segment/SpecializedSegment.cpp
index 8184e27c985877a19aaa873db07883685140b17b..50f5ae6451bb49f9a4356579d78618a865297881 100644
--- a/source/RobotAPI/libraries/armem/server/segment/SpecializedSegment.cpp
+++ b/source/RobotAPI/libraries/armem/server/segment/SpecializedSegment.cpp
@@ -12,11 +12,11 @@ namespace armarx::armem::server::segment
{
SpecializedSegment::SpecializedSegment(
- server::MemoryToIceAdapter& iceMemory,
- aron::typenavigator::ObjectNavigatorPtr aronType,
- const std::string& defaultCoreSegmentName,
- int64_t defaultMaxHistorySize
- ) :
+ server::MemoryToIceAdapter& iceMemory,
+ aron::typenavigator::ObjectNavigatorPtr aronType,
+ const std::string& defaultCoreSegmentName,
+ int64_t defaultMaxHistorySize
+ ) :
iceMemory(iceMemory), aronType(aronType)
{
setDefaultCoreSegmentName(defaultCoreSegmentName);
@@ -52,13 +52,6 @@ namespace armarx::armem::server::segment
}
- std::mutex& SpecializedSegment::mutex() const
- {
- ARMARX_CHECK_NOT_NULL(coreSegment);
- return coreSegment->mutex();
- }
-
-
void SpecializedSegment::setDefaultCoreSegmentName(const std::string& coreSegmentName)
{
this->properties.coreSegmentName = coreSegmentName;
diff --git a/source/RobotAPI/libraries/armem/server/segment/SpecializedSegment.h b/source/RobotAPI/libraries/armem/server/segment/SpecializedSegment.h
index 460fbf3f0f0cd4ea6c2835d499071f2e43bf2a7d..271536db21ffdfadb3fba874f60bdd8a33d21f44 100644
--- a/source/RobotAPI/libraries/armem/server/segment/SpecializedSegment.h
+++ b/source/RobotAPI/libraries/armem/server/segment/SpecializedSegment.h
@@ -1,26 +1,14 @@
#pragma once
-#include <mutex>
-#include <string>
+#include <RobotAPI/libraries/armem/server/forward_declarations.h>
+#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
+#include <RobotAPI/libraries/aron/core/navigator/type/forward_declarations.h>
#include <ArmarXCore/core/application/properties/forward_declarations.h>
#include <ArmarXCore/core/logging/Logging.h>
-#include <RobotAPI/libraries/aron/core/navigator/type/forward_declarations.h>
-
-
-namespace armarx::armem
-{
- namespace server
- {
- class MemoryToIceAdapter;
+#include <string>
- namespace wm
- {
- class CoreSegment;
- }
- }
-}
namespace armarx::armem::server::segment
{
@@ -46,7 +34,12 @@ namespace armarx::armem::server::segment
virtual void init();
// void connect();
- std::mutex& mutex() const;
+
+ template <class FunctionT>
+ auto doLocked(FunctionT&& function) const
+ {
+ return coreSegment->doLocked(function);
+ }
protected:
diff --git a/source/RobotAPI/libraries/armem/server/wm/detail/MaxHistorySize.h b/source/RobotAPI/libraries/armem/server/wm/detail/MaxHistorySize.h
index e2f2d498c2945f4456c281abafe0f1ad66074e72..962179a68aeb601dc261eb6d496389295597a2ea 100644
--- a/source/RobotAPI/libraries/armem/server/wm/detail/MaxHistorySize.h
+++ b/source/RobotAPI/libraries/armem/server/wm/detail/MaxHistorySize.h
@@ -1,6 +1,5 @@
#pragma once
-
namespace armarx::armem::server::detail
{
// TODO: Replace by ConstrainedHistorySize (not only max entries, e.g. delete oldest / delete least accessed / ...)
@@ -50,7 +49,6 @@ namespace armarx::armem::server::detail
static_cast<DerivedT&>(*this).forEachChild([maxSize](auto & child)
{
child.setMaxHistorySize(maxSize);
- return true;
});
}
diff --git a/source/RobotAPI/libraries/armem/server/wm/memory_definitions.cpp b/source/RobotAPI/libraries/armem/server/wm/memory_definitions.cpp
index 58be8027db2561979d3510b7d481715678b61eae..6f031a4d62811d871a5cd627081ad3741cfd3d4b 100644
--- a/source/RobotAPI/libraries/armem/server/wm/memory_definitions.cpp
+++ b/source/RobotAPI/libraries/armem/server/wm/memory_definitions.cpp
@@ -43,98 +43,6 @@ namespace armarx::armem::server::wm
}
-
- Entity& ProviderSegment::addEntity(Entity&& entity)
- {
- Entity& added = ProviderSegmentBase::addEntity(std::move(entity));
- added.setMaxHistorySize(this->getMaxHistorySize());
- return added;
- }
-
-
-
- std::mutex& CoreSegment::mutex() const
- {
- return _mutex;
- }
-
-
- std::optional<wm::EntitySnapshot> CoreSegment::getLatestEntitySnapshot(const MemoryID& entityID) const
- {
- const wm::Entity& entity = this->getEntity(entityID);
- if (entity.empty())
- {
- return std::nullopt;
- }
- else
- {
- return entity.getLatestSnapshot();
- }
- }
-
-
- std::optional<wm::EntityInstance> CoreSegment::getLatestEntityInstance(
- const MemoryID& entityID, int instanceIndex) const
- {
- auto snapshot = getLatestEntitySnapshot(entityID);
- if (snapshot.has_value()
- and instanceIndex >= 0
- and static_cast<size_t>(instanceIndex) < snapshot->size())
- {
- return snapshot->getInstance(instanceIndex);
- }
- else
- {
- return std::nullopt;
- }
- }
-
-
- armarx::aron::datanavigator::DictNavigatorPtr
- CoreSegment::getLatestEntityInstanceData(const MemoryID& entityID, int instanceIndex) const
- {
- auto instance = getLatestEntityInstance(entityID, instanceIndex);
- if (instance.has_value())
- {
- return instance->data();
- }
- else
- {
- return nullptr;
- }
- }
-
-
- ProviderSegment& CoreSegment::addProviderSegment(ProviderSegment&& providerSegment)
- {
- ProviderSegmentT& added = CoreSegmentBase::addProviderSegment(std::move(providerSegment));
- added.setMaxHistorySize(this->getMaxHistorySize());
- return added;
- }
-
-
- std::optional<wm::EntitySnapshot>
- CoreSegment::getLatestEntitySnapshotLocking(const MemoryID& entityID) const
- {
- std::scoped_lock lock(_mutex);
- return getLatestEntitySnapshot(entityID);
- }
-
- std::optional<wm::EntityInstance>
- CoreSegment::getLatestEntityInstanceLocking(const MemoryID& entityID, int instanceIndex) const
- {
- std::scoped_lock lock(_mutex);
- return getLatestEntityInstance(entityID, instanceIndex);
- }
-
- armarx::aron::datanavigator::DictNavigatorPtr
- CoreSegment::getLatestEntityInstanceDataLocking(const MemoryID& entityID, int instanceIndex) const
- {
- std::scoped_lock lock(_mutex);
- return getLatestEntityInstanceData(entityID, instanceIndex);
- }
-
-
// TODO: add core segment if param is set
std::vector<Memory::Base::UpdateResult>
Memory::updateLocking(const Commit& commit)
@@ -157,15 +65,16 @@ namespace armarx::armem::server::wm
CoreSegment& coreSegment = it->second;
// Lock the core segment for the whole batch.
- std::scoped_lock lock(coreSegment.mutex());
-
- for (const EntityUpdate* update : updates)
+ coreSegment.doLocked([&result, &coreSegment, updates = &updates]()
{
- auto r = coreSegment.update(*update);
- Base::UpdateResult ret { r };
- ret.memoryUpdateType = UpdateType::UpdatedExisting;
- result.push_back(ret);
- }
+ for (const EntityUpdate* update : *updates)
+ {
+ auto r = coreSegment.update(*update);
+ Base::UpdateResult ret { r };
+ ret.memoryUpdateType = UpdateType::UpdatedExisting;
+ result.push_back(ret);
+ }
+ });
}
else
{
@@ -191,10 +100,10 @@ namespace armarx::armem::server::wm
CoreSegment& segment = getCoreSegment(update.entityID.coreSegmentName);
Base::UpdateResult result;
+ segment.doLocked([&result, &segment, &update]()
{
- std::scoped_lock lock(segment.mutex());
result = segment.update(update);
- }
+ });
result.memoryUpdateType = UpdateType::UpdatedExisting;
return result;
}
diff --git a/source/RobotAPI/libraries/armem/server/wm/memory_definitions.h b/source/RobotAPI/libraries/armem/server/wm/memory_definitions.h
index 4eb6fdbb3105b0ae2ce3148c8457b915040a170a..5d2036f054d287e90869de8c9d535dc694da9734 100644
--- a/source/RobotAPI/libraries/armem/server/wm/memory_definitions.h
+++ b/source/RobotAPI/libraries/armem/server/wm/memory_definitions.h
@@ -10,8 +10,9 @@
#include <RobotAPI/libraries/armem/core/base/CoreSegmentBase.h>
#include <RobotAPI/libraries/armem/core/base/MemoryBase.h>
+#include <RobotAPI/libraries/armem/core/wm/detail/data_lookup_mixins.h>
+
#include <mutex>
-#include <optional>
namespace armarx::armem::server::wm
@@ -26,8 +27,9 @@ namespace armarx::armem::server::wm
/// @see base::EntityBase
class Entity :
- public base::EntityBase<EntitySnapshot, Entity>,
- public detail::MaxHistorySize
+ public base::EntityBase<EntitySnapshot, Entity>
+ , public detail::MaxHistorySize
+ , public armem::wm::detail::FindInstanceDataMixin<Entity>
{
public:
@@ -55,8 +57,9 @@ namespace armarx::armem::server::wm
/// @see base::ProviderSegmentBase
class ProviderSegment :
- public base::ProviderSegmentBase<Entity, ProviderSegment>,
- public detail::MaxHistorySizeParent<ProviderSegment>
+ public base::ProviderSegmentBase<Entity, ProviderSegment>
+ , public detail::MaxHistorySizeParent<ProviderSegment>
+ , public armem::wm::detail::FindInstanceDataMixin<ProviderSegment>
{
public:
@@ -64,7 +67,14 @@ namespace armarx::armem::server::wm
using ProviderSegmentBase::addEntity;
- EntityT& addEntity(EntityT&& entity);
+
+ template <class ...Args>
+ Entity& addEntity(const std::string& name, Args... args)
+ {
+ Entity& added = ProviderSegmentBase::addEntity(name, args...);
+ added.setMaxHistorySize(this->getMaxHistorySize());
+ return added;
+ }
};
@@ -74,6 +84,7 @@ namespace armarx::armem::server::wm
class CoreSegment :
public base::CoreSegmentBase<ProviderSegment, CoreSegment>,
public detail::MaxHistorySizeParent<CoreSegment>
+ , public armem::wm::detail::FindInstanceDataMixin<CoreSegment>
{
using Base = base::CoreSegmentBase<ProviderSegment, CoreSegment>;
@@ -81,77 +92,28 @@ namespace armarx::armem::server::wm
using Base::CoreSegmentBase;
- // ToDo: Replace by runLocked()
- std::mutex& mutex() const;
-
-
- // Non-locking interface
-
- std::optional<wm::EntitySnapshot> getLatestEntitySnapshot(
- const MemoryID& entityID) const;
- std::optional<wm::EntityInstance> getLatestEntityInstance(
- const MemoryID& entityID, int instanceIndex = 0) const;
- armarx::aron::datanavigator::DictNavigatorPtr getLatestEntityInstanceData(
- const MemoryID& entityID, int instanceIndex = 0) const;
-
-
- template <class AronDtoT>
- std::optional<AronDtoT> getLatestEntityInstanceDataAs(
- const MemoryID& entityID, int instanceIndex = 0) const
- {
- wm::EntityInstanceDataPtr data = getLatestEntityInstanceData(entityID, instanceIndex);
- if (data)
- {
- AronDtoT aron;
- aron.fromAron(data);
- return aron;
- }
- else
- {
- return std::nullopt;
- }
- }
-
-
/// @see base::CoreSegmentBase::addProviderSegment()
using CoreSegmentBase::addProviderSegment;
- ProviderSegment& addProviderSegment(ProviderSegment&& providerSegment);
+ template <class ...Args>
+ ProviderSegment& addProviderSegment(const std::string& name, Args... args)
+ {
+ ProviderSegmentT& added = CoreSegmentBase::addProviderSegment(name, args...);
+ added.setMaxHistorySize(this->getMaxHistorySize());
+ return added;
+ }
// Locking interface
- std::optional<wm::EntitySnapshot> getLatestEntitySnapshotLocking(
- const MemoryID& entityID) const;
- std::optional<wm::EntityInstance> getLatestEntityInstanceLocking(
- const MemoryID& entityID, int instanceIndex = 0) const;
- armarx::aron::datanavigator::DictNavigatorPtr getLatestEntityInstanceDataLocking(
- const MemoryID& entityID, int instanceIndex = 0) const;
-
-
- template <class AronDtoT>
- std::optional<AronDtoT> getLatestEntityInstanceDataLockingAs(
- const MemoryID& entityID, int instanceIndex = 0) const
+ template <class FunctionT>
+ auto doLocked(FunctionT&& function) const
{
- // Keep lock to a minimum.
- wm::EntityInstanceDataPtr data = nullptr;
- {
- std::scoped_lock lock(_mutex);
- data = getLatestEntityInstanceData(entityID, instanceIndex);
- }
- if (data)
- {
- AronDtoT aron;
- aron.fromAron(data);
- return aron;
- }
- else
- {
- return std::nullopt;
- }
+ std::scoped_lock lock(_mutex);
+ return function();
}
- protected:
+ private:
mutable std::mutex _mutex;
@@ -162,6 +124,7 @@ namespace armarx::armem::server::wm
/// @see base::MemoryBase
class Memory :
public base::MemoryBase<CoreSegment, Memory>
+ , public armem::wm::detail::FindInstanceDataMixin<Memory>
{
using Base = base::MemoryBase<CoreSegment, Memory>;
diff --git a/source/RobotAPI/libraries/armem/test/ArMemForEachTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemForEachTest.cpp
index cc34f7e2d7cb73d7a3e3715064508c3b73cab351..9c29804ebdc56444b175b3de0abd115b3a1067c0 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemForEachTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemForEachTest.cpp
@@ -27,6 +27,7 @@
#include <RobotAPI/Test.h>
#include <RobotAPI/libraries/armem/core/Commit.h>
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
+#include <RobotAPI/libraries/armem/core/operations.h>
#include <iostream>
#include <set>
@@ -98,7 +99,7 @@ BOOST_AUTO_TEST_CASE(test_forEach)
BOOST_CHECK_GT(pids.size(), 0);
BOOST_CHECK_GT(cids.size(), 0);
- BOOST_TEST_MESSAGE("Memory: \n" << memory.dump());
+ BOOST_TEST_MESSAGE("Memory: \n" << armem::print(memory));
memory.forEachInstance([&](const wm::EntityInstance & i) -> bool
{
diff --git a/source/RobotAPI/libraries/armem/test/ArMemGetFindTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemGetFindTest.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..29c12884d15292706ac2be33410352fe832dbc2a
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/test/ArMemGetFindTest.cpp
@@ -0,0 +1,347 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package RobotAPI::ArmarXObjects::armem
+ * @author Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
+ * @date 2020
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#define BOOST_TEST_MODULE RobotAPI::ArmarXLibraries::armem
+
+#define ARMARX_BOOST_TEST
+
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
+#include <RobotAPI/libraries/armem/core/error.h>
+#include <RobotAPI/libraries/armem/core/operations.h>
+
+#include <RobotAPI/Test.h>
+
+#include <iostream>
+
+
+namespace armem = armarx::armem;
+namespace wm = armarx::armem::wm;
+namespace aron = armarx::aron;
+
+
+namespace ArMemGetFindTest
+{
+ struct Fixture
+ {
+ wm::EntitySnapshot snapshot;
+ wm::Entity entity;
+ wm::ProviderSegment provSeg;
+ wm::CoreSegment coreSeg;
+ wm::Memory memory;
+
+ armem::MemoryID instanceID;
+ armem::MemoryID snapshotID;
+ armem::MemoryID entityID;
+ armem::MemoryID provSegID;
+ armem::MemoryID coreSegID;
+ armem::MemoryID memoryID;
+
+ Fixture()
+ {
+ {
+ snapshot.time() = armem::Time::microSeconds(1000);
+ snapshot.addInstance();
+ }
+ {
+ entity.name() = "entity";
+ entity.addSnapshot(snapshot);
+ }
+ {
+ provSeg.name() = "provider segment";
+ provSeg.addEntity(entity);
+ }
+ {
+ coreSeg.name() = "core segment";
+ coreSeg.addProviderSegment(provSeg);
+ }
+ {
+ memory.name() = "memory";
+ memory.addCoreSegment(coreSeg);
+ }
+
+ memoryID = memory.id();
+ coreSegID = memoryID.withCoreSegmentName(coreSeg.name());
+ provSegID = coreSegID.withProviderSegmentName(provSeg.name());
+ entityID = provSegID.withEntityName(entity.name());
+ snapshotID = entityID.withTimestamp(snapshot.time());
+ instanceID = snapshotID.withInstanceIndex(0);
+ }
+ ~Fixture()
+ {
+ }
+
+
+ template <class ParentT>
+ void test_get_find_instance_by_id(ParentT&& parent)
+ {
+ _test_get_find_instance_by_id(const_cast<const ParentT&>(parent));
+ _test_get_find_instance_by_id(const_cast<ParentT&>(parent));
+ }
+ template <class ParentT>
+ void _test_get_find_instance_by_id(ParentT&& parent)
+ {
+ BOOST_TEST_CONTEXT("Parent: " << armem::print(parent))
+ {
+ BOOST_CHECK_EQUAL(parent.hasInstance(snapshotID.withInstanceIndex(0)), true);
+ BOOST_CHECK_EQUAL(parent.hasInstance(snapshotID.withInstanceIndex(1)), false);
+
+ BOOST_CHECK_NE(parent.findInstance(snapshotID.withInstanceIndex(0)), nullptr);
+ BOOST_CHECK_EQUAL(parent.findInstance(snapshotID.withInstanceIndex(1)), nullptr);
+
+ BOOST_CHECK_NO_THROW(parent.getInstance(snapshotID.withInstanceIndex(0)));
+ BOOST_CHECK_THROW(parent.getInstance(snapshotID.withInstanceIndex(1)), armem::error::MissingEntry);
+ }
+ }
+
+ template <class ParentT>
+ void test_get_find_snapshot_by_id(ParentT&& parent)
+ {
+ _test_get_find_snapshot_by_id(const_cast<const ParentT&>(parent));
+ _test_get_find_snapshot_by_id(const_cast<ParentT&>(parent));
+ }
+ template <class ParentT>
+ void _test_get_find_snapshot_by_id(ParentT&& parent)
+ {
+ BOOST_TEST_CONTEXT("Parent: " << armem::print(parent))
+ {
+ BOOST_CHECK_EQUAL(parent.hasSnapshot(entityID.withTimestamp(armem::Time::microSeconds(1000))), true);
+ BOOST_CHECK_EQUAL(parent.hasSnapshot(entityID.withTimestamp(armem::Time::microSeconds(2000))), false);
+
+ BOOST_CHECK_NE(parent.findSnapshot(entityID.withTimestamp(armem::Time::microSeconds(1000))), nullptr);
+ BOOST_CHECK_EQUAL(parent.findSnapshot(entityID.withTimestamp(armem::Time::microSeconds(2000))), nullptr);
+
+ BOOST_CHECK_NO_THROW(parent.getSnapshot(entityID.withTimestamp(armem::Time::microSeconds(1000))));
+ BOOST_CHECK_THROW(parent.getSnapshot(entityID.withTimestamp(armem::Time::microSeconds(2000))), armem::error::MissingEntry);
+ }
+ }
+
+
+ template <class ParentT>
+ void test_get_find_entity_by_id(ParentT&& parent)
+ {
+ _test_get_find_entity_by_id(const_cast<const ParentT&>(parent));
+ _test_get_find_entity_by_id(const_cast<ParentT&>(parent));
+ }
+ template <class ParentT>
+ void _test_get_find_entity_by_id(ParentT&& parent)
+ {
+ BOOST_TEST_CONTEXT("Parent: " << armem::print(parent))
+ {
+ BOOST_CHECK_EQUAL(parent.hasEntity(provSegID.withEntityName("entity")), true);
+ BOOST_CHECK_EQUAL(parent.hasEntity(provSegID.withEntityName("other entity")), false);
+
+ BOOST_CHECK_NE(parent.findEntity(provSegID.withEntityName("entity")), nullptr);
+ BOOST_CHECK_EQUAL(parent.findEntity(provSegID.withEntityName("other entity")), nullptr);
+
+ BOOST_CHECK_NO_THROW(parent.getEntity(provSegID.withEntityName("entity")));
+ BOOST_CHECK_THROW(parent.getEntity(provSegID.withEntityName("other entity")), armem::error::MissingEntry);
+ }
+ }
+
+ template <class ParentT>
+ void test_get_find_provider_segment_by_id(ParentT&& parent)
+ {
+ _test_get_find_provider_segment_by_id(const_cast<const ParentT&>(parent));
+ _test_get_find_provider_segment_by_id(const_cast<ParentT&>(parent));
+ }
+ template <class ParentT>
+ void _test_get_find_provider_segment_by_id(ParentT&& parent)
+ {
+ BOOST_TEST_CONTEXT("Parent: " << armem::print(parent))
+ {
+ BOOST_CHECK_EQUAL(parent.hasProviderSegment(provSegID.withProviderSegmentName("provider segment")), true);
+ BOOST_CHECK_EQUAL(parent.hasProviderSegment(provSegID.withProviderSegmentName("other provider segment")), false);
+
+ BOOST_CHECK_NE(parent.findProviderSegment(provSegID.withProviderSegmentName("provider segment")), nullptr);
+ BOOST_CHECK_EQUAL(parent.findProviderSegment(provSegID.withProviderSegmentName("other provider segment")), nullptr);
+
+ BOOST_CHECK_NO_THROW(parent.getProviderSegment(provSegID.withProviderSegmentName("provider segment")));
+ BOOST_CHECK_THROW(parent.getProviderSegment(provSegID.withProviderSegmentName("other provider segment")), armem::error::MissingEntry);
+ }
+ }
+
+ template <class ParentT>
+ void test_get_find_core_segment_by_id(ParentT&& parent)
+ {
+ _test_get_find_core_segment_by_id(const_cast<const ParentT&>(parent));
+ _test_get_find_core_segment_by_id(const_cast<ParentT&>(parent));
+ }
+ template <class ParentT>
+ void _test_get_find_core_segment_by_id(ParentT&& parent)
+ {
+ BOOST_TEST_CONTEXT("Parent: " << armem::print(parent))
+ {
+ BOOST_CHECK_EQUAL(parent.hasCoreSegment(provSegID.withCoreSegmentName("core segment")), true);
+ BOOST_CHECK_EQUAL(parent.hasCoreSegment(provSegID.withCoreSegmentName("other core segment")), false);
+
+ BOOST_CHECK_NE(parent.findCoreSegment(provSegID.withCoreSegmentName("core segment")), nullptr);
+ BOOST_CHECK_EQUAL(parent.findCoreSegment(provSegID.withCoreSegmentName("other core segment")), nullptr);
+
+ BOOST_CHECK_NO_THROW(parent.getCoreSegment(provSegID.withCoreSegmentName("core segment")));
+ BOOST_CHECK_THROW(parent.getCoreSegment(provSegID.withCoreSegmentName("other core segment")), armem::error::MissingEntry);
+ }
+ }
+ };
+}
+
+
+BOOST_FIXTURE_TEST_SUITE(ArMemGetFindTest, Fixture)
+
+
+
+BOOST_AUTO_TEST_CASE(test_snapshot_get_find_instance_by_key)
+{
+ BOOST_CHECK_EQUAL(snapshot.hasInstance(0), true);
+ BOOST_CHECK_EQUAL(snapshot.hasInstance(1), false);
+
+ BOOST_CHECK_NE(snapshot.findInstance(0), nullptr);
+ BOOST_CHECK_EQUAL(snapshot.findInstance(1), nullptr);
+
+ BOOST_CHECK_NO_THROW(snapshot.getInstance(0));
+ BOOST_CHECK_THROW(snapshot.getInstance(1), armem::error::MissingEntry);
+}
+
+
+BOOST_AUTO_TEST_CASE(test_entity_get_find_snapshot_by_key)
+{
+ BOOST_CHECK_EQUAL(entity.hasSnapshot(armem::Time::microSeconds(1000)), true);
+ BOOST_CHECK_EQUAL(entity.hasSnapshot(armem::Time::microSeconds(2000)), false);
+
+ BOOST_CHECK_NE(entity.findSnapshot(armem::Time::microSeconds(1000)), nullptr);
+ BOOST_CHECK_EQUAL(entity.findSnapshot(armem::Time::microSeconds(2000)), nullptr);
+
+ BOOST_CHECK_NO_THROW(entity.getSnapshot(armem::Time::microSeconds(1000)));
+ BOOST_CHECK_THROW(entity.getSnapshot(armem::Time::microSeconds(2000)), armem::error::MissingEntry);
+}
+
+
+BOOST_AUTO_TEST_CASE(test_provider_segment_get_find_entity_by_key)
+{
+ BOOST_CHECK_EQUAL(provSeg.hasEntity("entity"), true);
+ BOOST_CHECK_EQUAL(provSeg.hasEntity("other entity"), false);
+
+ BOOST_CHECK_NE(provSeg.findEntity("entity"), nullptr);
+ BOOST_CHECK_EQUAL(provSeg.findEntity("other entity"), nullptr);
+
+ BOOST_CHECK_NO_THROW(provSeg.getEntity("entity"));
+ BOOST_CHECK_THROW(provSeg.getEntity("other entity"), armem::error::MissingEntry);
+}
+
+
+BOOST_AUTO_TEST_CASE(test_core_segment_get_find_provider_segment_by_key)
+{
+ BOOST_CHECK_EQUAL(coreSeg.hasProviderSegment("provider segment"), true);
+ BOOST_CHECK_EQUAL(coreSeg.hasProviderSegment("other provider segment"), false);
+
+ BOOST_CHECK_NE(coreSeg.findProviderSegment("provider segment"), nullptr);
+ BOOST_CHECK_EQUAL(coreSeg.findProviderSegment("other provider segment"), nullptr);
+
+ BOOST_CHECK_NO_THROW(coreSeg.getProviderSegment("provider segment"));
+ BOOST_CHECK_THROW(coreSeg.getProviderSegment("other provider segment"), armem::error::MissingEntry);
+}
+
+
+BOOST_AUTO_TEST_CASE(test_memory_get_find_core_segment_by_key)
+{
+ BOOST_CHECK_EQUAL(memory.hasCoreSegment("core segment"), true);
+ BOOST_CHECK_EQUAL(memory.hasCoreSegment("other core segment"), false);
+
+ BOOST_CHECK_NE(memory.findCoreSegment("core segment"), nullptr);
+ BOOST_CHECK_EQUAL(memory.findCoreSegment("other core segment"), nullptr);
+
+ BOOST_CHECK_NO_THROW(memory.getCoreSegment("core segment"));
+ BOOST_CHECK_THROW(memory.getCoreSegment("other core segment"), armem::error::MissingEntry);
+}
+
+
+
+BOOST_AUTO_TEST_CASE(test_snapshot_get_find_instance_by_id)
+{
+ test_get_find_instance_by_id(snapshot);
+}
+BOOST_AUTO_TEST_CASE(test_entity_get_find_instance_by_id)
+{
+ test_get_find_instance_by_id(entity);
+}
+BOOST_AUTO_TEST_CASE(test_provider_segment_get_find_instance_by_id)
+{
+ test_get_find_instance_by_id(provSeg);
+}
+BOOST_AUTO_TEST_CASE(test_core_segment_get_find_instance_by_id)
+{
+ test_get_find_instance_by_id(coreSeg);
+}
+BOOST_AUTO_TEST_CASE(test_memory_get_find_instance_by_id)
+{
+ test_get_find_instance_by_id(memory);
+}
+
+
+BOOST_AUTO_TEST_CASE(test_entity_get_find_snapshot_by_id)
+{
+ test_get_find_snapshot_by_id(entity);
+}
+BOOST_AUTO_TEST_CASE(test_provider_segment_get_find_snapshot_by_id)
+{
+ test_get_find_snapshot_by_id(provSeg);
+}
+BOOST_AUTO_TEST_CASE(test_core_segment_get_find_snapshot_by_id)
+{
+ test_get_find_snapshot_by_id(coreSeg);
+}
+BOOST_AUTO_TEST_CASE(test_memory_get_find_snapshot_by_id)
+{
+ test_get_find_snapshot_by_id(memory);
+}
+
+
+BOOST_AUTO_TEST_CASE(test_provider_segment_get_find_entity_by_id)
+{
+ test_get_find_entity_by_id(provSeg);
+}
+BOOST_AUTO_TEST_CASE(test_core_segment_get_find_entity_by_id)
+{
+ test_get_find_entity_by_id(coreSeg);
+}
+BOOST_AUTO_TEST_CASE(test_memory_get_find_entity_by_id)
+{
+ test_get_find_entity_by_id(memory);
+}
+
+
+BOOST_AUTO_TEST_CASE(test_core_segment_get_find_provider_segment_by_id)
+{
+ test_get_find_provider_segment_by_id(coreSeg);
+}
+BOOST_AUTO_TEST_CASE(test_memory_get_find_provider_segment_by_id)
+{
+ test_get_find_provider_segment_by_id(memory);
+}
+
+BOOST_AUTO_TEST_CASE(test_memory_get_find_core_segment_by_id)
+{
+ test_get_find_core_segment_by_id(memory);
+}
+
+
+
+BOOST_AUTO_TEST_SUITE_END()
diff --git a/source/RobotAPI/libraries/armem/test/ArMemLTMTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemLTMTest.cpp
index 3ac3d50411854022aa31b781ba011e9ac8d91c75..f0ede7b42a3bdb34d1a103ab43226adae833740a 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemLTMTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemLTMTest.cpp
@@ -34,7 +34,6 @@
#include <RobotAPI/libraries/aron/core/Debug.h>
-#include "../core/longtermmemory/Memory.h"
//#include "../core/io/diskWriter/NlohmannJSON/NlohmannJSONDiskWriter.h"
diff --git a/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp
index 376f2ec680f92e64a5c72b496543749a303e8cc1..e9f694a27104c142603752f22f5452c8024663b0 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp
@@ -28,9 +28,8 @@
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
-#include <RobotAPI/libraries/armem/core/longtermmemory/Memory.h>
-#include <RobotAPI/libraries/armem/core/diskmemory/Memory.h>
#include <RobotAPI/libraries/armem/core/error.h>
+#include <RobotAPI/libraries/armem/core/operations.h>
#include <iostream>
#include <SimoxUtility/meta/type_name.h>
@@ -40,6 +39,8 @@
namespace armem = armarx::armem;
namespace aron = armarx::aron;
+namespace wm = armarx::armem::wm;
+
BOOST_AUTO_TEST_CASE(test_time_to_string)
{
@@ -80,6 +81,157 @@ BOOST_AUTO_TEST_CASE(test_time_to_string)
}
+// Public interface tests
+
+
+namespace ArMemMemoryTest
+{
+ struct APITestFixture
+ {
+ wm::EntityInstance instance { 0 };
+ wm::EntitySnapshot snapshot { armem::Time::microSeconds(1000) };
+ wm::Entity entity { "entity" };
+ wm::ProviderSegment provSeg { "provider" };
+ wm::CoreSegment coreSeg { "core" };
+ wm::Memory memory { "memory" };
+
+
+ void test_add_instance(wm::EntityInstance& added, const wm::EntitySnapshot& parent)
+ {
+ BOOST_TEST_CONTEXT("Added: " << armem::print(added) << "\n Parent: " << armem::print(parent))
+ {
+ const int index = 0;
+ BOOST_CHECK_EQUAL(added.index(), index);
+ BOOST_CHECK_EQUAL(parent.size(), 1);
+ BOOST_CHECK(parent.hasInstance(index));
+ BOOST_CHECK_EQUAL(&parent.getInstance(index), &added);
+ }
+ }
+ void test_add_snapshot(wm::EntitySnapshot& added, const wm::Entity& parent)
+ {
+ BOOST_TEST_CONTEXT("Added: " << armem::print(added) << "\n Parent: " << armem::print(parent))
+ {
+ const armem::Time time = armem::Time::microSeconds(1000);
+ BOOST_CHECK_EQUAL(added.time(), time);
+ BOOST_CHECK_EQUAL(parent.size(), 1);
+ BOOST_CHECK(parent.hasSnapshot(time));
+ BOOST_CHECK_EQUAL(&parent.getSnapshot(time), &added);
+ }
+ }
+ void test_add_entity(wm::Entity& added, const wm::ProviderSegment& parent)
+ {
+ BOOST_TEST_CONTEXT("Added: " << armem::print(added) << "\n Parent: " << armem::print(parent))
+ {
+ const std::string name = "entity";
+ BOOST_CHECK_EQUAL(added.name(), name);
+ BOOST_CHECK_EQUAL(parent.size(), 1);
+ BOOST_CHECK(parent.hasEntity(name));
+ BOOST_CHECK_EQUAL(&parent.getEntity(name), &added);
+ }
+ }
+ void test_add_provider_segment(wm::ProviderSegment& added, const wm::CoreSegment& parent)
+ {
+ BOOST_TEST_CONTEXT("Added: " << armem::print(added) << "\n Parent: " << armem::print(parent))
+ {
+ const std::string name = "provider";
+ BOOST_CHECK_EQUAL(added.name(), name);
+ BOOST_CHECK_EQUAL(parent.size(), 1);
+ BOOST_CHECK(parent.hasProviderSegment(name));
+ BOOST_CHECK_EQUAL(&parent.getProviderSegment(name), &added);
+ }
+ }
+ void test_add_core_segment(wm::CoreSegment& added, const wm::Memory& parent)
+ {
+ BOOST_TEST_CONTEXT("Added: " << armem::print(added) << "\n Parent: " << armem::print(parent))
+ {
+ const std::string name = "core";
+ BOOST_CHECK_EQUAL(added.name(), name);
+ BOOST_CHECK_EQUAL(parent.size(), 1);
+ BOOST_CHECK(parent.hasCoreSegment(name));
+ BOOST_CHECK_EQUAL(&parent.getCoreSegment(name), &added);
+ }
+ }
+ };
+}
+
+
+
+BOOST_FIXTURE_TEST_SUITE(APITest, ArMemMemoryTest::APITestFixture)
+
+
+BOOST_AUTO_TEST_CASE(test_add_instance_no_args)
+{
+ test_add_instance(snapshot.addInstance(), snapshot);
+}
+BOOST_AUTO_TEST_CASE(test_add_instance_copy)
+{
+ test_add_instance(snapshot.addInstance(instance), snapshot);
+}
+BOOST_AUTO_TEST_CASE(test_add_instance_move)
+{
+ test_add_instance(snapshot.addInstance(std::move(instance)), snapshot);
+}
+
+BOOST_AUTO_TEST_CASE(test_add_snapshot_time)
+{
+ test_add_snapshot(entity.addSnapshot(armem::Time::microSeconds(1000)), entity);
+}
+BOOST_AUTO_TEST_CASE(test_add_snapshot_copy)
+{
+ test_add_snapshot(entity.addSnapshot(snapshot), entity);
+}
+BOOST_AUTO_TEST_CASE(test_add_snapshot_move)
+{
+ test_add_snapshot(entity.addSnapshot(std::move(snapshot)), entity);
+}
+
+BOOST_AUTO_TEST_CASE(test_add_entity_name)
+{
+ test_add_entity(provSeg.addEntity("entity"), provSeg);
+}
+BOOST_AUTO_TEST_CASE(test_add_entity_copy)
+{
+ test_add_entity(provSeg.addEntity(entity), provSeg);
+}
+BOOST_AUTO_TEST_CASE(test_add_entity_move)
+{
+ test_add_entity(provSeg.addEntity(std::move(entity)), provSeg);
+}
+
+BOOST_AUTO_TEST_CASE(test_add_provider_segment_name)
+{
+ test_add_provider_segment(coreSeg.addProviderSegment("provider"), coreSeg);
+}
+BOOST_AUTO_TEST_CASE(test_add_provider_segment_copy)
+{
+ test_add_provider_segment(coreSeg.addProviderSegment(provSeg), coreSeg);
+}
+BOOST_AUTO_TEST_CASE(test_add_provider_segment_move)
+{
+ test_add_provider_segment(coreSeg.addProviderSegment(std::move(provSeg)), coreSeg);
+}
+
+BOOST_AUTO_TEST_CASE(test_add_core_segment_name)
+{
+ test_add_core_segment(memory.addCoreSegment("core"), memory);
+}
+BOOST_AUTO_TEST_CASE(test_add_core_segment_copy)
+{
+ test_add_core_segment(memory.addCoreSegment(coreSeg), memory);
+}
+BOOST_AUTO_TEST_CASE(test_add_core_segment_move)
+{
+ test_add_core_segment(memory.addCoreSegment(std::move(coreSeg)), memory);
+}
+
+
+BOOST_AUTO_TEST_SUITE_END()
+
+
+
+
+
+// COPY/MOVE CTOR/OP TESTS
namespace ArMemMemoryTest
@@ -231,22 +383,22 @@ BOOST_AUTO_TEST_SUITE_END()
BOOST_AUTO_TEST_CASE(test_key_ctors)
{
- armem::wm::EntityInstance instance(10);
+ wm::EntityInstance instance(10);
BOOST_CHECK_EQUAL(instance.index(), 10);
- armem::wm::EntitySnapshot snapshot(armem::Time::milliSeconds(100));
+ wm::EntitySnapshot snapshot(armem::Time::milliSeconds(100));
BOOST_CHECK_EQUAL(snapshot.time(), armem::Time::milliSeconds(100));
- armem::wm::Entity entity("entity");
+ wm::Entity entity("entity");
BOOST_CHECK_EQUAL(entity.name(), "entity");
- armem::wm::ProviderSegment provSeg("provSeg");
+ wm::ProviderSegment provSeg("provSeg");
BOOST_CHECK_EQUAL(provSeg.name(), "provSeg");
- armem::wm::CoreSegment coreSeg("coreSeg");
+ wm::CoreSegment coreSeg("coreSeg");
BOOST_CHECK_EQUAL(coreSeg.name(), "coreSeg");
- armem::wm::Memory memory("memory");
+ wm::Memory memory("memory");
BOOST_CHECK_EQUAL(memory.name(), "memory");
}
@@ -278,19 +430,19 @@ void checkMoved_d_ltm(const T& moved)
}
template <>
-struct CustomChecks<armem::wm::EntityInstance>
+struct CustomChecks<wm::EntityInstance>
{
- static void checkEqual(const armem::wm::EntityInstance& lhs, const armem::wm::EntityInstance& rhs)
+ static void checkEqual(const wm::EntityInstance& lhs, const wm::EntityInstance& rhs)
{
BOOST_CHECK_EQUAL(lhs.metadata(), rhs.metadata());
BOOST_CHECK_EQUAL(lhs.data(), rhs.data());
}
- static void checkMoved(const armem::wm::EntityInstance& moved)
+ static void checkMoved(const wm::EntityInstance& moved)
{
BOOST_CHECK_EQUAL(moved.data(), nullptr);
}
};
-template <>
+/*template <>
struct CustomChecks<armem::d_ltm::EntityInstance>
{
static void checkEqual(const armem::d_ltm::EntityInstance& lhs, const armem::d_ltm::EntityInstance& rhs)
@@ -361,7 +513,7 @@ struct CustomChecks<armem::d_ltm::Memory>
{
checkMoved_d_ltm(moved);
}
-};
+};*/
struct CopyMoveCtorsOpsTestBase
@@ -495,11 +647,9 @@ struct CopyMoveCtorsOpsTest : public CopyMoveCtorsOpsTestBase
void reset() override
{
in = T {id};
- if constexpr(std::is_same_v<T, armem::wm::Memory>
- || std::is_same_v<T, armem::ltm::Memory>
- || std::is_same_v<T, armem::d_ltm::Memory>)
+ if constexpr(std::is_same_v<T, wm::Memory>)
{
- in._addMissingCoreSegmentDuringUpdate = true;
+ in.addCoreSegment("C");
}
{
armem::EntityUpdate update;
@@ -596,29 +746,29 @@ struct CopyMoveCtorsOpsTest : public CopyMoveCtorsOpsTestBase
BOOST_AUTO_TEST_CASE(test_copy_move_ctors_ops)
{
{
- InstanceCopyMoveCtorsOpsTest<armem::wm::EntityInstance>().test();
- CopyMoveCtorsOpsTest<armem::wm::EntitySnapshot>().test();
- CopyMoveCtorsOpsTest<armem::wm::Entity>().test();
- CopyMoveCtorsOpsTest<armem::wm::ProviderSegment>().test();
- CopyMoveCtorsOpsTest<armem::wm::CoreSegment>().test();
- CopyMoveCtorsOpsTest<armem::wm::Memory>().test();
+ InstanceCopyMoveCtorsOpsTest<wm::EntityInstance>().test();
+ CopyMoveCtorsOpsTest<wm::EntitySnapshot>().test();
+ CopyMoveCtorsOpsTest<wm::Entity>().test();
+ CopyMoveCtorsOpsTest<wm::ProviderSegment>().test();
+ CopyMoveCtorsOpsTest<wm::CoreSegment>().test();
+ CopyMoveCtorsOpsTest<wm::Memory>().test();
}
- {
+ /*{
InstanceCopyMoveCtorsOpsTest<armem::ltm::EntityInstance>().test();
CopyMoveCtorsOpsTest<armem::ltm::EntitySnapshot>().test();
CopyMoveCtorsOpsTest<armem::ltm::Entity>().test();
CopyMoveCtorsOpsTest<armem::ltm::ProviderSegment>().test();
CopyMoveCtorsOpsTest<armem::ltm::CoreSegment>().test();
CopyMoveCtorsOpsTest<armem::ltm::Memory>().test();
- }
- {
+ }*/
+ /*{
InstanceCopyMoveCtorsOpsTest<armem::d_ltm::EntityInstance>().test();
CopyMoveCtorsOpsTest<armem::d_ltm::EntitySnapshot>().test();
CopyMoveCtorsOpsTest<armem::d_ltm::Entity>().test();
CopyMoveCtorsOpsTest<armem::d_ltm::ProviderSegment>().test();
CopyMoveCtorsOpsTest<armem::d_ltm::CoreSegment>().test();
CopyMoveCtorsOpsTest<armem::d_ltm::Memory>().test();
- }
+ }*/
}
@@ -627,7 +777,7 @@ BOOST_AUTO_TEST_CASE(test_segment_setup)
{
armem::EntityUpdate update;
- armem::wm::Memory memory("Memory");
+ wm::Memory memory("Memory");
BOOST_CHECK_EQUAL(memory.name(), "Memory");
{
update.entityID = armem::MemoryID::fromString("OtherMemory/SomeSegment");
@@ -636,7 +786,7 @@ BOOST_AUTO_TEST_CASE(test_segment_setup)
BOOST_CHECK_THROW(memory.update(update), armem::error::MissingEntry);
}
- armem::wm::CoreSegment& coreSegment = memory.addCoreSegment("ImageRGB");
+ wm::CoreSegment& coreSegment = memory.addCoreSegment("ImageRGB");
BOOST_CHECK_EQUAL(coreSegment.name(), "ImageRGB");
BOOST_CHECK(memory.hasCoreSegment(coreSegment.name()));
{
@@ -647,7 +797,7 @@ BOOST_AUTO_TEST_CASE(test_segment_setup)
//BOOST_CHECK_THROW(coreSegment.update(update), armem::error::MissingEntry);
}
- armem::wm::ProviderSegment& providerSegment = coreSegment.addProviderSegment("SomeRGBImageProvider");
+ wm::ProviderSegment& providerSegment = coreSegment.addProviderSegment("SomeRGBImageProvider");
BOOST_CHECK_EQUAL(providerSegment.name(), "SomeRGBImageProvider");
BOOST_CHECK(coreSegment.hasProviderSegment(providerSegment.name()));
{
@@ -671,12 +821,12 @@ BOOST_AUTO_TEST_CASE(test_segment_setup)
BOOST_CHECK(providerSegment.hasEntity("image"));
BOOST_CHECK(!providerSegment.hasEntity("other_image"));
- armem::wm::Entity& entity = providerSegment.getEntity("image");
+ wm::Entity& entity = providerSegment.getEntity("image");
BOOST_CHECK_EQUAL(entity.name(), "image");
BOOST_CHECK_EQUAL(entity.size(), 1);
BOOST_CHECK(entity.hasSnapshot(update.timeCreated));
- armem::wm::EntitySnapshot& entitySnapshot = entity.getSnapshot(update.timeCreated);
+ wm::EntitySnapshot& entitySnapshot = entity.getSnapshot(update.timeCreated);
BOOST_CHECK_EQUAL(entitySnapshot.size(), update.instancesData.size());
@@ -753,7 +903,7 @@ BOOST_AUTO_TEST_CASE(test_history_size_in_provider_segment)
std::vector<std::string> entityNames = { "A", "B" };
// Fill entities and histories with unlimited size.
- for (const auto& name : entityNames)
+ for (const std::string& name : entityNames)
{
update.entityID.entityName = name;
@@ -805,11 +955,12 @@ BOOST_AUTO_TEST_CASE(test_history_size_in_provider_segment)
providerSegment.setMaxHistorySize(-1);
entityNames.push_back("C");
- for (const auto& name : entityNames)
+ for (const std::string& name : entityNames)
{
update.entityID.entityName = name;
update.timeCreated = armem::Time::milliSeconds(5000);
providerSegment.update(update);
+ BOOST_CHECK_EQUAL(providerSegment.getEntity(name).getMaxHistorySize(), -1);
BOOST_CHECK_EQUAL(providerSegment.getEntity(name).size(), 3);
}
}
diff --git a/source/RobotAPI/libraries/armem/test/ArMemQueryTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemQueryTest.cpp
index 656842b3dcd23d49a84a51a04fc02143c14cada2..13d050572342263d273dc5080f1631cec15faf05 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemQueryTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemQueryTest.cpp
@@ -30,6 +30,8 @@
#include <RobotAPI/libraries/armem/core/base/detail/negative_index_semantics.h>
#include <RobotAPI/libraries/armem/server/query_proc/wm.h>
+#include <ArmarXCore/core/exceptions/LocalException.h>
+
#include <SimoxUtility/algorithm/get_map_keys_values.h>
#include <SimoxUtility/algorithm/string.h>
@@ -123,8 +125,9 @@ BOOST_AUTO_TEST_CASE(test_entity_Single_latest)
{
BOOST_CHECK_EQUAL(result.name(), entity.name());
BOOST_CHECK_EQUAL(result.size(), 1);
- const armem::wm::EntitySnapshot& first = result.getFirstSnapshotAfterOrAt(armem::Time::microSeconds(0));
- BOOST_CHECK_EQUAL(first.time(), armem::Time::microSeconds(5000));
+ const armem::wm::EntitySnapshot* first = result.findFirstSnapshotAfterOrAt(armem::Time::microSeconds(0));
+ BOOST_REQUIRE_NE(first, nullptr);
+ BOOST_CHECK_EQUAL(first->time(), armem::Time::microSeconds(5000));
}
}
diff --git a/source/RobotAPI/libraries/armem/test/CMakeLists.txt b/source/RobotAPI/libraries/armem/test/CMakeLists.txt
index b10935f95fedd6a1309248007422c53783d2c9e4..43b75650492c4d69a6fb08d5a550796e5dfd3a3b 100644
--- a/source/RobotAPI/libraries/armem/test/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem/test/CMakeLists.txt
@@ -2,10 +2,11 @@
# Libs required for the tests
SET(LIBS ${LIBS} ArmarXCore ${LIB_NAME})
+armarx_add_test(ArMemForEachTest ArMemForEachTest.cpp "${LIBS}")
+armarx_add_test(ArMemGetFindTest ArMemGetFindTest.cpp "${LIBS}")
armarx_add_test(ArMemIceConversionsTest ArMemIceConversionsTest.cpp "${LIBS}")
+armarx_add_test(ArMemLTMTest ArMemLTMTest.cpp "${LIBS}")
armarx_add_test(ArMemMemoryTest ArMemMemoryTest.cpp "${LIBS}")
armarx_add_test(ArMemMemoryIDTest ArMemMemoryIDTest.cpp "${LIBS}")
-armarx_add_test(ArMemQueryTest ArMemQueryTest.cpp "${LIBS}")
-armarx_add_test(ArMemLTMTest ArMemLTMTest.cpp "${LIBS}")
armarx_add_test(ArMemQueryBuilderTest ArMemQueryBuilderTest.cpp "${LIBS}")
-armarx_add_test(ArMemForEachTest ArMemForEachTest.cpp "${LIBS}")
+armarx_add_test(ArMemQueryTest ArMemQueryTest.cpp "${LIBS}")
diff --git a/source/RobotAPI/libraries/armem_gui/CMakeLists.txt b/source/RobotAPI/libraries/armem_gui/CMakeLists.txt
index 696c6db777d8512d49168682c8a368243f2b930d..2a781dd3989d5731393e1b5d9304b06f467611a4 100644
--- a/source/RobotAPI/libraries/armem_gui/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem_gui/CMakeLists.txt
@@ -18,10 +18,11 @@ set(SOURCES
gui_utils.cpp
lifecycle.cpp
- MemoryControlWidget.cpp
MemoryViewer.cpp
PeriodicUpdateWidget.cpp
+ disk/ControlWidget.cpp
+
instance/GroupBox.cpp
instance/ImageView.cpp
instance/InstanceView.cpp
@@ -53,7 +54,6 @@ set(HEADERS
gui_utils.h
lifecycle.h
- MemoryControlWidget.h
MemoryViewer.h
PeriodicUpdateWidget.h
TreeWidgetBuilder.h
@@ -61,6 +61,8 @@ set(HEADERS
PeriodicUpdateWidget.h
TreeWidgetBuilder.h
+ disk/ControlWidget.h
+
instance/GroupBox.h
instance/ImageView.h
instance/InstanceView.h
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryControlWidget.cpp b/source/RobotAPI/libraries/armem_gui/MemoryControlWidget.cpp
deleted file mode 100644
index 38e4d8c88719541e7c4fca92964cfb069c22ba5e..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem_gui/MemoryControlWidget.cpp
+++ /dev/null
@@ -1,87 +0,0 @@
-#include "MemoryControlWidget.h"
-
-#include <QPushButton>
-#include <QLineEdit>
-#include <QTimer>
-#include <QHBoxLayout>
-#include <QFileDialog>
-
-#include <cmath>
-
-
-namespace armarx::armem::gui
-{
-
- MemoryControlWidget::MemoryControlWidget()
- {
- setSizePolicy(QSizePolicy::Policy::Minimum, QSizePolicy::Policy::Fixed);
-
- auto vlayout = new QVBoxLayout();
- auto hlayout1 = new QHBoxLayout();
- auto hlayout2 = new QHBoxLayout();
-
- hlayout1->setContentsMargins(10, 2, 10, 2);
- hlayout2->setContentsMargins(10, 2, 10, 2);
-
- const int margin = 0;
- vlayout->setContentsMargins(margin, margin, margin, margin);
-
- _lineEdit = new QLineEdit("/tmp/MemoryExport", this);
- _lineEdit->setSizePolicy(QSizePolicy::Ignored, QSizePolicy::Preferred);
- _lineEdit->setMinimumWidth(150);
-
- _openFileBrowserButton = new QPushButton("Search files", this);
-
- _storeOnDiskButton = new QPushButton("Store query (Disk)", this);
- _storeInLTMButton = new QPushButton("Store query (LTM)", this);
-
- hlayout1->addWidget(_lineEdit);
- hlayout1->addWidget(_openFileBrowserButton);
-
- hlayout2->addWidget(_storeOnDiskButton);
- hlayout2->addWidget(_storeInLTMButton);
-
- vlayout->addItem(hlayout1);
- vlayout->addItem(hlayout2);
-
- this->setLayout(vlayout);
- // Private connections.
-
- // Public connections.
- connect(_openFileBrowserButton, &QPushButton::pressed, this, &This::openFileBrowser);
- connect(_storeInLTMButton, &QPushButton::pressed, this, &This::storeInLTM);
- connect(_storeOnDiskButton, &QPushButton::pressed, this, &This::storeOnDisk);
- }
-
- void MemoryControlWidget::openFileBrowser()
- {
- QFileDialog dialog;
- dialog.setFileMode(QFileDialog::DirectoryOnly);
- //dialog.setOption(QFileDialog::DontUseNativeDialog, true);
- dialog.setOption(QFileDialog::ShowDirsOnly, false);
- dialog.exec();
- QString open = dialog.directory().path();
- _lineEdit->setText(open);
- }
-
- QLineEdit* MemoryControlWidget::pathInputBox()
- {
- return _lineEdit;
- }
-
- QString MemoryControlWidget::getEnteredPath()
- {
- return _lineEdit->text();
- }
-
- QPushButton* MemoryControlWidget::storeInLTMButton()
- {
- return _storeInLTMButton;
- }
-
- QPushButton* MemoryControlWidget::storeOnDiskButton()
- {
- return _storeOnDiskButton;
- }
-}
-
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryControlWidget.h b/source/RobotAPI/libraries/armem_gui/MemoryControlWidget.h
deleted file mode 100644
index c6b156db313b01180a7f5884959ffc21b0a73f9d..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem_gui/MemoryControlWidget.h
+++ /dev/null
@@ -1,55 +0,0 @@
-#pragma once
-
-#include <QWidget>
-
-class QPushButton;
-class QLineEdit;
-class QFileDialog;
-
-namespace armarx::armem::gui
-{
-
- class MemoryControlWidget : public QWidget
- {
- Q_OBJECT
- using This = MemoryControlWidget;
-
- public:
-
- MemoryControlWidget();
-
- QLineEdit* pathInputBox();
- QString getEnteredPath();
-
- QPushButton* openFileBrowserButton();
-
- QPushButton* storeInLTMButton();
- QPushButton* storeOnDiskButton();
-
- public slots:
-
- void openFileBrowser();
-
- signals:
-
- void storeInLTM();
- void storeOnDisk();
-
- private slots:
-
-
- signals:
-
-
- private:
-
- QLineEdit* _lineEdit;
-
- QPushButton* _openFileBrowserButton;
-
- QPushButton* _storeInLTMButton;
- QPushButton* _storeOnDiskButton;
-
- };
-
-}
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
index 802de477cdd143051b6e45f8f2c4d995ebfa4e29..d52b8c8fd6347867c81a7c4f773fa3aabe8bd548 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
+++ b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
@@ -3,10 +3,8 @@
#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
#include <RobotAPI/libraries/armem_gui/gui_utils.h>
-#include <RobotAPI/libraries/armem/core/diskmemory/Memory.h>
-
-#include <RobotAPI/libraries/armem/server/query_proc/diskmemory.h>
#include <RobotAPI/libraries/armem/server/query_proc/wm.h>
+#include <RobotAPI/libraries/armem/server/query_proc/ltm.h>
#include <ArmarXGui/libraries/SimpleConfigDialog/SimpleConfigDialog.h>
@@ -18,6 +16,7 @@
#include <QBoxLayout>
#include <QCheckBox>
+#include <QClipboard>
#include <QDialog>
#include <QGroupBox>
#include <QMenu>
@@ -25,7 +24,6 @@
#include <QLayout>
#include <QSettings>
-#include <filesystem>
#include <iomanip>
@@ -33,9 +31,9 @@ namespace armarx::armem::gui
{
MemoryViewer::MemoryViewer(
QBoxLayout* updateWidgetLayout,
- QBoxLayout* memoryControlWidgetLayout,
QGroupBox* memoryGroupBox, QLayout* memoryGroupBoxParentLayout,
QGroupBox* instanceGroupBox, QLayout* instanceGroupBoxParentLayout,
+ QBoxLayout* diskControlWidgetLayout,
QLabel* statusLabel
)
{
@@ -48,6 +46,10 @@ namespace armarx::armem::gui
connect(statusLabel, &QLabel::customContextMenuRequested, [statusLabel](const QPoint & pos)
{
QMenu menu(statusLabel);
+ menu.addAction("Copy to clipboard", [statusLabel]()
+ {
+ QApplication::clipboard()->setText(statusLabel->text());
+ });
menu.addAction("Clear status", [statusLabel]()
{
statusLabel->clear();
@@ -61,14 +63,6 @@ namespace armarx::armem::gui
updateWidget = new armem::gui::PeriodicUpdateWidget(2.0, 60);
updateWidgetLayout->insertWidget(0, updateWidget);
- // LTM Control
- if (memoryControlWidgetLayout)
- {
- this->memoryControlWidgetLayout = memoryControlWidgetLayout;
- memoryControlWidget = new armem::gui::MemoryControlWidget();
- memoryControlWidgetLayout->addWidget(memoryControlWidget);
- }
-
// Memory View
memoryGroup = new armem::gui::MemoryGroupBox();
armarx::gui::replaceWidget(memoryGroupBox, memoryGroup, memoryGroupBoxParentLayout);
@@ -80,15 +74,25 @@ namespace armarx::armem::gui
this->instanceGroup->setStatusLabel(statusLabel);
ARMARX_CHECK_NULL(instanceGroupBox);
+ // Disk Control
+ if (diskControlWidgetLayout)
+ {
+ this->diskControlLayout = diskControlWidgetLayout;
+ diskControl = new armem::gui::disk::ControlWidget();
+ diskControlWidgetLayout->addWidget(diskControl);
+ }
+
// Connections
//connect(this, &This::connected, this, &This::updateMemory);
- connect(memoryControlWidget, &armem::gui::MemoryControlWidget::storeOnDisk, this, &This::storeOnDisk);
- connect(memoryControlWidget, &armem::gui::MemoryControlWidget::storeInLTM, this, &This::storeInLTM);
+ connect(diskControl, &armem::gui::disk::ControlWidget::requestedStoreOnDisk, this, &This::storeOnDisk);
+ connect(diskControl, &armem::gui::disk::ControlWidget::requestedLoadFromDisk, this, &This::loadFromDisk);
connect(this, &This::connected, this, &This::updateMemories);
connect(updateWidget, &armem::gui::PeriodicUpdateWidget::update, this, &This::updateMemories);
+ connect(memoryGroup->queryWidget(), &armem::gui::QueryWidget::storeInLTM, this, &This::storeInLTM);
+
connect(this, &This::memoryDataChanged, this, &This::updateMemoryTree);
connect(memoryGroup->tree(), &armem::gui::MemoryTreeWidget::selectedItemChanged, this, &This::updateInstanceTree);
@@ -97,9 +101,9 @@ namespace armarx::armem::gui
connect(instanceGroup->view, &armem::gui::InstanceView::memoryIdResolutionRequested, this, &This::resolveMemoryID);
}
- void MemoryViewer::setLogTag(const std::string& tag)
+ void MemoryViewer::setLogTag(const std::string& _tag) // Leading _ silences a warning
{
- Logging::setTag(tag);
+ Logging::setTag(_tag);
}
void MemoryViewer::onInit(ManagedIceObject& component)
@@ -168,7 +172,7 @@ namespace armarx::armem::gui
void MemoryViewer::storeInLTM()
{
- TIMING_START(MemoryStore);
+ TIMING_START(MemoryStore)
for (auto& [name, reader] : memoryReaders)
{
@@ -177,45 +181,37 @@ namespace armarx::armem::gui
reader.readAndStore(input);
}
- TIMING_END_STREAM(MemoryStore, ARMARX_VERBOSE);
+ TIMING_END_STREAM(MemoryStore, ARMARX_VERBOSE)
}
- void MemoryViewer::storeOnDisk()
+ void MemoryViewer::storeOnDisk(QString directory)
{
- TIMING_START(MemoryExport);
- QString qs = memoryControlWidget->getEnteredPath();
- std::string utf8_text = qs.toUtf8().constData();
+ TIMING_START(MemoryExport)
- if (not utf8_text.empty())
- {
- ARMARX_IMPORTANT << "Exporting all memories at '" << utf8_text << "'.";
+ std::string status;
+ diskControl->storeOnDisk(directory, memoryData, &status);
- std::filesystem::path p(utf8_text);
- if (std::filesystem::is_regular_file(p))
- {
- ARMARX_WARNING << "Could not export a memory at '" << utf8_text << "'. Skipping export.";
- return;
- }
+ statusLabel->setText(QString::fromStdString(status));
+ TIMING_END_STREAM(MemoryExport, ARMARX_VERBOSE)
+ }
- std::filesystem::create_directories(p);
- for (auto& [name, reader] : memoryReaders)
- {
- armem::client::QueryInput input = memoryGroup->queryWidget()->queryInput();
- armem::client::QueryResult result = reader.query(input);
- armem::d_ltm::Memory dMem(name);
- dMem.reload(p / name);
- dMem.append(result.memory);
- }
- }
- else
+ void MemoryViewer::loadFromDisk(QString directory)
+ {
+ std::string status;
+ std::map<std::string, wm::Memory> data =
+ diskControl->loadFromDisk(directory, memoryGroup->queryWidget()->queryInput(), &status);
+
+ for (auto& [name, memory] : data)
{
- ARMARX_WARNING << "The path is empty. Could not export the memory in nirvana.";
+ this->memoryData[name] = std::move(memory);
}
+ statusLabel->setText(QString::fromStdString(status));
- TIMING_END_STREAM(MemoryExport, ARMARX_VERBOSE);
+ emit memoryDataChanged();
}
+
void MemoryViewer::updateMemories()
{
int errorCount = 0;
@@ -223,66 +219,38 @@ namespace armarx::armem::gui
memoryData.clear();
memoryReaders = mns.getAllReaders(true);
- std::filesystem::path path(memoryControlWidget->getEnteredPath().toStdString());
-
armem::client::QueryInput input = memoryGroup->queryWidget()->queryInput();
- // first check if the local file system should be queried
- if (memoryGroup->queryWidget()->alsoQueryLocalDisk())
+ for (auto& [name, reader] : memoryReaders)
{
- if (std::filesystem::is_directory(path))
+ TIMING_START(MemoryQuery)
{
- for (const auto& directory : std::filesystem::directory_iterator(path))
+ armem::client::QueryResult result = reader.query(input);
+ if (result.success)
{
- if (directory.is_directory())
- {
- std::string k = directory.path().filename();
- armem::d_ltm::Memory dMem(k);
- dMem.reload(path / k);
-
- input.addQueryTargetToAll(armem::query::data::QueryTarget::LTM); // We use LTM as query target for the disk
-
- armem::server::query_proc::d_ltm::MemoryQueryProcessor d_ltm_processor;
- dMem = d_ltm_processor.process(input.toIce(), dMem);
-
- wm::Memory converted = dMem.convert();
- memoryData[k] = std::move(converted);
- }
+ memoryData[name] = result.memory;
}
- }
- else
- {
- ARMARX_WARNING << "Could not import a memory from '" << path << "'. Skipping import.";
- }
- }
- else
- {
- for (auto& [name, reader] : memoryReaders)
- {
- TIMING_START(MemoryQuery);
+ else
{
- armem::client::QueryResult result = reader.query(input);
- if (result.success)
- {
- memoryData[name] = result.memory;
- }
- else
- {
- ARMARX_INFO << "A query for memory '" << name << "' produced an error: " << result.errorMessage;
- errorCount++;
- }
+ ARMARX_WARNING << "A query for memory '" << name << "' produced an error: " << result.errorMessage;
+ errorCount++;
}
- TIMING_END_STREAM(MemoryQuery, ARMARX_VERBOSE);
+ }
+ TIMING_END_STREAM(MemoryQuery, ARMARX_VERBOSE)
- if (debugObserver)
- {
- debugObserver->setDebugDatafield(Logging::tag.tagName, "Memory Query [ms]", new Variant(MemoryQuery.toMilliSecondsDouble()));
- }
+ if (debugObserver)
+ {
+ debugObserver->setDebugDatafield(Logging::tag.tagName, "Memory Query [ms]", new Variant(MemoryQuery.toMilliSecondsDouble()));
}
}
emit memoryDataChanged();
+ updateStatusLabel(errorCount);
+ }
+
+ void MemoryViewer::updateStatusLabel(int errorCount)
+ {
// Code to output status label information
if (statusLabel and errorCount > 0)
{
@@ -325,7 +293,7 @@ namespace armarx::armem::gui
{
try
{
- snapshot = &data->getEntitySnapshot(id);
+ snapshot = &data->getSnapshot(id);
}
catch (const armem::error::ArMemError& e)
{
@@ -366,18 +334,17 @@ namespace armarx::armem::gui
std::optional<wm::EntityInstance> instance;
try
{
- const wm::Memory* data = getSingleMemoryData(id.memoryName);
- if (data)
+ if (const wm::Memory* data = getSingleMemoryData(id.memoryName))
{
segmentType = data->getProviderSegment(id).aronType();
if (id.hasInstanceIndex())
{
- instance = data->getEntityInstance(id);
+ instance = data->getInstance(id);
}
else if (id.hasTimestamp())
{
- instance = data->getEntitySnapshot(id).getInstance(0);
+ instance = data->getSnapshot(id).getInstance(0);
}
else
{
@@ -385,13 +352,12 @@ namespace armarx::armem::gui
}
}
}
- catch (const armem::error::ArMemError& e)
+ catch (const armem::error::ArMemError&)
{
// May be handled by remote lookup
- (void) e;
}
- if (!instance)
+ if (not instance)
{
try
{
@@ -425,9 +391,9 @@ namespace armarx::armem::gui
// if convMap.empty(), we still need to update to remove existing entries.
- TIMING_START(GuiUpdate);
+ TIMING_START(GuiUpdate)
memoryGroup->tree()->update(convMap);
- TIMING_END_STREAM(GuiUpdate, ARMARX_VERBOSE);
+ TIMING_END_STREAM(GuiUpdate, ARMARX_VERBOSE)
if (debugObserver)
{
@@ -451,7 +417,7 @@ namespace armarx::armem::gui
void MemoryViewer::writeConfigDialog(SimpleConfigDialog* dialog)
{
- dialog->addProxyFinder<armarx::armem::mns::MemoryNameSystemInterfacePrx>({CONFIG_KEY_MEMORY, "MemoryNameSystem", "*"});
+ dialog->addProxyFinder<armarx::armem::mns::MemoryNameSystemInterfacePrx>({CONFIG_KEY_MEMORY, "MemoryNameSystem", "MemoryNameSystem"});
dialog->addProxyFinder<armarx::DebugObserverInterfacePrx>({CONFIG_KEY_DEBUG_OBSERVER, "Debug Observer", "DebugObserver"});
}
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryViewer.h b/source/RobotAPI/libraries/armem_gui/MemoryViewer.h
index 71870bdd565b0b8a585808f5f0e9f0f43c93d315..f2fba34389ee9887d090d72b1ff50768b8d097b5 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryViewer.h
+++ b/source/RobotAPI/libraries/armem_gui/MemoryViewer.h
@@ -10,11 +10,11 @@
#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
#include <RobotAPI/libraries/armem/client/Reader.h>
+#include <RobotAPI/libraries/armem_gui/PeriodicUpdateWidget.h>
#include <RobotAPI/libraries/armem_gui/lifecycle.h>
#include <RobotAPI/libraries/armem_gui/instance/GroupBox.h>
#include <RobotAPI/libraries/armem_gui/memory/GroupBox.h>
-#include <RobotAPI/libraries/armem_gui/PeriodicUpdateWidget.h>
-#include <RobotAPI/libraries/armem_gui/MemoryControlWidget.h>
+#include <RobotAPI/libraries/armem_gui/disk/ControlWidget.h>
class QBoxLayout;
@@ -47,9 +47,9 @@ namespace armarx::armem::gui
MemoryViewer(
QBoxLayout* updateWidgetLayout,
- QBoxLayout* ltmControlWidgetLayout,
QGroupBox* memoryGroupBox, QLayout* memoryGroupBoxParentLayout,
QGroupBox* instanceGroupBox, QLayout* instanceGroupBoxParentLayout,
+ QBoxLayout* diskControlWidgetLayout,
QLabel* statusLabel
);
@@ -70,9 +70,12 @@ namespace armarx::armem::gui
void resolveMemoryID(const MemoryID& id);
- // LTMControlWidget
+ // Disk Control
+ void storeOnDisk(QString directory);
+ void loadFromDisk(QString directory);
+
void storeInLTM();
- void storeOnDisk();
+
signals:
@@ -101,6 +104,7 @@ namespace armarx::armem::gui
void onDisconnect(ManagedIceObject& component);
const armem::wm::Memory* getSingleMemoryData(const std::string& memoryName);
+ void updateStatusLabel(int errorCount);
public:
@@ -114,8 +118,8 @@ namespace armarx::armem::gui
QLayout* updateWidgetLayout = nullptr;
armem::gui::PeriodicUpdateWidget* updateWidget = nullptr;
- QLayout* memoryControlWidgetLayout = nullptr;
- armem::gui::MemoryControlWidget* memoryControlWidget = nullptr;
+ QLayout* diskControlLayout = nullptr;
+ armem::gui::disk::ControlWidget* diskControl = nullptr;
armem::gui::MemoryGroupBox* memoryGroup = nullptr;
diff --git a/source/RobotAPI/libraries/armem_gui/disk/ControlWidget.cpp b/source/RobotAPI/libraries/armem_gui/disk/ControlWidget.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e361438099e5e2a34b80d5f64f810a23fb3270d2
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_gui/disk/ControlWidget.cpp
@@ -0,0 +1,196 @@
+#include "ControlWidget.h"
+
+#include <RobotAPI/libraries/armem/server/ltm/disk/MemoryManager.h>
+#include <RobotAPI/libraries/armem/server/query_proc/ltm.h>
+
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+#include <QHBoxLayout>
+#include <QSpacerItem>
+#include <QFileDialog>
+#include <QPushButton>
+
+#include <filesystem>
+
+#include <cmath>
+
+
+namespace armarx::armem::gui::disk
+{
+
+ ControlWidget::ControlWidget()
+ {
+ _latestDirectory = QString::fromStdString("/tmp/MemoryExport");
+
+ _loadFromDiskButton = new QPushButton(" Load from Disk", this);
+ _loadFromDiskButton->setIcon(QIcon(":/icons/document-open.svg"));
+ _storeOnDiskButton = new QPushButton(" Store on Disk", this);
+ _storeOnDiskButton->setIcon(QIcon(":/icons/document-save.svg"));
+
+ // Allow horizontal shrinking of buttons
+ std::vector<QPushButton*> buttons { _storeOnDiskButton, _loadFromDiskButton };
+ for (QPushButton* button : buttons)
+ {
+ button->setSizePolicy(QSizePolicy::Maximum, QSizePolicy::Fixed);
+ }
+
+ this->setSizePolicy(QSizePolicy::Policy::Preferred, QSizePolicy::Policy::Fixed);
+
+ QHBoxLayout* layout = new QHBoxLayout();
+ this->setLayout(layout);
+
+ const int margin = 0;
+ layout->setContentsMargins(margin, margin, margin, margin);
+
+ layout->addWidget(_loadFromDiskButton);
+ layout->addWidget(_storeOnDiskButton);
+
+
+ // Connections
+
+ connect(_loadFromDiskButton, &QPushButton::pressed, [this]()
+ {
+ QString directory = chooseDirectoryDialog();
+ if (directory.size() > 0)
+ {
+ emit requestedLoadFromDisk(directory);
+ }
+ });
+ connect(_storeOnDiskButton, &QPushButton::pressed, [this]()
+ {
+ QString directory = chooseDirectoryDialog();
+ if (directory.size() > 0)
+ {
+ emit requestedStoreOnDisk(directory);
+ }
+ });
+ }
+
+
+ static
+ const std::string&
+ handleSingular(int num, const std::string& singular, const std::string& plural)
+ {
+ return num == 1 ? singular : plural;
+ }
+
+
+ void
+ ControlWidget::storeOnDisk(
+ QString directory,
+ const std::map<std::string, wm::Memory> memoryData,
+ std::string* outStatus)
+ {
+ std::filesystem::path path(directory.toUtf8().constData());
+ ARMARX_CHECK_POSITIVE(path.string().size()); // An empty path indicates an error.
+
+ std::stringstream status;
+ if (std::filesystem::is_regular_file(path))
+ {
+ status << "Could not export memories contents to " << path << ": Cannot overwrite existing file.";
+ }
+ else
+ {
+ int numStored = 0;
+ for (const auto& [name, data] : memoryData)
+ {
+ if (std::filesystem::is_regular_file(path / name))
+ {
+ status << "Could not export memory '" << name << "' to " << path << ": Cannot overwrite existing file.\n";
+ }
+ else
+ {
+ std::filesystem::create_directories(path / name);
+
+ armem::server::ltm::disk::MemoryManager manager;
+ manager.setName(name);
+ manager.setBasePath(path / name);
+ manager.reload();
+ manager.append(data);
+
+ numStored++;
+ }
+ }
+ status << "Exported " << numStored << " " << handleSingular(numStored, "memory", "memories") << " to " << path << ".";
+ }
+
+ if (outStatus)
+ {
+ *outStatus = status.str();
+ }
+ }
+
+
+ std::map<std::string, wm::Memory>
+ ControlWidget::loadFromDisk(
+ QString directory,
+ const armem::client::QueryInput& _queryInput,
+ std::string* outStatus)
+ {
+ std::filesystem::path path(directory.toUtf8().constData());
+
+ std::map<std::string, wm::Memory> memoryData;
+ std::stringstream status;
+
+ if (not std::filesystem::is_directory(path))
+ {
+ status << "Could not import a memory from " << path << ". Skipping import.";
+ }
+ else
+ {
+ // We use LTM as query target for the disk
+ armem::client::QueryInput queryInput = _queryInput;
+ queryInput.addQueryTargetToAll(armem::query::data::QueryTarget::LTM);
+ const query::data::Input queryIce = queryInput.toIce();
+
+ int numLoaded = 0;
+ for (const auto& dir : std::filesystem::directory_iterator(path))
+ {
+ 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);
+
+ numLoaded++;
+ }
+ }
+ status << "Loaded " << numLoaded << " " << handleSingular(numLoaded, "memory", "memories") << " from " << path << ".";
+ }
+
+ if (outStatus)
+ {
+ *outStatus = status.str();
+ }
+ return memoryData;
+ }
+
+
+ QString ControlWidget::chooseDirectoryDialog()
+ {
+ QFileDialog dialog;
+ dialog.setFileMode(QFileDialog::DirectoryOnly);
+ dialog.setOption(QFileDialog::ShowDirsOnly, false);
+ dialog.setDirectory(_latestDirectory);
+ if (dialog.exec())
+ {
+ _latestDirectory = dialog.directory().path();
+ return _latestDirectory;
+ }
+ else
+ {
+ return QString::fromStdString("");
+ }
+ }
+
+}
+
diff --git a/source/RobotAPI/libraries/armem_gui/disk/ControlWidget.h b/source/RobotAPI/libraries/armem_gui/disk/ControlWidget.h
new file mode 100644
index 0000000000000000000000000000000000000000..b14c9b0a0810acbafba74638e6ebd87989e81165
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_gui/disk/ControlWidget.h
@@ -0,0 +1,62 @@
+#pragma once
+
+#include <RobotAPI/libraries/armem/core/forward_declarations.h>
+#include <RobotAPI/libraries/armem/client/Query.h>
+
+#include <QWidget>
+#include <QString>
+
+
+class QPushButton;
+
+
+namespace armarx::armem::gui::disk
+{
+
+ class ControlWidget : public QWidget
+ {
+ Q_OBJECT
+ using This = ControlWidget;
+
+ public:
+
+ ControlWidget();
+
+
+ void
+ storeOnDisk(
+ QString directory,
+ const std::map<std::string, wm::Memory> memoryData,
+ std::string* outStatus = nullptr);
+
+ std::map<std::string, wm::Memory>
+ loadFromDisk(
+ QString directory,
+ const armem::client::QueryInput& queryInput,
+ std::string* outStatus = nullptr);
+
+
+ signals:
+
+ void requestedLoadFromDisk(QString directory);
+ void requestedStoreOnDisk(QString directory);
+
+
+ private slots:
+
+ QString chooseDirectoryDialog();
+
+
+ signals:
+
+
+ private:
+
+ QPushButton* _loadFromDiskButton;
+ QPushButton* _storeOnDiskButton;
+
+ QString _latestDirectory;
+
+ };
+
+}
diff --git a/source/RobotAPI/libraries/armem_gui/instance/GroupBox.cpp b/source/RobotAPI/libraries/armem_gui/instance/GroupBox.cpp
index ff828d4437f042c7857332ec3957f9b5f55c60a5..6d233680524bef1b515236fb03ec6e7e8e965ec0 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/GroupBox.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/GroupBox.cpp
@@ -15,7 +15,7 @@ namespace armarx::armem::gui::instance
view = new armem::gui::InstanceView();
- useTypeInfoCheckBox = new QCheckBox("Use Type Info", this);
+ useTypeInfoCheckBox = new QCheckBox("Use Type Information", this);
useTypeInfoCheckBox->setChecked(true);
QHBoxLayout* checkBoxLayout = new QHBoxLayout();
diff --git a/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp b/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp
index 2b4ab121dabc7d52188f1d10b8adb501f2c72d32..55370273d39434c43633c3fd2b70f3f3b9c94c75 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp
@@ -104,7 +104,7 @@ namespace armarx::armem::gui::instance
const armem::wm::EntityInstance* instance = nullptr;
try
{
- instance = &memory.getEntityInstance(id);
+ instance = &memory.getInstance(id);
if (useTypeInfo)
{
aronType = memory.getProviderSegment(id).aronType();
@@ -113,8 +113,7 @@ namespace armarx::armem::gui::instance
catch (const armem::error::ArMemError& e)
{
showErrorMessage(e.what());
- return;
- };
+ }
if (instance)
{
update(*instance, aronType);
@@ -175,6 +174,8 @@ namespace armarx::armem::gui::instance
{
if (!data)
{
+ treeItemData->setText(int(Columns::TYPE), QString::fromStdString(""));
+
armarx::gui::clearItem(treeItemData);
QTreeWidgetItem* item = new QTreeWidgetItem({"(No data.)"});
treeItemData->addChild(item);
@@ -189,6 +190,8 @@ namespace armarx::armem::gui::instance
}
else
{
+ treeItemData->setText(int(Columns::TYPE), QString::fromStdString(""));
+
DataTreeBuilder builder;
builder.setColumns(int(Columns::KEY), int(Columns::VALUE), int(Columns::TYPE));
builder.updateTree(treeItemData, data);
diff --git a/source/RobotAPI/libraries/armem_gui/instance/sanitize_typename.cpp b/source/RobotAPI/libraries/armem_gui/instance/sanitize_typename.cpp
index 0180b51961c795ca4a45fd748078cb5cda1ca663..c548192cb7a98a390f708c8bd7789e51e63089cc 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/sanitize_typename.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/sanitize_typename.cpp
@@ -10,6 +10,28 @@
const std::string armarx::armem::gui::instance::rawMemoryIDTypeName = armarx::armem::arondto::MemoryID::toAronType()->getName();
const std::string armarx::armem::gui::instance::sanitizedMemoryIDTypeName = "MemoryID";
+
+namespace
+{
+ std::string remove_prefix(const std::string& string, const std::string& prefix)
+ {
+ return simox::alg::starts_with(string, prefix)
+ ? string.substr(prefix.size(), std::string::npos)
+ : string;
+ }
+ std::string remove_wrap(const std::string& string, const std::string& prefix, const std::string& suffix)
+ {
+ if (simox::alg::starts_with(string, prefix) && simox::alg::ends_with(string, suffix))
+ {
+ return string.substr(prefix.size(), string.size() - prefix.size() - suffix.size());
+ }
+ else
+ {
+ return string;
+ }
+ }
+}
+
std::string armarx::armem::gui::instance::sanitizeTypeName(const std::string& typeName)
{
if (typeName == rawMemoryIDTypeName)
@@ -19,15 +41,25 @@ std::string armarx::armem::gui::instance::sanitizeTypeName(const std::string& ty
namespace s = simox::alg;
std::string n = typeName;
- n = s::replace_all(n, "Aron", "");
- n = s::replace_all(n, "Type", "");
- n = s::replace_all(n, "type::", "");
- if (s::starts_with(n, "Object<") && s::ends_with(n, ">"))
+ n = s::replace_all(n, "type::Aron", "");
+ n = s::replace_all(n, "data::Aron", "");
+
+ if (false)
{
- std::string begin = "Object<";
- std::string end = ">";
- n = n.substr(begin.size(), n.size() - begin.size() - end.size());
+ const std::vector<std::string> containers { "Dict", "List", "Object", "Tuple", "Pair", "NDArray" };
+ for (const std::string& s : containers)
+ {
+ n = s::replace_all(n, s + "Type", s);
+ }
}
+ else
+ {
+ n = s::replace_all(n, "Type", "");
+ }
+
+
+ n = remove_prefix(n, "Aron");
+ n = remove_wrap(n, "Object<", ">");
if (true)
{
diff --git a/source/RobotAPI/libraries/armem_gui/instance/tree_builders/DataTreeBuilderBase.cpp b/source/RobotAPI/libraries/armem_gui/instance/tree_builders/DataTreeBuilderBase.cpp
index f837fe2fa6451cf8edd82793f2c6ec773560ce2c..3b624f9404e6eede5d8c6963dc13c885f383782d 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/tree_builders/DataTreeBuilderBase.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/tree_builders/DataTreeBuilderBase.cpp
@@ -5,6 +5,7 @@
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <RobotAPI/libraries/armem_gui/TreeWidgetBuilder.h>
+#include <RobotAPI/libraries/armem_gui/instance/sanitize_typename.h>
#include <RobotAPI/libraries/armem_gui/instance/display_visitors/DataDisplayVisitor.h>
@@ -50,7 +51,7 @@ namespace armarx::armem::gui::instance
QTreeWidgetItem* item, const std::string& key, aron::datanavigator::Navigator& data)
{
const std::string value = armarx::aron::DataDisplayVisitor::getValue(data);
- setRowTexts(item, key, value, data.getName());
+ setRowTexts(item, key, value, sanitizeTypeName(data.getName()));
}
DataTreeBuilderBase::DictBuilder DataTreeBuilderBase::getDictBuilder() const
diff --git a/source/RobotAPI/libraries/armem_gui/instance/tree_builders/DataTreeBuilderBase.h b/source/RobotAPI/libraries/armem_gui/instance/tree_builders/DataTreeBuilderBase.h
index b225a093d4664d60313b882c1b3de750b48f96e8..d8ce4516b43c7cbccfaff7bfbd5f362d6dbfef0a 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/tree_builders/DataTreeBuilderBase.h
+++ b/source/RobotAPI/libraries/armem_gui/instance/tree_builders/DataTreeBuilderBase.h
@@ -42,6 +42,7 @@ namespace armarx::armem::gui::instance
void setRowTexts(QTreeWidgetItem* item, const std::string& key, const std::string& value, const std::string& typeName = "") const;
void setRowTexts(QTreeWidgetItem* item, const std::string& key, aron::datanavigator::Navigator& data);
+
public:
int columnKey = 0;
diff --git a/source/RobotAPI/libraries/armem_gui/memory/TreeWidget.cpp b/source/RobotAPI/libraries/armem_gui/memory/TreeWidget.cpp
index 29c137093ac9c75f0c904c6745c72473c205f1ec..1ff5b509001d5cdb4d095442b4614878396b4157 100644
--- a/source/RobotAPI/libraries/armem_gui/memory/TreeWidget.cpp
+++ b/source/RobotAPI/libraries/armem_gui/memory/TreeWidget.cpp
@@ -4,8 +4,6 @@
#include <RobotAPI/libraries/aron/core/navigator/type/container/Object.h>
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
#include <SimoxUtility/algorithm/string.h>
#include <QHeaderView>
@@ -51,12 +49,12 @@ namespace armarx::armem::gui::memory
void TreeWidget::initBuilders()
{
- workingmemoryBuilder.setExpand(true);
- workingmemoryBuilder.setMakeItemFn([this](const std::string & name, const wm::Memory * memory)
+ memoryBuilder.setExpand(true);
+ memoryBuilder.setMakeItemFn([this](const std::string & name, const wm::Memory * memory)
{
return makeItem(name, *memory);
});
- workingmemoryBuilder.setUpdateItemFn([this](const std::string&, const wm::Memory * memory, QTreeWidgetItem * memoryItem)
+ memoryBuilder.setUpdateItemFn([this](const std::string&, const wm::Memory * memory, QTreeWidgetItem * memoryItem)
{
updateContainerItem(*memory, memoryItem);
if (memoryItem)
@@ -71,26 +69,26 @@ namespace armarx::armem::gui::memory
return element.name();
};
- workingmemoryCoreSegmentBuilder.setExpand(true);
- workingmemoryCoreSegmentBuilder.setNameFn(nameFn, int(Columns::KEY));
- workingmemoryCoreSegmentBuilder.setMakeItemFn([this](const wm::CoreSegment & coreSeg)
+ coreSegmentBuilder.setExpand(true);
+ coreSegmentBuilder.setNameFn(nameFn, int(Columns::KEY));
+ coreSegmentBuilder.setMakeItemFn([this](const wm::CoreSegment & coreSeg)
{
return makeItem(coreSeg.name(), coreSeg);
});
- workingmemoryCoreSegmentBuilder.setUpdateItemFn([this](const wm::CoreSegment & coreSeg, QTreeWidgetItem * coreSegItem)
+ coreSegmentBuilder.setUpdateItemFn([this](const wm::CoreSegment & coreSeg, QTreeWidgetItem * coreSegItem)
{
updateContainerItem(coreSeg, coreSegItem);
updateChildren(coreSeg, coreSegItem);
return true;
});
- workingmemoryProvSegmentBuilder.setExpand(true);
- workingmemoryProvSegmentBuilder.setNameFn(nameFn, int(Columns::KEY));
- workingmemoryProvSegmentBuilder.setMakeItemFn([this](const wm::ProviderSegment & provSeg)
+ provSegmentBuilder.setExpand(true);
+ provSegmentBuilder.setNameFn(nameFn, int(Columns::KEY));
+ provSegmentBuilder.setMakeItemFn([this](const wm::ProviderSegment & provSeg)
{
return makeItem(provSeg.name(), provSeg);
});
- workingmemoryProvSegmentBuilder.setUpdateItemFn([this](const wm::ProviderSegment & provSeg, QTreeWidgetItem * provSegItem)
+ provSegmentBuilder.setUpdateItemFn([this](const wm::ProviderSegment & provSeg, QTreeWidgetItem * provSegItem)
{
updateContainerItem(provSeg, provSegItem);
updateChildren(provSeg, provSegItem);
@@ -98,46 +96,46 @@ namespace armarx::armem::gui::memory
});
// entityBuilder.setExpand(true);
- workingmemoryEntityBuilder.setNameFn(nameFn, int(Columns::KEY));
- workingmemoryEntityBuilder.setMakeItemFn([this](const wm::Entity & entity)
+ entityBuilder.setNameFn(nameFn, int(Columns::KEY));
+ entityBuilder.setMakeItemFn([this](const wm::Entity & entity)
{
return makeItem(entity.name(), entity);
});
- workingmemoryEntityBuilder.setUpdateItemFn([this](const wm::Entity & entity, QTreeWidgetItem * entityItem)
+ entityBuilder.setUpdateItemFn([this](const wm::Entity & entity, QTreeWidgetItem * entityItem)
{
updateContainerItem(entity, entityItem);
updateChildren(entity, entityItem);
return true;
});
- workingmemorySnapshotBuilder.setMakeItemFn([this](const wm::EntitySnapshot & snapshot)
+ snapshotBuilder.setMakeItemFn([this](const wm::EntitySnapshot & snapshot)
{
QTreeWidgetItem* item = makeItem(toDateTimeMilliSeconds(snapshot.time()), snapshot);
item->setData(int(Columns::KEY), Qt::ItemDataRole::UserRole, QVariant(static_cast<qlonglong>(snapshot.time().toMicroSeconds())));
return item;
});
- workingmemorySnapshotBuilder.setCompareFn([](const wm::EntitySnapshot & snapshot, QTreeWidgetItem * item)
+ snapshotBuilder.setCompareFn([](const wm::EntitySnapshot & snapshot, QTreeWidgetItem * item)
{
return armarx::detail::compare(static_cast<qlonglong>(snapshot.time().toMicroSeconds()),
item->data(int(Columns::KEY), Qt::ItemDataRole::UserRole).toLongLong());
});
- workingmemorySnapshotBuilder.setUpdateItemFn([this](const wm::EntitySnapshot & snapshot, QTreeWidgetItem * snapshotItem)
+ snapshotBuilder.setUpdateItemFn([this](const wm::EntitySnapshot & snapshot, QTreeWidgetItem * snapshotItem)
{
updateContainerItem(snapshot, snapshotItem);
updateChildren(snapshot, snapshotItem);
return true;
});
- workingmemoryInstanceBuilder.setMakeItemFn([this](const wm::EntityInstance & instance)
+ instanceBuilder.setMakeItemFn([this](const wm::EntityInstance & instance)
{
QTreeWidgetItem* item = makeItem("", instance);
return item;
});
- workingmemoryInstanceBuilder.setCompareFn([](const wm::EntityInstance & lhs, QTreeWidgetItem * rhsItem)
+ instanceBuilder.setCompareFn([](const wm::EntityInstance & lhs, QTreeWidgetItem * rhsItem)
{
return armarx::detail::compare(lhs.index(), rhsItem->text(0).toInt());
});
- workingmemoryInstanceBuilder.setUpdateItemFn([this](const wm::EntityInstance & instance, QTreeWidgetItem * instanceItem)
+ instanceBuilder.setUpdateItemFn([this](const wm::EntityInstance & instance, QTreeWidgetItem * instanceItem)
{
updateItemItem(instance, instanceItem);
updateChildren(instance, instanceItem);
@@ -237,33 +235,33 @@ namespace armarx::armem::gui::memory
void TreeWidget::updateChildren(const std::map<std::string, const armem::wm::Memory*>& memories, QTreeWidget* tree)
{
- workingmemoryBuilder.updateTree(tree, memories);
+ memoryBuilder.updateTree(tree, memories);
}
void TreeWidget::updateChildren(const armem::wm::Memory& memory, QTreeWidgetItem* memoryItem)
{
- workingmemoryCoreSegmentBuilder.updateTreeWithIterator(memoryItem, makeIteratorFn(memory));
+ coreSegmentBuilder.updateTreeWithIterator(memoryItem, makeIteratorFn(memory));
}
void TreeWidget::updateChildren(const armem::wm::CoreSegment& coreSeg, QTreeWidgetItem* coreSegItem)
{
- workingmemoryProvSegmentBuilder.updateTreeWithIterator(coreSegItem, makeIteratorFn(coreSeg));
+ provSegmentBuilder.updateTreeWithIterator(coreSegItem, makeIteratorFn(coreSeg));
}
void TreeWidget::updateChildren(const armem::wm::ProviderSegment& provSeg, QTreeWidgetItem* provSegItem)
{
- workingmemoryEntityBuilder.updateTreeWithIterator(provSegItem, makeIteratorFn(provSeg));
+ entityBuilder.updateTreeWithIterator(provSegItem, makeIteratorFn(provSeg));
}
void TreeWidget::updateChildren(const armem::wm::Entity& entity, QTreeWidgetItem* entityItem)
{
- workingmemorySnapshotBuilder.updateTreeWithIterator(entityItem, makeIteratorFn(entity));
+ snapshotBuilder.updateTreeWithIterator(entityItem, makeIteratorFn(entity));
}
void TreeWidget::updateChildren(const armem::wm::EntitySnapshot& snapshot, QTreeWidgetItem* snapshotItem)
{
- workingmemoryInstanceBuilder.updateTreeWithIterator(snapshotItem, makeIteratorFn(snapshot));
+ instanceBuilder.updateTreeWithIterator(snapshotItem, makeIteratorFn(snapshot));
}
void TreeWidget::updateChildren(const armem::wm::EntityInstance& data, QTreeWidgetItem* dataItem)
@@ -299,16 +297,16 @@ namespace armarx::armem::gui::memory
(void) level, (void) item;
}
- template <class... T>
- void TreeWidget::updateContainerItem(
- const base::detail::MemoryContainerBase<T...>& container, QTreeWidgetItem* item)
+ template <class ContainerT>
+ void TreeWidget::updateContainerItem(const ContainerT& container, QTreeWidgetItem* item)
{
updateItemItem(container, item);
item->setText(int(Columns::SIZE), QString::number(container.size()));
- if constexpr(std::is_base_of_v<base::detail::AronTyped, base::detail::MemoryContainerBase<T...>>)
+ // Does not work
+ if constexpr(std::is_base_of_v<base::detail::AronTyped, ContainerT>)
{
- const base::detail::AronTyped& cast = dynamic_cast<const base::detail::AronTyped&>(container);
+ const base::detail::AronTyped& cast = static_cast<const base::detail::AronTyped&>(container);
std::string typeName;
if (cast.aronType())
{
diff --git a/source/RobotAPI/libraries/armem_gui/memory/TreeWidget.h b/source/RobotAPI/libraries/armem_gui/memory/TreeWidget.h
index 72987cda1ef736a9f8943161cb8756a6e56b2cdc..75f56c9ace248e58daf3f7ee3ac69baa12b0edfe 100644
--- a/source/RobotAPI/libraries/armem_gui/memory/TreeWidget.h
+++ b/source/RobotAPI/libraries/armem_gui/memory/TreeWidget.h
@@ -5,7 +5,6 @@
#include <QTreeWidget>
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
-#include <RobotAPI/libraries/armem/core/longtermmemory/Memory.h>
#include <RobotAPI/libraries/armem_gui/TreeWidgetBuilder.h>
@@ -72,18 +71,18 @@ namespace armarx::armem::gui::memory
QTreeWidgetItem* makeItem(const std::string& key, const std::string& levelName, const MemoryID& id);
void updateItemItem(const armem::base::detail::MemoryItem& level, QTreeWidgetItem* item);
- template <class... T>
- void updateContainerItem(const armem::base::detail::MemoryContainerBase<T...>& container, QTreeWidgetItem* item);
+ template <class ContainerT>
+ void updateContainerItem(const ContainerT& container, QTreeWidgetItem* item);
private:
- MapTreeWidgetBuilder<std::string, const wm::Memory*> workingmemoryBuilder;
- TreeWidgetBuilder<wm::CoreSegment> workingmemoryCoreSegmentBuilder;
- TreeWidgetBuilder<wm::ProviderSegment> workingmemoryProvSegmentBuilder;
- TreeWidgetBuilder<wm::Entity> workingmemoryEntityBuilder;
- TreeWidgetBuilder<wm::EntitySnapshot> workingmemorySnapshotBuilder;
- TreeWidgetBuilder<wm::EntityInstance> workingmemoryInstanceBuilder;
+ MapTreeWidgetBuilder<std::string, const wm::Memory*> memoryBuilder;
+ TreeWidgetBuilder<wm::CoreSegment> coreSegmentBuilder;
+ TreeWidgetBuilder<wm::ProviderSegment> provSegmentBuilder;
+ TreeWidgetBuilder<wm::Entity> entityBuilder;
+ TreeWidgetBuilder<wm::EntitySnapshot> snapshotBuilder;
+ TreeWidgetBuilder<wm::EntityInstance> instanceBuilder;
std::optional<MemoryID> _selectedID;
/// While this is false, do not handle selection updates.
diff --git a/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.cpp b/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.cpp
index dbb3d3fcabfa2ccf0034d1ba72027664bebe6ebc..f549a9e86046f40feb4087d28acd48726293a5c7 100644
--- a/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.cpp
+++ b/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.cpp
@@ -1,5 +1,8 @@
#include "QueryWidget.h"
+#include <QWidget>
+#include <QTabWidget>
+#include <QPushButton>
#include <QCheckBox>
#include <QHBoxLayout>
#include <QVBoxLayout>
@@ -12,25 +15,35 @@ namespace armarx::armem::gui
QueryWidget::QueryWidget()
{
- QVBoxLayout* layout = new QVBoxLayout();
- setLayout(layout);
+ QHBoxLayout* hlayout1 = new QHBoxLayout();
+ QHBoxLayout* hlayout2 = new QHBoxLayout();
+ QVBoxLayout* vlayout = new QVBoxLayout();
_dataCheckBox = new QCheckBox("Get Data");
_dataCheckBox->setChecked(true);
+ _storeInLTMButton = new QPushButton("Store query result in LTM");
+
_tabWidget = new QTabWidget();
_snapshotSelectorWidget = new SnapshotSelectorWidget();
_tabWidget->addTab(_snapshotSelectorWidget, QString("Snapshots"));
- layout->addWidget(_dataCheckBox);
- layout->addWidget(_tabWidget);
+ hlayout1->addWidget(_dataCheckBox);
+ hlayout1->addWidget(_storeInLTMButton);
+
+ hlayout2->addWidget(_tabWidget);
const int margin = 0;
- layout->setContentsMargins(margin, margin, margin, margin);
+ vlayout->setContentsMargins(margin, margin, margin, margin);
+
+ vlayout->addLayout(hlayout1);
+ vlayout->addLayout(hlayout2);
+ // Public connections.
+ connect(_storeInLTMButton, &QPushButton::pressed, this, &This::storeInLTM);
- // connect to queryChanged
+ setLayout(vlayout);
}
@@ -41,11 +54,6 @@ namespace armarx::armem::gui
: armem::DataMode::NoData;
}
- bool QueryWidget::alsoQueryLocalDisk() const
- {
- return _snapshotSelectorWidget->queryTargetContainsLocalDisk();
- }
-
armem::client::QueryInput QueryWidget::queryInput()
{
armem::client::query::Builder qb(dataMode());
diff --git a/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.h b/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.h
index d2c3fecd6198ad2ad5c3f37077eb07f4f365dea9..2bc7f223d5db52435b7571970bb4cd398aaeec49 100644
--- a/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.h
+++ b/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.h
@@ -1,13 +1,13 @@
#pragma once
-#include <QWidget>
-#include <QTabWidget>
-
#include <RobotAPI/libraries/armem/core/DataMode.h>
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include "SnapshotSelectorWidget.h"
+class QWidget;
+class QTabWidget;
+class QPushButton;
namespace armarx::armem::gui
{
@@ -15,19 +15,21 @@ namespace armarx::armem::gui
class QueryWidget : public QWidget
{
Q_OBJECT
+ using This = QueryWidget;
+
public:
QueryWidget();
armem::DataMode dataMode() const;
- bool alsoQueryLocalDisk() const;
armem::client::QueryInput queryInput();
public slots:
signals:
+ void storeInLTM();
// ToDo:
// void queryChanged(armem::query::data::Input query);
@@ -42,6 +44,8 @@ namespace armarx::armem::gui
private:
QCheckBox* _dataCheckBox;
+ QPushButton* _storeInLTMButton;
+
QTabWidget* _tabWidget;
SnapshotSelectorWidget* _snapshotSelectorWidget;
diff --git a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.cpp b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.cpp
index 9d5cc9ea6064bb6977892623649518791dcaffec..6b38efdddb30e67d1abfb3190d88508dff72258a 100644
--- a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.cpp
+++ b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.cpp
@@ -29,27 +29,14 @@ namespace armarx::armem::gui
return targets;
}
- void SnapshotSelectorWidget::localDiskStateChanged()
+ void SnapshotSelectorWidget::queryTargetStateChanged()
{
- if (_LocalDiskMemoryQueryTargetCheckBox->isChecked())
+ if (!_WMQueryTargetCheckBox->isChecked() && !_LTMQueryTargetCheckBox->isChecked())
{
- _WMQueryTargetCheckBox->setChecked(false);
- _LTMQueryTargetCheckBox->setChecked(false);
- _WMQueryTargetCheckBox->setEnabled(false);
- _LTMQueryTargetCheckBox->setEnabled(false);
- }
- else
- {
- _WMQueryTargetCheckBox->setEnabled(true);
- _LTMQueryTargetCheckBox->setEnabled(true);
+ _WMQueryTargetCheckBox->setChecked(true);
}
}
- bool SnapshotSelectorWidget::queryTargetContainsLocalDisk() const
- {
- return _LocalDiskMemoryQueryTargetCheckBox->isChecked();
- }
-
SnapshotSelectorWidget::SnapshotSelectorWidget()
{
_pageLayout = new QVBoxLayout();
@@ -72,13 +59,12 @@ namespace armarx::armem::gui
auto queryTargetLayout = new QHBoxLayout();
_WMQueryTargetCheckBox = new QCheckBox("WM");
_LTMQueryTargetCheckBox = new QCheckBox("LTM");
- _LocalDiskMemoryQueryTargetCheckBox = new QCheckBox("Local Disk");
- connect(_LocalDiskMemoryQueryTargetCheckBox, &QCheckBox::stateChanged, this, &This::localDiskStateChanged);
+ connect(_WMQueryTargetCheckBox, &QCheckBox::stateChanged, this, &This::queryTargetStateChanged);
+ connect(_LTMQueryTargetCheckBox, &QCheckBox::stateChanged, this, &This::queryTargetStateChanged);
queryTargetLayout->addWidget(_WMQueryTargetCheckBox);
queryTargetLayout->addWidget(_LTMQueryTargetCheckBox);
- queryTargetLayout->addWidget(_LocalDiskMemoryQueryTargetCheckBox);
_WMQueryTargetCheckBox->setChecked(true);
diff --git a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.h b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.h
index a0b69eb1b6f362e64880ab400c0bea29bcdc73fc..e7ec233c896133beb1b675baf37e2d0e2f53489c 100644
--- a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.h
+++ b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.h
@@ -37,7 +37,6 @@ namespace armarx::armem::gui
armem::DataMode dataMode() const;
client::query::SnapshotSelector selector();
query::data::QueryTargets queryTargets() const;
- bool queryTargetContainsLocalDisk() const;
public slots:
@@ -51,7 +50,7 @@ namespace armarx::armem::gui
void hideAllForms();
void showSelectedFormForQuery(QString selected);
- void localDiskStateChanged();
+ void queryTargetStateChanged();
signals:
void queryOutdated();
@@ -67,7 +66,6 @@ namespace armarx::armem::gui
QComboBox* _queryComboBox;
QCheckBox* _WMQueryTargetCheckBox;
QCheckBox* _LTMQueryTargetCheckBox;
- QCheckBox* _LocalDiskMemoryQueryTargetCheckBox;
/// The forms for the different query types. Hidden when not selected.
std::map<QString, SnapshotForm*> _queryForms;
diff --git a/source/RobotAPI/libraries/armem_gui/test/ArMemGuiTest.cpp b/source/RobotAPI/libraries/armem_gui/test/ArMemGuiTest.cpp
index 303a319bcd30566b8000e1d10cc6ab3ef812093d..f7bb3e3e9a4cdc560838c0a3d25c0d7074a96503 100644
--- a/source/RobotAPI/libraries/armem_gui/test/ArMemGuiTest.cpp
+++ b/source/RobotAPI/libraries/armem_gui/test/ArMemGuiTest.cpp
@@ -30,27 +30,101 @@
#include <iostream>
#include <RobotAPI/libraries/armem_gui/instance/sanitize_typename.h>
+#include <RobotAPI/libraries/aron/core/navigator/data/AllNavigators.h>
#include <RobotAPI/libraries/aron/core/navigator/type/AllNavigators.h>
-using namespace armarx::armem::gui::instance;
+namespace dn = armarx::aron::datanavigator;
+namespace tn = armarx::aron::typenavigator;
-BOOST_AUTO_TEST_CASE(test_sanitizeTypeName)
+namespace ArMemGuiTest
{
- using namespace armarx::aron::typenavigator;
+ struct Fixture
{
- DictNavigator dict;
- dict.setAcceptedType(std::make_shared<FloatNavigator>());
- BOOST_CHECK_EQUAL(sanitizeTypeName(dict.getName()), "Dict<Float>");
+ };
+
+ void test_sanitize(const std::string& in, const std::string& expected)
+ {
+ const std::string out = armarx::armem::gui::instance::sanitizeTypeName(in);
+ BOOST_TEST_CONTEXT("in = '" << in << "'")
+ {
+ BOOST_CHECK_EQUAL(out, expected);
+ }
}
+}
+
+
+
+BOOST_FIXTURE_TEST_SUITE(ArMemGuiTest, ArMemGuiTest::Fixture)
+
+
+BOOST_AUTO_TEST_CASE(test_sanitizeTypeName_int)
+{
+ test_sanitize(tn::IntNavigator().getName(), "Int");
+ test_sanitize(dn::IntNavigator().getName(), "Int");
+}
+
+BOOST_AUTO_TEST_CASE(test_sanitizeTypeName_float)
+{
+ test_sanitize(tn::FloatNavigator().getName(), "Float");
+ test_sanitize(dn::FloatNavigator().getName(), "Float");
+}
+
+BOOST_AUTO_TEST_CASE(test_sanitizeTypeName_dict)
+{
+ tn::DictNavigator dict;
+ dict.setAcceptedType(std::make_shared<tn::FloatNavigator>());
+ test_sanitize(dict.getName(), "Dict<Float>");
+
+ test_sanitize(dn::DictNavigator().getName(), "Dict");
+}
+
+BOOST_AUTO_TEST_CASE(test_sanitizeTypeName_list)
+{
+ tn::ListNavigator list;
+ list.setAcceptedType(std::make_shared<tn::LongNavigator>());
+ test_sanitize(list.getName(), "List<Long>");
+
+ test_sanitize(dn::ListNavigator().getName(), "List");
+}
+
+BOOST_AUTO_TEST_CASE(test_sanitizeTypeName_object)
+{
+ tn::ObjectNavigator obj;
+ obj.setObjectName("namespace::MyObjectName");
+ test_sanitize(obj.getName(), "MyObjectName (namespace)");
+}
+
+BOOST_AUTO_TEST_CASE(test_sanitizeTypeName_tuple)
+{
+ tn::TupleNavigator type;
+ type.addAcceptedType(std::make_shared<tn::IntNavigator>());
+ type.addAcceptedType(std::make_shared<tn::FloatNavigator>());
+ test_sanitize(type.getName(), "Tuple<Int, Float>");
+}
+
+BOOST_AUTO_TEST_CASE(test_sanitizeTypeName_pair)
+{
+ tn::PairNavigator type;
+ type.setFirstAcceptedType(std::make_shared<tn::IntNavigator>());
+ type.setSecondAcceptedType(std::make_shared<tn::FloatNavigator>());
+ test_sanitize(type.getName(), "Pair<Int, Float>");
+}
+
+BOOST_AUTO_TEST_CASE(test_sanitizeTypeName_ndarry)
+{
{
- ListNavigator list;
- list.setAcceptedType(std::make_shared<LongNavigator>());
- BOOST_CHECK_EQUAL(sanitizeTypeName(list.getName()), "List<Long>");
+ tn::NDArrayNavigator type;
+ type.setDimensions({ 3, 2, 1});
+ type.setTypename("float");
+ test_sanitize(type.getName(), "NDArray");
}
{
- ObjectNavigator obj;
- obj.setObjectName("namespace::MyObjectName");
- BOOST_CHECK_EQUAL(sanitizeTypeName(obj.getName()), "MyObjectName (namespace)");
+ dn::NDArrayNavigator data;
+ data.setDimensions({ 3, 2, 1});
+ test_sanitize(data.getName(), "NDArray<3, 2, 1, >");
}
}
+
+
+BOOST_AUTO_TEST_SUITE_END()
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
index 237bc31cc8827f0fb9f80284bf0c639c23d093ec..d1cb1e0082d6ef95491530518e7f52839601d771 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
@@ -1,25 +1,20 @@
#include "Writer.h"
-#include <mutex>
-#include <optional>
-
-#include <IceUtil/Time.h>
-
#include <SimoxUtility/algorithm/get_map_keys_values.h>
-#include "ArmarXCore/core/exceptions/LocalException.h"
+#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
#include <ArmarXCore/core/logging/Logging.h>
-#include "RobotAPI/libraries/ArmarXObjects/ObjectID.h"
-#include "RobotAPI/libraries/ArmarXObjects/ObjectInfo.h"
+#include <RobotAPI/libraries/ArmarXObjects/ObjectID.h>
+#include <RobotAPI/libraries/ArmarXObjects/ObjectInfo.h>
#include <RobotAPI/libraries/ArmarXObjects/aron/ObjectID.aron.generated.h>
#include <RobotAPI/libraries/armem/client/query.h>
#include <RobotAPI/libraries/armem/core/MemoryID.h>
#include <RobotAPI/libraries/armem/core/aron_conversions.h>
#include <RobotAPI/libraries/armem/core/error.h>
+#include <RobotAPI/libraries/armem/core/operations.h>
#include <RobotAPI/libraries/armem_objects/aron/ObjectClass.aron.generated.h>
#include <RobotAPI/libraries/armem_objects/aron/ObjectInstance.aron.generated.h>
-#include <RobotAPI/libraries/armem_objects/aron_conversions.h>
#include <RobotAPI/libraries/armem_robot/aron/Robot.aron.generated.h>
#include <RobotAPI/libraries/armem_robot/aron/RobotDescription.aron.generated.h>
#include <RobotAPI/libraries/armem_robot/aron_conversions.h>
@@ -27,6 +22,7 @@
#include "utils.h"
+
namespace armarx::armem::articulated_object
{
Writer::Writer(armem::client::MemoryNameSystem& memoryNameSystem) :
@@ -86,7 +82,6 @@ namespace armarx::armem::articulated_object
void Writer::updateKnownObject(const armem::MemoryID& snapshotId)
{
-
arondto::RobotDescription aronArticulatedObjectDescription;
// aronArticulatedObjectDescription.fromAron(snapshotId.ent);
@@ -269,59 +264,41 @@ namespace armarx::armem::articulated_object
.getCoreSegment(properties.coreClassSegmentName)
.getProviderSegment(properties.providerName); // TODO(fabian.reister): all
// clang-format on
- const auto entities = simox::alg::get_values(providerSegment.entities());
- if (entities.empty())
+ if (const armem::wm::EntityInstance* instance = findFirstInstance(providerSegment))
{
- ARMARX_WARNING << "No entity found";
- return std::nullopt;
+ return convertRobotDescription(*instance);
}
-
- const auto entitySnapshots = simox::alg::get_values(entities.front().history());
-
- if (entitySnapshots.empty())
+ else
{
ARMARX_WARNING << "No entity snapshots found";
return std::nullopt;
}
-
- // TODO(fabian.reister): check if 0 available
- const armem::wm::EntityInstance& instance = entitySnapshots.front().getInstance(0);
-
- return convertRobotDescription(instance);
}
std::unordered_map<std::string, armem::MemoryID>
Writer::getRobotDescriptions(const armarx::armem::wm::Memory& memory) const
{
- std::unordered_map<std::string, armem::MemoryID> descriptions;
-
const armem::wm::CoreSegment& coreSegment =
memory.getCoreSegment(properties.coreClassSegmentName);
- for (const auto& [providerName, providerSegment] : coreSegment.providerSegments())
+ std::unordered_map<std::string, armem::MemoryID> descriptions;
+ coreSegment.forEachEntity([&descriptions](const wm::Entity & entity)
{
- for (const auto& [name, entity] : providerSegment.entities())
+ if (entity.empty())
{
- if (entity.empty())
- {
- ARMARX_WARNING << "No entity found";
- continue;
- }
-
- const auto entitySnapshots = simox::alg::get_values(entity.history());
- const armem::wm::EntitySnapshot& sn = entitySnapshots.front();
- const armem::wm::EntityInstance& instance = sn.getInstance(0);
-
- const auto robotDescription = convertRobotDescription(instance);
-
- if (robotDescription)
- {
- const armem::MemoryID snapshotID(sn.id());
- descriptions.insert({robotDescription->name, snapshotID});
- }
+ ARMARX_WARNING << "No entity found";
+ return true;
}
- }
+
+ const armem::wm::EntitySnapshot& sn = entity.getFirstSnapshot();
+ if (const auto robotDescription = convertRobotDescription(sn.getInstance(0)))
+ {
+ const armem::MemoryID snapshotID(sn.id());
+ descriptions.insert({robotDescription->name, snapshotID});
+ }
+ return true;
+ });
return descriptions;
}
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.h b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.h
index 95495220780d95278685c8c349462708aa822a3e..3e827d66a496ddf8df4448788f39ca1c36722290 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.h
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.h
@@ -22,8 +22,9 @@
#pragma once
#include <mutex>
+#include <optional>
-#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
+#include <ArmarXCore/core/application/properties/forward_declarations.h>
#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
#include <RobotAPI/libraries/armem/client/Reader.h>
@@ -39,7 +40,7 @@ namespace armarx::armem::articulated_object
virtual public WriterInterface
{
public:
- Writer(armem::client::MemoryNameSystem& memoryNameSystem);
+ Writer(armem::client::MemoryNameSystem& memoryNameSystemopti);
virtual ~Writer() = default;
void registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def);
diff --git a/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.cpp
index 2ddcc827d80c0700f59cb5f9ee8638322f4e5633..2c60cb9bd35ab7b3010e5b5f5fb0e719d0817f98 100644
--- a/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.cpp
@@ -54,30 +54,31 @@ namespace armarx::armem::server::obj::attachments
Segment::getAttachments(const armem::Time& timestamp) const
{
ARMARX_CHECK_NOT_NULL(coreSegment);
- std::scoped_lock(coreSegment->mutex());
-
- std::vector<armarx::armem::attachment::ObjectAttachment> attachments;
- coreSegment->forEachEntity([this, &attachments](const wm::Entity & entity)
+ return coreSegment->doLocked([this]()
{
- const wm::EntityInstance& entityInstance = entity.getLatestSnapshot().getInstance(0);
-
- const auto aronAttachment = tryCast<armarx::armem::arondto::attachment::ObjectAttachment>(entityInstance);
- if (not aronAttachment)
+ std::vector<armarx::armem::attachment::ObjectAttachment> attachments;
+ coreSegment->forEachEntity([this, &attachments](const wm::Entity & entity)
{
- ARMARX_WARNING << "Could not convert entity instance to 'ObjectAttachment'";
- return true;
- }
+ const wm::EntityInstance& entityInstance = entity.getLatestSnapshot().getInstance(0);
- ARMARX_DEBUG << "Key is " << armem::MemoryID(entity.id());
+ const auto aronAttachment = tryCast<armarx::armem::arondto::attachment::ObjectAttachment>(entityInstance);
+ if (not aronAttachment)
+ {
+ ARMARX_WARNING << "Could not convert entity instance to 'ObjectAttachment'";
+ return true;
+ }
- armarx::armem::attachment::ObjectAttachment attachment;
- fromAron(*aronAttachment, attachment);
+ ARMARX_DEBUG << "Key is " << armem::MemoryID(entity.id());
- attachments.push_back(attachment);
- return true;
- });
+ armarx::armem::attachment::ObjectAttachment attachment;
+ fromAron(*aronAttachment, attachment);
- return attachments;
+ attachments.push_back(attachment);
+ return true;
+ });
+
+ return attachments;
+ });
}
} // namespace armarx::armem::server::obj::attachments
diff --git a/source/RobotAPI/libraries/armem_objects/server/class/FloorVis.cpp b/source/RobotAPI/libraries/armem_objects/server/class/FloorVis.cpp
index 1e9957aff7b0d093d3bd1d6e16f289d6a2a04afd..cb0088285ca161ddc9283f3a024b65a86809fb1b 100644
--- a/source/RobotAPI/libraries/armem_objects/server/class/FloorVis.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/class/FloorVis.cpp
@@ -32,7 +32,7 @@ namespace armarx::armem::server::obj::clazz
viz::Layer layer = arviz.layer(properties.layerName);
if (properties.show)
{
- const wm::Entity* entity = classCoreSegment.findEntity(MemoryID().withEntityName(properties.entityName));
+ const wm::Entity* entity = classCoreSegment.findEntity(properties.entityName);
if (entity)
{
ARMARX_INFO << "Drawing floor class '" << properties.entityName << "'.";
diff --git a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
index cd10a49c91957e5fa86094597c7903f76fb04c13..8b1ae942a95b73119eea072b7f33a539a05fbbdf 100644
--- a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
@@ -124,8 +124,10 @@ namespace armarx::armem::server::obj::clazz
{
try
{
- std::optional<arondto::ObjectClass> aron =
- coreSegment->getLatestEntityInstanceDataLockingAs<arondto::ObjectClass>(entityID, 0);
+ std::optional<arondto::ObjectClass> aron = coreSegment->doLocked([this, &entityID]()
+ {
+ return coreSegment->findLatestInstanceDataAs<arondto::ObjectClass>(entityID, 0);
+ });
if (not aron.has_value())
{
return;
@@ -269,12 +271,14 @@ namespace armarx::armem::server::obj::clazz
}
if (infiniteHistory.hasValueChanged() || maxHistorySize.hasValueChanged())
{
- std::scoped_lock lock(segment.mutex());
- segment.properties.maxHistorySize = infiniteHistory.getValue() ? -1 : maxHistorySize.getValue();
- if (segment.coreSegment)
+ segment.doLocked([this, &segment]()
{
- segment.coreSegment->setMaxHistorySize(long(segment.properties.maxHistorySize));
- }
+ segment.properties.maxHistorySize = infiniteHistory.getValue() ? -1 : maxHistorySize.getValue();
+ if (segment.coreSegment)
+ {
+ segment.coreSegment->setMaxHistorySize(long(segment.properties.maxHistorySize));
+ }
+ });
}
}
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
index d6d224fe0580e4aa73656515a671ba5753e33326..9668e307ba7c7ff3ed1143087bf4aee1adf2608c 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
@@ -1039,28 +1039,29 @@ namespace armarx::armem::server::obj::instance
if (storeButton.wasClicked())
{
armem::obj::SceneSnapshot scene;
+ segment.doLocked([&scene, &segment]()
{
- std::scoped_lock lock(segment.mutex());
scene = segment.getSceneSnapshot();
- }
+ });
segment.storeScene(storeLoadLine.getValue(), scene);
}
if (infiniteHistory.hasValueChanged() || maxHistorySize.hasValueChanged()
|| discardSnapshotsWhileAttached.hasValueChanged())
{
- std::scoped_lock lock(segment.mutex());
-
- if (infiniteHistory.hasValueChanged() || maxHistorySize.hasValueChanged())
+ segment.doLocked([this, &segment]()
{
- segment.properties.maxHistorySize = infiniteHistory.getValue() ? -1 : maxHistorySize.getValue();
- if (segment.coreSegment)
+ if (infiniteHistory.hasValueChanged() || maxHistorySize.hasValueChanged())
{
- segment.coreSegment->setMaxHistorySize(long(segment.properties.maxHistorySize));
+ segment.properties.maxHistorySize = infiniteHistory.getValue() ? -1 : maxHistorySize.getValue();
+ if (segment.coreSegment)
+ {
+ segment.coreSegment->setMaxHistorySize(long(segment.properties.maxHistorySize));
+ }
}
- }
- segment.p.discardSnapshotsWhileAttached = discardSnapshotsWhileAttached.getValue();
+ segment.p.discardSnapshotsWhileAttached = discardSnapshotsWhileAttached.getValue();
+ });
}
}
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp
index 7cd8b1202ac34600f8bfc6ecc912037b49d8bee6..a9f2aaf31acec502463676cff6e0fc692d736911 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp
@@ -123,8 +123,8 @@ namespace armarx::armem::server::obj::instance
<< "with invalid provider proxy.\nIgnoring provider '" << providerName << "'.";
return;
}
+ segment.doLocked([this, &providerName, &info]()
{
- std::scoped_lock lock(segment.mutex());
std::stringstream ss;
for (const auto& id : info.supportedObjects)
{
@@ -133,7 +133,7 @@ namespace armarx::armem::server::obj::instance
ARMARX_VERBOSE << "Provider '" << providerName << "' available.\n"
<< "Supported objects: \n" << ss.str();
segment.providers[providerName] = info;
- }
+ });
}
@@ -164,8 +164,8 @@ namespace armarx::armem::server::obj::instance
return;
}
+ segment.doLocked([&]()
{
- std::scoped_lock lock(segment.mutex());
RemoteRobot::synchronizeLocalClone(segment.robot, segment.robotStateComponent);
if (segment.robot->hasRobotNode(calibration.robotNode))
@@ -200,7 +200,7 @@ namespace armarx::armem::server::obj::instance
{ "t MemorySetObjectPoses [ms]", new Variant(tCommitObjectPoses.toMilliSecondsDouble()) },
});
}
- }
+ });
}
@@ -218,12 +218,12 @@ namespace armarx::armem::server::obj::instance
{
TIMING_START(tGetObjectPoses);
- TIMING_START(tGetObjectPosesLock);
- std::scoped_lock lock(segment.mutex());
- TIMING_END_STREAM(tGetObjectPosesLock, ARMARX_VERBOSE);
-
const IceUtil::Time now = TimeUtil::GetTime();
- const objpose::data::ObjectPoseSeq result = objpose::toIce(simox::alg::get_values(segment.getObjectPoses(now)));
+ const objpose::ObjectPoseSeq objectPoses = segment.doLocked([this, &now]()
+ {
+ return simox::alg::get_values(segment.getObjectPoses(now));
+ });
+ const objpose::data::ObjectPoseSeq result = objpose::toIce(objectPoses);
TIMING_END_STREAM(tGetObjectPoses, ARMARX_VERBOSE);
@@ -232,7 +232,6 @@ namespace armarx::armem::server::obj::instance
debugObserver->setDebugChannel(getName(),
{
{ "t GetObjectPoses() [ms]", new Variant(tGetObjectPoses.toMilliSecondsDouble()) },
- { "t GetObjectPoses() lock [ms]", new Variant(tGetObjectPosesLock.toMilliSecondsDouble()) }
});
}
@@ -243,12 +242,12 @@ namespace armarx::armem::server::obj::instance
{
TIMING_START(GetObjectPoses);
- TIMING_START(GetObjectPosesLock);
- std::scoped_lock lock(segment.mutex());
- TIMING_END_STREAM(GetObjectPosesLock, ARMARX_VERBOSE);
-
const IceUtil::Time now = TimeUtil::GetTime();
- const objpose::data::ObjectPoseSeq result = objpose::toIce(simox::alg::get_values(segment.getObjectPosesByProvider(providerName, now)));
+ const objpose::ObjectPoseSeq objectPoses = segment.doLocked([this, &now, &providerName]()
+ {
+ return simox::alg::get_values(segment.getObjectPosesByProvider(providerName, now));
+ });
+ const objpose::data::ObjectPoseSeq result = objpose::toIce(objectPoses);
TIMING_END_STREAM(GetObjectPoses, ARMARX_VERBOSE);
@@ -257,7 +256,6 @@ namespace armarx::armem::server::obj::instance
debugObserver->setDebugChannel(getName(),
{
{ "t GetObjectPosesByProvider() [ms]", new Variant(GetObjectPoses.toMilliSecondsDouble()) },
- { "t GetObjectPosesByProvider() lock [ms]", new Variant(GetObjectPosesLock.toMilliSecondsDouble()) }
});
}
@@ -296,26 +294,28 @@ namespace armarx::armem::server::obj::instance
}
else
{
- std::scoped_lock lock(segment.mutex());
- for (const auto& objectID : input.request.objectIDs)
+ segment.doLocked([&]()
{
- bool found = true;
- for (const auto& [providerName, info] : segment.providers)
+ for (const auto& objectID : input.request.objectIDs)
{
- // ToDo: optimize look up.
- if (std::find(info.supportedObjects.begin(), info.supportedObjects.end(), objectID) != info.supportedObjects.end())
+ bool found = true;
+ for (const auto& [providerName, info] : segment.providers)
{
- providerRequests[providerName].objectIDs.push_back(objectID);
- updateProxy(providerName);
- break;
+ // ToDo: optimize look up.
+ if (std::find(info.supportedObjects.begin(), info.supportedObjects.end(), objectID) != info.supportedObjects.end())
+ {
+ providerRequests[providerName].objectIDs.push_back(objectID);
+ updateProxy(providerName);
+ break;
+ }
+ }
+ if (!found)
+ {
+ ARMARX_ERROR << "Did not find a provider for " << objectID << ".";
+ output.results[objectID].providerName = "";
}
}
- if (!found)
- {
- ARMARX_ERROR << "Did not find a provider for " << objectID << ".";
- output.results[objectID].providerName = "";
- }
- }
+ });
}
for (const auto& [providerName, request] : providerRequests)
@@ -343,69 +343,84 @@ namespace armarx::armem::server::obj::instance
objpose::ProviderInfoMap SegmentAdapter::getAvailableProvidersInfo(const Ice::Current&)
{
- std::scoped_lock lock(segment.mutex());
- return segment.providers;
+ return segment.doLocked([this]()
+ {
+ return segment.providers;
+ });
}
Ice::StringSeq SegmentAdapter::getAvailableProviderNames(const Ice::Current&)
{
- std::scoped_lock lock(segment.mutex());
- return simox::alg::get_keys(segment.providers);
+ return segment.doLocked([this]()
+ {
+ return simox::alg::get_keys(segment.providers);
+ });
}
objpose::ProviderInfo SegmentAdapter::getProviderInfo(const std::string& providerName, const Ice::Current&)
{
- std::scoped_lock lock(segment.mutex());
- return segment.getProviderInfo(providerName);
+ return segment.doLocked([this, &providerName]()
+ {
+ return segment.getProviderInfo(providerName);
+ });
}
bool SegmentAdapter::hasProvider(const std::string& providerName, const Ice::Current&)
{
- std::scoped_lock lock(segment.mutex());
- return segment.providers.count(providerName) > 0;
+ return segment.doLocked([this, &providerName]()
+ {
+ return segment.providers.count(providerName) > 0;
+ });
}
objpose::AttachObjectToRobotNodeOutput SegmentAdapter::attachObjectToRobotNode(
const objpose::AttachObjectToRobotNodeInput& input, const Ice::Current&)
{
- std::scoped_lock lock(segment.mutex());
- return segment.attachObjectToRobotNode(input);
+ return segment.doLocked([this, &input]()
+ {
+ return segment.attachObjectToRobotNode(input);
+ });
}
objpose::DetachObjectFromRobotNodeOutput SegmentAdapter::detachObjectFromRobotNode(
const objpose::DetachObjectFromRobotNodeInput& input, const Ice::Current&)
{
- std::scoped_lock lock(segment.mutex());
- return segment.detachObjectFromRobotNode(input);
+ return segment.doLocked([this, &input]()
+ {
+ return segment.detachObjectFromRobotNode(input);
+ });
}
objpose::DetachAllObjectsFromRobotNodesOutput SegmentAdapter::detachAllObjectsFromRobotNodes(
const objpose::DetachAllObjectsFromRobotNodesInput& input, const Ice::Current&)
{
- std::scoped_lock lock(segment.mutex());
- return segment.detachAllObjectsFromRobotNodes(input);
+ return segment.doLocked([this, &input]()
+ {
+ return segment.detachAllObjectsFromRobotNodes(input);
+ });
}
objpose::AgentFramesSeq SegmentAdapter::getAttachableFrames(const Ice::Current&)
{
- std::scoped_lock lock(segment.mutex());
-
- objpose::AgentFramesSeq output;
- std::vector<VirtualRobot::RobotPtr> agents = { segment.robot };
- for (VirtualRobot::RobotPtr agent : agents)
+ return segment.doLocked([this]()
{
- objpose::AgentFrames& frames = output.emplace_back();
- frames.agent = agent->getName();
- frames.frames = agent->getRobotNodeNames();
- }
- return output;
+ objpose::AgentFramesSeq output;
+ std::vector<VirtualRobot::RobotPtr> agents = { segment.robot };
+ for (VirtualRobot::RobotPtr agent : agents)
+ {
+ objpose::AgentFrames& frames = output.emplace_back();
+ frames.agent = agent->getName();
+ frames.frames = agent->getRobotNodeNames();
+ }
+ return output;
+ });
}
@@ -433,9 +448,8 @@ namespace armarx::armem::server::obj::instance
objpose::ObjectPoseMap objectPoses;
visu.minConfidence = -1;
+ return segment.doLocked([this, &objectPoses, &objectFinder]()
{
- std::scoped_lock lock(segment.mutex());
-
const IceUtil::Time now = TimeUtil::GetTime();
// Also include decayed objects in result
@@ -452,7 +466,7 @@ namespace armarx::armem::server::obj::instance
{
visu.minConfidence = segment.decay.removeObjectsBelowConfidence;
}
- }
+ });
const std::vector<viz::Layer> layers = visu.visualizeCommit(objectPoses, objectFinder);
arviz.commit(layers);
@@ -514,8 +528,10 @@ namespace armarx::armem::server::obj::instance
}
this->segment.update(adapter.segment);
{
- std::scoped_lock lock(adapter.segment.mutex());
- this->decay.update(adapter.segment.decay);
+ adapter.segment.doLocked([this, &adapter]()
+ {
+ this->decay.update(adapter.segment.decay);
+ });
}
{
std::scoped_lock lock(adapter.robotHeadMutex);
diff --git a/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformReader.cpp b/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformReader.cpp
index 32da2d6450e67eb228e7d8099123842a4b8f84d9..d46c7dfa1cc72847b27a820ecd4281ec1cb649e6 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformReader.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformReader.cpp
@@ -20,8 +20,6 @@
*/
#include "TransformReader.h"
-#include "RobotAPI/libraries/armem/core/Time.h"
-#include "RobotAPI/libraries/armem_robot_state/common/localization/types.h"
#include <algorithm>
#include <iterator>
@@ -45,20 +43,23 @@
#include <ArmarXCore/core/time/CycleUtil.h>
// this package
+#include <RobotAPI/libraries/core/FramedPose.h>
+
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/client/query/query_fns.h>
+#include <RobotAPI/libraries/armem/core/Time.h>
#include <RobotAPI/libraries/armem/core/error.h>
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
#include <RobotAPI/libraries/armem/server/MemoryRemoteGui.h>
#include <RobotAPI/libraries/aron/core/navigator/type/NavigatorFactory.h>
-#include <RobotAPI/libraries/core/FramedPose.h>
#include <RobotAPI/libraries/armem_robot_state/aron_conversions.h>
#include <RobotAPI/libraries/armem_robot_state/aron/Transform.aron.generated.h>
-
+#include <RobotAPI/libraries/armem_robot_state/common/localization/types.h>
#include <RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.h>
+
namespace armarx::armem::client::robot_state::localization
{
@@ -135,11 +136,11 @@ namespace armarx::armem::client::robot_state::localization
TransformResult TransformReader::lookupTransform(const TransformQuery& query) const
{
const auto& timestamp = query.header.timestamp;
-
- const auto durationEpsilon = IceUtil::Time::milliSeconds(-1);
-
ARMARX_DEBUG << "Looking up transform at timestamp " << timestamp;
+ const IceUtil::Time durationEpsilon = IceUtil::Time::milliSeconds(-1);
+ (void) durationEpsilon;
+
// Query all entities from provider.
armem::client::query::Builder qb;
@@ -152,18 +153,20 @@ namespace armarx::armem::client::robot_state::localization
// clang-format on
const armem::client::QueryResult qResult = memoryReader.query(qb.buildQueryInput());
-
ARMARX_DEBUG << "Lookup result in reader: " << qResult;
if (not qResult.success)
{
- return {.transform =
+ return
+ {
+ .transform =
{
.header = query.header,
},
.status = TransformResult::Status::ErrorFrameNotAvailable,
.errorMessage = "Error in tf lookup '" + query.header.parentFrame + " -> " +
- query.header.frame + "' : " + qResult.errorMessage};
+ query.header.frame + "' : " + qResult.errorMessage
+ };
}
const auto& localizationCoreSegment = qResult.memory.getCoreSegment(properties.localizationSegment);
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp b/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
index 8fd1077e58c9c13ca6eeb3b429aacf569c837950..9925ab30ff83b84d1e8927c51c16fddc6536b185 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
@@ -98,8 +98,10 @@ namespace armarx::armem::server::robot_state::description
Segment::RobotDescriptionMap Segment::getRobotDescriptionsLocking(const armem::Time& timestamp) const
{
- std::scoped_lock lock(mutex());
- return getRobotDescriptions(timestamp);
+ return doLocked([this, ×tamp]()
+ {
+ return getRobotDescriptions(timestamp);
+ });
}
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp b/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp
index 4eb19d15583fd12493d5dd2a6312c6154931e15f..4d2fa4b85d69a1bb5aef0871af5e455490447ea2 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp
@@ -55,8 +55,10 @@ namespace armarx::armem::server::robot_state::localization
Segment::RobotFramePoseMap
Segment::getRobotFramePosesLocking(const armem::Time& timestamp) const
{
- std::scoped_lock lock(mutex());
- return getRobotFramePoses(timestamp);
+ return this->doLocked([this, ×tamp]()
+ {
+ return getRobotFramePoses(timestamp);
+ });
}
@@ -99,8 +101,10 @@ namespace armarx::armem::server::robot_state::localization
Segment::RobotPoseMap
Segment::getRobotGlobalPosesLocking(const armem::Time& timestamp) const
{
- std::scoped_lock lock(mutex());
- return getRobotGlobalPoses(timestamp);
+ return this->doLocked([this, ×tamp]()
+ {
+ return getRobotGlobalPoses(timestamp);
+ });
}
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp
index a63610cf6f7727feaebf60ca2139ab09c0d6e6af..8a88e6fae3a9df8980e1bb5bd54451e2457c342b 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp
@@ -59,14 +59,10 @@ namespace armarx::armem::server::robot_state::proprioception
const armem::Time& timestamp,
DebugObserverHelper* debugObserver) const
{
- TIMING_START(tRobotJointPositionsLock);
- std::scoped_lock lock(mutex());
- TIMING_END_STREAM(tRobotJointPositionsLock, ARMARX_DEBUG);
- if (debugObserver)
+ return doLocked([this, ×tamp, &debugObserver]()
{
- debugObserver->setDebugObserverDatafield(dp + "t 0 Lock Core Segment (ms)", tRobotJointPositionsLock.toMilliSecondsDouble());
- }
- return getRobotJointPositions(timestamp, debugObserver);
+ return getRobotJointPositions(timestamp, debugObserver);
+ });
}
diff --git a/source/RobotAPI/libraries/aron/converter/CMakeLists.txt b/source/RobotAPI/libraries/aron/converter/CMakeLists.txt
index 5f8db702e460cbb2e729862458314920823be780..e93d191b2f99b0eccb973a925a77ebdf674ffaee 100644
--- a/source/RobotAPI/libraries/aron/converter/CMakeLists.txt
+++ b/source/RobotAPI/libraries/aron/converter/CMakeLists.txt
@@ -3,6 +3,7 @@ add_subdirectory(ivt)
add_subdirectory(pcl)
add_subdirectory(eigen)
add_subdirectory(opencv)
+add_subdirectory(json)
add_library(AronConverter INTERFACE)
@@ -13,7 +14,8 @@ target_link_libraries(AronConverter
RobotAPI::aron::converter::ivt
RobotAPI::aron::converter::pcl
RobotAPI::aron::converter::eigen
- RobotAPI::aron::converter::opencv
+ RobotAPI::aron::converter::opencv
+ RobotAPI::aron::converter::json
)
add_library(aron::converter ALIAS AronConverter)
diff --git a/source/RobotAPI/libraries/aron/converter/json/CMakeLists.txt b/source/RobotAPI/libraries/aron/converter/json/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8f5c8006f3b16d7343a2f74b1c6b6562de426165
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/converter/json/CMakeLists.txt
@@ -0,0 +1,24 @@
+set(LIB_NAME aronjsonconverter)
+
+armarx_component_set_name("${LIB_NAME}")
+armarx_set_target("Library: ${LIB_NAME}")
+
+find_package(IVT COMPONENTS ivt ivtopencv QUIET)
+armarx_build_if(IVT_FOUND "IVT not available")
+
+set(LIBS
+ aron
+)
+
+set(LIB_FILES
+ NLohmannJSONConverter.cpp
+)
+
+set(LIB_HEADERS
+ NLohmannJSONConverter.h
+)
+
+armarx_add_library("${LIB_NAME}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
+
+
+add_library(RobotAPI::aron::converter::json ALIAS aronjsonconverter)
diff --git a/source/RobotAPI/libraries/armem/core/wm/json_conversions.cpp b/source/RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.cpp
similarity index 50%
rename from source/RobotAPI/libraries/armem/core/wm/json_conversions.cpp
rename to source/RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.cpp
index fd67c5f822cbfa3783bf1fc23b3de24f06a27f88..3eb6f82327e13ed89629e5de76a41909a9f0f9e2 100644
--- a/source/RobotAPI/libraries/armem/core/wm/json_conversions.cpp
+++ b/source/RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.cpp
@@ -1,4 +1,4 @@
-#include "json_conversions.h"
+#include "NLohmannJSONConverter.h"
#include <RobotAPI/libraries/aron/core/Debug.h>
#include <RobotAPI/libraries/aron/core/io/dataIO/visitor/Visitor.h>
@@ -7,17 +7,32 @@
#include <RobotAPI/libraries/aron/core/io/dataIO/writer/nlohmannJSON/NlohmannJSONWriter.h>
-namespace armarx::armem
+namespace armarx::aron::converter
{
- void from_aron(const aron::datanavigator::DictNavigatorPtr& aron, nlohmann::json& j)
+ nlohmann::json AronNlohmannJSONConverter::ConvertToNlohmannJSON(const datanavigator::DictNavigatorPtr& aron)
+ {
+ nlohmann::json j;
+ ConvertToNlohmannJSON(aron, j);
+ return j;
+ }
+
+ void AronNlohmannJSONConverter::ConvertToNlohmannJSON(const aron::datanavigator::DictNavigatorPtr& aron, nlohmann::json& j)
{
aron::dataIO::writer::NlohmannJSONWriter dataWriter;
aron::dataIO::Visitor::VisitAndSetup(dataWriter, aron);
j = dataWriter.getResult();
}
- void to_aron(aron::datanavigator::DictNavigatorPtr& a, const nlohmann::json& e,
- const aron::typenavigator::NavigatorPtr& expectedStructure)
+
+
+ datanavigator::DictNavigatorPtr AronNlohmannJSONConverter::ConvertFromNlohmannJSON(const nlohmann::json& j)
+ {
+ auto aron = std::make_shared<aron::datanavigator::DictNavigator>();
+ ConvertFromNlohmannJSON(aron, j);
+ return aron;
+ }
+
+ void AronNlohmannJSONConverter::ConvertFromNlohmannJSON(aron::datanavigator::DictNavigatorPtr& a, const nlohmann::json& e, const aron::typenavigator::NavigatorPtr& expectedStructure)
{
aron::dataIO::reader::NlohmannJSONReader dataReader(e);
aron::dataIO::writer::NavigatorWriter navWriter;
diff --git a/source/RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h b/source/RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h
new file mode 100644
index 0000000000000000000000000000000000000000..2e1a89c63511d9806951887a7461fa09dcb17da4
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h
@@ -0,0 +1,29 @@
+#pragma once
+
+// STD/STL
+#include <memory>
+#include <string>
+#include <numeric>
+
+// Memory
+#include <RobotAPI/libraries/aron/core/navigator/data/forward_declarations.h>
+#include <RobotAPI/libraries/aron/core/navigator/type/forward_declarations.h>
+
+// JSON
+#include <SimoxUtility/json/json.hpp>
+
+namespace armarx::aron::converter
+{
+ class AronNlohmannJSONConverter
+ {
+
+ public:
+ AronNlohmannJSONConverter() = delete;
+
+ static nlohmann::json ConvertToNlohmannJSON(const datanavigator::DictNavigatorPtr&);
+ static void ConvertToNlohmannJSON(const datanavigator::DictNavigatorPtr&, nlohmann::json&);
+
+ static datanavigator::DictNavigatorPtr ConvertFromNlohmannJSON(const nlohmann::json&);
+ static void ConvertFromNlohmannJSON(datanavigator::DictNavigatorPtr&, const nlohmann::json&, const aron::typenavigator::NavigatorPtr& = nullptr);
+ };
+}