From 527ec329612adba70b7ae51b73a518402e0866f0 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Thu, 5 Aug 2021 16:38:55 +0200
Subject: [PATCH] Merge files into memory_definitions, rename directory to
match namespace
---
.../RobotAPI/libraries/armem/CMakeLists.txt | 41 ++--
source/RobotAPI/libraries/armem/core/wm.h | 10 +
.../aron_conversions.cpp} | 0
.../aron_conversions.h} | 3 +-
.../{workingmemory => wm}/ice_conversions.cpp | 4 +-
.../{workingmemory => wm}/ice_conversions.h | 2 +-
.../json_conversions.cpp | 0
.../{workingmemory => wm}/json_conversions.h | 2 +-
.../armem/core/wm/memory_definitions.cpp | 214 ++++++++++++++++
.../armem/core/wm/memory_definitions.h | 230 ++++++++++++++++++
.../core/{workingmemory => wm}/visitor.h | 0
.../visitor/FunctionalVisitor.cpp | 4 +-
.../visitor/FunctionalVisitor.h | 0
.../{workingmemory => wm}/visitor/Visitor.cpp | 2 +-
.../{workingmemory => wm}/visitor/Visitor.h | 0
.../armem/core/workingmemory/CoreSegment.cpp | 115 ---------
.../armem/core/workingmemory/CoreSegment.h | 107 --------
.../armem/core/workingmemory/Entity.cpp | 8 -
.../armem/core/workingmemory/Entity.h | 38 ---
.../core/workingmemory/EntityInstance.cpp | 40 ---
.../armem/core/workingmemory/EntityInstance.h | 37 ---
.../core/workingmemory/EntitySnapshot.cpp | 7 -
.../armem/core/workingmemory/EntitySnapshot.h | 22 --
.../armem/core/workingmemory/Memory.cpp | 74 ------
.../armem/core/workingmemory/Memory.h | 38 ---
.../core/workingmemory/ProviderSegment.cpp | 8 -
.../core/workingmemory/ProviderSegment.h | 23 --
27 files changed, 478 insertions(+), 551 deletions(-)
create mode 100644 source/RobotAPI/libraries/armem/core/wm.h
rename source/RobotAPI/libraries/armem/core/{workingmemory/entityInstance_conversions.cpp => wm/aron_conversions.cpp} (100%)
rename source/RobotAPI/libraries/armem/core/{workingmemory/entityInstance_conversions.h => wm/aron_conversions.h} (76%)
rename source/RobotAPI/libraries/armem/core/{workingmemory => wm}/ice_conversions.cpp (95%)
rename source/RobotAPI/libraries/armem/core/{workingmemory => wm}/ice_conversions.h (97%)
rename source/RobotAPI/libraries/armem/core/{workingmemory => wm}/json_conversions.cpp (100%)
rename source/RobotAPI/libraries/armem/core/{workingmemory => wm}/json_conversions.h (94%)
create mode 100644 source/RobotAPI/libraries/armem/core/wm/memory_definitions.cpp
create mode 100644 source/RobotAPI/libraries/armem/core/wm/memory_definitions.h
rename source/RobotAPI/libraries/armem/core/{workingmemory => wm}/visitor.h (100%)
rename source/RobotAPI/libraries/armem/core/{workingmemory => wm}/visitor/FunctionalVisitor.cpp (82%)
rename source/RobotAPI/libraries/armem/core/{workingmemory => wm}/visitor/FunctionalVisitor.h (100%)
rename source/RobotAPI/libraries/armem/core/{workingmemory => wm}/visitor/Visitor.cpp (98%)
rename source/RobotAPI/libraries/armem/core/{workingmemory => wm}/visitor/Visitor.h (100%)
delete mode 100644 source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.cpp
delete mode 100644 source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.h
delete mode 100644 source/RobotAPI/libraries/armem/core/workingmemory/Entity.cpp
delete mode 100644 source/RobotAPI/libraries/armem/core/workingmemory/Entity.h
delete mode 100644 source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.cpp
delete mode 100644 source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h
delete mode 100644 source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.cpp
delete mode 100644 source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.h
delete mode 100644 source/RobotAPI/libraries/armem/core/workingmemory/Memory.cpp
delete mode 100644 source/RobotAPI/libraries/armem/core/workingmemory/Memory.h
delete mode 100644 source/RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.cpp
delete mode 100644 source/RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.h
diff --git a/source/RobotAPI/libraries/armem/CMakeLists.txt b/source/RobotAPI/libraries/armem/CMakeLists.txt
index 475bfbcf1..972d51e11 100644
--- a/source/RobotAPI/libraries/armem/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem/CMakeLists.txt
@@ -28,8 +28,8 @@ set(LIB_FILES
core/operations.cpp
core/SuccessHeader.cpp
core/Time.cpp
- core/ice_conversions.cpp
core/aron_conversions.cpp
+ core/ice_conversions.cpp
core/json_conversions.cpp
core/base/detail/MemoryItem.cpp
@@ -47,18 +47,13 @@ set(LIB_FILES
# core/base/MemoryBase.cpp
# core/base/ProviderSegmentBase.cpp
- core/workingmemory/ice_conversions.cpp
- core/workingmemory/CoreSegment.cpp
- core/workingmemory/Entity.cpp
- core/workingmemory/EntityInstance.cpp
- core/workingmemory/EntitySnapshot.cpp
- core/workingmemory/Memory.cpp
- core/workingmemory/ProviderSegment.cpp
- core/workingmemory/ice_conversions.cpp
- core/workingmemory/json_conversions.cpp
- core/workingmemory/entityInstance_conversions.cpp
- core/workingmemory/visitor/Visitor.cpp
- core/workingmemory/visitor/FunctionalVisitor.cpp
+ core/wm/memory_definitions.cpp
+ core/wm/ice_conversions.cpp
+ core/wm/ice_conversions.cpp
+ core/wm/json_conversions.cpp
+ core/wm/aron_conversions.cpp
+ core/wm/visitor/Visitor.cpp
+ core/wm/visitor/FunctionalVisitor.cpp
core/longtermmemory/CoreSegment.cpp
core/longtermmemory/Entity.cpp
@@ -167,18 +162,14 @@ set(LIB_HEADERS
core/base/MemoryBase.h
core/base/ProviderSegmentBase.h
- core/workingmemory/CoreSegment.h
- core/workingmemory/Entity.h
- core/workingmemory/EntityInstance.h
- core/workingmemory/EntitySnapshot.h
- core/workingmemory/Memory.h
- core/workingmemory/ProviderSegment.h
- core/workingmemory/ice_conversions.h
- core/workingmemory/json_conversions.h
- core/workingmemory/entityInstance_conversions.h
- core/workingmemory/visitor.h
- core/workingmemory/visitor/Visitor.h
- core/workingmemory/visitor/FunctionalVisitor.h
+ core/wm.h
+ core/wm/memory_definitions.h
+ core/wm/aron_conversions.h
+ core/wm/ice_conversions.h
+ core/wm/json_conversions.h
+ core/wm/visitor.h
+ core/wm/visitor/Visitor.h
+ core/wm/visitor/FunctionalVisitor.h
core/longtermmemory/CoreSegment.h
core/longtermmemory/Entity.h
diff --git a/source/RobotAPI/libraries/armem/core/wm.h b/source/RobotAPI/libraries/armem/core/wm.h
new file mode 100644
index 000000000..83776ed70
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/wm.h
@@ -0,0 +1,10 @@
+#pragma once
+
+#include "wm/memory_definitions.h"
+
+
+namespace armarx::armem::wm
+{
+
+}
+
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/entityInstance_conversions.cpp b/source/RobotAPI/libraries/armem/core/wm/aron_conversions.cpp
similarity index 100%
rename from source/RobotAPI/libraries/armem/core/workingmemory/entityInstance_conversions.cpp
rename to source/RobotAPI/libraries/armem/core/wm/aron_conversions.cpp
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/entityInstance_conversions.h b/source/RobotAPI/libraries/armem/core/wm/aron_conversions.h
similarity index 76%
rename from source/RobotAPI/libraries/armem/core/workingmemory/entityInstance_conversions.h
rename to source/RobotAPI/libraries/armem/core/wm/aron_conversions.h
index ab9ab27c4..f40d1d757 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/entityInstance_conversions.h
+++ b/source/RobotAPI/libraries/armem/core/wm/aron_conversions.h
@@ -1,6 +1,7 @@
#pragma once
-#include "EntityInstance.h"
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
+
namespace armarx::armem
{
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/ice_conversions.cpp b/source/RobotAPI/libraries/armem/core/wm/ice_conversions.cpp
similarity index 95%
rename from source/RobotAPI/libraries/armem/core/workingmemory/ice_conversions.cpp
rename to source/RobotAPI/libraries/armem/core/wm/ice_conversions.cpp
index 8509ed5ea..a1fc88f19 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/ice_conversions.cpp
+++ b/source/RobotAPI/libraries/armem/core/wm/ice_conversions.cpp
@@ -6,14 +6,14 @@
namespace armarx::armem
{
- void toIce(armarx::armem::data::EntityInstanceMetadata& ice, const armarx::armem::wm::EntityInstanceMetadata& metadata)
+ void toIce(data::EntityInstanceMetadata& ice, const wm::EntityInstanceMetadata& metadata)
{
ice.confidence = metadata.confidence;
toIce(ice.timeArrivedMicroSeconds, metadata.timeArrived);
toIce(ice.timeCreatedMicroSeconds, metadata.timeCreated);
toIce(ice.timeSentMicroSeconds, metadata.timeSent);
}
- void fromIce(const armarx::armem::data::EntityInstanceMetadata& ice, armarx::armem::wm::EntityInstanceMetadata& metadata)
+ void fromIce(const data::EntityInstanceMetadata& ice, wm::EntityInstanceMetadata& metadata)
{
metadata.confidence = ice.confidence;
fromIce(ice.timeArrivedMicroSeconds, metadata.timeArrived);
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h b/source/RobotAPI/libraries/armem/core/wm/ice_conversions.h
similarity index 97%
rename from source/RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h
rename to source/RobotAPI/libraries/armem/core/wm/ice_conversions.h
index 4d14e6b0d..d2f7ef01f 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h
+++ b/source/RobotAPI/libraries/armem/core/wm/ice_conversions.h
@@ -3,7 +3,7 @@
#include <RobotAPI/interface/armem/commit.h>
#include <RobotAPI/interface/armem/memory.h>
-#include "Memory.h"
+#include "memory_definitions.h"
namespace armarx::armem
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/json_conversions.cpp b/source/RobotAPI/libraries/armem/core/wm/json_conversions.cpp
similarity index 100%
rename from source/RobotAPI/libraries/armem/core/workingmemory/json_conversions.cpp
rename to source/RobotAPI/libraries/armem/core/wm/json_conversions.cpp
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/json_conversions.h b/source/RobotAPI/libraries/armem/core/wm/json_conversions.h
similarity index 94%
rename from source/RobotAPI/libraries/armem/core/workingmemory/json_conversions.h
rename to source/RobotAPI/libraries/armem/core/wm/json_conversions.h
index d132d88f7..daea55b95 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/json_conversions.h
+++ b/source/RobotAPI/libraries/armem/core/wm/json_conversions.h
@@ -1,6 +1,6 @@
#pragma once
-#include "Memory.h"
+#include "memory_definitions.h"
#include <RobotAPI/libraries/aron/core/io/dataIO/converter/Converter.h>
#include <RobotAPI/libraries/aron/core/io/dataIO/visitor/Visitor.h>
diff --git a/source/RobotAPI/libraries/armem/core/wm/memory_definitions.cpp b/source/RobotAPI/libraries/armem/core/wm/memory_definitions.cpp
new file mode 100644
index 000000000..c200e6f68
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/wm/memory_definitions.cpp
@@ -0,0 +1,214 @@
+#include "memory_definitions.h"
+
+#include "error.h"
+
+#include <RobotAPI/libraries/aron/core/navigator/data/container/Dict.h>
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+#include <map>
+#include <vector>
+
+
+namespace armarx::armem::wm
+{
+
+ bool EntityInstance::equalsDeep(const EntityInstance& other) const
+ {
+ if (_data and other.data())
+ {
+ return id() == other.id()
+ && _metadata == other.metadata()
+ && *_data == *other.data();
+ }
+ if (_data or other.data())
+ {
+ return false;
+ }
+ return id() == other.id() && _metadata == other.metadata();
+ }
+
+
+ void EntityInstance::update(const EntityUpdate& update)
+ {
+ ARMARX_CHECK_FITS_SIZE(this->index(), update.instancesData.size());
+
+ this->data() = update.instancesData.at(size_t(this->index()));
+
+ this->_metadata.confidence = update.confidence;
+
+ this->_metadata.timeCreated = update.timeCreated;
+ this->_metadata.timeSent = update.timeSent;
+ this->_metadata.timeArrived = update.timeArrived;
+ }
+
+
+ CoreSegment::CoreSegment(const CoreSegment& other) :
+ CoreSegment::Base(other),
+ _mutex()
+ {
+ // Do not copy _mutex.
+ }
+
+
+ CoreSegment::CoreSegment(CoreSegment&& other) :
+ CoreSegment::Base(std::move(other))
+ {
+ // Do not move _mutex.
+ }
+
+
+ CoreSegment& CoreSegment::operator=(const CoreSegment& other)
+ {
+ Base::operator=(other);
+ // Don't copy _mutex.
+ return *this;
+ }
+
+
+ CoreSegment& CoreSegment::operator=(CoreSegment&& other)
+ {
+ Base::operator=(std::move(other));
+ // Don't move _mutex.
+ return *this;
+ }
+
+
+ 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;
+ }
+ }
+
+
+ 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)
+ {
+ // Group updates by core segment, then update each core segment in a batch to only lock it once.
+ std::map<std::string, std::vector<const EntityUpdate*>> updatesPerCoreSegment;
+ for (const EntityUpdate& update : commit.updates)
+ {
+ updatesPerCoreSegment[update.entityID.coreSegmentName].push_back(&update);
+ }
+
+ std::vector<Memory::Base::UpdateResult> result;
+ // To throw an exception after the commit if a core segment is missing and the memory should not create new ones
+ std::vector<std::string> missingCoreSegmentNames;
+ for (const auto& [coreSegmentName, updates] : updatesPerCoreSegment)
+ {
+ auto it = this->_container.find(coreSegmentName);
+ if (it != this->_container.end())
+ {
+ CoreSegment& coreSegment = it->second;
+
+ // Lock the core segment for the whole batch.
+ std::scoped_lock lock(coreSegment.mutex());
+
+ for (const EntityUpdate* update : updates)
+ {
+ auto r = coreSegment.update(*update);
+ Base::UpdateResult ret { r };
+ ret.memoryUpdateType = UpdateType::UpdatedExisting;
+ result.push_back(ret);
+ }
+ }
+ else
+ {
+ // Perform the other updates first, then throw afterwards.
+ missingCoreSegmentNames.push_back(coreSegmentName);
+ }
+ }
+ // Throw an exception if something went wrong.
+ if (not missingCoreSegmentNames.empty())
+ {
+ // Just throw an exception for the first entry. We can extend this exception in the future.
+ throw armem::error::MissingEntry::create<CoreSegment>(missingCoreSegmentNames.front(), *this);
+ }
+ return result;
+ }
+
+
+ // TODO: Add core segment if param is set
+ Memory::Base::UpdateResult
+ Memory::updateLocking(const EntityUpdate& update)
+ {
+ this->_checkContainerName(update.entityID.memoryName, this->name());
+
+ CoreSegment& segment = getCoreSegment(update.entityID.coreSegmentName);
+ Base::UpdateResult result;
+ {
+ std::scoped_lock lock(segment.mutex());
+ result = segment.update(update);
+ }
+ result.memoryUpdateType = UpdateType::UpdatedExisting;
+ return result;
+ }
+
+}
diff --git a/source/RobotAPI/libraries/armem/core/wm/memory_definitions.h b/source/RobotAPI/libraries/armem/core/wm/memory_definitions.h
new file mode 100644
index 000000000..4763944c8
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/wm/memory_definitions.h
@@ -0,0 +1,230 @@
+#pragma once
+
+#include <RobotAPI/libraries/armem/core/base/EntityInstanceBase.h>
+#include <RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h>
+#include <RobotAPI/libraries/armem/core/base/EntityBase.h>
+#include <RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h>
+#include <RobotAPI/libraries/armem/core/base/CoreSegmentBase.h>
+#include <RobotAPI/libraries/armem/core/base/MemoryBase.h>
+
+#include <mutex>
+#include <optional>
+
+
+namespace armarx::armem::wm
+{
+
+ using EntityInstanceMetadata = base::EntityInstanceMetadata;
+ using EntityInstanceData = armarx::aron::datanavigator::DictNavigator;
+ using EntityInstanceDataPtr = armarx::aron::datanavigator::DictNavigatorPtr;
+
+
+ /**
+ * @brief Data of a single entity instance.
+ */
+ class EntityInstance :
+ public base::EntityInstanceBase<EntityInstanceDataPtr, EntityInstanceMetadata>
+ {
+ using Base = base::EntityInstanceBase<EntityInstanceDataPtr, 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;
+
+ };
+
+
+
+ /**
+ * @brief Data of an entity at one point in time.
+ */
+ class EntitySnapshot :
+ public base::EntitySnapshotBase<EntityInstance, EntitySnapshot>
+ {
+ public:
+
+ using base::EntitySnapshotBase<EntityInstance, EntitySnapshot>::EntitySnapshotBase;
+
+ };
+
+
+
+ /**
+ * @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>
+ {
+ public:
+
+ using base::EntityBase<EntitySnapshot, Entity>::EntityBase;
+
+ };
+
+
+
+ /**
+ * @brief Data of a provider segment containing multiple entities.
+ */
+ class ProviderSegment :
+ public base::ProviderSegmentBase<Entity, ProviderSegment>
+ {
+ public:
+
+ using base::ProviderSegmentBase<Entity, ProviderSegment>::ProviderSegmentBase;
+
+ };
+
+
+
+ /**
+ * @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;
+
+ CoreSegment(const CoreSegment& other);
+ CoreSegment(CoreSegment&& other);
+ CoreSegment& operator=(const CoreSegment& other);
+ CoreSegment& operator=(CoreSegment&& other);
+
+ /**
+ * @brief Convert the content of this segmnet into a commit
+ * @return The resulting commit
+ */
+ Commit toCommit() const;
+
+ 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;
+ }
+ }
+
+
+ // 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
+ {
+ // 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;
+ }
+ }
+
+
+ protected:
+
+ mutable std::mutex _mutex;
+
+ };
+
+
+
+ /**
+ * @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;
+
+
+ /**
+ * @brief Perform the commit, locking the core segments.
+ *
+ * Groups the commits by core segment, and updates each core segment
+ * in a batch, locking the core segment.
+ */
+ std::vector<Base::UpdateResult> updateLocking(const Commit& commit);
+
+ /**
+ * @brief Update the memory, locking the updated core segment.
+ */
+ Base::UpdateResult updateLocking(const EntityUpdate& update);
+
+ };
+
+}
+
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/visitor.h b/source/RobotAPI/libraries/armem/core/wm/visitor.h
similarity index 100%
rename from source/RobotAPI/libraries/armem/core/workingmemory/visitor.h
rename to source/RobotAPI/libraries/armem/core/wm/visitor.h
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/visitor/FunctionalVisitor.cpp b/source/RobotAPI/libraries/armem/core/wm/visitor/FunctionalVisitor.cpp
similarity index 82%
rename from source/RobotAPI/libraries/armem/core/workingmemory/visitor/FunctionalVisitor.cpp
rename to source/RobotAPI/libraries/armem/core/wm/visitor/FunctionalVisitor.cpp
index 53016fc6c..f72b37c1a 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/visitor/FunctionalVisitor.cpp
+++ b/source/RobotAPI/libraries/armem/core/wm/visitor/FunctionalVisitor.cpp
@@ -2,7 +2,7 @@
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/core/error.h>
@@ -18,6 +18,4 @@ namespace armarx::armem::wm
{
}
-
-
}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/visitor/FunctionalVisitor.h b/source/RobotAPI/libraries/armem/core/wm/visitor/FunctionalVisitor.h
similarity index 100%
rename from source/RobotAPI/libraries/armem/core/workingmemory/visitor/FunctionalVisitor.h
rename to source/RobotAPI/libraries/armem/core/wm/visitor/FunctionalVisitor.h
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/visitor/Visitor.cpp b/source/RobotAPI/libraries/armem/core/wm/visitor/Visitor.cpp
similarity index 98%
rename from source/RobotAPI/libraries/armem/core/workingmemory/visitor/Visitor.cpp
rename to source/RobotAPI/libraries/armem/core/wm/visitor/Visitor.cpp
index 125ca569d..1140bc11b 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/visitor/Visitor.cpp
+++ b/source/RobotAPI/libraries/armem/core/wm/visitor/Visitor.cpp
@@ -2,7 +2,7 @@
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/core/error.h>
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/visitor/Visitor.h b/source/RobotAPI/libraries/armem/core/wm/visitor/Visitor.h
similarity index 100%
rename from source/RobotAPI/libraries/armem/core/workingmemory/visitor/Visitor.h
rename to source/RobotAPI/libraries/armem/core/wm/visitor/Visitor.h
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.cpp
deleted file mode 100644
index eb437eb16..000000000
--- a/source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.cpp
+++ /dev/null
@@ -1,115 +0,0 @@
-#include "CoreSegment.h"
-
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-#include "error.h"
-
-
-namespace armarx::armem::wm
-{
-
- CoreSegment::CoreSegment(const CoreSegment& other) :
- CoreSegment::Base(other),
- _mutex()
- {
- // Do not copy _mutex.
- }
-
-
- CoreSegment::CoreSegment(CoreSegment&& other) :
- CoreSegment::Base(std::move(other))
- {
- // Do not move _mutex.
- }
-
-
- CoreSegment& CoreSegment::operator=(const CoreSegment& other)
- {
- Base::operator=(other);
- // Don't copy _mutex.
- return *this;
- }
-
-
- CoreSegment& CoreSegment::operator=(CoreSegment&& other)
- {
- Base::operator=(std::move(other));
- // Don't move _mutex.
- return *this;
- }
-
-
- 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;
- }
- }
-
-
- 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);
- }
-
-}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.h b/source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.h
deleted file mode 100644
index 341c065a0..000000000
--- a/source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.h
+++ /dev/null
@@ -1,107 +0,0 @@
-#pragma once
-
-#include <mutex>
-#include <optional>
-
-#include <RobotAPI/libraries/armem/core/base/CoreSegmentBase.h>
-
-#include "ProviderSegment.h"
-
-
-namespace armarx::armem::wm
-{
-
- /**
- * @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;
-
- CoreSegment(const CoreSegment& other);
- CoreSegment(CoreSegment&& other);
- CoreSegment& operator=(const CoreSegment& other);
- CoreSegment& operator=(CoreSegment&& other);
-
- /**
- * @brief Convert the content of this segmnet into a commit
- * @return The resulting commit
- */
- Commit toCommit() const;
-
- 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;
- }
- }
-
-
- // 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
- {
- // 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;
- }
- }
-
-
- protected:
-
- mutable std::mutex _mutex;
-
- };
-
-}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/Entity.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/Entity.cpp
deleted file mode 100644
index e212c0d36..000000000
--- a/source/RobotAPI/libraries/armem/core/workingmemory/Entity.cpp
+++ /dev/null
@@ -1,8 +0,0 @@
-#include "Entity.h"
-
-
-namespace armarx::armem::wm
-{
-
-
-}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/Entity.h b/source/RobotAPI/libraries/armem/core/workingmemory/Entity.h
deleted file mode 100644
index 34e9b2abd..000000000
--- a/source/RobotAPI/libraries/armem/core/workingmemory/Entity.h
+++ /dev/null
@@ -1,38 +0,0 @@
-#pragma once
-
-#include <RobotAPI/libraries/armem/core/base/EntityBase.h>
-
-#include "EntitySnapshot.h"
-
-
-namespace armarx::armem::wm
-{
- /**
- * @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>
- {
- public:
-
- using base::EntityBase<EntitySnapshot, Entity>::EntityBase;
-
- };
-
-}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.cpp
deleted file mode 100644
index 8cda21f29..000000000
--- a/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.cpp
+++ /dev/null
@@ -1,40 +0,0 @@
-#include "EntityInstance.h"
-
-#include <RobotAPI/libraries/aron/core/navigator/data/container/Dict.h>
-
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-
-namespace armarx::armem::wm
-{
-
- bool EntityInstance::equalsDeep(const EntityInstance& other) const
- {
- if (_data and other.data())
- {
- return id() == other.id()
- && _metadata == other.metadata()
- && *_data == *other.data();
- }
- if (_data or other.data())
- {
- return false;
- }
- return id() == other.id() && _metadata == other.metadata();
- }
-
-
- void EntityInstance::update(const EntityUpdate& update)
- {
- ARMARX_CHECK_FITS_SIZE(this->index(), update.instancesData.size());
-
- this->data() = update.instancesData.at(size_t(this->index()));
-
- 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/workingmemory/EntityInstance.h b/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h
deleted file mode 100644
index 158b1c0f8..000000000
--- a/source/RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h
+++ /dev/null
@@ -1,37 +0,0 @@
-#pragma once
-
-#include <RobotAPI/libraries/armem/core/base/EntityInstanceBase.h>
-
-
-namespace armarx::armem::wm
-{
-
- using EntityInstanceMetadata = base::EntityInstanceMetadata;
- using EntityInstanceData = armarx::aron::datanavigator::DictNavigator;
- using EntityInstanceDataPtr = armarx::aron::datanavigator::DictNavigatorPtr;
-
-
- /**
- * @brief Data of a single entity instance.
- */
- class EntityInstance :
- public base::EntityInstanceBase<EntityInstanceDataPtr, EntityInstanceMetadata>
- {
- using Base = base::EntityInstanceBase<EntityInstanceDataPtr, 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/workingmemory/EntitySnapshot.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.cpp
deleted file mode 100644
index b5daa3192..000000000
--- a/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.cpp
+++ /dev/null
@@ -1,7 +0,0 @@
-#include "EntitySnapshot.h"
-
-
-namespace armarx::armem::wm
-{
-
-}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.h b/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.h
deleted file mode 100644
index c19a2f830..000000000
--- a/source/RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.h
+++ /dev/null
@@ -1,22 +0,0 @@
-#pragma once
-
-#include <RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h>
-
-#include "EntityInstance.h"
-
-
-namespace armarx::armem::wm
-{
-
- /**
- * @brief Data of an entity at one point in time.
- */
- class EntitySnapshot :
- public base::EntitySnapshotBase<EntityInstance, EntitySnapshot>
- {
- public:
-
- using base::EntitySnapshotBase<EntityInstance, EntitySnapshot>::EntitySnapshotBase;
-
- };
-}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/Memory.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/Memory.cpp
deleted file mode 100644
index 7bff4f19e..000000000
--- a/source/RobotAPI/libraries/armem/core/workingmemory/Memory.cpp
+++ /dev/null
@@ -1,74 +0,0 @@
-#include "Memory.h"
-
-#include <map>
-#include <vector>
-
-
-namespace armarx::armem::wm
-{
-
- // TODO: add core segment if param is set
- std::vector<Memory::Base::UpdateResult>
- Memory::updateLocking(const Commit& commit)
- {
- // Group updates by core segment, then update each core segment in a batch to only lock it once.
- std::map<std::string, std::vector<const EntityUpdate*>> updatesPerCoreSegment;
- for (const EntityUpdate& update : commit.updates)
- {
- updatesPerCoreSegment[update.entityID.coreSegmentName].push_back(&update);
- }
-
- std::vector<Memory::Base::UpdateResult> result;
- // To throw an exception after the commit if a core segment is missing and the memory should not create new ones
- std::vector<std::string> missingCoreSegmentNames;
- for (const auto& [coreSegmentName, updates] : updatesPerCoreSegment)
- {
- auto it = this->_container.find(coreSegmentName);
- if (it != this->_container.end())
- {
- CoreSegment& coreSegment = it->second;
-
- // Lock the core segment for the whole batch.
- std::scoped_lock lock(coreSegment.mutex());
-
- for (const EntityUpdate* update : updates)
- {
- auto r = coreSegment.update(*update);
- Base::UpdateResult ret { r };
- ret.memoryUpdateType = UpdateType::UpdatedExisting;
- result.push_back(ret);
- }
- }
- else
- {
- // Perform the other updates first, then throw afterwards.
- missingCoreSegmentNames.push_back(coreSegmentName);
- }
- }
- // Throw an exception if something went wrong.
- if (not missingCoreSegmentNames.empty())
- {
- // Just throw an exception for the first entry. We can extend this exception in the future.
- throw armem::error::MissingEntry::create<CoreSegment>(missingCoreSegmentNames.front(), *this);
- }
- return result;
- }
-
-
- // TODO: Add core segment if param is set
- Memory::Base::UpdateResult
- Memory::updateLocking(const EntityUpdate& update)
- {
- this->_checkContainerName(update.entityID.memoryName, this->name());
-
- CoreSegment& segment = getCoreSegment(update.entityID.coreSegmentName);
- Base::UpdateResult result;
- {
- std::scoped_lock lock(segment.mutex());
- result = segment.update(update);
- }
- result.memoryUpdateType = UpdateType::UpdatedExisting;
- return result;
- }
-
-}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/Memory.h b/source/RobotAPI/libraries/armem/core/workingmemory/Memory.h
deleted file mode 100644
index e3684b3b6..000000000
--- a/source/RobotAPI/libraries/armem/core/workingmemory/Memory.h
+++ /dev/null
@@ -1,38 +0,0 @@
-#pragma once
-
-#include <RobotAPI/libraries/armem/core/base/MemoryBase.h>
-
-#include "CoreSegment.h"
-
-
-namespace armarx::armem::wm
-{
-
- /**
- * @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;
-
-
- /**
- * @brief Perform the commit, locking the core segments.
- *
- * Groups the commits by core segment, and updates each core segment
- * in a batch, locking the core segment.
- */
- std::vector<Base::UpdateResult> updateLocking(const Commit& commit);
-
- /**
- * @brief Update the memory, locking the updated core segment.
- */
- Base::UpdateResult updateLocking(const EntityUpdate& update);
-
- };
-}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.cpp
deleted file mode 100644
index 01aa4e39b..000000000
--- a/source/RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.cpp
+++ /dev/null
@@ -1,8 +0,0 @@
-#include "ProviderSegment.h"
-
-
-namespace armarx::armem::wm
-{
-
-
-}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.h b/source/RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.h
deleted file mode 100644
index 75b5d3b36..000000000
--- a/source/RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.h
+++ /dev/null
@@ -1,23 +0,0 @@
-#pragma once
-
-#include <RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h>
-
-#include "Entity.h"
-
-
-namespace armarx::armem::wm
-{
-
- /**
- * @brief Data of a provider segment containing multiple entities.
- */
- class ProviderSegment :
- public base::ProviderSegmentBase<Entity, ProviderSegment>
- {
- public:
-
- using base::ProviderSegmentBase<Entity, ProviderSegment>::ProviderSegmentBase;
-
- };
-
-}
--
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