From 63b1be7e59b0afb4688ec4e722238f87d38d9816 Mon Sep 17 00:00:00 2001
From: Fabian Peller-Konrad <fabian.peller-konrad@kit.edu>
Date: Fri, 12 Aug 2022 15:21:04 +0200
Subject: [PATCH] fixed ltm enable via GUI (marshalling exception on release
builds) and commented out locks from memory viewer
---
.../libraries/armem/client/Reader.cpp | 6 +++-
.../armem/server/MemoryToIceAdapter.cpp | 2 +-
.../libraries/armem_gui/MemoryViewer.cpp | 30 +++++++++----------
3 files changed, 21 insertions(+), 17 deletions(-)
diff --git a/source/RobotAPI/libraries/armem/client/Reader.cpp b/source/RobotAPI/libraries/armem/client/Reader.cpp
index 48efb7bb9..55483dce0 100644
--- a/source/RobotAPI/libraries/armem/client/Reader.cpp
+++ b/source/RobotAPI/libraries/armem/client/Reader.cpp
@@ -428,7 +428,11 @@ namespace armarx::armem::client
server::RecordingMemoryInterfacePrx storingMemoryPrx = server::RecordingMemoryInterfacePrx::checkedCast(readingPrx);
if (storingMemoryPrx)
{
- server::dto::StartRecordInput i; // WHAT TO PUT HERE?
+ server::dto::StartRecordInput i;
+ i.executionTime = armarx::core::time::dto::DateTime();
+ i.recordingID = "";
+ i.configuration.clear();
+
storingMemoryPrx->startRecord(i);
return;
}
diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
index 6aa17f4ce..8f37824ff 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
@@ -381,7 +381,7 @@ namespace armarx::armem::server
ARMARX_TRACE;
ARMARX_CHECK_NOT_NULL(longtermMemory);
ARMARX_IMPORTANT << "Enabling the recording of memory " << longtermMemory->id().str();
- longtermMemory->startRecording();
+ longtermMemory->startRecording(); // TODO: config and execution time!
dto::StartRecordResult ret;
ret.success = true;
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
index 699a41d01..8623bf6c0 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
+++ b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
@@ -256,7 +256,7 @@ namespace armarx::armem::gui
const armem::wm::Memory*
MemoryViewer::getSingleMemoryData(const std::string& memoryName)
{
- std::scoped_lock l(memoryDataMutex);
+ //std::scoped_lock l(memoryDataMutex);
auto it = memoryData.find(memoryName);
if (it == memoryData.end())
{
@@ -313,7 +313,7 @@ namespace armarx::armem::gui
void
MemoryViewer::startLTMRecording()
{
- std::scoped_lock l(memoryReaderMutex);
+ //std::scoped_lock l(memoryReaderMutex);
TIMING_START(MemoryStartRecording);
@@ -334,7 +334,7 @@ namespace armarx::armem::gui
void
MemoryViewer::stopLTMRecording()
{
- std::scoped_lock l(memoryReaderMutex);
+ //std::scoped_lock l(memoryReaderMutex);
TIMING_START(MemoryStopRecording);
@@ -354,7 +354,7 @@ namespace armarx::armem::gui
void MemoryViewer::commit()
{
- std::scoped_lock l(memoryWriterMutex);
+ //std::scoped_lock l(memoryWriterMutex);
TIMING_START(Commit);
auto now = armem::Time::Now();
@@ -401,7 +401,7 @@ namespace armarx::armem::gui
void
MemoryViewer::storeOnDisk(QString directory)
{
- std::scoped_lock l(memoryDataMutex);
+ //std::scoped_lock l(memoryDataMutex);
TIMING_START(MemoryExport)
std::string status;
@@ -415,7 +415,7 @@ namespace armarx::armem::gui
void
MemoryViewer::loadFromDisk(QString directory)
{
- std::scoped_lock l(memoryWriterMutex);
+ //std::scoped_lock l(memoryWriterMutex);
std::string status;
std::map<std::string, wm::Memory> data =
@@ -481,8 +481,8 @@ namespace armarx::armem::gui
void
MemoryViewer::startDueQueries()
{
- std::scoped_lock l(memoryReaderMutex);
- std::scoped_lock l2(runningQueriesMutex);
+ //std::scoped_lock l(memoryReaderMutex);
+ //std::scoped_lock l2(runningQueriesMutex);
armem::client::QueryInput input = memoryGroup->queryInput();
int recursionDepth = memoryGroup->queryWidget()->queryLinkRecursionDepth();
@@ -524,8 +524,8 @@ namespace armarx::armem::gui
std::map<std::string, client::QueryResult>
MemoryViewer::collectQueryResults()
{
- std::scoped_lock l(memoryReaderMutex);
- std::scoped_lock l2(runningQueriesMutex);
+ //std::scoped_lock l(memoryReaderMutex);
+ //std::scoped_lock l2(runningQueriesMutex);
TIMING_START(tCollectQueryResults)
@@ -578,7 +578,7 @@ namespace armarx::armem::gui
void
MemoryViewer::applyQueryResults(const std::map<std::string, client::QueryResult>& results, int* outErrorCount)
{
- std::scoped_lock l(memoryDataMutex);
+ //std::scoped_lock l(memoryDataMutex);
TIMING_START(tProcessQueryResults)
for (const auto& [name, result] : results)
{
@@ -649,7 +649,7 @@ namespace armarx::armem::gui
void
MemoryViewer::updateInstanceTree(const armem::MemoryID& selectedID)
{
- std::scoped_lock l(memoryDataMutex);
+ //std::scoped_lock l(memoryDataMutex);
const armem::wm::Memory* data = getSingleMemoryData(selectedID.memoryName);
if (data)
{
@@ -701,7 +701,7 @@ namespace armarx::armem::gui
void
MemoryViewer::resolveMemoryID(const MemoryID& id)
{
- std::scoped_lock l(memoryDataMutex);
+ //std::scoped_lock l(memoryDataMutex);
// ARMARX_IMPORTANT << "Resolving memory ID: " << id;
auto handleError = [this](const std::string& msg)
@@ -806,7 +806,7 @@ namespace armarx::armem::gui
void
MemoryViewer::updateMemoryTree()
{
- std::scoped_lock l(memoryDataMutex);
+ //std::scoped_lock l(memoryDataMutex);
std::map<std::string, const armem::wm::Memory*> convMap;
for (auto& [name, data] : memoryData)
{
@@ -945,7 +945,7 @@ namespace armarx::armem::gui
const armarx::DateTime& timestamp,
const std::string& engineID)
{
- std::scoped_lock l(memoryReaderMutex);
+ //std::scoped_lock l(memoryReaderMutex);
std::stringstream errorStream;
auto showError = [this, &errorStream]()
--
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