From 64542ab0ced336952f335e049300daa3fe58bd2c Mon Sep 17 00:00:00 2001
From: "fabian.peller-konrad@kit.edu" <fabian.peller-konrad@kit.edu>
Date: Tue, 9 Feb 2021 10:51:19 +0100
Subject: [PATCH] Partially revert "ArMem helper functions and updates" (dont
revert DebugMemory)
This partially reverts commit e08aff4d433c0f0f4ab204dd4ab025c5174ae202.
# Conflicts:
# source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.h
# source/RobotAPI/libraries/armem/mns/ClientPlugin.cpp
---
.../ArMemExampleClient/ArMemExampleClient.cpp | 28 ++-
.../ArMemExampleClient/ArMemExampleClient.h | 4 +
.../ArMemExampleMemory/ArMemExampleMemory.cpp | 28 ++-
.../ArMemExampleMemory/ArMemExampleMemory.h | 21 +-
.../armem/client/ComponentPlugin.cpp | 80 +------
.../libraries/armem/client/ComponentPlugin.h | 32 +--
.../libraries/armem/client/Writer.cpp | 201 ++----------------
.../RobotAPI/libraries/armem/client/Writer.h | 34 +--
.../armem/server/ComponentPlugin.cpp | 48 +----
.../libraries/armem/server/ComponentPlugin.h | 25 +--
10 files changed, 116 insertions(+), 385 deletions(-)
diff --git a/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.cpp b/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.cpp
index 6fdd60959..07f8b22d7 100644
--- a/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.cpp
+++ b/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.cpp
@@ -44,6 +44,10 @@ namespace armarx
armarx::PropertyDefinitionsPtr defs = new ArMemExampleClientPropertyDefinitions(getConfigIdentifier());
defs->topic(debugObserver);
+
+ defs->optional(memoryName, "mem.MemoryName", "Name of the memory to use.");
+ // defs->component(memory, "ArMemExampleMemory");
+
return defs;
}
@@ -63,8 +67,9 @@ namespace armarx
createRemoteGuiTab();
RemoteGui_startRunningTask();
- waitForMemory(true);
+ waitForMemory();
ARMARX_CHECK_NOT_NULL(memory);
+ setMemory(memory);
providerID = addProviderSegment();
entityID = providerID.withEntityName("example_entity");
@@ -229,6 +234,27 @@ namespace armarx
}
+ void ArMemExampleClient::waitForMemory()
+ {
+ ARMARX_IMPORTANT << "Waiting for memory '" << memoryName << "'.";
+ armem::Time start = armem::Time::now();
+
+ armem::data::WaitForMemoryResult result = ClientPluginUserBase::waitForMemory(memoryName);
+
+ if (result.success && result.proxy)
+ {
+ memory = result.proxy;
+ usingProxy(memory->ice_getIdentity().name);
+
+ ARMARX_IMPORTANT << "Got memory '" << memoryName << "'"
+ << " (took " << armem::toStringMilliSeconds(armem::Time::now() - start) << ").";
+ }
+ else
+ {
+ ARMARX_ERROR << result.errorMessage;
+ }
+ }
+
armem::MemoryID ArMemExampleClient::addProviderSegment()
{
armem::data::AddSegmentInput input;
diff --git a/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.h b/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.h
index 0773a1f38..e216352dd 100644
--- a/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.h
+++ b/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.h
@@ -106,6 +106,7 @@ namespace armarx
void example_entityUpdated(const armem::MemoryID& id);
// Examples
+ void waitForMemory();
armem::MemoryID addProviderSegment();
armem::MemoryID commitSingleSnapshot(const armem::MemoryID& entityID);
@@ -122,6 +123,9 @@ namespace armarx
armarx::DebugObserverInterfacePrx debugObserver;
+ std::string memoryName = "Example";
+ armem::server::MemoryInterfacePrx memory;
+
struct RemoteGuiTab : RemoteGui::Client::Tab
{
std::atomic_bool rebuild = false;
diff --git a/source/RobotAPI/components/armem/ArMemExampleMemory/ArMemExampleMemory.cpp b/source/RobotAPI/components/armem/ArMemExampleMemory/ArMemExampleMemory.cpp
index 5da8c8a86..e7e53e191 100644
--- a/source/RobotAPI/components/armem/ArMemExampleMemory/ArMemExampleMemory.cpp
+++ b/source/RobotAPI/components/armem/ArMemExampleMemory/ArMemExampleMemory.cpp
@@ -39,19 +39,20 @@ namespace armarx
{
}
- ArMemExampleMemory::ArMemExampleMemory()
- {
- memoryName = "Example";
- addCoreSegmentOnUsage = false;
- defaultCoreSegments = {"ExampleData", "ExampleModality", "ExampleConcept"};
- defaultCoreSegmentTypes = {armem::aron::example::ExampleData::toInitialAronType()};
- }
-
armarx::PropertyDefinitionsPtr ArMemExampleMemory::createPropertyDefinitions()
{
armarx::PropertyDefinitionsPtr defs = new ArMemExampleMemoryPropertyDefinitions(getConfigIdentifier());
defs->topic(debugObserver);
+
+ p.memoryName = "Example";
+ defs->optional(p.memoryName, "memory.Name", "Name of this memory.");
+
+ p.core._defaultSegmentsStr = simox::alg::join(p.core.defaultCoreSegments, ", ");
+ defs->optional(p.core._defaultSegmentsStr, "core.DefaultSegments", "Core segments to add on start up.");
+ defs->optional(p.core.addOnUsage, "core.AddOnUsage",
+ "If enabled, core segments are added when required by a new provider segment.");
+
return defs;
}
@@ -65,6 +66,14 @@ namespace armarx
void ArMemExampleMemory::onInitComponent()
{
+ memory.name() = p.memoryName;
+
+ bool trim = true;
+ p.core.defaultCoreSegments = simox::alg::split(p.core._defaultSegmentsStr, ",", trim);
+ p.core._defaultSegmentsStr.clear();
+ memory.addCoreSegments(p.core.defaultCoreSegments);
+
+ memory.addCoreSegment("ExampleData", armem::aron::example::ExampleData::toInitialAronType());
}
@@ -87,9 +96,10 @@ namespace armarx
// WRITING
+
armem::data::AddSegmentsResult ArMemExampleMemory::addSegments(const armem::data::AddSegmentsInput& input, const Ice::Current&)
{
- armem::data::AddSegmentsResult result = ComponentPluginUser::addSegments(input);
+ armem::data::AddSegmentsResult result = ComponentPluginUser::addSegments(input, p.core.addOnUsage);
tab.rebuild = true;
return result;
}
diff --git a/source/RobotAPI/components/armem/ArMemExampleMemory/ArMemExampleMemory.h b/source/RobotAPI/components/armem/ArMemExampleMemory/ArMemExampleMemory.h
index 6241569ac..b983f68a3 100644
--- a/source/RobotAPI/components/armem/ArMemExampleMemory/ArMemExampleMemory.h
+++ b/source/RobotAPI/components/armem/ArMemExampleMemory/ArMemExampleMemory.h
@@ -65,16 +65,17 @@ namespace armarx
// , virtual public armarx::ArVizComponentPluginUser
{
public:
- ArMemExampleMemory();
/// @see armarx::ManagedIceObject::getDefaultName()
std::string getDefaultName() const override;
+
// WritingInterface interface
public:
armem::data::AddSegmentsResult addSegments(const armem::data::AddSegmentsInput& input, const Ice::Current&) override;
armem::data::CommitResult commit(const armem::data::Commit& commit, const Ice::Current&) override;
+
// LightweightRemoteGuiComponentPluginUser interface
public:
void RemoteGui__createTab();
@@ -82,6 +83,7 @@ namespace armarx
protected:
+
/// @see armarx::ManagedIceObject::onInitComponent()
void onInitComponent() override;
@@ -99,9 +101,26 @@ namespace armarx
private:
+
/// Debug observer. Used to visualize e.g. time series.
armarx::DebugObserverInterfacePrx debugObserver;
+ struct Properties
+ {
+ std::string memoryName;
+
+ struct CoreSegments
+ {
+ std::vector<std::string> defaultCoreSegments = { "ExampleModality", "ExampleConcept" };
+ std::string _defaultSegmentsStr;
+ bool addOnUsage = false;
+ };
+
+ CoreSegments core;
+ };
+ Properties p;
+
+
struct RemoteGuiTab : RemoteGui::Client::Tab
{
std::atomic_bool rebuild = false;
diff --git a/source/RobotAPI/libraries/armem/client/ComponentPlugin.cpp b/source/RobotAPI/libraries/armem/client/ComponentPlugin.cpp
index 7dd9c5eb3..16fd77624 100644
--- a/source/RobotAPI/libraries/armem/client/ComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/armem/client/ComponentPlugin.cpp
@@ -7,25 +7,10 @@
// RobotAPI
#include <RobotAPI/libraries/armem/core/error.h>
-namespace armarx::armem::client::plugins
-{
-
- ComponentPlugin::~ComponentPlugin()
- {}
-
-
- void ComponentPlugin::postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties)
- {
- ClientPlugin::postCreatePropertyDefinitions(properties);
-
- std::string& defaultMemoryName = parent<ComponentPluginUser>().memoryNameToUse;
- properties->optional(defaultMemoryName, "memory.Name", "Name of the memory you want to use.");
- }
-}
armarx::armem::client::ComponentPluginUser::ComponentPluginUser()
{
- addPlugin(plugin);
+ // pass
}
@@ -38,69 +23,6 @@ armarx::armem::client::ComponentPluginUser::~ComponentPluginUser()
void
armarx::armem::client::ComponentPluginUser::setMemory(server::MemoryInterfacePrx memory)
{
- this->memory = memory;
setReadingMemory(memory);
setWritingMemory(memory);
}
-
-void
-armarx::armem::client::ComponentPluginUser::setMemoryNameSystem(mns::MemoryNameSystemInterfacePrx mns)
-{
- memoryNameSystem = mns;
-}
-
-void
-armarx::armem::client::ComponentPluginUser::waitForMemory(bool logging)
-{
- if (logging)
- {
- ARMARX_INFO << "Waiting for memory '" << memoryNameToUse << "'.";
- }
- armem::Time start = armem::Time::now();
-
- armem::data::WaitForMemoryResult result = ClientPluginUserBase::waitForMemory(memoryNameToUse);
-
- if (result.success && result.proxy)
- {
- memory = result.proxy;
- usingProxy(memory->ice_getIdentity().name);
-
- setMemory(memory);
- if (logging)
- {
- ARMARX_INFO << "Got memory '" << memoryNameToUse << "'" << " (took " << armem::toStringMilliSeconds(armem::Time::now() - start) << ").";
- }
- }
- else
- {
- ARMARX_ERROR << result.errorMessage;
- }
-}
-
-void
-armarx::armem::client::ComponentPluginUser::resolveMemory(bool logging)
-{
- if (logging)
- {
- ARMARX_INFO << "Trying to get memory '" << memoryNameToUse << "'.";
- }
- armem::data::ResolveMemoryNameResult result = ClientPluginUserBase::resolveMemoryName(memoryNameToUse);
-
- if (result.success && result.proxy)
- {
- memory = result.proxy;
- usingProxy(memory->ice_getIdentity().name);
-
- if (logging)
- {
- ARMARX_INFO << "Got memory '" << memoryNameToUse << "'.";
- }
- }
- else
- {
- if (logging)
- {
- ARMARX_WARNING << result.errorMessage;
- }
- }
-}
diff --git a/source/RobotAPI/libraries/armem/client/ComponentPlugin.h b/source/RobotAPI/libraries/armem/client/ComponentPlugin.h
index 4fcdb5358..5a25d79e6 100644
--- a/source/RobotAPI/libraries/armem/client/ComponentPlugin.h
+++ b/source/RobotAPI/libraries/armem/client/ComponentPlugin.h
@@ -9,30 +9,11 @@
#include <RobotAPI/libraries/armem/client/ReaderComponentPlugin.h>
#include <RobotAPI/libraries/armem/client/WriterComponentPlugin.h>
-namespace armarx::armem::client
-{
- class ComponentPluginUser;
-}
-
-namespace armarx::armem::client::plugins
-{
-
- class ComponentPlugin : public mns::plugins::ClientPlugin
- {
- public:
-
- using ClientPlugin::ClientPlugin;
- virtual ~ComponentPlugin() override;
- void postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties) override;
-
- private:
- };
-
-}
namespace armarx::armem::client
{
+
/**
* @brief Utility for connecting a Client via Ice to ArMem.
*/
@@ -48,17 +29,6 @@ namespace armarx::armem::client
protected:
void setMemory(server::MemoryInterfacePrx memory);
- void setMemoryNameSystem(mns::MemoryNameSystemInterfacePrx mns);
-
- void waitForMemory(bool logging = false);
- void resolveMemory(bool logging = false);
-
- public:
- armem::server::MemoryInterfacePrx memory;
- std::string memoryNameToUse = "ExampleMemory";
-
- private:
- plugins::ComponentPlugin* plugin = nullptr;
};
}
diff --git a/source/RobotAPI/libraries/armem/client/Writer.cpp b/source/RobotAPI/libraries/armem/client/Writer.cpp
index 8722e05d8..015d0773a 100644
--- a/source/RobotAPI/libraries/armem/client/Writer.cpp
+++ b/source/RobotAPI/libraries/armem/client/Writer.cpp
@@ -12,120 +12,36 @@ namespace armarx::armem::client
{
}
- data::AddSegmentResult Writer::addSegment(const std::string& coreSegmentName, const std::string& providerSegmentName, bool logging)
+ data::AddSegmentResult Writer::addSegment(const std::string& coreSegmentName, const std::string& providerSegmentName)
{
data::AddSegmentInput input;
input.coreSegmentName = coreSegmentName;
input.providerSegmentName = providerSegmentName;
- return addSegment(input, logging);
+ return addSegment(input);
}
- data::AddSegmentResult Writer::addSegment(const std::pair<std::string, std::string>& names, bool logging)
+ data::AddSegmentResult Writer::addSegment(const std::pair<std::string, std::string>& names)
{
- return addSegment(names.first, names.second, logging);
+ return addSegment(names.first, names.second);
}
- data::AddSegmentResult Writer::addSegment(const data::AddSegmentInput& input, bool logging)
+ data::AddSegmentResult Writer::addSegment(const data::AddSegmentInput& input)
{
- data::AddSegmentsResult results = addSegments({input}, logging);
+ data::AddSegmentsResult results = addSegments({input});
ARMARX_CHECK_EQUAL(results.size(), 1);
return results.at(0);
}
- data::AddSegmentsResult Writer::addSegments(const data::AddSegmentsInput& inputs, bool logging)
+ data::AddSegmentsResult Writer::addSegments(const data::AddSegmentsInput& inputs)
{
ARMARX_CHECK_NOT_NULL(memory);
-
- if (logging)
- {
- std::stringstream ss;
- ss << "Adding segments: ";
- for (const auto& input : inputs)
- {
- ss << "\n- core segment: \t'" << input.coreSegmentName << "'";
- ss << "\n- provider segment: \t'" << input.providerSegmentName << "'";
- ss << "\n----------------------";
- }
- ARMARX_IMPORTANT << ss.str();
- }
-
data::AddSegmentsResult results = memory->addSegments(inputs);
ARMARX_CHECK_EQUAL(results.size(), inputs.size());
-
- if (logging)
- {
- std::stringstream ss;
- ss << "Output: ";
- for (const auto& result : results)
- {
- ss << "\n- success: \t" << result.success;
- ss << "\n- segmentID: \t" << result.segmentID;
- ss << "\n- errorMessage: \t" << result.errorMessage;
- ss << "\n------------------";
- }
- ARMARX_INFO << ss.str();
- }
-
return results;
}
- std::pair<bool, data::AddSegmentResult> Writer::addSegmentIfPossible(const std::string& coreSegmentName, const std::string& providerSegmentName, bool logging)
- {
- if (memory)
- {
- return {true, addSegment(coreSegmentName, providerSegmentName)};
- }
-
- if (logging)
- {
- ARMARX_WARNING << "The memory was not available. Returning empty result!";
- }
- return {false, {}};
- }
-
- std::pair<bool, data::AddSegmentResult> Writer::addSegmentIfPossible(const std::pair<std::string, std::string>& names, bool logging)
- {
- if (memory)
- {
- return {true, addSegment(names)};
- }
-
- if (logging)
- {
- ARMARX_WARNING << "The memory was not available. Returning empty result!";
- }
- return {false, {}};
- }
-
- std::pair<bool, data::AddSegmentResult> Writer::addSegmentIfPossible(const data::AddSegmentInput& input, bool logging)
- {
- if (memory)
- {
- return {true, addSegment(input)};
- }
-
- if (logging)
- {
- ARMARX_WARNING << "The memory was not available. Returning empty result!";
- }
- return {false, {}};
- }
-
- std::pair<bool, data::AddSegmentsResult> Writer::addSegmentsIfPossible(const data::AddSegmentsInput& inputs, bool logging)
- {
- if (memory)
- {
- return {true, addSegments(inputs)};
- }
-
- if (logging)
- {
- ARMARX_WARNING << "The memory was not available. Returning empty result!";
- }
- return {false, {}};
- }
- CommitResult Writer::commit(const Commit& _commit, bool logging)
+ CommitResult Writer::commit(const Commit& _commit)
{
ARMARX_CHECK_NOT_NULL(memory);
Commit commit = _commit;
@@ -136,22 +52,6 @@ namespace armarx::armem::client
update.timeSent = timeSent;
}
- if (logging)
- {
- std::stringstream ss;
- ss << "Committing: ";
- unsigned int i = 0;
- for (const auto& update : commit.updates)
- {
- ss << "\n- [" << i++ << "]:";
- ss << "\n-- entityID: \t'" << update.entityID << "'";
- ss << "\n-- confidence: \t" << update.confidence;
- ss << "\n-- dataSize: \t" << update.instancesData.size();
- ss << "\n------------------";
- }
- ARMARX_INFO << ss.str();
- }
-
data::Commit commitIce;
toIce(commitIce, commit);
@@ -160,21 +60,6 @@ namespace armarx::armem::client
armem::CommitResult result;
fromIce(resultIce, result);
- if (logging)
- {
- std::stringstream ss;
- ss << "CommitResult: ";
- unsigned int i = 0;
- for (const auto& res : result.results)
- {
- ss << "\n- [" << i++ << "]:";
- ss << "\n-- success: \t'" << res.success << "'";
- ss << "\n-- snapshotID: \t" << res.snapshotID;
- ss << "\n------------------";
- }
- ARMARX_INFO << ss.str();
- }
-
return result;
}
@@ -215,53 +100,26 @@ namespace armarx::armem::client
return result;
}
- EntityUpdateResult Writer::commit(const EntityUpdate& update, bool logging)
+
+ EntityUpdateResult Writer::commit(const EntityUpdate& update)
{
armem::Commit commit;
commit.updates.push_back(update);
- armem::CommitResult result = this->commit(commit, logging);
+ armem::CommitResult result = this->commit(commit);
ARMARX_CHECK_EQUAL(result.results.size(), 1);
return result.results.at(0);
}
- std::pair<bool, CommitResult> Writer::commitIfPossible(const Commit& c, bool logging)
- {
- if (memory)
- {
- return {true, commit(c, logging)};
- }
-
- if (logging)
- {
- ARMARX_WARNING << "The memory was not available. Returning empty result.";
- }
- return {false, {}};
- }
-
- std::pair<bool, EntityUpdateResult> Writer::commitIfPossible(const EntityUpdate& update, bool logging)
- {
- if (memory)
- {
- return {true, commit(update, logging)};
- }
-
- if (logging)
- {
- ARMARX_WARNING << "The memory was not available. Returning empty result.";
- }
- return {false, {}};
- }
-
armarx::armem::MemoryID
- Writer::commitAndGetID(const armem::MemoryID& entityID, const armarx::aron::datanavigator::AronDictDataNavigatorPtr& instance, bool logging)
+ Writer::commit(const armem::MemoryID& entityID, const armarx::aron::datanavigator::AronDictDataNavigatorPtr& instance)
{
std::vector<armarx::aron::datanavigator::AronDictDataNavigatorPtr> data({instance});
- return commitAndGetIDs(entityID, data, logging)[0];
+ return commit(entityID, data)[0];
}
std::vector<armarx::armem::MemoryID>
- Writer::commitAndGetIDs(const armem::MemoryID& entityID, const std::vector<armarx::aron::datanavigator::AronDictDataNavigatorPtr>& data, bool logging)
+ Writer::commit(const armem::MemoryID& entityID, const std::vector<armarx::aron::datanavigator::AronDictDataNavigatorPtr>& data)
{
armem::Commit c;
armem::EntityUpdate& update = c.updates.emplace_back();
@@ -270,7 +128,7 @@ namespace armarx::armem::client
update.timeCreated = armem::Time::now();
update.instancesData = data;
- armem::CommitResult commitResult = commit(c, logging);
+ armem::CommitResult commitResult = commit(c);
std::vector<armarx::armem::MemoryID> ret;
for (const auto& res : commitResult.results)
@@ -282,35 +140,6 @@ namespace armarx::armem::client
return ret;
}
- std::pair<bool, armem::MemoryID>
- Writer::commitIfPossibleAndGetID(const armem::MemoryID& entityID, const armarx::aron::datanavigator::AronDictDataNavigatorPtr& instance, bool logging)
- {
- if (memory)
- {
- return {true, commitAndGetID(entityID, instance, logging)};
- }
-
- if (logging)
- {
- ARMARX_WARNING << "The memory was not available. Returning empty result.";
- }
- return {false, {}};
- }
-
- std::pair<bool, std::vector<armarx::armem::MemoryID>>
- Writer::commitIfPossibleAndGetIDs(const armem::MemoryID& entityID, const std::vector<armarx::aron::datanavigator::AronDictDataNavigatorPtr>& data, bool logging)
- {
- if (memory)
- {
- return {true, commitAndGetIDs(entityID, data, logging)};
- }
-
- if (logging)
- {
- ARMARX_WARNING << "The memory was not available. Returning empty result.";
- }
- return {false, {}};
- }
void
Writer::setWritingMemory(server::WritingMemoryInterfacePrx memory)
diff --git a/source/RobotAPI/libraries/armem/client/Writer.h b/source/RobotAPI/libraries/armem/client/Writer.h
index 759ada69e..6f8fbe876 100644
--- a/source/RobotAPI/libraries/armem/client/Writer.h
+++ b/source/RobotAPI/libraries/armem/client/Writer.h
@@ -1,14 +1,9 @@
#pragma once
-// STD/STL
-#include <utility>
-
-// MemoryInterface
#include <RobotAPI/interface/armem/server/WritingMemoryInterface.h>
+
#include <RobotAPI/libraries/armem/core/ice_conversions.h>
-// Logging
-#include <ArmarXCore/core/logging/Logging.h>
namespace armarx::armem::client
{
@@ -27,31 +22,20 @@ namespace armarx::armem::client
Writer(server::WritingMemoryInterfacePrx memory = nullptr);
- data::AddSegmentResult addSegment(const std::string& coreSegmentName, const std::string& providerSegmentName, bool logging = false);
- data::AddSegmentResult addSegment(const std::pair<std::string, std::string>& names, bool logging = false);
- data::AddSegmentResult addSegment(const data::AddSegmentInput& input, bool logging = false);
- data::AddSegmentsResult addSegments(const data::AddSegmentsInput& input, bool logging = false);
-
- // first bool indicates whether memory was available. Success can be obtained by second.success
- std::pair<bool, data::AddSegmentResult> addSegmentIfPossible(const std::string& coreSegmentName, const std::string& providerSegmentName, bool logging = false);
- std::pair<bool, data::AddSegmentResult> addSegmentIfPossible(const std::pair<std::string, std::string>& names, bool logging = false);
- std::pair<bool, data::AddSegmentResult> addSegmentIfPossible(const data::AddSegmentInput& input, bool logging = false);
- std::pair<bool, data::AddSegmentsResult> addSegmentsIfPossible(const data::AddSegmentsInput& input, bool logging = false);
+ data::AddSegmentResult addSegment(const std::string& coreSegmentName, const std::string& providerSegmentName);
+ data::AddSegmentResult addSegment(const std::pair<std::string, std::string>& names);
+ data::AddSegmentResult addSegment(const data::AddSegmentInput& input);
+ data::AddSegmentsResult addSegments(const data::AddSegmentsInput& input);
/**
* @brief Writes a `Commit` to the memory.
*/
- CommitResult commit(const Commit& commit, bool logging = false);
- EntityUpdateResult commit(const EntityUpdate& update, bool logging = false);
-
- std::pair<bool, CommitResult> commitIfPossible(const Commit& commit, bool logging = false);
- std::pair<bool, EntityUpdateResult> commitIfPossible(const EntityUpdate& update, bool logging = false);
+ CommitResult commit(const Commit& commit);
+ EntityUpdateResult commit(const EntityUpdate& update);
- armem::MemoryID commitAndGetID(const armem::MemoryID& entityID, const armarx::aron::datanavigator::AronDictDataNavigatorPtr& instance, bool logging = false);
- std::vector<armarx::armem::MemoryID> commitAndGetIDs(const armem::MemoryID& entityID, const std::vector<armarx::aron::datanavigator::AronDictDataNavigatorPtr>& data, bool logging = false);
+ armem::MemoryID commit(const armem::MemoryID& entityID, const armarx::aron::datanavigator::AronDictDataNavigatorPtr& instance);
+ std::vector<armarx::armem::MemoryID> commit(const armem::MemoryID& entityID, const std::vector<armarx::aron::datanavigator::AronDictDataNavigatorPtr>& data);
- std::pair<bool, armem::MemoryID> commitIfPossibleAndGetID(const armem::MemoryID& entityID, const armarx::aron::datanavigator::AronDictDataNavigatorPtr& instance, bool logging = false);
- std::pair<bool, std::vector<armarx::armem::MemoryID>> commitIfPossibleAndGetIDs(const armem::MemoryID& entityID, const std::vector<armarx::aron::datanavigator::AronDictDataNavigatorPtr>& data, bool logging = false);
void setWritingMemory(server::WritingMemoryInterfacePrx memory);
diff --git a/source/RobotAPI/libraries/armem/server/ComponentPlugin.cpp b/source/RobotAPI/libraries/armem/server/ComponentPlugin.cpp
index 8be567ea3..0d35fd334 100644
--- a/source/RobotAPI/libraries/armem/server/ComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/armem/server/ComponentPlugin.cpp
@@ -17,48 +17,12 @@ namespace armarx::armem::server::plugins
void ComponentPlugin::postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties)
{
ClientPlugin::postCreatePropertyDefinitions(properties);
-
- std::string& defaultMemoryName = parent<ComponentPluginUser>().memoryName;
- bool& defaultAddOnUsage = parent<ComponentPluginUser>().addCoreSegmentOnUsage;
-
properties->topic(memoryListener, "MemoryUpdates");
-
- properties->optional(defaultMemoryName, "memory.Name", "Name of this memory.");
-
- _defaultSegmentsStr = simox::alg::join(parent<ComponentPluginUser>().defaultCoreSegments, ", ");
- properties->optional(_defaultSegmentsStr, "core.DefaultSegments", "Core segments to add on start up.");
- properties->optional(defaultAddOnUsage, "core.AddOnUsage", "If enabled, core segments are added when required by a new provider segment.");
- }
-
-
- void ComponentPlugin::postOnInitComponent()
- {
- Memory& memory = parent<ComponentPluginUser>().memory;
- memory.name() = parent<ComponentPluginUser>().memoryName;
-
- std::vector<std::string>& defaultCoreSegments = parent<ComponentPluginUser>().defaultCoreSegments;
- defaultCoreSegments = simox::alg::split(_defaultSegmentsStr, ",", true);
- _defaultSegmentsStr.clear();
-
- std::vector<armarx::aron::typenavigator::AronObjectTypeNavigatorPtr>& defaultCoreSegmentTypes = parent<ComponentPluginUser>().defaultCoreSegmentTypes;
-
- for (unsigned int i = 0; i < defaultCoreSegments.size(); ++i)
- {
- if (i < defaultCoreSegmentTypes.size() && defaultCoreSegmentTypes[i])
- {
- memory.addCoreSegment(defaultCoreSegments[i], defaultCoreSegmentTypes[i]);
- }
- else
- {
- memory.addCoreSegment(defaultCoreSegments[i]);
- }
- }
}
void ComponentPlugin::postOnConnectComponent()
{
- // Require memory name system is set!
ComponentPluginUser& parent = this->parent<ComponentPluginUser>();
if (isMemoryNameSystemEnabled() && parent.memoryNameSystem)
{
@@ -87,7 +51,7 @@ namespace armarx::armem::server::plugins
data::RegisterMemoryResult result = parent.memoryNameSystem->registerMemory(input);
if (result.success)
{
- ARMARX_INFO << "Registered memory '" << input.name << "' in the Memory Name System (MNS).";
+ ARMARX_DEBUG << "Registered memory '" << input.name << "' in the Memory Name System (MNS).";
}
else
{
@@ -108,7 +72,7 @@ namespace armarx::armem::server::plugins
result = parent.memoryNameSystem->removeMemory(input);
if (result.success)
{
- ARMARX_INFO << "Removed memory '" << input.name << "' from the Memory Name System (MNS).";
+ ARMARX_DEBUG << "Removed memory '" << input.name << "' from the Memory Name System (MNS).";
}
else
{
@@ -140,9 +104,15 @@ namespace armarx::armem::server
// WRITING
data::AddSegmentsResult ComponentPluginUser::addSegments(const data::AddSegmentsInput& input, const Ice::Current&)
+ {
+ bool addCoreSegmentOnUsage = false;
+ return addSegments(input, addCoreSegmentOnUsage);
+ }
+
+ data::AddSegmentsResult ComponentPluginUser::addSegments(const data::AddSegmentsInput& input, bool addCoreSegments)
{
std::scoped_lock lock(memoryMutex);
- data::AddSegmentsResult result = iceMemory.addSegments(input, addCoreSegmentOnUsage);
+ data::AddSegmentsResult result = iceMemory.addSegments(input, addCoreSegments);
return result;
}
diff --git a/source/RobotAPI/libraries/armem/server/ComponentPlugin.h b/source/RobotAPI/libraries/armem/server/ComponentPlugin.h
index 2efd5baf6..4ad1d4622 100644
--- a/source/RobotAPI/libraries/armem/server/ComponentPlugin.h
+++ b/source/RobotAPI/libraries/armem/server/ComponentPlugin.h
@@ -18,6 +18,7 @@ namespace armarx::armem::server
class ComponentPluginUser;
}
+
namespace armarx::armem::server::plugins
{
@@ -30,16 +31,15 @@ namespace armarx::armem::server::plugins
void postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties) override;
- void postOnInitComponent() override;
void postOnConnectComponent() override;
void preOnDisconnectComponent() override;
+
/**
* @brief Register the parent component in the MNS.
* Called before onConnect() if MNS is enabled.
*/
data::RegisterMemoryResult registerMemory(ComponentPluginUser& parent);
-
/**
* @brief Remove the parent component from the MNS.
* Called before onDisconnect() if MNS is enabled.
@@ -47,12 +47,11 @@ namespace armarx::armem::server::plugins
data::RemoveMemoryResult removeMemory(ComponentPluginUser& parent);
client::MemoryListenerInterfacePrx memoryListener;
-
- private:
- std::string _defaultSegmentsStr;
};
+
}
+
namespace armarx::armem::server
{
@@ -60,17 +59,20 @@ namespace armarx::armem::server
* @brief Base class of memory server components.
*/
class ComponentPluginUser :
- virtual public ManagedIceObject,
- virtual public MemoryInterface,
- virtual public mns::plugins::ClientPluginUserBase
+ virtual public ManagedIceObject
+ , virtual public MemoryInterface
+ , virtual public mns::plugins::ClientPluginUserBase
{
public:
ComponentPluginUser();
virtual ~ComponentPluginUser() override = default;
+
// WritingInterface interface
virtual data::AddSegmentsResult addSegments(const data::AddSegmentsInput& input, const Ice::Current& = Ice::emptyCurrent) override;
+ data::AddSegmentsResult addSegments(const data::AddSegmentsInput& input, bool addCoreSegments);
+
virtual data::CommitResult commit(const data::Commit& commit, const Ice::Current& = Ice::emptyCurrent) override;
@@ -87,17 +89,12 @@ namespace armarx::armem::server
/// Helps connecting `memory` to ice. Used to handle Ice callbacks.
MemoryToIceAdapter iceMemory { &memory };
- /// Members for properties
- std::string memoryName;
- bool addCoreSegmentOnUsage = false;
-
- std::vector<std::string> defaultCoreSegments = { };
- std::vector<armarx::aron::typenavigator::AronObjectTypeNavigatorPtr> defaultCoreSegmentTypes = { };
private:
plugins::ComponentPlugin* plugin = nullptr;
+
};
--
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