diff --git a/source/RobotAPI/interface/CMakeLists.txt b/source/RobotAPI/interface/CMakeLists.txt
index 1559da7cf37bda5009d1c83a25327cb12b8aef81..5d9d3c04b278f8032125f98cf82d63aaa8253155 100644
--- a/source/RobotAPI/interface/CMakeLists.txt
+++ b/source/RobotAPI/interface/CMakeLists.txt
@@ -112,7 +112,7 @@ set(SLICE_FILES
armem.ice
armem/actions.ice
- armem/io.ice
+ armem/structure.ice
armem/commit.ice
armem/memory.ice
armem/prediction.ice
diff --git a/source/RobotAPI/interface/armem/io.ice b/source/RobotAPI/interface/armem/io.ice
deleted file mode 100644
index e99472e9234f7109557270be746c7bcd1cbf5b08..0000000000000000000000000000000000000000
--- a/source/RobotAPI/interface/armem/io.ice
+++ /dev/null
@@ -1,13 +0,0 @@
-#pragma once
-
-#include <ArmarXCore/interface/core/PackagePath.ice>
-#include <RobotAPI/interface/armem/memory.ice>
-#include <RobotAPI/interface/armem/query.ice>
-
-module armarx
-{
- module armem
- {
-
- };
-};
diff --git a/source/RobotAPI/interface/armem/query.ice b/source/RobotAPI/interface/armem/query.ice
index f5555e4f306bf3e73ab3e47719f89a2ddb87268d..c672e42ddf7b5444b37b4a78a7f813f67054f82a 100644
--- a/source/RobotAPI/interface/armem/query.ice
+++ b/source/RobotAPI/interface/armem/query.ice
@@ -11,17 +11,18 @@ module armarx
{
module data
{
- enum QueryTarget
+ module QueryTarget
{
- WM,
- LTM
- };
- sequence<QueryTarget> QueryTargets;
+ enum QueryTargetEnum
+ {
+ WM,
+ WM_LTM
+ };
+ }
/// Which entity snapshots to get from an entity?
class EntityQuery
{
- QueryTargets targets;
};
sequence<EntityQuery> EntityQuerySeq;
@@ -115,7 +116,6 @@ module armarx
class ProviderSegmentQuery
{
EntityQuerySeq entityQueries;
- QueryTargets targets;
};
sequence<ProviderSegmentQuery> ProviderSegmentQuerySeq;
module provider
@@ -138,7 +138,6 @@ module armarx
class CoreSegmentQuery
{
ProviderSegmentQuerySeq providerSegmentQueries;
- QueryTargets targets;
};
sequence<CoreSegmentQuery> CoreSegmentQuerySeq;
@@ -162,7 +161,7 @@ module armarx
class MemoryQuery
{
CoreSegmentQuerySeq coreSegmentQueries;
- QueryTargets targets;
+ QueryTarget::QueryTargetEnum target = QueryTarget::QueryTargetEnum::WM;
};
sequence<MemoryQuery> MemoryQuerySeq;
dictionary<string, MemoryQuerySeq> MemoryQueriesDict;
diff --git a/source/RobotAPI/interface/armem/server/ReadingMemoryInterface.ice b/source/RobotAPI/interface/armem/server/ReadingMemoryInterface.ice
index d8eed09f31c68fc6699f865ffa0a5dd6da51f226..8a0d185d6092ada17170d652850633d52a5eb89d 100644
--- a/source/RobotAPI/interface/armem/server/ReadingMemoryInterface.ice
+++ b/source/RobotAPI/interface/armem/server/ReadingMemoryInterface.ice
@@ -1,6 +1,7 @@
#pragma once
#include <RobotAPI/interface/armem/query.ice>
+#include <RobotAPI/interface/armem/structure.ice>
module armarx
@@ -9,9 +10,16 @@ module armarx
{
module server
{
+ module dto
+ {
+
+ }
+
interface ReadingMemoryInterface
{
armem::query::data::Result query(armem::query::data::Input input);
+
+ armem::structure::data::GetServerStructureResult getServerStructure();
};
};
};
diff --git a/source/RobotAPI/interface/armem/server/RecordingMemoryInterface.ice b/source/RobotAPI/interface/armem/server/RecordingMemoryInterface.ice
index b52fe01a0a0efc070ea8db895c43c38c40435124..1da45e9db1429cb4319b0c477c8ef16ec6fb3024 100644
--- a/source/RobotAPI/interface/armem/server/RecordingMemoryInterface.ice
+++ b/source/RobotAPI/interface/armem/server/RecordingMemoryInterface.ice
@@ -1,7 +1,6 @@
#pragma once
-#include <RobotAPI/interface/armem/io.ice>
-
+#include <RobotAPI/interface/armem/memory.ice>
module armarx
{
@@ -69,12 +68,6 @@ module armarx
string recordingID; //recordingID is formatted: timestamp_recordingName
Configuration configuration;
};
-
- struct GetServerStructureResult {
- bool success;
- string errorMessage;
- armarx::armem::data::Memory serverStructure; //structure of the Server without data (all Segments...)
- };
}
interface RecordingMemoryInterface
@@ -86,7 +79,6 @@ module armarx
dto::StartRecordResult startRecord(dto::StartRecordInput startRecordInput);
dto::StopRecordResult stopRecord();
dto::RecordStatusResult getRecordStatus();
- dto::GetServerStructureResult getServerStructure();
};
};
};
diff --git a/source/RobotAPI/interface/armem/server/ReplayingMemoryInterface.ice b/source/RobotAPI/interface/armem/server/ReplayingMemoryInterface.ice
index d881a0dc61b0577bcf3dd09c14a27250e15b947c..d0825d8385f07e35ba7aca6ac0c95a5a1a43a767 100644
--- a/source/RobotAPI/interface/armem/server/ReplayingMemoryInterface.ice
+++ b/source/RobotAPI/interface/armem/server/ReplayingMemoryInterface.ice
@@ -1,6 +1,6 @@
#pragma once
-#include <RobotAPI/interface/armem/io.ice>
+#include <RobotAPI/interface/armem/memory.ice>
module armarx
diff --git a/source/RobotAPI/interface/armem/structure.ice b/source/RobotAPI/interface/armem/structure.ice
new file mode 100644
index 0000000000000000000000000000000000000000..2331a9e9be618c4c7c0b24c55fd34340a3f71eab
--- /dev/null
+++ b/source/RobotAPI/interface/armem/structure.ice
@@ -0,0 +1,21 @@
+#pragma once
+
+#include <RobotAPI/interface/armem/memory.ice>
+
+module armarx
+{
+ module armem
+ {
+ module structure
+ {
+ module data
+ {
+ struct GetServerStructureResult {
+ bool success;
+ string errorMessage;
+ armarx::armem::data::Memory serverStructure; //structure of the Server without data (all Segments...)
+ };
+ };
+ };
+ };
+};
diff --git a/source/RobotAPI/libraries/armem/CMakeLists.txt b/source/RobotAPI/libraries/armem/CMakeLists.txt
index a75412cacca8c922714604ac68ff619c7673f4d5..c17efd18644d5b515170b714d263f4b37a194f25 100644
--- a/source/RobotAPI/libraries/armem/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem/CMakeLists.txt
@@ -50,6 +50,8 @@ set(LIB_FILES
core/error/ArMemError.cpp
core/error/mns.cpp
+ core/query/DataMode.cpp
+ core/query/QueryTarget.cpp
client/MemoryNameSystem.cpp
client/Reader.cpp
@@ -83,7 +85,6 @@ set(LIB_HEADERS
core/actions.h
core/Commit.h
core/container_maps.h
- core/DataMode.h
core/MemoryID.h
core/MemoryID_operators.h
core/operations.h
@@ -100,6 +101,10 @@ set(LIB_HEADERS
core/error/ArMemError.h
core/error/mns.h
+ core/query.h
+ core/query/DataMode.h
+ core/query/QueryTarget.h
+
core/base/detail/MemoryItem.h
core/base/detail/MemoryContainerBase.h
core/base/detail/AronTyped.h
diff --git a/source/RobotAPI/libraries/armem/client/Query.cpp b/source/RobotAPI/libraries/armem/client/Query.cpp
index aeb21e97f5420e3394f17f0ff4ec8ceb7a02ae2c..b6a66fb7d7aa6b52a760e057167e2ee0cb2b0800 100644
--- a/source/RobotAPI/libraries/armem/client/Query.cpp
+++ b/source/RobotAPI/libraries/armem/client/Query.cpp
@@ -47,13 +47,13 @@ namespace armarx::armem
void client::toIce(armem::query::data::Input& ice, const QueryInput& input)
{
ice.memoryQueries = input.memoryQueries;
- toIce(ice.withData, (input.dataMode == DataMode::WithData));
+ toIce(ice.withData, (input.dataMode == armem::query::DataMode::WithData));
}
void client::fromIce(const armem::query::data::Input& ice, QueryInput& input)
{
input.memoryQueries = ice.memoryQueries;
- input.dataMode = (ice.withData ? DataMode::WithData : DataMode::NoData);
+ input.dataMode = (ice.withData ? armem::query::DataMode::WithData : armem::query::DataMode::NoData);
}
void client::toIce(armem::query::data::Result& ice, const QueryResult& result)
diff --git a/source/RobotAPI/libraries/armem/client/Query.h b/source/RobotAPI/libraries/armem/client/Query.h
index 56b9caa79b06bf598836a8cb4df5ab492177604a..bee999f073bc57cd53db0b9031cba9feee1cfbb7 100644
--- a/source/RobotAPI/libraries/armem/client/Query.h
+++ b/source/RobotAPI/libraries/armem/client/Query.h
@@ -5,7 +5,8 @@
#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
#include <RobotAPI/libraries/armem/core/SuccessHeader.h>
-#include <RobotAPI/libraries/armem/core/DataMode.h>
+#include <RobotAPI/libraries/armem/core/query/DataMode.h>
+#include <RobotAPI/libraries/armem/core/query/QueryTarget.h>
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
@@ -26,71 +27,7 @@ namespace armarx::armem::client
struct QueryInput
{
armem::query::data::MemoryQuerySeq memoryQueries;
- DataMode dataMode;
-
- void addQueryTargetToAll(const armem::query::data::QueryTarget t)
- {
- for (const auto& memoryQuery : memoryQueries)
- {
- if (std::find(memoryQuery->targets.begin(), memoryQuery->targets.end(), t) == memoryQuery->targets.end())
- {
- memoryQuery->targets.push_back(t);
- }
- for (const auto& coreSegmentQuery : memoryQuery->coreSegmentQueries)
- {
- if (std::find(coreSegmentQuery->targets.begin(), coreSegmentQuery->targets.end(), t) == coreSegmentQuery->targets.end())
- {
- coreSegmentQuery->targets.push_back(t);
- }
- for (const auto& providerSegmentQuery : coreSegmentQuery->providerSegmentQueries)
- {
- if (std::find(providerSegmentQuery->targets.begin(), providerSegmentQuery->targets.end(), t) == providerSegmentQuery->targets.end())
- {
- providerSegmentQuery->targets.push_back(t);
- }
- for (const auto& entityQuery : providerSegmentQuery->entityQueries)
- {
- if (std::find(entityQuery->targets.begin(), entityQuery->targets.end(), t) == entityQuery->targets.end())
- {
- entityQuery->targets.push_back(t);
- }
- }
- }
- }
- }
- }
-
- void replaceQueryTarget(const armem::query::data::QueryTarget search, const armem::query::data::QueryTarget replace)
- {
- for (const auto& memoryQuery : memoryQueries)
- {
- if (auto it = std::find(memoryQuery->targets.begin(), memoryQuery->targets.end(), search); it != memoryQuery->targets.end())
- {
- memoryQuery->targets.push_back(replace);
- }
- for (const auto& coreSegmentQuery : memoryQuery->coreSegmentQueries)
- {
- if (auto it = std::find(coreSegmentQuery->targets.begin(), coreSegmentQuery->targets.end(), search); it != coreSegmentQuery->targets.end())
- {
- coreSegmentQuery->targets.push_back(replace);
- }
- for (const auto& providerSegmentQuery : coreSegmentQuery->providerSegmentQueries)
- {
- if (auto it = std::find(providerSegmentQuery->targets.begin(), providerSegmentQuery->targets.end(), search); it != providerSegmentQuery->targets.end())
- {
- providerSegmentQuery->targets.push_back(replace);
- }
- for (const auto& entityQuery : providerSegmentQuery->entityQueries)
- {
- if (auto it = std::find(entityQuery->targets.begin(), entityQuery->targets.end(), search); it != entityQuery->targets.end())
- {
- entityQuery->targets.push_back(replace);
- }
- }
- }
- }
- }
- }
+ armem::query::DataMode dataMode;
static QueryInput fromIce(const armem::query::data::Input& ice);
armem::query::data::Input toIce() const;
diff --git a/source/RobotAPI/libraries/armem/client/Reader.cpp b/source/RobotAPI/libraries/armem/client/Reader.cpp
index 03178f4e5fe6ee4da2419324a9e6c41aa5e86df0..872f4b7dd317366e5678980583623c4f68e62c3b 100644
--- a/source/RobotAPI/libraries/armem/client/Reader.cpp
+++ b/source/RobotAPI/libraries/armem/client/Reader.cpp
@@ -58,13 +58,13 @@ namespace armarx::armem::client
}
- QueryResult Reader::query(armem::query::data::MemoryQueryPtr query, DataMode dataMode) const
+ QueryResult Reader::query(armem::query::data::MemoryQueryPtr query, armem::query::DataMode dataMode) const
{
return this->query(armem::query::data::MemoryQuerySeq{query}, dataMode);
}
- QueryResult Reader::query(const armem::query::data::MemoryQuerySeq& queries, DataMode dataMode) const
+ QueryResult Reader::query(const armem::query::data::MemoryQuerySeq& queries, armem::query::DataMode dataMode) const
{
QueryInput input;
input.memoryQueries = queries;
@@ -277,7 +277,7 @@ namespace armarx::armem::client
}
- QueryResult Reader::queryMemoryIDs(const std::vector<MemoryID>& ids, DataMode dataMode) const
+ QueryResult Reader::queryMemoryIDs(const std::vector<MemoryID>& ids, armem::query::DataMode dataMode) const
{
using namespace client::query_fns;
@@ -330,7 +330,7 @@ namespace armarx::armem::client
}
- QueryResult Reader::getLatestSnapshotsIn(const MemoryID& id, DataMode dataMode) const
+ QueryResult Reader::getLatestSnapshotsIn(const MemoryID& id, armem::query::DataMode dataMode) const
{
using namespace client::query_fns;
if (!id.isWellDefined())
@@ -357,7 +357,7 @@ namespace armarx::armem::client
}
- std::optional<wm::EntitySnapshot> Reader::getLatestSnapshotIn(const MemoryID& id, DataMode dataMode) const
+ std::optional<wm::EntitySnapshot> Reader::getLatestSnapshotIn(const MemoryID& id, armem::query::DataMode dataMode) const
{
client::QueryResult result = getLatestSnapshotsIn(id, dataMode);
if (result.success)
@@ -385,7 +385,7 @@ namespace armarx::armem::client
}
- QueryResult Reader::getAllLatestSnapshots(DataMode dataMode) const
+ QueryResult Reader::getAllLatestSnapshots(armem::query::DataMode dataMode) const
{
using namespace client::query_fns;
@@ -396,7 +396,7 @@ namespace armarx::armem::client
}
- QueryResult Reader::getAll(DataMode dataMode) const
+ QueryResult Reader::getAll(armem::query::DataMode dataMode) const
{
using namespace client::query_fns;
diff --git a/source/RobotAPI/libraries/armem/client/Reader.h b/source/RobotAPI/libraries/armem/client/Reader.h
index 7358bea176bb46d2a4f9546c19c7c809a5d3e43e..8f78b33ec9db5f54d93e5f341f7b64be538679f8 100644
--- a/source/RobotAPI/libraries/armem/client/Reader.h
+++ b/source/RobotAPI/libraries/armem/client/Reader.h
@@ -40,8 +40,8 @@ namespace armarx::armem::client
QueryResult query(const QueryInput& input) const;
armem::query::data::Result query(const armem::query::data::Input& input) const;
- QueryResult query(armem::query::data::MemoryQueryPtr query, DataMode dataMode = DataMode::WithData) const;
- QueryResult query(const armem::query::data::MemoryQuerySeq& queries, DataMode dataMode = DataMode::WithData) const;
+ QueryResult query(armem::query::data::MemoryQueryPtr query, armem::query::DataMode dataMode = armem::query::DataMode::WithData) const;
+ QueryResult query(const armem::query::data::MemoryQuerySeq& queries, armem::query::DataMode dataMode = armem::query::DataMode::WithData) const;
QueryResult query(const QueryBuilder& queryBuilder) const;
@@ -113,7 +113,7 @@ namespace armarx::armem::client
* @return The query result.
*/
QueryResult
- queryMemoryIDs(const std::vector<MemoryID>& ids, DataMode dataMode = DataMode::WithData) const;
+ queryMemoryIDs(const std::vector<MemoryID>& ids, armem::query::DataMode dataMode = armem::query::DataMode::WithData) const;
/**
@@ -132,7 +132,7 @@ namespace armarx::armem::client
* @return The query result.
*/
QueryResult
- getLatestSnapshotsIn(const MemoryID& id, DataMode dataMode = DataMode::WithData) const;
+ getLatestSnapshotsIn(const MemoryID& id, armem::query::DataMode dataMode = armem::query::DataMode::WithData) const;
/**
* @brief Get the latest snapshot under the given memory ID.
@@ -141,7 +141,7 @@ namespace armarx::armem::client
* @return The latest contained snapshot, if any.
*/
std::optional<wm::EntitySnapshot>
- getLatestSnapshotIn(const MemoryID& id, DataMode dataMode = DataMode::WithData) const;
+ getLatestSnapshotIn(const MemoryID& id, armem::query::DataMode dataMode = armem::query::DataMode::WithData) const;
/**
@@ -150,7 +150,7 @@ namespace armarx::armem::client
* @return The query result.
*/
QueryResult
- getAllLatestSnapshots(DataMode dataMode = DataMode::WithData) const;
+ getAllLatestSnapshots(armem::query::DataMode dataMode = armem::query::DataMode::WithData) const;
/**
@@ -159,7 +159,7 @@ namespace armarx::armem::client
* @return The query result.
*/
QueryResult
- getAll(DataMode dataMode = DataMode::WithData) const;
+ getAll(armem::query::DataMode dataMode = armem::query::DataMode::WithData) const;
server::dto::DirectlyStoreResult directlyStore(const server::dto::DirectlyStoreInput& input) const;
diff --git a/source/RobotAPI/libraries/armem/client/query/Builder.cpp b/source/RobotAPI/libraries/armem/client/query/Builder.cpp
index 2a31828717f34906875bdbb8a17c62719b675331..ff6300d5673b76b0a1cdb9757dbf4f72dce5b152 100644
--- a/source/RobotAPI/libraries/armem/client/query/Builder.cpp
+++ b/source/RobotAPI/libraries/armem/client/query/Builder.cpp
@@ -4,7 +4,7 @@
namespace armarx::armem::client::query
{
- Builder::Builder(DataMode dataMode) : dataMode(dataMode)
+ Builder::Builder(armem::query::DataMode dataMode, armem::query::QueryTarget target) : dataMode(dataMode), queryTarget(target)
{
}
@@ -27,7 +27,7 @@ namespace armarx::armem::client::query
{
for (armem::query::data::MemoryQueryPtr& query : child.buildQueries())
{
- query->targets = _targets;
+ toIce(query->target, queryTarget);
memoryQueries.push_back(query);
}
}
diff --git a/source/RobotAPI/libraries/armem/client/query/Builder.h b/source/RobotAPI/libraries/armem/client/query/Builder.h
index 90d3e211ac9e776f061695420392b765bac1aac2..c4a33bc7a20f6abdc5356e9c65ea93eb2f97dd4e 100644
--- a/source/RobotAPI/libraries/armem/client/query/Builder.h
+++ b/source/RobotAPI/libraries/armem/client/query/Builder.h
@@ -1,8 +1,6 @@
#pragma once
#include <RobotAPI/interface/armem/query.h>
-
-#include <RobotAPI/libraries/armem/core/DataMode.h>
#include <RobotAPI/libraries/armem/client/Query.h>
#include "selectors.h"
@@ -10,7 +8,6 @@
namespace armarx::armem::client::query
{
-
// ToDo: Make a memory selector (but this level is not in ice, yet)
/**
* @brief The query::Builder class provides a fluent-style specification of
@@ -27,7 +24,7 @@ namespace armarx::armem::client::query
{
public:
- Builder(DataMode dataMode = DataMode::WithData);
+ Builder(armem::query::DataMode dataMode = armem::query::DataMode::WithData, armem::query::QueryTarget target = armem::query::QueryTarget::WM);
/// Start specifying core segments.
CoreSegmentSelector& coreSegments();
@@ -71,7 +68,8 @@ namespace armarx::armem::client::query
public:
- DataMode dataMode;
+ armem::query::DataMode dataMode;
+ armem::query::QueryTarget queryTarget;
};
diff --git a/source/RobotAPI/libraries/armem/client/query/detail/NameSelectorOps.h b/source/RobotAPI/libraries/armem/client/query/detail/NameSelectorOps.h
index ee004f1b819769df41615b2bfa0706e68772d5ca..79f501fe4e370185eaae7f7b18b34ec903b8cc85 100644
--- a/source/RobotAPI/libraries/armem/client/query/detail/NameSelectorOps.h
+++ b/source/RobotAPI/libraries/armem/client/query/detail/NameSelectorOps.h
@@ -12,6 +12,7 @@ namespace armarx::armem::client::query::detail
{
public:
+ NameSelectorOps() = default;
virtual ~NameSelectorOps() = default;
diff --git a/source/RobotAPI/libraries/armem/client/query/detail/SelectorOps.h b/source/RobotAPI/libraries/armem/client/query/detail/SelectorOps.h
index aa354b42ff993f2e669b9fada2441a788b938081..95388b1393db0e13023fe18fbcbd905625397f71 100644
--- a/source/RobotAPI/libraries/armem/client/query/detail/SelectorOps.h
+++ b/source/RobotAPI/libraries/armem/client/query/detail/SelectorOps.h
@@ -18,13 +18,9 @@ namespace armarx::armem::client::query::detail
using DerivedT = _DerivedT;
using QueryT = _QueryT;
- ChildSelectorOps() = delete;
+ ChildSelectorOps() = default;
virtual ~ChildSelectorOps() = default;
- ChildSelectorOps(const armem::query::data::QueryTargets& p) :
- _parentTargets(p)
- {}
-
virtual DerivedT& all() = 0;
virtual DerivedT& withID(const MemoryID& id) = 0;
@@ -42,9 +38,6 @@ namespace armarx::armem::client::query::detail
}
}
- protected:
- armem::query::data::QueryTargets _parentTargets;
-
protected:
@@ -93,18 +86,11 @@ namespace armarx::armem::client::query::detail
public:
virtual ~ParentSelectorOps() = default;
- /// QueryTargets for this query
- DerivedT& queryTargets(const armem::query::data::QueryTargets& targets)
- {
- this->_targets = targets;
- return dynamic_cast<DerivedT&>(*this);
- }
-
protected:
ChildT& _addChild()
{
- return _children.emplace_back(_targets);
+ return _children.emplace_back();
}
ChildT& _addChild(const ChildT& child)
{
@@ -121,7 +107,6 @@ namespace armarx::armem::client::query::detail
std::vector<ChildT> _children;
- armem::query::data::QueryTargets _targets = {armem::query::data::QueryTarget::WM}; // if not specified we only query the WM
};
@@ -133,27 +118,15 @@ namespace armarx::armem::client::query::detail
{
public:
- InnerSelectorOps(const armem::query::data::QueryTargets& p) :
- ChildSelectorOps<DerivedT, QueryT>(p)
- {}
+ InnerSelectorOps() = default;
virtual std::vector<QueryT> buildQueries() const
{
- // check own query targets and parent query targets
- for (const auto& target : this->_targets)
- {
- if (std::find(this->_parentTargets.begin(), this->_parentTargets.end(), target) == this->_parentTargets.end())
- {
- // TODO: Error, this makes no sense! or just ignore?
- }
- }
-
std::vector<typename ChildT::QueryT> childQueries;
for (const auto& child : this->_children)
{
for (auto& query : child.buildQueries())
{
- query->targets = this->_targets;
childQueries.push_back(query);
}
}
diff --git a/source/RobotAPI/libraries/armem/client/query/selectors.h b/source/RobotAPI/libraries/armem/client/query/selectors.h
index b9c257dc6dd5ae1ec07fd7850322d8babef829e4..cf67e44e1823d335b6e1f89b657c7bb15c49e418 100644
--- a/source/RobotAPI/libraries/armem/client/query/selectors.h
+++ b/source/RobotAPI/libraries/armem/client/query/selectors.h
@@ -15,9 +15,7 @@ namespace armarx::armem::client::query
{
public:
- SnapshotSelector(const armem::query::data::QueryTargets& p) :
- detail::ChildSelectorOps<SnapshotSelector, armem::query::data::EntityQueryPtr>(p)
- {}
+ SnapshotSelector() = default;
armem::query::data::EntityQuerySeq buildQueries() const;
@@ -48,9 +46,7 @@ namespace armarx::armem::client::query
{
public:
- EntitySelector(const armem::query::data::QueryTargets& p) :
- detail::InnerSelectorOps<EntitySelector, armem::query::data::ProviderSegmentQueryPtr, SnapshotSelector>(p)
- {}
+ EntitySelector() = default;
/// Start specifying entity snapshots.
SnapshotSelector& snapshots();
@@ -87,9 +83,7 @@ namespace armarx::armem::client::query
{
public:
- ProviderSegmentSelector(const armem::query::data::QueryTargets& p) :
- detail::InnerSelectorOps<ProviderSegmentSelector, armem::query::data::CoreSegmentQueryPtr, EntitySelector>(p)
- {}
+ ProviderSegmentSelector() = default;
/// Start specifying entities.
EntitySelector& entities();
@@ -126,9 +120,7 @@ namespace armarx::armem::client::query
{
public:
- CoreSegmentSelector(const armem::query::data::QueryTargets& p) :
- detail::InnerSelectorOps<CoreSegmentSelector, armem::query::data::MemoryQueryPtr, ProviderSegmentSelector>(p)
- {}
+ CoreSegmentSelector() = default;
/// Start specifying provider segments.
ProviderSegmentSelector& providerSegments();
diff --git a/source/RobotAPI/libraries/armem/core.h b/source/RobotAPI/libraries/armem/core.h
index 11abe789b8cd0aef6ab2d9017c96cb1237cc5040..58ef0c64aca0216cabd11b3091841f5ab0f25f6b 100644
--- a/source/RobotAPI/libraries/armem/core.h
+++ b/source/RobotAPI/libraries/armem/core.h
@@ -2,7 +2,7 @@
#include "core/error.h"
#include "core/Commit.h"
-#include "core/DataMode.h"
+#include "core/query.h"
#include "core/MemoryID.h"
#include "core/Time.h"
diff --git a/source/RobotAPI/libraries/armem/core/query.h b/source/RobotAPI/libraries/armem/core/query.h
new file mode 100644
index 0000000000000000000000000000000000000000..975361744ba134477cdd4600b10ba6c4a8bacf62
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/query.h
@@ -0,0 +1,12 @@
+#pragma once
+
+#include "query/DataMode.h"
+#include "query/QueryTarget.h"
+
+
+namespace armarx::armem::query
+{
+
+
+}
+
diff --git a/source/RobotAPI/libraries/armem/core/query/DataMode.cpp b/source/RobotAPI/libraries/armem/core/query/DataMode.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..07877d2dcbf2333e08bf5233146c3f3481d166f2
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/query/DataMode.cpp
@@ -0,0 +1,9 @@
+#include "DataMode.h"
+
+namespace armarx::armem::query
+{
+ DataMode boolToDataMode(bool withData)
+ {
+ return withData ? DataMode::WithData : DataMode::NoData;
+ }
+}
diff --git a/source/RobotAPI/libraries/armem/core/DataMode.h b/source/RobotAPI/libraries/armem/core/query/DataMode.h
similarity index 70%
rename from source/RobotAPI/libraries/armem/core/DataMode.h
rename to source/RobotAPI/libraries/armem/core/query/DataMode.h
index d2e80cac260f417b67c7acc342c7d14d016eff2a..0bcd7be091aeb5766a248400bd0767f8e36f95b7 100644
--- a/source/RobotAPI/libraries/armem/core/DataMode.h
+++ b/source/RobotAPI/libraries/armem/core/query/DataMode.h
@@ -1,7 +1,7 @@
#pragma once
-namespace armarx::armem
+namespace armarx::armem::query
{
enum class DataMode
@@ -10,4 +10,5 @@ namespace armarx::armem
WithData, ///< Get structure and ARON data.
};
+ DataMode boolToDataMode(bool withData);
}
diff --git a/source/RobotAPI/libraries/armem/core/query/QueryTarget.cpp b/source/RobotAPI/libraries/armem/core/query/QueryTarget.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e66a41907a55ff0e91e111cc60a60d157f1e4182
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/query/QueryTarget.cpp
@@ -0,0 +1,21 @@
+#include "QueryTarget.h"
+
+namespace armarx::armem::query
+{
+ void toIce(armem::query::data::QueryTarget::QueryTargetEnum& ice, const QueryTarget bo)
+ {
+ switch(bo)
+ {
+ case QueryTarget::WM: ice = armem::query::data::QueryTarget::WM; break;
+ case QueryTarget::WM_LTM: ice = armem::query::data::QueryTarget::WM_LTM; break;
+ }
+ }
+ void fromIce(const armem::query::data::QueryTarget::QueryTargetEnum ice, QueryTarget& bo)
+ {
+ switch(ice)
+ {
+ case armem::query::data::QueryTarget::WM: bo = QueryTarget::WM; break;
+ case armem::query::data::QueryTarget::WM_LTM: bo = QueryTarget::WM_LTM; break;
+ }
+ }
+}
diff --git a/source/RobotAPI/libraries/armem/core/query/QueryTarget.h b/source/RobotAPI/libraries/armem/core/query/QueryTarget.h
new file mode 100644
index 0000000000000000000000000000000000000000..304157213e22296358b857b225a1421ed44095b1
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/query/QueryTarget.h
@@ -0,0 +1,15 @@
+#pragma once
+
+#include <RobotAPI/interface/armem/query.h>
+
+namespace armarx::armem::query
+{
+
+ enum class QueryTarget
+ {
+ WM,
+ WM_LTM
+ };
+ void toIce(armem::query::data::QueryTarget::QueryTargetEnum& ice, const QueryTarget bo);
+ void fromIce(const armem::query::data::QueryTarget::QueryTargetEnum ice, QueryTarget& bo);
+}
diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
index a4397d037c0a14145214c8904a2f21c13ab1c3c8..93673c8aa7acea663f8a2dc5c21f9b7384de435f 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
@@ -7,6 +7,8 @@
#include <RobotAPI/libraries/armem/core/error.h>
#include <RobotAPI/libraries/armem/core/ice_conversions.h>
#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
+
+#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/server/wm/ice_conversions.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
@@ -193,7 +195,7 @@ namespace armarx::armem::server
}
// Consollidate to ltm
- if (longtermMemory->enabled)
+ if (longtermMemory->isRecording())
{
//ARMARX_IMPORTANT << longtermMemory->id().str();
//ARMARX_IMPORTANT << longtermMemory->getPath();
@@ -267,42 +269,42 @@ namespace armarx::armem::server
ARMARX_CHECK_NOT_NULL(longtermMemory);
// Core segment processors will aquire the core segment locks.
- query_proc::wm_server::MemoryQueryProcessor wmServerProcessor(
- input.withData ? armem::DataMode::WithData : armem::DataMode::NoData);
- armem::wm::Memory wmResult = wmServerProcessor.process(input.memoryQueries, *workingMemory);
+ query_proc::wm_server::MemoryQueryProcessor wmServerProcessor(armem::query::boolToDataMode(input.withData));
+ armem::wm::Memory wmResult = wmServerProcessor.process(input, *workingMemory);
armem::query::data::Result result;
- if (longtermMemory->enabled)
- {
- query_proc::ltm_server::disk::MemoryQueryProcessor ltmProcessor;
- armem::wm::Memory ltmResult = ltmProcessor.process(input, *longtermMemory);
-
- if (not ltmResult.empty())
- {
- ARMARX_INFO << "The LTM returned data after query";
-
- longtermMemory->resolve(ltmResult); // convert memory ==> meaning resolving references
+ query_proc::ltm_server::disk::MemoryQueryProcessor ltmProcessor;
+ armem::wm::Memory ltmResult = ltmProcessor.process(input, *longtermMemory);
- 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.";
- }
+ if (not ltmResult.empty())
+ {
+ ARMARX_INFO << "The LTM returned data after query";
- // query again to limit output size (TODO: Skip if querytype is all)
- auto queryInput = armem::client::QueryInput::fromIce(input);
- queryInput.replaceQueryTarget(query::data::QueryTarget::LTM, query::data::QueryTarget::WM);
+ // convert memory ==> meaning resolving references
+ // upon query, the LTM only returns a structure of the data (memory without data)
+ longtermMemory->resolve(ltmResult);
- query_proc::wm::MemoryQueryProcessor wm2wmProcessor(
- input.withData ? armem::DataMode::WithData : armem::DataMode::NoData);
- wmResult = wm2wmProcessor.process(queryInput.toIce(), wmResult);
- if (wmResult.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.";
- }
+ // append result to return memory and sanity check
+ 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.";
+ }
- // also move results of ltm to wm
+ // Ist das wirklich notwendig?
+ // query again to limit output size (TODO: Skip if querytype is all)
+ //auto queryInput = armem::client::QueryInput::fromIce(input);
+ //query_proc::wm::MemoryQueryProcessor wm2wmProcessor(armem::query::boolToDataMode(input.withData));
+ //wmResult = wm2wmProcessor.process(queryInput.toIce(), wmResult);
+ //if (wmResult.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.";
+ //}
+
+ if (longtermMemory->isRecording())
+ {
+ // TODO: also move results of ltm to wm
//this->commit(toCommit(ltm_converted));
// mark removed entries of wm in viewer
@@ -328,16 +330,46 @@ namespace armarx::armem::server
return client::QueryResult::fromIce(query(input.toIce()));
}
+ armem::structure::data::GetServerStructureResult MemoryToIceAdapter::getServerStructure()
+ {
+ ARMARX_TRACE;
+ ARMARX_CHECK_NOT_NULL(workingMemory);
+ ARMARX_CHECK_NOT_NULL(longtermMemory);
+
+ armem::structure::data::GetServerStructureResult ret;
+ ret.success = true;
+
+ wm::Memory structure;
+ structure.id() = workingMemory->id();
+
+ // Get all info from the WM
+ client::QueryBuilder builder(armem::query::DataMode::NoData);
+ builder.all();
+ auto query_result = this->query(builder.buildQueryInput());
+ if (query_result.success)
+ {
+ structure.append(query_result.memory);
+ }
+
+ // Get all info from the LTM
+ structure.append(longtermMemory->loadAllReferences());
+
+ ret.serverStructure = armarx::toIce<data::MemoryPtr>(structure);
+
+ return ret;
+ }
+
// LTM LOADING FROM LTM
// LTM STORING AND RECORDING
- dto::DirectlyStoreResult MemoryToIceAdapter::directlyStore(dto::DirectlyStoreInput directlStoreInput)
+ dto::DirectlyStoreResult MemoryToIceAdapter::directlyStore(const dto::DirectlyStoreInput& directlStoreInput)
{
ARMARX_TRACE;
ARMARX_CHECK_NOT_NULL(longtermMemory);
dto::DirectlyStoreResult output;
+ output.success = true;
armem::wm::Memory m = armarx::fromIce<armem::wm::Memory>(directlStoreInput.memory);
longtermMemory->store(m);
@@ -345,12 +377,12 @@ namespace armarx::armem::server
return output;
}
- dto::StartRecordResult MemoryToIceAdapter::startRecord(dto::StartRecordInput startRecordInput)
+ dto::StartRecordResult MemoryToIceAdapter::startRecord(const dto::StartRecordInput& startRecordInput)
{
ARMARX_TRACE;
ARMARX_CHECK_NOT_NULL(longtermMemory);
- ARMARX_IMPORTANT << "ENABLING THE RECORDING OF MEMORY " << longtermMemory->id().str();
- longtermMemory->enabled = true;
+ ARMARX_IMPORTANT << "Enabling the recording of memory " << longtermMemory->id().str();
+ longtermMemory->startRecording();
dto::StartRecordResult ret;
ret.success = true;
@@ -362,8 +394,8 @@ namespace armarx::armem::server
{
ARMARX_TRACE;
ARMARX_CHECK_NOT_NULL(longtermMemory);
- ARMARX_IMPORTANT << "DISABLING THE RECORDING OF MEMORY " << longtermMemory->id().str();
- longtermMemory->enabled = false;
+ ARMARX_IMPORTANT << "Disabling the recording of memory " << longtermMemory->id().str();
+ longtermMemory->stopRecording();
dto::StopRecordResult ret;
ret.success = true;
@@ -376,13 +408,22 @@ namespace armarx::armem::server
dto::RecordStatusResult ret;
ret.success = true;
- return ret;
- }
+ long savedSnapshots;
+ long totalSnapshots;
+ longtermMemory->forEachCoreSegment([&savedSnapshots, &totalSnapshots](const auto& c){
+ c.forEachProviderSegment([&savedSnapshots, &totalSnapshots](const auto& p){
+ p.forEachEntity([&savedSnapshots, &totalSnapshots](const auto& e){
+ savedSnapshots += e.getStatistics().recordedSnapshots;
+
+ e.forEachSnapshot([&totalSnapshots](const auto&){
+ totalSnapshots++;
+ });
+ });
+ });
+ });
- dto::GetServerStructureResult MemoryToIceAdapter::getServerStructure()
- {
- dto::GetServerStructureResult ret;
- ret.success = true;
+ ret.status.savedSnapshots = savedSnapshots;
+ ret.status.totalSnapshots = totalSnapshots;
return ret;
}
diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h
index f4aeba5c7e3583d44c372b098d34ca51f363ff7d..6f19796395d85a1ff043e46c2172cba0940e5808 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h
@@ -46,15 +46,15 @@ namespace armarx::armem::server
// READING
query::data::Result query(const armem::query::data::Input& input);
client::QueryResult query(const client::QueryInput& input);
+ armem::structure::data::GetServerStructureResult getServerStructure();
// LTM LOADING AND REPLAYING
// LTM STORING AND RECORDING
- dto::DirectlyStoreResult directlyStore(dto::DirectlyStoreInput directlStoreInput);
- dto::StartRecordResult startRecord(dto::StartRecordInput startRecordInput);
+ dto::DirectlyStoreResult directlyStore(const dto::DirectlyStoreInput& directlStoreInput);
+ dto::StartRecordResult startRecord(const dto::StartRecordInput& startRecordInput);
dto::StopRecordResult stopRecord();
dto::RecordStatusResult getRecordStatus();
- dto::GetServerStructureResult getServerStructure();
// PREDICTION
prediction::data::EngineSupportMap getAvailableEngines();
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/detail/BufferedMemoryBase.h b/source/RobotAPI/libraries/armem/server/ltm/base/detail/BufferedMemoryBase.h
index 4dade14f3b917b81eaf84721c998904f6b3b8be3..f61b4451d54b34b3aa0ddc330462a5ca884577f1 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/detail/BufferedMemoryBase.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/detail/BufferedMemoryBase.h
@@ -75,11 +75,9 @@ namespace armarx::armem::server::ltm
this->directlyStore(*to_store);
}
- virtual void createPropertyDefinitions(PropertyDefinitionsPtr& defs, const std::string& prefix) override
+ /// configuration
+ virtual void configure()
{
- Base::createPropertyDefinitions(defs, prefix);
-
- defs->optional(storeFrequency, prefix + ".buffer.storeFreq", "Frequency to store the buffer to the LTM in Hz.").setMin(1).setMax(1000);
}
protected:
@@ -110,7 +108,7 @@ namespace armarx::armem::server::ltm
/// The periodic'task to store the content of the buffer to the ltm
typename armarx::PeriodicTask<BufferedMemoryBase>::pointer_type task = nullptr;
- /// The frequency to store data to the ltm
+ /// The frequency (Hz) to store data to the ltm
float storeFrequency = 10;
/// a mutex to access the buffer object
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/detail/CoreSegmentBase.h b/source/RobotAPI/libraries/armem/server/ltm/base/detail/CoreSegmentBase.h
index d34d693af901d09d6cc7f8b9c045522e564501ec..b975b352f007c8ebd3364af641ef75c3a7fc6a08 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/detail/CoreSegmentBase.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/detail/CoreSegmentBase.h
@@ -17,6 +17,13 @@ namespace armarx::armem::server::ltm
template <class _ProviderSegmentT>
class CoreSegmentBase : public MemoryItem
{
+ public:
+ struct Statistics
+ {
+ long recordedProviderSegments = 0;
+
+ };
+
public:
using ProviderSegmentT = _ProviderSegmentT;
@@ -47,6 +54,16 @@ namespace armarx::armem::server::ltm
_storeType(coreSeg);
}
+ /// statistics
+ void resetStatistics()
+ {
+ statistics.recordedProviderSegments = 0;
+ }
+ Statistics getStatistics() const
+ {
+ return statistics;
+ }
+
/// iterate over all provider segments of this ltm
virtual bool forEachProviderSegment(std::function<void(ProviderSegmentT&)>&& func) const = 0;
@@ -73,5 +90,7 @@ namespace armarx::armem::server::ltm
protected:
mutable std::recursive_mutex ltm_mutex;
+
+ Statistics statistics;
};
} // namespace armarx::armem::server::ltm
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/detail/EntityBase.h b/source/RobotAPI/libraries/armem/server/ltm/base/detail/EntityBase.h
index 5f92e1a202d008d4bd6791a8527d9246812690d7..9dedb572fdc8b4ff31c6018f238009d45fde6763 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/detail/EntityBase.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/detail/EntityBase.h
@@ -17,6 +17,13 @@ namespace armarx::armem::server::ltm
template <class _EntitySnapshotT>
class EntityBase : public MemoryItem
{
+ public:
+ struct Statistics
+ {
+ long recordedSnapshots = 0;
+
+ };
+
public:
using EntitySnapshotT = _EntitySnapshotT;
@@ -41,6 +48,16 @@ namespace armarx::armem::server::ltm
_store(e);
}
+ /// statistics
+ void resetStatistics()
+ {
+ statistics.recordedSnapshots = 0;
+ }
+ Statistics getStatistics() const
+ {
+ return statistics;
+ }
+
/// iterate over all entity snapshots of this ltm
virtual bool forEachSnapshot(std::function<void(EntitySnapshotT&)>&& func) const = 0;
virtual bool forEachSnapshotInIndexRange(long first, long last, std::function<void(EntitySnapshotT&)>&& func) const = 0;
@@ -68,5 +85,7 @@ namespace armarx::armem::server::ltm
protected:
mutable std::recursive_mutex ltm_mutex;
+
+ Statistics statistics;
};
} // namespace armarx::armem::server::ltm
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/detail/EntitySnapshotBase.h b/source/RobotAPI/libraries/armem/server/ltm/base/detail/EntitySnapshotBase.h
index 5ebca19436bade8482c4e60fcb1219db10282bc4..411dd43cca301fda3c835572406ea175d231c8b5 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/detail/EntitySnapshotBase.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/detail/EntitySnapshotBase.h
@@ -14,6 +14,13 @@ namespace armarx::armem::server::ltm
/// @brief Interface functions for the longterm memory classes
class EntitySnapshotBase : public MemoryItem
{
+ public:
+ struct Statistics
+ {
+ long recordedInstances = 0;
+
+ };
+
public:
using MemoryItem::MemoryItem;
@@ -32,19 +39,31 @@ namespace armarx::armem::server::ltm
}
/// encode the content of a wm::Memory and store
- void store(const armem::wm::EntitySnapshot& e) const
+ void store(const armem::wm::EntitySnapshot& e)
{
_store(e);
}
+ /// statistics
+ void resetStatistics()
+ {
+ statistics.recordedInstances = 0;
+ }
+ Statistics getStatistics() const
+ {
+ return statistics;
+ }
+
static std::string getLevelName();
protected:
virtual void _loadAllReferences(armem::wm::EntitySnapshot&) const = 0;
virtual void _resolve(armem::wm::EntitySnapshot&) const = 0;
- virtual void _store(const armem::wm::EntitySnapshot&) const = 0;
+ virtual void _store(const armem::wm::EntitySnapshot&) = 0;
protected:
mutable std::recursive_mutex ltm_mutex;
+
+ Statistics statistics;
};
} // namespace armarx::armem::server::ltm
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/detail/MemoryBase.h b/source/RobotAPI/libraries/armem/server/ltm/base/detail/MemoryBase.h
index d7ec68da708f72cca8ad0655571c4a73d7f48d0a..35762b0ce146eac655480a7f7373ebb2d44f8721 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/detail/MemoryBase.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/detail/MemoryBase.h
@@ -25,6 +25,13 @@ namespace armarx::armem::server::ltm
template <class _CoreSegmentT>
class MemoryBase : public MemoryItem
{
+ public:
+ struct Statistics
+ {
+ armarx::core::time::DateTime lastEnabled = armarx::core::time::DateTime::Invalid();
+ long recordedCoreSegments = 0;
+ };
+
public:
using CoreSegmentT = _CoreSegmentT;
@@ -38,6 +45,20 @@ namespace armarx::armem::server::ltm
{
}
+ /// initialize config
+ void init()
+ {
+ // init without changing the memory id
+ init(this->id());
+ }
+ void init(const armem::MemoryID& wmMemoryId)
+ {
+ setMemoryID(wmMemoryId);
+
+ enabled = enabled_on_startup;
+ this->configure(nlohmann::json::parse(configuration_on_startup));
+ }
+
/// return the full ltm as a wm::Memory with only references
/// the ltm may be huge, use with caution
armem::wm::Memory loadAllReferences()
@@ -111,7 +132,43 @@ namespace armarx::armem::server::ltm
/// parameters
virtual void createPropertyDefinitions(PropertyDefinitionsPtr& defs, const std::string& prefix)
{
- processors->createPropertyDefinitions(defs, prefix);
+ defs->optional(enabled_on_startup, prefix + ".enabled");
+ defs->optional(configuration_on_startup, prefix + ".configuration");
+ //processors->createPropertyDefinitions(defs, prefix);
+ }
+
+ /// configuration
+ virtual void configure(const nlohmann::json& config)
+ {
+ // Processors are shared. So we only need to configure the root
+ processors->configure(config);
+ }
+
+ /// enable/disable
+ void startRecording()
+ {
+ statistics.lastEnabled = armarx::core::time::DateTime::Now();
+ enabled = true;
+ }
+ void stopRecording()
+ {
+ enabled = false;
+ }
+ bool isRecording() const
+ {
+ return enabled;
+ }
+
+ /// statistics
+ virtual void resetStatistics()
+ {
+ // enabled stays the same
+ statistics.lastEnabled = armarx::core::time::DateTime::Invalid();
+ statistics.recordedCoreSegments = 0;
+ }
+ Statistics getStatistics() const
+ {
+ return statistics;
}
/// get level name
@@ -126,10 +183,17 @@ namespace armarx::armem::server::ltm
virtual void _store(const armem::wm::Memory& memory) = 0;
public:
- bool enabled = false;
+ // stuff for scenario parameters
+ bool enabled_on_startup = false;
+ std::string configuration_on_startup = "";
protected:
mutable std::recursive_mutex ltm_mutex;
+ Statistics statistics;
+
+ private:
+ std::atomic_bool enabled = false;
+
};
} // namespace armarx::armem::server::ltm
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/detail/Processors.cpp b/source/RobotAPI/libraries/armem/server/ltm/base/detail/Processors.cpp
index 6e176bf7914c9d5dc59082f227206c313715c873..33934e1af67f1b1b11c72c54fdc43335a115fe42 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/detail/Processors.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/detail/Processors.cpp
@@ -14,22 +14,8 @@ namespace armarx::armem::server::ltm
converters.insert({exrConverter.identifier, &exrConverter});
}
- void Processors::createPropertyDefinitions(PropertyDefinitionsPtr& defs, const std::string& prefix)
+ void Processors::configure(const nlohmann::json& config)
{
- // filters
- defs->optional(memFreqFilter.enabled, prefix + "memFreqFilter.Enabled");
- defs->optional(memFreqFilter.waitingTimeInMs, prefix + "memFreqFilter.WaitingTime", "Waiting time in MS after each LTM update.");
- defs->optional(snapFreqFilter.enabled, prefix + "snapFreqFilter.Enabled");
- defs->optional(snapFreqFilter.waitingTimeInMs, prefix + "snapFreqFilter.WaitingTime", "Waiting time in MS after each Entity update.");
- defs->optional(snapEqFilter.enabled, prefix + "snapEqFilter.Enabled");
- defs->optional(snapEqFilter.maxWaitingTimeInMs, prefix + "snapEqFilter.MaxWaitingTime", "Max Waiting time in MS after each Entity update.");
- // extractors
- defs->optional(imageExtractor.enabled, prefix + "imageExtractor.Enabled");
- defs->optional(depthImageExtractor.enabled, prefix + "depthImageExtractor.Enabled");
-
- // converters
- defs->optional(pngConverter.enabled, prefix + "pngConverter.Enabled");
- defs->optional(exrConverter.enabled, prefix + "exrConverter.Enabled");
}
}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/detail/Processors.h b/source/RobotAPI/libraries/armem/server/ltm/base/detail/Processors.h
index cc10b538d5f6b14af4e55fef61bb826508d4ec7d..43677cb9bb019fb61610ff977b0e57b2ce9b238a 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/detail/Processors.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/detail/Processors.h
@@ -25,7 +25,7 @@ namespace armarx::armem::server::ltm
{
public:
Processors();
- void createPropertyDefinitions(PropertyDefinitionsPtr& defs, const std::string& prefix);
+ void configure(const nlohmann::json& config);
public:
// Unique Memory Filters
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/detail/ProviderSegmentBase.h b/source/RobotAPI/libraries/armem/server/ltm/base/detail/ProviderSegmentBase.h
index b3c4be572317fa587b29864fe8981b5e11706cf1..b5aa8f0ee95711001d378f06ef5c674266dc021b 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/detail/ProviderSegmentBase.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/detail/ProviderSegmentBase.h
@@ -17,6 +17,13 @@ namespace armarx::armem::server::ltm
template <class _EntityT>
class ProviderSegmentBase : public MemoryItem
{
+ public:
+ struct Statistics
+ {
+ long recordedEntities = 0;
+
+ };
+
public:
using EntityT = _EntityT;
@@ -47,6 +54,16 @@ namespace armarx::armem::server::ltm
_storeType(coreSeg);
}
+ /// statistics
+ void resetStatistics()
+ {
+ statistics.recordedEntities = 0;
+ }
+ Statistics getStatistics() const
+ {
+ return statistics;
+ }
+
/// iterate over all core segments of this ltm
virtual bool forEachEntity(std::function<void(EntityT&)>&& func) const = 0;
@@ -71,5 +88,7 @@ namespace armarx::armem::server::ltm
protected:
mutable std::recursive_mutex ltm_mutex;
+
+ Statistics statistics;
};
} // namespace armarx::armem::server::ltm
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/CoreSegment.cpp b/source/RobotAPI/libraries/armem/server/ltm/disk/CoreSegment.cpp
index ee45273c7517d48e432b321144afc7a0bc0a364a..785276d04bd1e366be172ba7a07560a96a0c7755 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/CoreSegment.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/CoreSegment.cpp
@@ -126,6 +126,8 @@ namespace armarx::armem::server::ltm::disk
ProviderSegment c(memoryParentPath, id().withProviderSegmentName(prov.id().providerSegmentName), processors, encodingModeOfPast, currentMaxExport);
util::ensureFolderExists(defaultMPath, c.getRelativePathForMode(defaultMode), true);
+ statistics.recordedProviderSegments++;
+
c.storeType(prov);
c.store(prov);
});
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.cpp b/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.cpp
index b64531211cff4343271561180dd312707f1f9847..6c87da45e576c10c18c6680141e00ed8c19aa3ba 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.cpp
@@ -5,6 +5,7 @@
#include <ArmarXCore/core/time/TimeUtil.h>
#include <ArmarXCore/core/logging/Logging.h>
+#include <RobotAPI/libraries/armem/core/base/detail/negative_index_semantics.h>
#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
#include "../base/filter/frequencyFilter/FrequencyFilter.h"
@@ -76,7 +77,33 @@ namespace armarx::armem::server::ltm::disk
bool Entity::forEachSnapshotInIndexRange(long first, long last, std::function<void(EntitySnapshot&)>&& func) const
{
- throw LocalException("NOT IMPLEMENTED YET BECAUSE THE DIRECTORY ITERATOR IS UNSORTED!");
+ ARMARX_WARNING << "PLEASE NOTE THAT QUERYING THE LTM INDEX WISE MAY BE BUGGY BECAUSE THE FILESYSTEM ITERATOR IS UNSORTED!";
+
+ if (first < 0 or last < 0)
+ {
+ // We need to know what the size of the memory is... May be slow
+ unsigned long size = 0;
+ auto f = [&](EntitySnapshot& e)
+ {
+ size++;
+ };
+ forEachSnapshot(std::move(f));
+
+ first = armarx::armem::base::detail::negativeIndexSemantics(first, size);
+ last = armarx::armem::base::detail::negativeIndexSemantics(last, size);
+ }
+
+ long checked = 0;
+ auto f = [&](EntitySnapshot& e)
+ {
+ checked++;
+ if (checked >= first && checked <= last)
+ {
+ func(e);
+ }
+ };
+
+ return forEachSnapshot(std::move(f));
}
bool Entity::forEachSnapshotInTimeRange(const Time& min, const Time& max, std::function<void(EntitySnapshot&)>&& func) const
@@ -335,6 +362,9 @@ namespace armarx::armem::server::ltm::disk
EntitySnapshot c(memoryParentPath, id().withTimestamp(snap.id().timestamp), processors, encodingModeOfPast, currentMaxExport);
util::ensureFolderExists(defaultMPath, c.getRelativePathForMode(defaultMode));
+
+ statistics.recordedSnapshots++;
+
c.store(snap);
});
}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.cpp b/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.cpp
index 3d43ea8a0b3540afb32863937f4d8114bc9b09cf..4d24c2e6bd15c0696bbbefd757db1fc4a895dbde 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.cpp
@@ -130,7 +130,7 @@ namespace armarx::armem::server::ltm::disk
}
}
- void EntitySnapshot::_store(const armem::wm::EntitySnapshot& e) const
+ void EntitySnapshot::_store(const armem::wm::EntitySnapshot& e)
{
//auto currentMaxExport = currentExport;
//auto encodingModeOfPast = currentMode;
@@ -215,6 +215,8 @@ namespace armarx::armem::server::ltm::disk
ARMARX_CHECK_EMPTY(dataVecModeSuffix);
ARMARX_CHECK_EMPTY(metadataVecModeSuffix);
+ statistics.recordedInstances++;
+
util::writeDataToFileRepeated(defaultMPath, relDataPath, dataVec);
util::writeDataToFileRepeated(defaultMPath, relMetadataPath, metadataVec);
}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.h b/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.h
index b91c69b78dca573935b7d51c665ca67e6b499fcc..aa72ea3e12e82e7f5787af2649b09a9cc29f0109 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.h
@@ -19,7 +19,7 @@ namespace armarx::armem::server::ltm::disk
protected:
void _loadAllReferences(armem::wm::EntitySnapshot&) const override;
void _resolve(armem::wm::EntitySnapshot&) const override;
- void _store(const armem::wm::EntitySnapshot&) const override;
+ void _store(const armem::wm::EntitySnapshot&) override;
private:
MemoryEncodingMode currentMode;
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.cpp b/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.cpp
index 0eccbbf1a4435d301e05fea5ea0f64d2abf6eef0..0a85e4ac5c0b019d201fe9c633476f7c45cd81cd 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.cpp
@@ -188,6 +188,8 @@ namespace armarx::armem::server::ltm::disk
CoreSegment c(memoryParentPath, id().withCoreSegmentName(core.id().coreSegmentName), processors, encodeModeOfPast, 0 /* how far to look back in past on enity level. For full lookup use maxExportIndex. */);
util::ensureFolderExists(defaultMPath, c.getRelativePathForMode(defaultMode), true); // create subfolder
+ statistics.recordedCoreSegments++;
+
// 1. store type
c.storeType(core);
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/ProviderSegment.cpp b/source/RobotAPI/libraries/armem/server/ltm/disk/ProviderSegment.cpp
index df52832d1bfdc35e4f19a35c220b2c232a97bdc5..ede13058b8a8abbca1eb348b3fa483234e4eae76 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/ProviderSegment.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/ProviderSegment.cpp
@@ -127,6 +127,9 @@ namespace armarx::armem::server::ltm::disk
{
Entity c(memoryParentPath, id().withEntityName(e.id().entityName), processors, encodingModeOfPast, currentMaxExport);
util::ensureFolderExists(defaultMPath, c.getRelativePathForMode(defaultMode), true);
+
+ statistics.recordedEntities++;
+
c.store(e);
});
}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/io/Recording.cpp b/source/RobotAPI/libraries/armem/server/ltm/io/Recording.cpp
index 949692ec5ef4d41153c37d5f9c0386ae21be7578..265a4f0f94c7463223985277f20e337b281220cc 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/io/Recording.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/io/Recording.cpp
@@ -159,7 +159,7 @@ namespace armarx::armem::server::ltm
/* ===========================
* GetServerStructureResult
- * =========================== */
+ * ===========================
GetServerStructureResult GetServerStructureResult::fromIce(const dto::GetServerStructureResult& ice)
{
return armarx::fromIce<GetServerStructureResult>(ice);
@@ -177,5 +177,5 @@ namespace armarx::armem::server::ltm
{
fromIce(ice, dynamic_cast<detail::SuccessHeader&>(result));
fromIce(ice.serverStructure, result.serverStructure);
- }
+ }*/
}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/io/Recording.h b/source/RobotAPI/libraries/armem/server/ltm/io/Recording.h
index a664bf6737eb1275751941066812f0d3487b0a4a..3d1def0b1c8803f772bf23a8863f62a4adc86704 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/io/Recording.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/io/Recording.h
@@ -110,7 +110,7 @@ namespace armarx::armem::server::ltm
/* ===========================
* GetServerStructureResult
- * =========================== */
+ * ===========================
struct GetServerStructureResult : public detail::SuccessHeader
{
armem::wm::Memory serverStructure;
@@ -119,5 +119,5 @@ namespace armarx::armem::server::ltm
dto::GetServerStructureResult toIce() const;
};
void toIce(dto::GetServerStructureResult& ice, const GetServerStructureResult& input);
- void fromIce(const dto::GetServerStructureResult& ice, GetServerStructureResult& input);
+ void fromIce(const dto::GetServerStructureResult& ice, GetServerStructureResult& input);*/
}
diff --git a/source/RobotAPI/libraries/armem/server/plugins/Plugin.cpp b/source/RobotAPI/libraries/armem/server/plugins/Plugin.cpp
index 40d22cead44dea33a993364415ea6cbe59d6413a..fbeff6c936cfadfc10107ea95dcf170004dd972a 100644
--- a/source/RobotAPI/libraries/armem/server/plugins/Plugin.cpp
+++ b/source/RobotAPI/libraries/armem/server/plugins/Plugin.cpp
@@ -26,17 +26,12 @@ namespace armarx::armem::server::plugins
void Plugin::postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties)
{
const std::string prefix = "mem.";
- if (not workingMemory.name().empty()
- and not properties->hasDefinition(prefix + "MemoryName"))
+ if (not workingMemory.name().empty() and not properties->hasDefinition(prefix + "MemoryName"))
{
properties->optional(workingMemory.name(), prefix + "MemoryName", "Name of this memory server.");
}
// stuff for ltm
- if (not properties->hasDefinition(prefix + "ltm.enabled"))
- {
- properties->optional(longtermMemory.enabled, prefix + "ltm.enabled");
- }
longtermMemory.createPropertyDefinitions(properties, prefix + "ltm.");
}
@@ -45,6 +40,14 @@ namespace armarx::armem::server::plugins
{
memoryTopicName = client::util::MemoryListener::MakeMemoryTopicName(MemoryID(workingMemory.name()));
parent().offeringTopic(memoryTopicName);
+
+ longtermMemory.init(workingMemory.id());
+ }
+
+
+ void Plugin::postOnInitComponent()
+ {
+ initialized = true;
}
@@ -59,6 +62,8 @@ namespace armarx::armem::server::plugins
}
parent.getTopic(memoryTopic, memoryTopicName);
iceAdapter.setMemoryListener(memoryTopic);
+
+ connected = true;
}
@@ -73,8 +78,12 @@ namespace armarx::armem::server::plugins
void Plugin::setMemoryName(const std::string& memoryName)
{
+ if (initialized)
+ {
+ ARMARX_WARNING << "Please set the memory name before initializing the component. Otherwise the WM and LTM may have different names";
+ }
+
workingMemory.name() = memoryName;
- longtermMemory.setMemoryID(workingMemory.id());
}
diff --git a/source/RobotAPI/libraries/armem/server/plugins/Plugin.h b/source/RobotAPI/libraries/armem/server/plugins/Plugin.h
index dcbe7adc4c3b519a55da2b234f6f3b28338fd74f..02c89e5f323b4376ca4493f6b0f1e8efa22f3b60 100644
--- a/source/RobotAPI/libraries/armem/server/plugins/Plugin.h
+++ b/source/RobotAPI/libraries/armem/server/plugins/Plugin.h
@@ -34,6 +34,7 @@ namespace armarx::armem::server::plugins
virtual void postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties) override;
virtual void preOnInitComponent() override;
+ virtual void postOnInitComponent() override;
virtual void postOnConnectComponent() override;
virtual void preOnDisconnectComponent() override;
@@ -91,6 +92,9 @@ namespace armarx::armem::server::plugins
client::plugins::Plugin* clientPlugin = nullptr;
+ std::atomic_bool initialized = false;
+ std::atomic_bool connected = false;
+
};
}
diff --git a/source/RobotAPI/libraries/armem/server/plugins/ReadOnlyPluginUser.cpp b/source/RobotAPI/libraries/armem/server/plugins/ReadOnlyPluginUser.cpp
index b95b94afb85f31efd41384283409460b706a729e..e8805d52528f5352830bb537336abbb5be5de484 100644
--- a/source/RobotAPI/libraries/armem/server/plugins/ReadOnlyPluginUser.cpp
+++ b/source/RobotAPI/libraries/armem/server/plugins/ReadOnlyPluginUser.cpp
@@ -35,6 +35,12 @@ namespace armarx::armem::server::plugins
return iceAdapter().query(input);
}
+ structure::data::GetServerStructureResult ReadOnlyPluginUser::getServerStructure(const Ice::Current&)
+ {
+ ARMARX_TRACE;
+ return iceAdapter().getServerStructure();
+ }
+
Plugin& ReadOnlyPluginUser::memoryServerPlugin()
{
diff --git a/source/RobotAPI/libraries/armem/server/plugins/ReadOnlyPluginUser.h b/source/RobotAPI/libraries/armem/server/plugins/ReadOnlyPluginUser.h
index f56d66b0f35e173d3076dedb729a7dc77ab9bb6b..d234819b931794bb0b562f4a33d462baf16a9cfe 100644
--- a/source/RobotAPI/libraries/armem/server/plugins/ReadOnlyPluginUser.h
+++ b/source/RobotAPI/libraries/armem/server/plugins/ReadOnlyPluginUser.h
@@ -39,6 +39,10 @@ namespace armarx::armem::server::plugins
const Ice::Current& = Ice::emptyCurrent) override;
+ virtual armem::structure::data::GetServerStructureResult
+ getServerStructure(const Ice::Current& = Ice::emptyCurrent) override;
+
+
public:
Plugin& memoryServerPlugin();
diff --git a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp
index 7bfd4478f59438dc6d14e5b67bb5b6b7624e38d6..8d0b986443914d60c976da57ae6736c775bc1f54 100644
--- a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp
+++ b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp
@@ -60,6 +60,12 @@ namespace armarx::armem::server::plugins
return iceAdapter().query(input);
}
+ structure::data::GetServerStructureResult ReadWritePluginUser::getServerStructure(const Ice::Current&)
+ {
+ ARMARX_TRACE;
+ return iceAdapter().getServerStructure();
+ }
+
// LTM STORING AND RECORDING
dto::DirectlyStoreResult ReadWritePluginUser::directlyStore(const dto::DirectlyStoreInput& input, const Ice::Current&)
@@ -86,12 +92,6 @@ namespace armarx::armem::server::plugins
return iceAdapter().getRecordStatus();
}
- dto::GetServerStructureResult ReadWritePluginUser::getServerStructure(const Ice::Current&)
- {
- ARMARX_TRACE;
- return iceAdapter().getServerStructure();
- }
-
Plugin& ReadWritePluginUser::memoryServerPlugin()
{
diff --git a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h
index e952a4f835dd29fc9bed86bb2e7f8671eae7491f..3c29eb693b49df92b1fe82fcd84f416ed4152141 100644
--- a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h
+++ b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h
@@ -43,6 +43,7 @@ namespace armarx::armem::server::plugins
// ReadingInterface interface
virtual armem::query::data::Result query(const armem::query::data::Input& input, const Ice::Current& = Ice::emptyCurrent) override;
+ virtual armem::structure::data::GetServerStructureResult getServerStructure(const Ice::Current& = Ice::emptyCurrent) override;
// StoringInterface interface
@@ -50,7 +51,6 @@ namespace armarx::armem::server::plugins
virtual dto::StartRecordResult startRecord(const dto::StartRecordInput& startRecordInput, const Ice::Current& = Ice::emptyCurrent) override;
virtual dto::StopRecordResult stopRecord(const Ice::Current& = Ice::emptyCurrent) override;
virtual dto::RecordStatusResult getRecordStatus(const Ice::Current& = Ice::emptyCurrent) override;
- virtual dto::GetServerStructureResult getServerStructure(const Ice::Current& = Ice::emptyCurrent) override;
// ActionsInterface interface
virtual armem::actions::GetActionsOutputSeq getActions(const armem::actions::GetActionsInputSeq& inputs);
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.cpp b/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.cpp
index a3dfb4eb4102e21ee0cc97d7a9919b55c7c83f35..ae1dedc1427790bf40a0df8a661942dad9b79668 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.cpp
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.cpp
@@ -6,16 +6,4 @@
namespace armarx::armem::server::query_proc::base
{
- std::set<query::data::QueryTarget>
- detail::getTargets(const std::vector<query::data::QueryTarget>& _targets)
- {
- std::set<query::data::QueryTarget> targets(_targets.begin(), _targets.end());
- if (targets.empty())
- {
- ARMARX_DEBUG << "Query has no targets - using WM as default.";
- targets.insert(query::data::QueryTarget::WM);
- }
- return targets;
- }
-
}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.h
index b4ad4300d01835654882b65be10271ecfe27a754..709457fb57b8d03b4c624c69199fae6812ee50d0 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.h
@@ -1,29 +1,23 @@
#pragma once
#include <RobotAPI/interface/armem/query.h>
+#include <RobotAPI/libraries/armem/core/query/QueryTarget.h>
#include <Ice/Handle.h>
#include <set>
#include <vector>
-
-namespace armarx::armem::server::query_proc::base::detail
-{
- // If empty, e.g. when receiving queries from python, we use WM as default.
- // We do it here as (Sl)ice does not support default values for vectors.
- std::set<query::data::QueryTarget> getTargets(const std::vector<query::data::QueryTarget>& _targets);
-}
namespace armarx::armem::server::query_proc::base
{
- using QueryTarget = query::data::QueryTarget;
+ using QueryTarget = armem::query::data::QueryTarget::QueryTargetEnum;
/**
* @brief Base class for memory query processors.
*/
- template <QueryTarget queryTarget, class DataT, class ResultT, class QueryT>
+ template <class DataT, class ResultT, class QueryT>
class BaseQueryProcessorBase
{
public:
@@ -39,10 +33,7 @@ namespace armarx::armem::server::query_proc::base
ResultT process(const QueryT& query, const DataT& data) const
{
ResultT result { data.id() };
- if (detail::getTargets(query.targets).count(queryTarget))
- {
- this->process(result, query, data);
- }
+ this->process(result, query, data);
return result;
}
@@ -67,10 +58,7 @@ namespace armarx::armem::server::query_proc::base
for (const auto& query : queries)
{
- if (detail::getTargets(query->targets).count(queryTarget))
- {
- this->process(result, *query, data);
- }
+ this->process(result, *query, data);
}
}
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 76b9ad73575e49d9e0d9fb33531bfdfe24173010..70506550c02b9091a48186b04f772bb607ccf29f 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/CoreSegmentQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/CoreSegmentQueryProcessorBase.h
@@ -14,13 +14,13 @@ namespace armarx::armem::server::query_proc::base
/**
* @brief Handles memory queries.
*/
- template <QueryTarget queryTarget, class _CoreSegmentT, class _ResultCoreSegmentT, class _ChildProcessorT>
+ template <class _CoreSegmentT, class _ResultCoreSegmentT, class _ChildProcessorT>
class CoreSegmentQueryProcessorBase :
- public BaseQueryProcessorBase<queryTarget, _CoreSegmentT, _ResultCoreSegmentT, armem::query::data::CoreSegmentQuery>
+ public BaseQueryProcessorBase<_CoreSegmentT, _ResultCoreSegmentT, armem::query::data::CoreSegmentQuery>
{
protected:
- using Base = BaseQueryProcessorBase<queryTarget, _CoreSegmentT, _ResultCoreSegmentT, armem::query::data::CoreSegmentQuery>;
+ using Base = BaseQueryProcessorBase<_CoreSegmentT, _ResultCoreSegmentT, armem::query::data::CoreSegmentQuery>;
public:
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 432453afbf5de7e1c4d1b0cdd21d18bef1b56787..e5578ace37104b5435bb0953c3f1912b79219b84 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.h
@@ -22,13 +22,13 @@ namespace armarx::armem::server::query_proc::base::detail
namespace armarx::armem::server::query_proc::base
{
- template <QueryTarget queryTarget, class _EntityT, class _ResultEntityT>
+ template <class _EntityT, class _ResultEntityT>
class EntityQueryProcessorBase :
- public BaseQueryProcessorBase<queryTarget, _EntityT, _ResultEntityT, armem::query::data::EntityQuery>
+ public BaseQueryProcessorBase<_EntityT, _ResultEntityT, armem::query::data::EntityQuery>
{
protected:
- using Base = BaseQueryProcessorBase<queryTarget, _EntityT, _ResultEntityT, armem::query::data::EntityQuery>;
+ using Base = BaseQueryProcessorBase<_EntityT, _ResultEntityT, armem::query::data::EntityQuery>;
public:
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 3fc3deecb6acbe1beb3a1817e67885a4919f4ff1..ae8e1ddb8a28c0b6f2785e8d365a2c844cd200fe 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/MemoryQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/MemoryQueryProcessorBase.h
@@ -11,13 +11,13 @@
namespace armarx::armem::server::query_proc::base
{
- template <QueryTarget queryTarget, class _MemoryT, class _ResultMemoryT, class _ChildProcessorT>
+ template <class _MemoryT, class _ResultMemoryT, class _ChildProcessorT>
class MemoryQueryProcessorBase :
- public BaseQueryProcessorBase<queryTarget, _MemoryT, _ResultMemoryT, armem::query::data::MemoryQuery>
+ public BaseQueryProcessorBase<_MemoryT, _ResultMemoryT, armem::query::data::MemoryQuery>
{
protected:
- using Base = BaseQueryProcessorBase<queryTarget, _MemoryT, _ResultMemoryT, armem::query::data::MemoryQuery>;
+ using Base = BaseQueryProcessorBase<_MemoryT, _ResultMemoryT, armem::query::data::MemoryQuery>;
public:
@@ -106,6 +106,12 @@ namespace armarx::armem::server::query_proc::base
protected:
+ virtual bool _processAllowed(const armem::query::data::MemoryQuery& query) const
+ {
+ // always execute query. Override if you want to execute the quey only if a special condition is fulfilled (e.g. querytargets)
+ return true;
+ }
+
void _processResult(ResultMemoryT& result,
const CoreSegmentT& coreSegment,
const armem::query::data::MemoryQuery& query) const
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 7b138e9ac624b13c4bb8bbf11dcfb29ce2992f59..240e38a375ef7c2a438d7169b72234e63a54e10f 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/ProviderSegmentQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/ProviderSegmentQueryProcessorBase.h
@@ -12,13 +12,13 @@
namespace armarx::armem::server::query_proc::base
{
- template <QueryTarget queryTarget, class _ProviderSegmentT, class _ResultProviderSegmentT, class _ChildProcessorT>
+ template <class _ProviderSegmentT, class _ResultProviderSegmentT, class _ChildProcessorT>
class ProviderSegmentQueryProcessorBase :
- public BaseQueryProcessorBase<queryTarget, _ProviderSegmentT, _ResultProviderSegmentT, armem::query::data::ProviderSegmentQuery>
+ public BaseQueryProcessorBase<_ProviderSegmentT, _ResultProviderSegmentT, armem::query::data::ProviderSegmentQuery>
{
protected:
- using Base = BaseQueryProcessorBase<queryTarget, _ProviderSegmentT, _ResultProviderSegmentT, armem::query::data::ProviderSegmentQuery>;
+ using Base = BaseQueryProcessorBase<_ProviderSegmentT, _ResultProviderSegmentT, armem::query::data::ProviderSegmentQuery>;
public:
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/ltm/detail/CoreSegmentQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/ltm/detail/CoreSegmentQueryProcessorBase.h
index 0f06af9dad98fb9e732710cd03bfe95661e286ed..f1c52ecc827d05aeef96d101cb2b8762ae12f5a4 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/ltm/detail/CoreSegmentQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/ltm/detail/CoreSegmentQueryProcessorBase.h
@@ -9,13 +9,13 @@ namespace armarx::armem::server::query_proc::ltm::detail
/**
* @brief Handles memory queries.
*/
- template <base::QueryTarget queryTarget, class _CoreSegmentT, class _ResultCoreSegmentT, class _ChildProcessorT>
+ template <class _CoreSegmentT, class _ResultCoreSegmentT, class _ChildProcessorT>
class CoreSegmentQueryProcessorBase :
- public base::CoreSegmentQueryProcessorBase<queryTarget, _CoreSegmentT, _ResultCoreSegmentT, _ChildProcessorT>
+ public base::CoreSegmentQueryProcessorBase<_CoreSegmentT, _ResultCoreSegmentT, _ChildProcessorT>
{
protected:
- using Base = base::CoreSegmentQueryProcessorBase<queryTarget, _CoreSegmentT, _ResultCoreSegmentT, _ChildProcessorT>;
+ using Base = base::CoreSegmentQueryProcessorBase<_CoreSegmentT, _ResultCoreSegmentT, _ChildProcessorT>;
public:
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/ltm/detail/EntityQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/ltm/detail/EntityQueryProcessorBase.h
index 71374c40f2792c7fd855acd39f581d2b18a750ec..d9f64fc7a42508ddf297490d4ce8481a054fdb9a 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/ltm/detail/EntityQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/ltm/detail/EntityQueryProcessorBase.h
@@ -6,13 +6,13 @@
namespace armarx::armem::server::query_proc::ltm::detail
{
- template <base::QueryTarget queryTarget, class _EntityT, class _ResultEntityT>
+ template <class _EntityT, class _ResultEntityT>
class EntityQueryProcessorBase :
- public base::EntityQueryProcessorBase<queryTarget, _EntityT, _ResultEntityT>
+ public base::EntityQueryProcessorBase<_EntityT, _ResultEntityT>
{
protected:
- using Base = base::EntityQueryProcessorBase<queryTarget, _EntityT, _ResultEntityT>;
+ using Base = base::EntityQueryProcessorBase<_EntityT, _ResultEntityT>;
public:
using EntityT = typename Base::EntityT;
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/ltm/detail/MemoryQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/ltm/detail/MemoryQueryProcessorBase.h
index a077de9ca046fde8910d9f174d90dddfd510d00c..8ae444bc831046d435566987bfcb9664ee951f25 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/ltm/detail/MemoryQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/ltm/detail/MemoryQueryProcessorBase.h
@@ -6,13 +6,13 @@
namespace armarx::armem::server::query_proc::ltm::detail
{
- template <base::QueryTarget queryTarget, class _MemoryT, class _ResultMemoryT, class _ChildProcessorT>
+ template <class _MemoryT, class _ResultMemoryT, class _ChildProcessorT>
class MemoryQueryProcessorBase :
- public base::MemoryQueryProcessorBase<queryTarget, _MemoryT, _ResultMemoryT, _ChildProcessorT>
+ public base::MemoryQueryProcessorBase<_MemoryT, _ResultMemoryT, _ChildProcessorT>
{
protected:
- using Base = base::MemoryQueryProcessorBase<queryTarget, _MemoryT, _ResultMemoryT, _ChildProcessorT>;
+ using Base = base::MemoryQueryProcessorBase<_MemoryT, _ResultMemoryT, _ChildProcessorT>;
public:
@@ -28,6 +28,14 @@ namespace armarx::armem::server::query_proc::ltm::detail
using Base::process;
+ protected:
+
+ bool _processAllowed(const armem::query::data::MemoryQuery& query) const final
+ {
+ // only execute if query target is correct
+ return query.target == armem::query::data::QueryTarget::WM_LTM;
+ }
+
};
}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/ltm/detail/ProviderSegmentQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/ltm/detail/ProviderSegmentQueryProcessorBase.h
index b3512921d7100819f751e18b793508bbebc85436..0559e2716d74e94fd5b070b8cc25229ab34924a4 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/ltm/detail/ProviderSegmentQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/ltm/detail/ProviderSegmentQueryProcessorBase.h
@@ -6,13 +6,13 @@
namespace armarx::armem::server::query_proc::ltm::detail
{
- template <base::QueryTarget queryTarget, class _ProviderSegmentT, class _ResultProviderSegmentT, class _ChildProcessorT>
+ template <class _ProviderSegmentT, class _ResultProviderSegmentT, class _ChildProcessorT>
class ProviderSegmentQueryProcessorBase :
- public base::ProviderSegmentQueryProcessorBase<queryTarget, _ProviderSegmentT, _ResultProviderSegmentT, _ChildProcessorT>
+ public base::ProviderSegmentQueryProcessorBase<_ProviderSegmentT, _ResultProviderSegmentT, _ChildProcessorT>
{
protected:
- using Base = base::ProviderSegmentQueryProcessorBase<queryTarget, _ProviderSegmentT, _ResultProviderSegmentT, _ChildProcessorT>;
+ using Base = base::ProviderSegmentQueryProcessorBase<_ProviderSegmentT, _ResultProviderSegmentT, _ChildProcessorT>;
public:
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/ltm/disk/ltm.h b/source/RobotAPI/libraries/armem/server/query_proc/ltm/disk/ltm.h
index 80d83a15c4f537916c61049efc27016f48f7eb31..f569e986a57832def5e1343f20da9f0b007d664f 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/ltm/disk/ltm.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/ltm/disk/ltm.h
@@ -10,15 +10,12 @@
namespace armarx::armem::server::query_proc::ltm_server::disk
{
- static const base::QueryTarget queryTarget = query::data::QueryTarget::LTM;
-
-
class EntityQueryProcessor :
- public ltm::detail::EntityQueryProcessorBase<queryTarget, armem::server::ltm::disk::Entity, armem::wm::Entity>
+ public ltm::detail::EntityQueryProcessorBase<armem::server::ltm::disk::Entity, armem::wm::Entity>
{
protected:
- using Base = ltm::detail::EntityQueryProcessorBase<queryTarget, armem::server::ltm::disk::Entity, armem::wm::Entity>;
+ using Base = ltm::detail::EntityQueryProcessorBase<armem::server::ltm::disk::Entity, armem::wm::Entity>;
public:
@@ -28,11 +25,11 @@ namespace armarx::armem::server::query_proc::ltm_server::disk
};
class ProviderSegmentQueryProcessor :
- public ltm::detail::ProviderSegmentQueryProcessorBase<queryTarget, armem::server::ltm::disk::ProviderSegment, armem::wm::ProviderSegment, EntityQueryProcessor>
+ public ltm::detail::ProviderSegmentQueryProcessorBase<armem::server::ltm::disk::ProviderSegment, armem::wm::ProviderSegment, EntityQueryProcessor>
{
protected:
- using Base = ltm::detail::ProviderSegmentQueryProcessorBase<queryTarget, armem::server::ltm::disk::ProviderSegment, armem::wm::ProviderSegment, EntityQueryProcessor>;
+ using Base = ltm::detail::ProviderSegmentQueryProcessorBase<armem::server::ltm::disk::ProviderSegment, armem::wm::ProviderSegment, EntityQueryProcessor>;
public:
@@ -40,11 +37,11 @@ namespace armarx::armem::server::query_proc::ltm_server::disk
};
class CoreSegmentQueryProcessor :
- public ltm::detail::CoreSegmentQueryProcessorBase<queryTarget, armem::server::ltm::disk::CoreSegment, armem::wm::CoreSegment, ProviderSegmentQueryProcessor>
+ public ltm::detail::CoreSegmentQueryProcessorBase<armem::server::ltm::disk::CoreSegment, armem::wm::CoreSegment, ProviderSegmentQueryProcessor>
{
protected:
- using Base = ltm::detail::CoreSegmentQueryProcessorBase<queryTarget, armem::server::ltm::disk::CoreSegment, armem::wm::CoreSegment, ProviderSegmentQueryProcessor>;
+ using Base = ltm::detail::CoreSegmentQueryProcessorBase<armem::server::ltm::disk::CoreSegment, armem::wm::CoreSegment, ProviderSegmentQueryProcessor>;
public:
@@ -52,11 +49,11 @@ namespace armarx::armem::server::query_proc::ltm_server::disk
};
class MemoryQueryProcessor :
- public ltm::detail::MemoryQueryProcessorBase<queryTarget, armem::server::ltm::disk::Memory, armem::wm::Memory, CoreSegmentQueryProcessor>
+ public ltm::detail::MemoryQueryProcessorBase<armem::server::ltm::disk::Memory, armem::wm::Memory, CoreSegmentQueryProcessor>
{
protected:
- using Base = ltm::detail::MemoryQueryProcessorBase<queryTarget, armem::server::ltm::disk::Memory, armem::wm::Memory, CoreSegmentQueryProcessor>;
+ using Base = ltm::detail::MemoryQueryProcessorBase<armem::server::ltm::disk::Memory, armem::wm::Memory, CoreSegmentQueryProcessor>;
public:
using Base::process;
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/wm/detail/CoreSegmentQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/wm/detail/CoreSegmentQueryProcessorBase.h
index c9a0ddb51227f9ac5ab98c695105bd82ba99652e..70a8f32e4554d2743346e2fae6f7dddc303c0c50 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/wm/detail/CoreSegmentQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/wm/detail/CoreSegmentQueryProcessorBase.h
@@ -9,13 +9,13 @@ namespace armarx::armem::server::query_proc::wm::detail
/**
* @brief Handles memory queries.
*/
- template <base::QueryTarget queryTarget, class _CoreSegmentT, class _ResultCoreSegmentT, class _ChildProcessorT>
+ template <class _CoreSegmentT, class _ResultCoreSegmentT, class _ChildProcessorT>
class CoreSegmentQueryProcessorBase :
- public base::CoreSegmentQueryProcessorBase<queryTarget, _CoreSegmentT, _ResultCoreSegmentT, _ChildProcessorT>
+ public base::CoreSegmentQueryProcessorBase<_CoreSegmentT, _ResultCoreSegmentT, _ChildProcessorT>
{
protected:
- using Base = base::CoreSegmentQueryProcessorBase<queryTarget, _CoreSegmentT, _ResultCoreSegmentT, _ChildProcessorT>;
+ using Base = base::CoreSegmentQueryProcessorBase<_CoreSegmentT, _ResultCoreSegmentT, _ChildProcessorT>;
public:
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/wm/detail/EntityQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/wm/detail/EntityQueryProcessorBase.h
index a107d615518d9fbaf700b15992aacda95f00c839..faa3fe544af4dedb4e4226123a1d422a2a1ed200 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/wm/detail/EntityQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/wm/detail/EntityQueryProcessorBase.h
@@ -6,13 +6,13 @@
namespace armarx::armem::server::query_proc::wm::detail
{
- template <base::QueryTarget queryTarget, class _EntityT, class _ResultEntityT>
+ template <class _EntityT, class _ResultEntityT>
class EntityQueryProcessorBase :
- public base::EntityQueryProcessorBase<queryTarget, _EntityT, _ResultEntityT>
+ public base::EntityQueryProcessorBase<_EntityT, _ResultEntityT>
{
protected:
- using Base = base::EntityQueryProcessorBase<queryTarget, _EntityT, _ResultEntityT>;
+ using Base = base::EntityQueryProcessorBase<_EntityT, _ResultEntityT>;
public:
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/wm/detail/MemoryQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/wm/detail/MemoryQueryProcessorBase.h
index 38d7a9ec403df90590e6eea1c45db5c757097dce..b6ae970639732bd871402edbb8ee96cd0d68eb04 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/wm/detail/MemoryQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/wm/detail/MemoryQueryProcessorBase.h
@@ -6,13 +6,13 @@
namespace armarx::armem::server::query_proc::wm::detail
{
- template <base::QueryTarget queryTarget, class _MemoryT, class _ResultMemoryT, class _ChildProcessorT>
+ template <class _MemoryT, class _ResultMemoryT, class _ChildProcessorT>
class MemoryQueryProcessorBase :
- public base::MemoryQueryProcessorBase<queryTarget, _MemoryT, _ResultMemoryT, _ChildProcessorT>
+ public base::MemoryQueryProcessorBase<_MemoryT, _ResultMemoryT, _ChildProcessorT>
{
protected:
- using Base = base::MemoryQueryProcessorBase<queryTarget, _MemoryT, _ResultMemoryT, _ChildProcessorT>;
+ using Base = base::MemoryQueryProcessorBase<_MemoryT, _ResultMemoryT, _ChildProcessorT>;
public:
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/wm/detail/ProviderSegmentQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/wm/detail/ProviderSegmentQueryProcessorBase.h
index 759938b2b6fbf8c2d650d47f9820233f662a6070..75abb12eefab229f61a9ff5f8dd5c75aca218801 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/wm/detail/ProviderSegmentQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/wm/detail/ProviderSegmentQueryProcessorBase.h
@@ -6,13 +6,13 @@
namespace armarx::armem::server::query_proc::wm::detail
{
- template <base::QueryTarget queryTarget, class _ProviderSegmentT, class _ResultProviderSegmentT, class _ChildProcessorT>
+ template <class _ProviderSegmentT, class _ResultProviderSegmentT, class _ChildProcessorT>
class ProviderSegmentQueryProcessorBase :
- public base::ProviderSegmentQueryProcessorBase<queryTarget, _ProviderSegmentT, _ResultProviderSegmentT, _ChildProcessorT>
+ public base::ProviderSegmentQueryProcessorBase<_ProviderSegmentT, _ResultProviderSegmentT, _ChildProcessorT>
{
protected:
- using Base = base::ProviderSegmentQueryProcessorBase<queryTarget, _ProviderSegmentT, _ResultProviderSegmentT, _ChildProcessorT>;
+ using Base = base::ProviderSegmentQueryProcessorBase<_ProviderSegmentT, _ResultProviderSegmentT, _ChildProcessorT>;
public:
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/wm/wm.cpp b/source/RobotAPI/libraries/armem/server/query_proc/wm/wm.cpp
index 0a50a1c4fb7baec68c752895eb966d9f689f5778..138ee95251fcac618829c38dd580ade96e9cc94e 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/wm/wm.cpp
+++ b/source/RobotAPI/libraries/armem/server/query_proc/wm/wm.cpp
@@ -6,7 +6,7 @@
namespace armarx::armem::server::query_proc::wm::detail
{
- HasDataMode::HasDataMode(armem::DataMode dataMode) : dataMode(dataMode)
+ HasDataMode::HasDataMode(armem::query::DataMode dataMode) : dataMode(dataMode)
{
}
@@ -16,20 +16,20 @@ namespace armarx::armem::server::query_proc::wm::detail
namespace armarx::armem::server::query_proc::wm
{
- ProviderSegmentQueryProcessor::ProviderSegmentQueryProcessor(DataMode dataMode) :
- detail::ProviderSegmentQueryProcessorBase<queryTarget, armem::wm::ProviderSegment, armem::wm::ProviderSegment, EntityQueryProcessor>(dataMode),
+ ProviderSegmentQueryProcessor::ProviderSegmentQueryProcessor(armem::query::DataMode dataMode) :
+ detail::ProviderSegmentQueryProcessorBase<armem::wm::ProviderSegment, armem::wm::ProviderSegment, EntityQueryProcessor>(dataMode),
HasDataMode(dataMode)
{
}
- CoreSegmentQueryProcessor::CoreSegmentQueryProcessor(DataMode dataMode) :
+ CoreSegmentQueryProcessor::CoreSegmentQueryProcessor(armem::query::DataMode dataMode) :
CoreSegmentQueryProcessorBase(dataMode), HasDataMode(dataMode)
{
}
- MemoryQueryProcessor::MemoryQueryProcessor(DataMode dataMode) :
+ MemoryQueryProcessor::MemoryQueryProcessor(armem::query::DataMode dataMode) :
MemoryQueryProcessorBase(dataMode), HasDataMode(dataMode)
{
}
@@ -39,13 +39,13 @@ namespace armarx::armem::server::query_proc::wm
namespace armarx::armem::server::query_proc::wm_server
{
- ProviderSegmentQueryProcessor::ProviderSegmentQueryProcessor(DataMode dataMode) :
+ ProviderSegmentQueryProcessor::ProviderSegmentQueryProcessor(armem::query::DataMode dataMode) :
ProviderSegmentQueryProcessorBase(dataMode), HasDataMode(dataMode)
{
}
- CoreSegmentQueryProcessor::CoreSegmentQueryProcessor(DataMode dataMode) :
+ CoreSegmentQueryProcessor::CoreSegmentQueryProcessor(armem::query::DataMode dataMode) :
CoreSegmentQueryProcessorBase(dataMode),
HasDataMode(dataMode)
{
@@ -64,7 +64,7 @@ namespace armarx::armem::server::query_proc::wm_server
}
- MemoryQueryProcessor::MemoryQueryProcessor(DataMode dataMode) :
+ MemoryQueryProcessor::MemoryQueryProcessor(armem::query::DataMode dataMode) :
MemoryQueryProcessorBase(dataMode),
HasDataMode(dataMode)
{
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/wm/wm.h b/source/RobotAPI/libraries/armem/server/query_proc/wm/wm.h
index 2d1ff3e351f019f0eb18eed7b143b15497b1f015..27e88e82881deb7ba6f47249d385867b134b9621 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/wm/wm.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/wm/wm.h
@@ -1,6 +1,6 @@
#pragma once
-#include <RobotAPI/libraries/armem/core/DataMode.h>
+#include <RobotAPI/libraries/armem/core/query/DataMode.h>
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
@@ -9,11 +9,6 @@
#include "detail/ProviderSegmentQueryProcessorBase.h"
#include "detail/EntityQueryProcessorBase.h"
-
-namespace armarx::armem::server::query_proc::wm
-{
- static const base::QueryTarget queryTarget = query::data::QueryTarget::WM;
-}
namespace armarx::armem::server::query_proc::wm::detail
{
@@ -21,12 +16,12 @@ namespace armarx::armem::server::query_proc::wm::detail
{
public:
- HasDataMode(armem::DataMode dataMode);
+ HasDataMode(armem::query::DataMode dataMode);
protected:
- armem::DataMode dataMode;
+ armem::query::DataMode dataMode;
};
@@ -34,18 +29,18 @@ namespace armarx::armem::server::query_proc::wm::detail
template <class SourceEntityT>
class EntityQueryProcessor :
- public EntityQueryProcessorBase<queryTarget, SourceEntityT, armem::wm::Entity>,
+ public EntityQueryProcessorBase<SourceEntityT, armem::wm::Entity>,
public HasDataMode
{
protected:
- using Base = EntityQueryProcessorBase<queryTarget, SourceEntityT, armem::wm::Entity>;
+ using Base = EntityQueryProcessorBase<SourceEntityT, armem::wm::Entity>;
using Entity = armem::wm::Entity;
public:
- EntityQueryProcessor(DataMode dataMode = DataMode::WithData) :
+ EntityQueryProcessor(armem::query::DataMode dataMode = armem::query::DataMode::WithData) :
HasDataMode(dataMode)
{}
@@ -55,7 +50,7 @@ namespace armarx::armem::server::query_proc::wm::detail
void addResultSnapshot(armem::wm::Entity& result, const typename SourceEntityT::EntitySnapshotT& snapshot) const
{
- bool withData = (dataMode == DataMode::WithData);
+ bool withData = (dataMode == armem::query::DataMode::WithData);
if (withData)
{
result.addSnapshot(server::wm::EntitySnapshot{ snapshot });
@@ -82,38 +77,38 @@ namespace armarx::armem::server::query_proc::wm
using EntityQueryProcessor = detail::EntityQueryProcessor<armem::wm::Entity>;
class ProviderSegmentQueryProcessor :
- public detail::ProviderSegmentQueryProcessorBase<queryTarget, armem::wm::ProviderSegment, armem::wm::ProviderSegment, EntityQueryProcessor>,
+ public detail::ProviderSegmentQueryProcessorBase<armem::wm::ProviderSegment, armem::wm::ProviderSegment, EntityQueryProcessor>,
public detail::HasDataMode
{
protected:
- using Base = detail::ProviderSegmentQueryProcessorBase<queryTarget, armem::wm::ProviderSegment, armem::wm::ProviderSegment, EntityQueryProcessor>;
+ using Base = detail::ProviderSegmentQueryProcessorBase<armem::wm::ProviderSegment, armem::wm::ProviderSegment, EntityQueryProcessor>;
using ProviderSegment = armem::wm::ProviderSegment;
using Entity = armem::wm::Entity;
public:
- ProviderSegmentQueryProcessor(DataMode dataMode = DataMode::WithData);
+ ProviderSegmentQueryProcessor(armem::query::DataMode dataMode = armem::query::DataMode::WithData);
using Base::process;
};
class CoreSegmentQueryProcessor :
- public detail::CoreSegmentQueryProcessorBase <queryTarget, armem::wm::CoreSegment, armem::wm::CoreSegment, ProviderSegmentQueryProcessor>,
+ public detail::CoreSegmentQueryProcessorBase <armem::wm::CoreSegment, armem::wm::CoreSegment, ProviderSegmentQueryProcessor>,
public detail::HasDataMode
{
protected:
- using Base = wm::detail::CoreSegmentQueryProcessorBase<queryTarget, armem::wm::CoreSegment, armem::wm::CoreSegment, ProviderSegmentQueryProcessor>;
+ using Base = wm::detail::CoreSegmentQueryProcessorBase<armem::wm::CoreSegment, armem::wm::CoreSegment, ProviderSegmentQueryProcessor>;
using CoreSegment = armem::wm::CoreSegment;
using ProviderSegment = armem::wm::ProviderSegment;
public:
- CoreSegmentQueryProcessor(DataMode dataMode = DataMode::WithData);
+ CoreSegmentQueryProcessor(armem::query::DataMode dataMode = armem::query::DataMode::WithData);
using Base::process;
@@ -121,19 +116,19 @@ namespace armarx::armem::server::query_proc::wm
class MemoryQueryProcessor :
- public detail::MemoryQueryProcessorBase<queryTarget, armem::wm::Memory, armem::wm::Memory, CoreSegmentQueryProcessor>,
+ public detail::MemoryQueryProcessorBase<armem::wm::Memory, armem::wm::Memory, CoreSegmentQueryProcessor>,
public detail::HasDataMode
{
protected:
- using Base = detail::MemoryQueryProcessorBase<queryTarget, armem::wm::Memory, armem::wm::Memory, CoreSegmentQueryProcessor>;
+ using Base = detail::MemoryQueryProcessorBase<armem::wm::Memory, armem::wm::Memory, CoreSegmentQueryProcessor>;
using Memory = armem::wm::Memory;
using CoreSegment = armem::wm::CoreSegment;
public:
- MemoryQueryProcessor(DataMode dataMode = DataMode::WithData);
+ MemoryQueryProcessor(armem::query::DataMode dataMode = armem::query::DataMode::WithData);
using Base::process;
@@ -149,36 +144,36 @@ namespace armarx::armem::server::query_proc::wm_server
class ProviderSegmentQueryProcessor :
- public wm::detail::ProviderSegmentQueryProcessorBase<wm::queryTarget, server::wm::ProviderSegment, armem::wm::ProviderSegment, EntityQueryProcessor>,
+ public wm::detail::ProviderSegmentQueryProcessorBase<server::wm::ProviderSegment, armem::wm::ProviderSegment, EntityQueryProcessor>,
public wm::detail::HasDataMode
{
protected:
- using Base = wm::detail::ProviderSegmentQueryProcessorBase<wm::queryTarget, server::wm::ProviderSegment, armem::wm::ProviderSegment, EntityQueryProcessor>;
+ using Base = wm::detail::ProviderSegmentQueryProcessorBase<server::wm::ProviderSegment, armem::wm::ProviderSegment, EntityQueryProcessor>;
using ProviderSegment = server::wm::ProviderSegment;
using Entity = server::wm::Entity;
public:
- ProviderSegmentQueryProcessor(DataMode dataMode = DataMode::WithData);
+ ProviderSegmentQueryProcessor(armem::query::DataMode dataMode = armem::query::DataMode::WithData);
};
class CoreSegmentQueryProcessor :
- public wm::detail::CoreSegmentQueryProcessorBase <wm::queryTarget, server::wm::CoreSegment, armem::wm::CoreSegment, ProviderSegmentQueryProcessor>,
+ public wm::detail::CoreSegmentQueryProcessorBase <server::wm::CoreSegment, armem::wm::CoreSegment, ProviderSegmentQueryProcessor>,
public wm::detail::HasDataMode
{
protected:
- using Base = wm::detail::CoreSegmentQueryProcessorBase<wm::queryTarget, server::wm::CoreSegment, armem::wm::CoreSegment, ProviderSegmentQueryProcessor>;
+ using Base = wm::detail::CoreSegmentQueryProcessorBase <server::wm::CoreSegment, armem::wm::CoreSegment, ProviderSegmentQueryProcessor>;
using CoreSegment = server::wm::CoreSegment;
using ProviderSegment = server::wm::ProviderSegment;
public:
- CoreSegmentQueryProcessor(DataMode dataMode = DataMode::WithData);
+ CoreSegmentQueryProcessor(armem::query::DataMode dataMode = armem::query::DataMode::WithData);
using Base::process;
@@ -192,18 +187,18 @@ namespace armarx::armem::server::query_proc::wm_server
class MemoryQueryProcessor :
- public wm::detail::MemoryQueryProcessorBase<wm::queryTarget, server::wm::Memory, armem::wm::Memory, CoreSegmentQueryProcessor>,
+ public wm::detail::MemoryQueryProcessorBase<server::wm::Memory, armem::wm::Memory, CoreSegmentQueryProcessor>,
public wm::detail::HasDataMode
{
protected:
- using Base = wm::detail::MemoryQueryProcessorBase<wm::queryTarget, server::wm::Memory, armem::wm::Memory, CoreSegmentQueryProcessor>;
+ using Base = wm::detail::MemoryQueryProcessorBase<server::wm::Memory, armem::wm::Memory, CoreSegmentQueryProcessor>;
using Memory = server::wm::Memory;
using CoreSegment = server::wm::CoreSegment;
public:
- MemoryQueryProcessor(DataMode dataMode = DataMode::WithData);
+ MemoryQueryProcessor(armem::query::DataMode dataMode = armem::query::DataMode::WithData);
using Base::process;
diff --git a/source/RobotAPI/libraries/armem/server/test/ArMemQueryTest.cpp b/source/RobotAPI/libraries/armem/server/test/ArMemQueryTest.cpp
index c778cbc4fb09e2a590f7a4aa20085f19998e78f4..583dbb5fd23bfd33f3a61b722a00862ea06172b3 100644
--- a/source/RobotAPI/libraries/armem/server/test/ArMemQueryTest.cpp
+++ b/source/RobotAPI/libraries/armem/server/test/ArMemQueryTest.cpp
@@ -148,7 +148,7 @@ d_usec(long usec)
BOOST_AUTO_TEST_CASE(test_entity_Single_existing)
{
- addResults(query::entity::Single({query::QueryTarget::WM, query::QueryTarget::LTM}, t_usec(3000)));
+ addResults(query::entity::Single(t_usec(3000)));
BOOST_REQUIRE_GT(results.size(), 0);
for (const armem::wm::Entity& result : results)
@@ -162,7 +162,7 @@ BOOST_AUTO_TEST_CASE(test_entity_Single_existing)
BOOST_AUTO_TEST_CASE(test_entity_Single_non_existing)
{
- addResults(query::entity::Single({query::QueryTarget::WM, query::QueryTarget::LTM}, t_usec(3500)));
+ addResults(query::entity::Single(t_usec(3500)));
BOOST_REQUIRE_GT(results.size(), 0);
for (const armem::wm::Entity& result : results)
@@ -197,8 +197,7 @@ BOOST_AUTO_TEST_CASE(test_entity_All)
BOOST_AUTO_TEST_CASE(test_entity_TimeRange_slice)
{
- addResults(query::entity::TimeRange({query::QueryTarget::WM, query::QueryTarget::LTM},
- t_usec(1500), t_usec(3500)));
+ addResults(query::entity::TimeRange(t_usec(1500), t_usec(3500)));
BOOST_REQUIRE_GT(results.size(), 0);
for (const armem::wm::Entity& result : results)
@@ -219,8 +218,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_slice)
BOOST_AUTO_TEST_CASE(test_entity_TimeRange_exact)
{
- addResults(query::entity::TimeRange({query::QueryTarget::WM, query::QueryTarget::LTM},
- t_usec(2000), t_usec(4000)));
+ addResults(query::entity::TimeRange(t_usec(2000), t_usec(4000)));
BOOST_REQUIRE_GT(results.size(), 0);
for (const armem::wm::Entity& result : results)
@@ -242,10 +240,8 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_exact)
BOOST_AUTO_TEST_CASE(test_entity_TimeRange_all)
{
- addResults(query::entity::TimeRange({query::QueryTarget::WM, query::QueryTarget::LTM},
- t_usec(0), t_usec(10000)));
- addResults(query::entity::TimeRange({query::QueryTarget::WM, query::QueryTarget::LTM},
- t_usec(-1), t_usec(-1)));
+ addResults(query::entity::TimeRange(t_usec(0), t_usec(10000)));
+ addResults(query::entity::TimeRange(t_usec(-1), t_usec(-1)));
BOOST_REQUIRE_GT(results.size(), 0);
for (const armem::wm::Entity& result : results)
@@ -262,10 +258,8 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_all)
BOOST_AUTO_TEST_CASE(test_entity_TimeRange_empty)
{
- addResults(query::entity::TimeRange({query::QueryTarget::WM, query::QueryTarget::LTM},
- t_usec(2400), t_usec(2600)));
- addResults(query::entity::TimeRange({query::QueryTarget::WM, query::QueryTarget::LTM},
- t_usec(6000), t_usec(1000)));
+ addResults(query::entity::TimeRange(t_usec(2400), t_usec(2600)));
+ addResults(query::entity::TimeRange(t_usec(6000), t_usec(1000)));
BOOST_REQUIRE_GT(results.size(), 0);
for (const armem::wm::Entity& result : results)
@@ -279,8 +273,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_empty)
BOOST_AUTO_TEST_CASE(test_entity_TimeRange_from_start)
{
- addResults(query::entity::TimeRange({query::QueryTarget::WM, query::QueryTarget::LTM},
- t_usec(-1), t_usec(2500)));
+ addResults(query::entity::TimeRange(t_usec(-1), t_usec(2500)));
BOOST_REQUIRE_GT(results.size(), 0);
for (const armem::wm::Entity& result : results)
@@ -302,8 +295,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_from_start)
BOOST_AUTO_TEST_CASE(test_entity_TimeRange_to_end)
{
- addResults(query::entity::TimeRange({query::QueryTarget::WM, query::QueryTarget::LTM},
- t_usec(2500), t_usec(-1)));
+ addResults(query::entity::TimeRange(t_usec(2500), t_usec(-1)));
BOOST_REQUIRE_GT(results.size(), 0);
for (const armem::wm::Entity& result : results)
@@ -328,8 +320,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_to_end)
BOOST_AUTO_TEST_CASE(test_entity_BeforeTime_1)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::BeforeTime({query::QueryTarget::WM, query::QueryTarget::LTM},
- t_usec(3500), 1));
+ addResults(query::entity::BeforeTime(t_usec(3500), 1));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -344,8 +335,7 @@ BOOST_AUTO_TEST_CASE(test_entity_BeforeTime_1)
BOOST_AUTO_TEST_CASE(test_entity_BeforeTime_2)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::BeforeTime({query::QueryTarget::WM, query::QueryTarget::LTM},
- t_usec(3500), 2));
+ addResults(query::entity::BeforeTime(t_usec(3500), 2));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -371,8 +361,7 @@ BOOST_AUTO_TEST_CASE(test_entity_BeforeTime_2)
BOOST_AUTO_TEST_CASE(test_entity_BeforeOrAtTime_before)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::BeforeOrAtTime({query::QueryTarget::WM, query::QueryTarget::LTM},
- t_usec(3500)));
+ addResults(query::entity::BeforeOrAtTime(t_usec(3500)));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -387,8 +376,7 @@ BOOST_AUTO_TEST_CASE(test_entity_BeforeOrAtTime_before)
BOOST_AUTO_TEST_CASE(test_entity_BeforeOrAtTime_at)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::BeforeOrAtTime({query::QueryTarget::WM, query::QueryTarget::LTM},
- t_usec(3000)));
+ addResults(query::entity::BeforeOrAtTime(t_usec(3000)));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -403,8 +391,7 @@ BOOST_AUTO_TEST_CASE(test_entity_BeforeOrAtTime_at)
BOOST_AUTO_TEST_CASE(test_entity_BeforeOrAtTime_lookup_past)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::BeforeOrAtTime({query::QueryTarget::WM, query::QueryTarget::LTM},
- t_usec(1)));
+ addResults(query::entity::BeforeOrAtTime(t_usec(1)));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -424,8 +411,7 @@ BOOST_AUTO_TEST_CASE(test_entity_BeforeOrAtTime_lookup_past)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_no_limit)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM},
- t_usec(3500), d_usec(-1)));
+ addResults(query::entity::TimeApprox(t_usec(3500), d_usec(-1)));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -452,8 +438,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_no_limit)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_600)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM},
- t_usec(3500), d_usec(600)));
+ addResults(query::entity::TimeApprox(t_usec(3500), d_usec(600)));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -480,8 +465,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_600)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_too_small)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM},
- t_usec(3500), d_usec(100)));
+ addResults(query::entity::TimeApprox(t_usec(3500), d_usec(100)));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -500,8 +484,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_too_small)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_only_next)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM},
- t_usec(3700), d_usec(400)));
+ addResults(query::entity::TimeApprox(t_usec(3700), d_usec(400)));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -526,8 +509,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_only_next)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_only_previous)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM},
- t_usec(3300), d_usec(400)));
+ addResults(query::entity::TimeApprox(t_usec(3300), d_usec(400)));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -552,8 +534,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_only_previous)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_perfect_match)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM},
- t_usec(3000), d_usec(-1)));
+ addResults(query::entity::TimeApprox(t_usec(3000), d_usec(-1)));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -578,8 +559,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_perfect_match)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_lookup_past)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM},
- t_usec(1), d_usec(1)));
+ addResults(query::entity::TimeApprox(t_usec(1), d_usec(1)));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -597,8 +577,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_lookup_past)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_lookup_future)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM},
- t_usec(10'000), d_usec(1)));
+ addResults(query::entity::TimeApprox(t_usec(10'000), d_usec(1)));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -616,8 +595,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_lookup_future)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_lookup_future_valid)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM},
- t_usec(10'000), d_usec(-1)));
+ addResults(query::entity::TimeApprox(t_usec(10'000), d_usec(-1)));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -636,8 +614,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_lookup_future_valid)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_lookup_invalid_timestamp)
{
- BOOST_REQUIRE_THROW(addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM},
- t_usec(-1), d_usec(1))), ::armarx::LocalException);
+ BOOST_REQUIRE_THROW(addResults(query::entity::TimeApprox(t_usec(-1), d_usec(1))), ::armarx::LocalException);
}
@@ -677,7 +654,7 @@ BOOST_AUTO_TEST_CASE(test_negative_index_semantics)
BOOST_AUTO_TEST_CASE(test_entity_IndexRange_all_default)
{
addResults(query::entity::IndexRange());
- addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 0, -1));
+ addResults(query::entity::IndexRange(0, -1));
BOOST_REQUIRE_GT(results.size(), 0);
for (const armem::wm::Entity& result : results)
@@ -697,10 +674,10 @@ BOOST_AUTO_TEST_CASE(test_entity_IndexRange_all_default)
BOOST_AUTO_TEST_CASE(test_entity_IndexRange_slice)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 1, 3)); // => [1, 2, 3]
- addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 1, -2)); // 5 - 2 = 3
- addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, -4, 3)); // 5 - 4 = 1
- addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, -4, -2));
+ addResults(query::entity::IndexRange(1, 3)); // => [1, 2, 3]
+ addResults(query::entity::IndexRange(1, -2)); // 5 - 2 = 3
+ addResults(query::entity::IndexRange(-4, 3)); // 5 - 4 = 1
+ addResults(query::entity::IndexRange(-4, -2));
BOOST_REQUIRE_GT(results.size(), 0);
for (const armem::wm::Entity& result : results)
@@ -724,12 +701,12 @@ BOOST_AUTO_TEST_CASE(test_entity_IndexRange_slice)
BOOST_AUTO_TEST_CASE(test_entity_IndexRange_empty_range)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 1, 0));
- addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 2, 1));
- addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 5, 3));
- addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 4, -3)); // 5-3 = 2
- addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 3, -3));
- addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 1, -5));
+ addResults(query::entity::IndexRange(1, 0));
+ addResults(query::entity::IndexRange(2, 1));
+ addResults(query::entity::IndexRange(5, 3));
+ addResults(query::entity::IndexRange(4, -3)); // 5-3 = 2
+ addResults(query::entity::IndexRange(3, -3));
+ addResults(query::entity::IndexRange(1, -5));
BOOST_REQUIRE_GT(results.size(), 0);
@@ -746,12 +723,12 @@ BOOST_AUTO_TEST_CASE(test_entity_IndexRange_empty_entity)
{
entity.clear();
BOOST_REQUIRE_EQUAL(entity.size(), 0);
- addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 0, 0));
- addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 0, 10));
- addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, -10, -1));
- addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 2, 5));
- addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 3, -3));
- addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, -1, 10));
+ addResults(query::entity::IndexRange(0, 0));
+ addResults(query::entity::IndexRange(0, 10));
+ addResults(query::entity::IndexRange(-10, -1));
+ addResults(query::entity::IndexRange(2, 5));
+ addResults(query::entity::IndexRange(3, -3));
+ addResults(query::entity::IndexRange(-1, 10));
BOOST_REQUIRE_GT(results.size(), 0);
diff --git a/source/RobotAPI/libraries/armem/test/ArMemQueryBuilderTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemQueryBuilderTest.cpp
index 1f92ff883c67fe070328bd51ff6a9baad7afa81b..ebf288ab7f2a9e4f831b1433b3573e94dee47fac 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemQueryBuilderTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemQueryBuilderTest.cpp
@@ -92,7 +92,7 @@ BOOST_AUTO_TEST_CASE(test_mixed)
std::vector<std::string> entityNames = {"one", "two"};
- armem::client::query::Builder qb(armem::DataMode::WithData);
+ armem::client::query::Builder qb(armem::query::DataMode::WithData);
qb
.coreSegments(withName("core"))
.providerSegments(withName("provider"))
diff --git a/source/RobotAPI/libraries/armem/util/util.h b/source/RobotAPI/libraries/armem/util/util.h
index 2f4941e926c9c354ee7c172b3a0e208fd96b9ebb..2f45b843a0419a639e000cc2594b59783df06267 100644
--- a/source/RobotAPI/libraries/armem/util/util.h
+++ b/source/RobotAPI/libraries/armem/util/util.h
@@ -28,7 +28,7 @@
#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
-#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/AronGeneratedClass.h>
+#include <RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedClass.h>
namespace armarx::armem
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
index 3bc4b0b7618f84284234cc4de830aa9c15c74171..be54e55ab75d82171e7fb3c3913f7d6c9bd3a87a 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
+++ b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
@@ -93,7 +93,7 @@ namespace armarx::armem::gui
try
{
predictionEngines = reader.getAvailablePredictionEngines();
- queryResult = reader.queryMemoryIDs({entityID}, DataMode::NoData);
+ queryResult = reader.queryMemoryIDs({entityID}, armem::query::DataMode::NoData);
}
catch (const Ice::LocalException& e)
{
@@ -498,7 +498,7 @@ namespace armarx::armem::gui
[&reader, input, recursionDepth, this]()
{
// Can't resolve MemoryLinks without data
- return recursionDepth == 0 || input.dataMode == DataMode::NoData
+ return recursionDepth == 0 || input.dataMode == armem::query::DataMode::NoData
? reader.query(input.toIce())
: reader.query(input.toIce(), mns, recursionDepth);
});
diff --git a/source/RobotAPI/libraries/armem_gui/commit_widget/CommitWidget.h b/source/RobotAPI/libraries/armem_gui/commit_widget/CommitWidget.h
index c82ba93f3dfe9426de67c2c85b9f92b7da872df8..1795d4877e990bfc30a11be5d978859e115d1aa7 100644
--- a/source/RobotAPI/libraries/armem_gui/commit_widget/CommitWidget.h
+++ b/source/RobotAPI/libraries/armem_gui/commit_widget/CommitWidget.h
@@ -1,6 +1,6 @@
#pragma once
-#include <RobotAPI/libraries/armem/core/DataMode.h>
+#include <RobotAPI/libraries/armem/core/query/DataMode.h>
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <QWidget>
diff --git a/source/RobotAPI/libraries/armem_gui/memory/GroupBox.cpp b/source/RobotAPI/libraries/armem_gui/memory/GroupBox.cpp
index 2c34cb5b3b5f303c3f3dc37af970221b8f8b79ba..8680fe165cb257b8384f7d32ac2f005007479fff 100644
--- a/source/RobotAPI/libraries/armem_gui/memory/GroupBox.cpp
+++ b/source/RobotAPI/libraries/armem_gui/memory/GroupBox.cpp
@@ -102,10 +102,10 @@ namespace armarx::armem::gui::memory
armem::client::QueryInput GroupBox::queryInput() const
{
armem::client::query::Builder queryBuilder(_queryWidget->dataMode());
- queryBuilder.queryTargets(_snapshotSelectorWidget->queryTargets())
- .coreSegments().all().queryTargets(_snapshotSelectorWidget->queryTargets())
- .providerSegments().all().queryTargets(_snapshotSelectorWidget->queryTargets())
- .entities().all().queryTargets(_snapshotSelectorWidget->queryTargets())
+ queryBuilder
+ .coreSegments().all()
+ .providerSegments().all()
+ .entities().all()
.snapshots(_snapshotSelectorWidget->selector());
return queryBuilder.buildQueryInput();
diff --git a/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.cpp b/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.cpp
index f5645fb2e48efb6ea28ac9e45c8701414633db32..1719e6cac0cb3a815969f70e7a77394931576593 100644
--- a/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.cpp
+++ b/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.cpp
@@ -149,11 +149,11 @@ namespace armarx::armem::gui
}
}
- armem::DataMode QueryWidget::dataMode() const
+ armem::query::DataMode QueryWidget::dataMode() const
{
return _dataCheckBox->isChecked()
- ? armem::DataMode::WithData
- : armem::DataMode::NoData;
+ ? armem::query::DataMode::WithData
+ : armem::query::DataMode::NoData;
}
bool QueryWidget::dropRemovedMemories() const
diff --git a/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.h b/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.h
index 4988e5d6795e348a7c12a0d30bb4388be194dfe6..bb285a9a48b206c862ae0be4fef0a57016bf967a 100644
--- a/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.h
+++ b/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.h
@@ -1,6 +1,6 @@
#pragma once
-#include <RobotAPI/libraries/armem/core/DataMode.h>
+#include <RobotAPI/libraries/armem/core/query/DataMode.h>
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include "SnapshotSelectorWidget.h"
@@ -22,7 +22,7 @@ namespace armarx::armem::gui
QueryWidget();
- armem::DataMode dataMode() const;
+ armem::query::DataMode dataMode() const;
bool dropRemovedMemories() const;
bool dropDisabledMemories() const;
diff --git a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotForm.cpp b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotForm.cpp
index 8a9ff01c6b00a1863305e893bab631288d047b0f..c6977d062d062d441d62337848634a903ead43d7 100644
--- a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotForm.cpp
+++ b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotForm.cpp
@@ -21,9 +21,9 @@
namespace armarx::armem::gui
{
- client::query::SnapshotSelector SnapshotForm::makeEntitySelector(const armem::query::data::QueryTargets& targets)
+ client::query::SnapshotSelector SnapshotForm::makeEntitySelector()
{
- client::query::SnapshotSelector s(targets);
+ client::query::SnapshotSelector s;
fillEntitySelector(s);
return s;
}
diff --git a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotForm.h b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotForm.h
index f2f9ba1940d268d06f3383374d01893ea2d3dea4..1e673a73ebc9dc1a0ad7189f4484fee8820a3b12 100644
--- a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotForm.h
+++ b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotForm.h
@@ -19,7 +19,7 @@ namespace armarx::armem::gui
Q_OBJECT
public:
- virtual client::query::SnapshotSelector makeEntitySelector(const armem::query::data::QueryTargets& targets);
+ virtual client::query::SnapshotSelector makeEntitySelector();
signals:
diff --git a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.cpp b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.cpp
index 1d8c4ecadd7b482e523730370afbe95ad7cb9664..f38c186b630e3d07fc867f1036159476b17bf767 100644
--- a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.cpp
+++ b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.cpp
@@ -13,29 +13,7 @@ namespace armarx::armem::gui
{
client::query::SnapshotSelector SnapshotSelectorWidget::selector()
{
- return _queryForms.at(_queryComboBox->currentText())->makeEntitySelector(queryTargets());
- }
-
- query::data::QueryTargets SnapshotSelectorWidget::queryTargets() const
- {
- query::data::QueryTargets targets;
- if (_WMQueryTargetCheckBox->isChecked())
- {
- targets.push_back(query::data::QueryTarget::WM);
- }
- if (_LTMQueryTargetCheckBox->isChecked())
- {
- targets.push_back(query::data::QueryTarget::LTM);
- }
- return targets;
- }
-
- void SnapshotSelectorWidget::queryTargetStateChanged()
- {
- if (!_WMQueryTargetCheckBox->isChecked() && !_LTMQueryTargetCheckBox->isChecked())
- {
- _WMQueryTargetCheckBox->setChecked(true);
- }
+ return _queryForms.at(_queryComboBox->currentText())->makeEntitySelector();
}
SnapshotSelectorWidget::SnapshotSelectorWidget()
@@ -58,16 +36,6 @@ namespace armarx::armem::gui
// query type select box
auto queryTargetLayout = new QHBoxLayout();
- _WMQueryTargetCheckBox = new QCheckBox("WM");
- _LTMQueryTargetCheckBox = new QCheckBox("LTM");
-
- connect(_WMQueryTargetCheckBox, &QCheckBox::stateChanged, this, &This::queryTargetStateChanged);
- connect(_LTMQueryTargetCheckBox, &QCheckBox::stateChanged, this, &This::queryTargetStateChanged);
-
- queryTargetLayout->addWidget(_WMQueryTargetCheckBox);
- queryTargetLayout->addWidget(_LTMQueryTargetCheckBox);
-
- _WMQueryTargetCheckBox->setChecked(true);
typeLayout->addLayout(queryTargetLayout);
_pageLayout->addLayout(typeLayout);
diff --git a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.h b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.h
index d57cf80fd8e6fb39b14de646c175bae9cc29992b..23833f71ea0f297379385abee48f4a01698670aa 100644
--- a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.h
+++ b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.h
@@ -4,7 +4,7 @@
#include <QWidget>
-#include <RobotAPI/libraries/armem/core/DataMode.h>
+#include <RobotAPI/libraries/armem/core/query/DataMode.h>
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include "SnapshotForm.h"
@@ -35,9 +35,8 @@ namespace armarx::armem::gui
SnapshotSelectorWidget();
- armem::DataMode dataMode() const;
+ armem::query::DataMode dataMode() const;
client::query::SnapshotSelector selector();
- query::data::QueryTargets queryTargets() const;
public slots:
@@ -51,7 +50,6 @@ namespace armarx::armem::gui
void hideAllForms();
void showSelectedFormForQuery(QString selected);
- void queryTargetStateChanged();
signals:
void queryOutdated();
@@ -65,8 +63,6 @@ namespace armarx::armem::gui
public:
QVBoxLayout* _pageLayout;
QComboBox* _queryComboBox;
- QCheckBox* _WMQueryTargetCheckBox;
- QCheckBox* _LTMQueryTargetCheckBox;
/// The forms for the different query types. Hidden when not selected.
std::map<QString, SnapshotForm*> _queryForms;
diff --git a/source/RobotAPI/libraries/aron/codegeneration/CMakeLists.txt b/source/RobotAPI/libraries/aron/codegeneration/CMakeLists.txt
index 208f3660bf0b501c55237fc3af51e18e76f7b8e2..c3a800811daceb9e10dbad233aec1b071e72d83b 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/CMakeLists.txt
+++ b/source/RobotAPI/libraries/aron/codegeneration/CMakeLists.txt
@@ -66,8 +66,6 @@ set(LIB_HEADERS
codegenerator/codewriter/CodeWriter.h
codegenerator/codewriter/Factory.h
- codegenerator/codewriter/cpp/AronGeneratedClass.h
-
codegenerator/codewriter/cpp/Writer.h
codegenerator/codewriter/cpp/generator/Generator.h
codegenerator/codewriter/cpp/generator/detail/SpecializedGenerator.h
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/Writer.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/Writer.cpp
index bd0bc005c622ceff32327aeeba02ccd972b3aca5..72a657218790d389d14283f7c22fb02ce183c357 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/Writer.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/Writer.cpp
@@ -332,7 +332,7 @@ namespace armarx::aron::codegenerator::cpp
// add aron includes
c->addInclude("<RobotAPI/libraries/aron/core/aron_conversions.h>");
c->addInclude("<RobotAPI/libraries/aron/core/rw.h>");
- c->addInclude("<RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/AronGeneratedClass.h>");
+ c->addInclude("<RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedClass.h>");
// ctor
c->addCtor(gen.toCtor(c->getName()));
diff --git a/source/RobotAPI/libraries/aron/common/test/MyCustomType.h b/source/RobotAPI/libraries/aron/common/test/MyCustomType.h
index 85c6a29f858d92430ecd651c1dece507903cb32e..f266c7a371070495b8d1d8d3331efc66e95b5d89 100644
--- a/source/RobotAPI/libraries/aron/common/test/MyCustomType.h
+++ b/source/RobotAPI/libraries/aron/common/test/MyCustomType.h
@@ -24,7 +24,7 @@
#include <string>
#include <vector>
-#include <RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/AronGeneratedClass.h>
+#include <RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedClass.h>
namespace my
{
diff --git a/source/RobotAPI/libraries/aron/core/CMakeLists.txt b/source/RobotAPI/libraries/aron/core/CMakeLists.txt
index 8701ee053dd3e6fba36c9db49367a17d67550089..e17910e7f15989afc0c99c8284469074c1f88f34 100644
--- a/source/RobotAPI/libraries/aron/core/CMakeLists.txt
+++ b/source/RobotAPI/libraries/aron/core/CMakeLists.txt
@@ -106,6 +106,8 @@ set(LIB_HEADERS
Exception.h
Path.h
+ codegeneration/cpp/AronGeneratedClass.h
+
aron_conversions.h
rw.h
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/AronGeneratedClass.h b/source/RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedClass.h
similarity index 100%
rename from source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/AronGeneratedClass.h
rename to source/RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedClass.h