From 816d021ce620fb5db45fba49a74448dd18073347 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Mon, 28 Nov 2022 19:46:44 +0100
Subject: [PATCH] Add max history size
---
.../armem/server/IndexMemory/IndexMemory.cpp | 17 +++++++++++++----
.../armem/server/IndexMemory/IndexMemory.h | 1 +
2 files changed, 14 insertions(+), 4 deletions(-)
diff --git a/source/RobotAPI/components/armem/server/IndexMemory/IndexMemory.cpp b/source/RobotAPI/components/armem/server/IndexMemory/IndexMemory.cpp
index e380ad6da..dffd3d2cb 100644
--- a/source/RobotAPI/components/armem/server/IndexMemory/IndexMemory.cpp
+++ b/source/RobotAPI/components/armem/server/IndexMemory/IndexMemory.cpp
@@ -42,6 +42,9 @@ namespace armarx
setMemoryName(armem::index::memoryID.memoryName);
+ defs->optional(properties.maxHistorySize, "p.maxHistorySize", "The maximum size of entity histories.")
+ .setMin(1);
+
return defs;
}
@@ -56,10 +59,16 @@ namespace armarx
void
IndexMemory::onInitComponent()
{
- workingMemory().addCoreSegment(armem::index::namedSegmentID.coreSegmentName,
- armem::index::arondto::Named::ToAronType());
- workingMemory().addCoreSegment(armem::index::spatialSegmentID.coreSegmentName,
- armem::index::arondto::Spatial::ToAronType());
+ size_t maxHistorySize = static_cast<size_t>(std::max(1, properties.maxHistorySize));
+ workingMemory()
+ .addCoreSegment(armem::index::namedSegmentID.coreSegmentName,
+ armem::index::arondto::Named::ToAronType())
+ .setMaxHistorySize(maxHistorySize);
+
+ workingMemory()
+ .addCoreSegment(armem::index::spatialSegmentID.coreSegmentName,
+ armem::index::arondto::Spatial::ToAronType())
+ .setMaxHistorySize(maxHistorySize);
}
diff --git a/source/RobotAPI/components/armem/server/IndexMemory/IndexMemory.h b/source/RobotAPI/components/armem/server/IndexMemory/IndexMemory.h
index f3db3c3d8..b272fcafc 100644
--- a/source/RobotAPI/components/armem/server/IndexMemory/IndexMemory.h
+++ b/source/RobotAPI/components/armem/server/IndexMemory/IndexMemory.h
@@ -70,6 +70,7 @@ namespace armarx
private:
struct Properties
{
+ int maxHistorySize = 1024;
};
Properties properties;
--
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