From 83f5905a92d9b3c45d0801ce5693642d018d7622 Mon Sep 17 00:00:00 2001
From: Joana <joana.plewnia@kit.edu>
Date: Fri, 16 Aug 2024 15:21:16 +0200
Subject: [PATCH] feature added: store snapshots from WM on stopRecording() if
storeOnStop is true in properties of LTM tested in Simulation
---
.../armem/server/MemoryToIceAdapter.cpp | 14 +++-
.../armem/server/ltm/CoreSegment.cpp | 4 +-
.../libraries/armem/server/ltm/CoreSegment.h | 2 +-
.../libraries/armem/server/ltm/Entity.cpp | 10 ++-
.../libraries/armem/server/ltm/Entity.h | 2 +-
.../libraries/armem/server/ltm/Memory.cpp | 8 +-
.../libraries/armem/server/ltm/Memory.h | 4 +-
.../armem/server/ltm/ProviderSegment.cpp | 4 +-
.../armem/server/ltm/ProviderSegment.h | 2 +-
.../armem/server/ltm/detail/CoreSegmentBase.h | 6 +-
.../armem/server/ltm/detail/EntityBase.h | 6 +-
.../server/ltm/detail/EntitySnapshotBase.h | 2 +-
.../armem/server/ltm/detail/MemoryBase.h | 10 +--
.../server/ltm/detail/ProviderSegmentBase.h | 6 +-
.../ltm/detail/mixins/BufferedMemoryMixin.h | 15 ++--
.../server/ltm/processors/filter/Filter.h | 2 +-
.../filter/equalityFilter/EqualityFilter.cpp | 2 +-
.../filter/equalityFilter/EqualityFilter.h | 2 +-
.../frequencyFilter/FrequencyFilter.cpp | 84 +++++++++++++++++--
.../filter/frequencyFilter/FrequencyFilter.h | 15 +++-
.../importanceFilter/ImportanceFilter.cpp | 2 +-
.../importanceFilter/ImportanceFilter.h | 2 +-
.../server/plugins/ReadWritePluginUser.h | 2 +-
23 files changed, 151 insertions(+), 55 deletions(-)
diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
index 3ec7db60a..94d26b5c5 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
@@ -453,18 +453,26 @@ namespace armarx::armem::server
{
ARMARX_TRACE;
ARMARX_CHECK_NOT_NULL(longtermMemory);
+ ARMARX_CHECK_NOT_NULL(workingMemory);
ARMARX_IMPORTANT << "Disabling the recording of memory " << longtermMemory->id().str();
+ if(longtermMemory->p.storeOnStop){ //if true this means when stopping LTM recording leftover snapshots are transferred to WM using the simulated consolidation
+ ARMARX_INFO << "Starting to save left-over WM data into LTM";
+ longtermMemory->directlyStore(*workingMemory, true);
+ ARMARX_INFO << "Stored leftover WM data into LTM";
+ } else {
+ ARMARX_INFO << "Not storing WM data into LTM on stop, because storeOnStop is " << longtermMemory->p.storeOnStop;
+ }
+
//put calling stopRecording into a seperate thread and detach to make sure GUI does not freeze
auto ltm = longtermMemory;
+
std::thread stopRecordingThread([<m](){
ltm->stopRecording();
- });
- std::thread savingDataUpdateThread([<m](){
ltm->bufferFinished();
+ ARMARX_INFO << "Storing finished";
});
stopRecordingThread.detach();
- savingDataUpdateThread.detach();
ARMARX_IMPORTANT
<< "Stopped all LTM recordings, please wait with stopping the component until "
diff --git a/source/RobotAPI/libraries/armem/server/ltm/CoreSegment.cpp b/source/RobotAPI/libraries/armem/server/ltm/CoreSegment.cpp
index 3f8d4f8d6..ff955d28e 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/CoreSegment.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/CoreSegment.cpp
@@ -155,7 +155,7 @@ namespace armarx::armem::server::ltm
}
void
- CoreSegment::_store(const armem::wm::CoreSegment& c)
+ CoreSegment::_store(const armem::wm::CoreSegment& c, bool simulatedVersion)
{
std::lock_guard l(ltm_mutex);
@@ -207,7 +207,7 @@ namespace armarx::armem::server::ltm
id().withProviderSegmentName(prov.id().providerSegmentName),
processors);
- c.store(prov);
+ c.store(prov, simulatedVersion);
});
}
} // namespace armarx::armem::server::ltm
diff --git a/source/RobotAPI/libraries/armem/server/ltm/CoreSegment.h b/source/RobotAPI/libraries/armem/server/ltm/CoreSegment.h
index 062ce79c3..1c36d1436 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/CoreSegment.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/CoreSegment.h
@@ -30,7 +30,7 @@ namespace armarx::armem::server::ltm
void _loadAllReferences(armem::wm::CoreSegment&) override;
void _loadLatestNReferences(int n, armem::wm::CoreSegment& c) override;
void _resolve(armem::wm::CoreSegment&) override;
- void _store(const armem::wm::CoreSegment&) override;
+ void _store(const armem::wm::CoreSegment&, bool simulatedVersion) override;
private:
};
diff --git a/source/RobotAPI/libraries/armem/server/ltm/Entity.cpp b/source/RobotAPI/libraries/armem/server/ltm/Entity.cpp
index 306bd90e2..5ce8cab3d 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/Entity.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/Entity.cpp
@@ -423,7 +423,7 @@ namespace armarx::armem::server::ltm
}
void
- Entity::_store(const armem::wm::Entity& c)
+ Entity::_store(const armem::wm::Entity& c, bool simulatedVersion)
{
std::lock_guard l(ltm_mutex);
if (id().entityName.empty())
@@ -464,17 +464,19 @@ namespace armarx::armem::server::ltm
for (auto& f : processors->snapFilters)
{
-
- bool accepted = f->accept(snap);
+ bool accepted = f->accept(snap, simulatedVersion);
+
if (!accepted)
{
- //ARMARX_INFO << "Ignoring to put an EntitiySnapshot into the LTM because it got filtered.";
+ ARMARX_DEBUG << "Ignoring to put an EntitySnapshot into the LTM because it got filtered.";
return;
} else {
//ARMARX_INFO << "Storing EntitySnapshot";
}
}
+ ARMARX_DEBUG << "Snapshot: " << c.id().timestamp << " of coreSegment " << c.id().coreSegmentName;
+
c.store(snap);
statistics.recordedSnapshots++;
});
diff --git a/source/RobotAPI/libraries/armem/server/ltm/Entity.h b/source/RobotAPI/libraries/armem/server/ltm/Entity.h
index 82f22a63c..a873f444b 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/Entity.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/Entity.h
@@ -49,7 +49,7 @@ namespace armarx::armem::server::ltm
void _loadAllReferences(armem::wm::Entity&) override;
void _loadLatestNReferences(int n, armem::wm::Entity& e) override;
void _resolve(armem::wm::Entity&) override;
- void _store(const armem::wm::Entity&) override;
+ void _store(const armem::wm::Entity& e, bool simulatedVersion) override;
private:
};
diff --git a/source/RobotAPI/libraries/armem/server/ltm/Memory.cpp b/source/RobotAPI/libraries/armem/server/ltm/Memory.cpp
index 39e18a372..a950f1541 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/Memory.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/Memory.cpp
@@ -62,7 +62,7 @@ namespace armarx::armem::server::ltm
Memory::_disable()
{
BufferedBase::stop();
- MongoDBStorageMixin::stop();
+ //MongoDBStorageMixin::stop();
ARMARX_IMPORTANT << "Storing of data finished, starting to generate and save statistics...";
getAndSaveStatistics();
}
@@ -261,7 +261,7 @@ namespace armarx::armem::server::ltm
}
void
- Memory::_directlyStore(const armem::wm::Memory& memory)
+ Memory::_directlyStore(const armem::wm::Memory& memory, bool simulatedVersion)
{
std::lock_guard l(ltm_mutex); // we cannot store a memory multiple times simultaneously
@@ -280,6 +280,8 @@ namespace armarx::armem::server::ltm
return;
}*/
+ ARMARX_DEBUG << "CoreSegments: " << memory.getCoreSegmentNames().size();
+
memory.forEachCoreSegment(
[&](const auto& core)
{
@@ -290,7 +292,7 @@ namespace armarx::armem::server::ltm
processors);
// 2. store data
- c.store(core);
+ c.store(core, simulatedVersion);
// 3. update statistics
diff --git a/source/RobotAPI/libraries/armem/server/ltm/Memory.h b/source/RobotAPI/libraries/armem/server/ltm/Memory.h
index 4c7b287fc..bb022c1e2 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/Memory.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/Memory.h
@@ -60,8 +60,8 @@ namespace armarx::armem::server::ltm
void _loadLatestNReferences(int n, armem::wm::Memory& m) final;
void _loadLatestNReferences(int n, armem::wm::Memory& m, std::list<std::string> coreSegNames) final;
void _resolve(armem::wm::Memory&) final;
- void _store(const armem::wm::Memory&) final;
- void _directlyStore(const armem::wm::Memory&) final;
+ void _store(const armem::wm::Memory& m) final;
+ void _directlyStore(const armem::wm::Memory& m, bool simulatedVersion) final;
void _loadOnStartup() final;
private:
diff --git a/source/RobotAPI/libraries/armem/server/ltm/ProviderSegment.cpp b/source/RobotAPI/libraries/armem/server/ltm/ProviderSegment.cpp
index 8978aeced..f568b3213 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/ProviderSegment.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/ProviderSegment.cpp
@@ -155,7 +155,7 @@ namespace armarx::armem::server::ltm
}
void
- ProviderSegment::_store(const armem::wm::ProviderSegment& p)
+ ProviderSegment::_store(const armem::wm::ProviderSegment& p, bool simulatedVersion)
{
std::lock_guard l(ltm_mutex);
@@ -206,7 +206,7 @@ namespace armarx::armem::server::ltm
id().withEntityName(e.id().entityName),
processors);
- c.store(e);
+ c.store(e, simulatedVersion);
statistics.recordedEntities++;
});
}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/ProviderSegment.h b/source/RobotAPI/libraries/armem/server/ltm/ProviderSegment.h
index 1d6ac9d36..056740808 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/ProviderSegment.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/ProviderSegment.h
@@ -30,7 +30,7 @@ namespace armarx::armem::server::ltm
void _loadAllReferences(armem::wm::ProviderSegment&) override;
void _loadLatestNReferences(int n, armem::wm::ProviderSegment& p) override;
void _resolve(armem::wm::ProviderSegment&) override;
- void _store(const armem::wm::ProviderSegment&) override;
+ void _store(const armem::wm::ProviderSegment&, bool simulatedVersion) override;
private:
};
diff --git a/source/RobotAPI/libraries/armem/server/ltm/detail/CoreSegmentBase.h b/source/RobotAPI/libraries/armem/server/ltm/detail/CoreSegmentBase.h
index 79a5cc774..ce70f089d 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/detail/CoreSegmentBase.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/detail/CoreSegmentBase.h
@@ -50,9 +50,9 @@ namespace armarx::armem::server::ltm::detail
/// encode the content of a wm::Memory and store
void
- store(const armem::wm::CoreSegment& coreSeg)
+ store(const armem::wm::CoreSegment& coreSeg, bool simulatedVersion)
{
- _store(coreSeg);
+ _store(coreSeg, simulatedVersion);
}
/// statistics
@@ -95,7 +95,7 @@ namespace armarx::armem::server::ltm::detail
virtual void _loadAllReferences(armem::wm::CoreSegment&) = 0;
virtual void _loadLatestNReferences(int n, armem::wm::CoreSegment& c) = 0;
virtual void _resolve(armem::wm::CoreSegment&) = 0;
- virtual void _store(const armem::wm::CoreSegment&) = 0;
+ virtual void _store(const armem::wm::CoreSegment& c, bool simulatedVersion=false) = 0;
protected:
mutable std::recursive_mutex ltm_mutex;
diff --git a/source/RobotAPI/libraries/armem/server/ltm/detail/EntityBase.h b/source/RobotAPI/libraries/armem/server/ltm/detail/EntityBase.h
index 3bf90a7f4..3de973486 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/detail/EntityBase.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/detail/EntityBase.h
@@ -50,9 +50,9 @@ namespace armarx::armem::server::ltm::detail
/// encode the content of a wm::Memory and store
void
- store(const armem::wm::Entity& e)
+ store(const armem::wm::Entity& e, bool simulatedVersion)
{
- _store(e);
+ _store(e, simulatedVersion);
}
/// statistics
@@ -108,7 +108,7 @@ namespace armarx::armem::server::ltm::detail
virtual void _loadAllReferences(armem::wm::Entity&) = 0;
virtual void _loadLatestNReferences(int n, armem::wm::Entity& e) = 0;
virtual void _resolve(armem::wm::Entity&) = 0;
- virtual void _store(const armem::wm::Entity&) = 0;
+ virtual void _store(const armem::wm::Entity& e, bool simulatedVersion=false) = 0;
protected:
mutable std::recursive_mutex ltm_mutex;
diff --git a/source/RobotAPI/libraries/armem/server/ltm/detail/EntitySnapshotBase.h b/source/RobotAPI/libraries/armem/server/ltm/detail/EntitySnapshotBase.h
index cebbca955..f6488bad8 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/detail/EntitySnapshotBase.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/detail/EntitySnapshotBase.h
@@ -78,7 +78,7 @@ namespace armarx::armem::server::ltm::detail
protected:
virtual void _loadAllReferences(armem::wm::EntitySnapshot&) const = 0;
virtual void _resolve(armem::wm::EntitySnapshot&) const = 0;
- virtual void _store(const armem::wm::EntitySnapshot&) = 0;
+ virtual void _store(const armem::wm::EntitySnapshot& s) = 0;
protected:
mutable std::recursive_mutex ltm_mutex;
diff --git a/source/RobotAPI/libraries/armem/server/ltm/detail/MemoryBase.h b/source/RobotAPI/libraries/armem/server/ltm/detail/MemoryBase.h
index 4feb13078..eab1c6b74 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/detail/MemoryBase.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/detail/MemoryBase.h
@@ -213,8 +213,8 @@ namespace armarx::armem::server::ltm::detail
void
store(const armem::server::wm::Memory& serverMemory)
{
- wm::Memory memory;
- memory.update(armem::toCommit(serverMemory));
+ armem::wm::Memory memory(serverMemory.name());
+ memory.update(armem::toCommit(serverMemory), true);
this->store(memory);
}
@@ -234,11 +234,11 @@ namespace armarx::armem::server::ltm::detail
defs->optional(p.enabled_on_startup, prefix + "enabled");
defs->optional(p.configuration_on_startup, prefix + "configuration");
defs->optional(p.export_name, prefix + "exportName");
+ defs->optional(p.storeOnStop, prefix + "storeOnStop");
defs->optional(p.importOnStartUp, prefix + "importOnStartUp");
defs->optional(p.maxAmountOfSnapshotsLoaded, prefix + "maxAmountSnapshotsLoaded");
defs->optional(p.coreSegmentsToLoad, prefix + "loadedCoreSegments");
-
}
/// enable/disable
@@ -337,7 +337,7 @@ namespace armarx::armem::server::ltm::detail
virtual void _loadAllReferences(armem::wm::Memory& memory) = 0;
virtual void _resolve(armem::wm::Memory& memory) = 0;
virtual void _store(const armem::wm::Memory& memory) = 0;
- virtual void _directlyStore(const armem::wm::Memory& memory) = 0;
+ virtual void _directlyStore(const armem::wm::Memory& memory, bool simulatedVersion=false) = 0;
virtual void _loadOnStartup() = 0;
virtual void _loadLatestNReferences(int n, armem::wm::Memory& memory) = 0;
virtual void _loadLatestNReferences(int n, armem::wm::Memory& memory, std::list<std::string> coreSegNames) = 0;
@@ -348,7 +348,7 @@ namespace armarx::armem::server::ltm::detail
{
bool enabled_on_startup = false;
std::string configuration_on_startup =
- "{ \"SnapshotFrequencyFilter\": {\"WaitingTimeInMsForFilter\" : 50}"; //record with 20 fps as standard
+ "{ \"SnapshotFrequencyFilter\": {\"WaitingTimeInMsForFilter\" : 50}}"; //record with 20 fps as standard
std::string export_name = "MemoryExport";
std::string export_path = "/tmp/ltm";
bool storeOnStop = true;
diff --git a/source/RobotAPI/libraries/armem/server/ltm/detail/ProviderSegmentBase.h b/source/RobotAPI/libraries/armem/server/ltm/detail/ProviderSegmentBase.h
index 0aa25896f..91f853f92 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/detail/ProviderSegmentBase.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/detail/ProviderSegmentBase.h
@@ -48,9 +48,9 @@ namespace armarx::armem::server::ltm::detail
/// encode the content of a wm::Memory and store
void
- store(const armem::wm::ProviderSegment& provSeg)
+ store(const armem::wm::ProviderSegment& provSeg, bool simulatedVersion)
{
- _store(provSeg);
+ _store(provSeg, simulatedVersion);
}
/// statistics
@@ -91,7 +91,7 @@ namespace armarx::armem::server::ltm::detail
virtual void _loadAllReferences(armem::wm::ProviderSegment&) = 0;
virtual void _loadLatestNReferences(int n, armem::wm::ProviderSegment& p) = 0;
virtual void _resolve(armem::wm::ProviderSegment&) = 0;
- virtual void _store(const armem::wm::ProviderSegment&) = 0;
+ virtual void _store(const armem::wm::ProviderSegment& p, bool simulatedVersion=false) = 0;
protected:
mutable std::recursive_mutex ltm_mutex;
diff --git a/source/RobotAPI/libraries/armem/server/ltm/detail/mixins/BufferedMemoryMixin.h b/source/RobotAPI/libraries/armem/server/ltm/detail/mixins/BufferedMemoryMixin.h
index 103811f41..0a17f6adc 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/detail/mixins/BufferedMemoryMixin.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/detail/mixins/BufferedMemoryMixin.h
@@ -28,22 +28,23 @@ namespace armarx::armem::server::ltm::detail::mixin
virtual ~BufferedMemoryMixin() = default;
void
- directlyStore(const armem::wm::Memory& memory)
+ directlyStore(const armem::wm::Memory& memory, bool simulatedVersion=false)
{
std::lock_guard l(storeMutex);
TIMING_START(LTM_Memory_DirectlyStore);
- _directlyStore(memory);
+ _directlyStore(memory, simulatedVersion);
TIMING_END_STREAM(LTM_Memory_DirectlyStore, ARMARX_DEBUG);
}
void
- directlyStore(const armem::server::wm::Memory& serverMemory)
+ directlyStore(const armem::server::wm::Memory& serverMemory, bool simulatedVersion=false)
{
- wm::Memory memory;
+ armem::wm::Memory memory;
memory.setName(serverMemory.name());
- memory.update(armem::toCommit(serverMemory));
- this->directlyStore(memory);
+ auto ids = memory.update(armem::toCommit(serverMemory), true);
+ ARMARX_DEBUG << "Amount of ids in update: " << ids.size();
+ this->directlyStore(memory, simulatedVersion);
}
void
@@ -137,7 +138,7 @@ namespace armarx::armem::server::ltm::detail::mixin
defs->optional(storeFrequency, prefix + "storeFrequency");
}
- virtual void _directlyStore(const armem::wm::Memory& memory) = 0;
+ virtual void _directlyStore(const armem::wm::Memory& memory, bool simulatedVersion=false) = 0;
void
addToBuffer(const armem::wm::Memory& memory)
diff --git a/source/RobotAPI/libraries/armem/server/ltm/processors/filter/Filter.h b/source/RobotAPI/libraries/armem/server/ltm/processors/filter/Filter.h
index 7cd2ade2e..4bf8ec049 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/processors/filter/Filter.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/processors/filter/Filter.h
@@ -29,7 +29,7 @@ namespace armarx::armem::server::ltm::processor
SnapshotFilter() = default;
virtual ~SnapshotFilter() = default;
- virtual bool accept(const armem::wm::EntitySnapshot& e) = 0;
+ virtual bool accept(const armem::wm::EntitySnapshot& e, bool simulatedVersion = false) = 0;
virtual void configure(const nlohmann::json& json);
struct FilterStatistics {
diff --git a/source/RobotAPI/libraries/armem/server/ltm/processors/filter/equalityFilter/EqualityFilter.cpp b/source/RobotAPI/libraries/armem/server/ltm/processors/filter/equalityFilter/EqualityFilter.cpp
index 715520f7b..6f55b623a 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/processors/filter/equalityFilter/EqualityFilter.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/processors/filter/equalityFilter/EqualityFilter.cpp
@@ -9,7 +9,7 @@
namespace armarx::armem::server::ltm::processor::filter
{
bool
- SnapshotSimilarityFilter::accept(const armem::wm::EntitySnapshot& e)
+ SnapshotSimilarityFilter::accept(const armem::wm::EntitySnapshot& e, bool simulatedVersion)
{
auto start = std::chrono::high_resolution_clock::now();
diff --git a/source/RobotAPI/libraries/armem/server/ltm/processors/filter/equalityFilter/EqualityFilter.h b/source/RobotAPI/libraries/armem/server/ltm/processors/filter/equalityFilter/EqualityFilter.h
index e5d3a7b1f..407290de8 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/processors/filter/equalityFilter/EqualityFilter.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/processors/filter/equalityFilter/EqualityFilter.h
@@ -25,7 +25,7 @@ namespace armarx::armem::server::ltm::processor::filter
SnapshotSimilarityFilter() = default;
- virtual bool accept(const armem::wm::EntitySnapshot& e) override;
+ virtual bool accept(const armem::wm::EntitySnapshot& e, bool simulatedVersion) override;
void configure(const nlohmann::json& json) override;
FilterStatistics getFilterStatistics() override;
diff --git a/source/RobotAPI/libraries/armem/server/ltm/processors/filter/frequencyFilter/FrequencyFilter.cpp b/source/RobotAPI/libraries/armem/server/ltm/processors/filter/frequencyFilter/FrequencyFilter.cpp
index 2dd6e1d7c..5f4777423 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/processors/filter/frequencyFilter/FrequencyFilter.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/processors/filter/frequencyFilter/FrequencyFilter.cpp
@@ -6,7 +6,7 @@ namespace armarx::armem::server::ltm::processor::filter
{
bool
- SnapshotFrequencyFilter::accept(const armem::wm::EntitySnapshot &e)
+ SnapshotFrequencyFilter::accept(const armem::wm::EntitySnapshot &e, bool simulatedVersion)
{
//accepting to many elements makes the filter slow and brings problems with the buffer with itself!
@@ -17,13 +17,24 @@ namespace armarx::armem::server::ltm::processor::filter
// get entity id of this snapshot:
auto memID = e.id().getEntityID();
+ //find out if timestamps are corrupted:
+ if(this->nonCorruptedType == TimestampType::NOT_SET){
+ ARMARX_DEBUG << "Setting timestamp type";
+ this->setNonCorruptedTimestampType(e);
+ ARMARX_DEBUG << VAROUT(this->nonCorruptedType);
+ }
+
+ if(this->nonCorruptedType == TimestampType::ALL_CORRUPTED) {
+ return true;
+ }
+
if(this->lastTimesPerEntity.end() == this->lastTimesPerEntity.find(memID)){
//this happens if the key is not in the map, which means this is the first time this
//entity tries to save a snapshot
- ARMARX_INFO << "First time this entity is saved";
+ ARMARX_DEBUG << "First time this entity is saved";
auto firstIndex = e.getInstanceIndices()[0];
auto firstInsance = e.getInstance(firstIndex);
- auto lastT = firstInsance.metadata().sentTime.toMilliSecondsSinceEpoch();
+ auto lastT = this->getNonCorruptedTimestamp(firstInsance, simulatedVersion);
//for statistics sake:
auto end = std::chrono::high_resolution_clock::now();
stats.end_time = end;
@@ -33,16 +44,16 @@ namespace armarx::armem::server::ltm::processor::filter
this->lastTimesPerEntity[memID] = lastT;
return true; //the first one is always accepted
} else {
-
auto lastTime = this->lastTimesPerEntity.at(memID);
// check if any one of the instances for this snapshot were sent in the last x
// milliseconds since a snapshot was accepted last for this entity:
- e.forEachInstance([this, &instances_accepted, ¤t, &lastTime](armem::wm::EntityInstance& i){
- int difference = std::abs(i.metadata().sentTime.toMilliSecondsSinceEpoch() - lastTime);
+ e.forEachInstance([this, &instances_accepted, ¤t, &lastTime, &simulatedVersion](armem::wm::EntityInstance& i){
+ auto t = this->getNonCorruptedTimestamp(i, simulatedVersion);
+ int difference = std::abs(t - lastTime);
if(difference > this->maxDifference){ //at least one instance is older than the last saved instance
instances_accepted = true;
- current = i.metadata().sentTime.toMilliSecondsSinceEpoch();
+ current = this->getNonCorruptedTimestamp(i, simulatedVersion);
}
});
@@ -66,6 +77,65 @@ namespace armarx::armem::server::ltm::processor::filter
return instances_accepted;
}
+ void
+ SnapshotFrequencyFilter::setNonCorruptedTimestampType(const armem::wm::EntitySnapshot &e){
+ auto firstIndex = e.getInstanceIndices()[0];
+ auto firstInsance = e.getInstance(firstIndex);
+ auto sentTime = firstInsance.metadata().sentTime;
+ auto arrivedTime = firstInsance.metadata().arrivedTime;
+ auto referencedTime = firstInsance.metadata().referencedTime;
+
+ ARMARX_DEBUG << VAROUT(sentTime.toMilliSecondsSinceEpoch());
+ ARMARX_DEBUG << VAROUT(arrivedTime.toMilliSecondsSinceEpoch());
+ ARMARX_DEBUG << VAROUT(referencedTime.toMilliSecondsSinceEpoch());
+
+ if(sentTime.toMilliSecondsSinceEpoch() < 946688400000){
+ // we assume the timestamp does not make sense if it is older than the year 2000
+ if(arrivedTime.toMilliSecondsSinceEpoch() < 946688400000){
+ if(referencedTime.toMilliSecondsSinceEpoch() < 946688400000){
+ ARMARX_WARNING << "LTM recording does not work correctly, as frequency filter is used, but "
+ << "time sent, arrived and referenced are all corrupted. \n"
+ << "Accepting all snapshots.";
+ this->nonCorruptedType = TimestampType::ALL_CORRUPTED;
+ } else {
+ if(!corruptedWarningGiven){ //only print this warning once
+ ARMARX_INFO << "Time sent and arrived for snapshot corrupted, using time referenced for filtering";
+ corruptedWarningGiven = true;
+ }
+ //use time referenced from now on
+ this->nonCorruptedType = TimestampType::REFERENCED;
+ }
+ } else {
+ if(!corruptedWarningGiven){ //only print this warning once
+ ARMARX_INFO << "Time sent for snapshot corrupted, using time arrived for filtering";
+ corruptedWarningGiven = true;
+ }
+ //use time arrived from now on
+ this->nonCorruptedType = TimestampType::ARRIVED;
+ }
+ } else {
+ this->nonCorruptedType = TimestampType::SENT;
+ }
+ }
+
+ int
+ SnapshotFrequencyFilter::getNonCorruptedTimestamp(const armem::wm::EntityInstance &i, bool simulatedVersion){
+ switch(this->nonCorruptedType) {
+ case TimestampType::SENT:
+ if(!simulatedVersion){
+ return i.metadata().sentTime.toMilliSecondsSinceEpoch();
+ } else {
+ [[fallthrough]];
+ }
+ case TimestampType::ARRIVED:
+ return i.metadata().arrivedTime.toMilliSecondsSinceEpoch();
+ case TimestampType::REFERENCED:
+ return i.metadata().referencedTime.toMilliSecondsSinceEpoch();
+ default:
+ return -1;
+ }
+ }
+
void
SnapshotFrequencyFilter::configure(const nlohmann::json& json)
{
diff --git a/source/RobotAPI/libraries/armem/server/ltm/processors/filter/frequencyFilter/FrequencyFilter.h b/source/RobotAPI/libraries/armem/server/ltm/processors/filter/frequencyFilter/FrequencyFilter.h
index e9c9e0021..63e449376 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/processors/filter/frequencyFilter/FrequencyFilter.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/processors/filter/frequencyFilter/FrequencyFilter.h
@@ -5,6 +5,13 @@
namespace armarx::armem::server::ltm::processor::filter
{
+ enum TimestampType{
+ NOT_SET = 0,
+ SENT = 1,
+ ARRIVED = 2,
+ REFERENCED = 3,
+ ALL_CORRUPTED = 4
+ };
class SnapshotFrequencyFilter : public SnapshotFilter
{
@@ -14,14 +21,20 @@ namespace armarx::armem::server::ltm::processor::filter
SnapshotFrequencyFilter() = default;
- virtual bool accept(const armem::wm::EntitySnapshot &e) override;
+ virtual bool accept(const armem::wm::EntitySnapshot &e, bool simulatedVersion) override;
void configure(const nlohmann::json& json) override;
FilterStatistics getFilterStatistics() override;
std::string getName() override;
private:
+ void setNonCorruptedTimestampType(const armem::wm::EntitySnapshot &e);
+ int getNonCorruptedTimestamp(const armem::wm::EntityInstance &i, bool simulatedVersion);
+
std::map<MemoryID, std::int64_t> lastTimesPerEntity;
int maxDifference = 0;
+ bool corruptedWarningGiven = false;
+ TimestampType nonCorruptedType = TimestampType::NOT_SET;
+
};
} // namespace armarx::armem::server::ltm::processor::filter
diff --git a/source/RobotAPI/libraries/armem/server/ltm/processors/filter/importanceFilter/ImportanceFilter.cpp b/source/RobotAPI/libraries/armem/server/ltm/processors/filter/importanceFilter/ImportanceFilter.cpp
index 0ae255a4d..06516bd78 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/processors/filter/importanceFilter/ImportanceFilter.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/processors/filter/importanceFilter/ImportanceFilter.cpp
@@ -4,7 +4,7 @@
namespace armarx::armem::server::ltm::processor::filter
{
-bool SnapshotImportanceFilter::accept(const armem::wm::EntitySnapshot &e)
+bool SnapshotImportanceFilter::accept(const armem::wm::EntitySnapshot &e, bool simulatedVersion)
{
auto start = std::chrono::high_resolution_clock::now();
bool instances_accepted = false;
diff --git a/source/RobotAPI/libraries/armem/server/ltm/processors/filter/importanceFilter/ImportanceFilter.h b/source/RobotAPI/libraries/armem/server/ltm/processors/filter/importanceFilter/ImportanceFilter.h
index 929bb2e2a..5dcc76b57 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/processors/filter/importanceFilter/ImportanceFilter.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/processors/filter/importanceFilter/ImportanceFilter.h
@@ -23,7 +23,7 @@ public:
SnapshotImportanceFilter() = default;
- virtual bool accept(const armem::wm::EntitySnapshot& e) override;
+ virtual bool accept(const armem::wm::EntitySnapshot& e, bool simulatedVersion) override;
void configure(const nlohmann::json& json) override;
FilterStatistics getFilterStatistics() override;
diff --git a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h
index 289db2216..935fb0598 100644
--- a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h
+++ b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h
@@ -87,7 +87,7 @@ namespace armarx::armem::server::plugins
virtual armem::prediction::data::EngineSupportMap
getAvailableEngines(const ::Ice::Current&) override;
- //test
+ //ReloadFromLTMOnStartup
armem::CommitResult reloadFromLTM();
public:
--
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