From 87474ee7a277d76ac93dccb70fe9f49aa67c81e2 Mon Sep 17 00:00:00 2001
From: uhfpm_plewnia <uhfpm@student.kit.edu>
Date: Tue, 22 Aug 2023 15:30:48 +0200
Subject: [PATCH] fixed issue with starting and stopping of recording several
parallel LTMs at once
---
.../armem/server/MemoryToIceAdapter.cpp | 41 ++++++++++++-------
1 file changed, 27 insertions(+), 14 deletions(-)
diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
index 6a8c3a3a3..d9c6a40aa 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
@@ -524,8 +524,30 @@ namespace armarx::armem::server
ARMARX_TRACE;
ARMARX_CHECK_NOT_NULL(longtermMemory);
ARMARX_IMPORTANT << "Enabling the recording of memory " << longtermMemory->id().str();
- longtermMemory->startRecording(); // TODO: config and execution time!
- //other LTMs only start recording when defined from the beginning
+ std::vector<armarx::armem::server::ltm::Memory*> ltms;
+ ltms.push_back(longtermMemory);
+ ltms.push_back(secondLTM);
+ ltms.push_back(thirdLTM);
+ ltms.push_back(fourthLTM);
+ ltms.push_back(fiftLTM);
+ ltms.push_back(sixthLTM);
+ ltms.push_back(seventhLTM);
+ ltms.push_back(eightLTM);
+ ltms.push_back(ninthLTM);
+ ltms.push_back(tenthLTM);
+ ltms.push_back(eleventhLTM);
+ /*
+ ltms.push_back(twelvethLTM);
+ ltms.push_back(thirteenthLTM);
+ ltms.push_back(fourteenthLTM);
+ ltms.push_back(fifteenthLTM);
+ ltms.push_back(sixteenthLTM);
+ */
+ for(int i = 0; i < static_cast<int>(ltms.size()); i++){
+ ltms.at(i)->startRecording();
+ }
+ //longtermMemory->startRecording(); // TODO: config and execution time!
+
dto::StartRecordResult ret;
ret.success = true;
@@ -560,7 +582,7 @@ namespace armarx::armem::server
ltms.push_back(sixteenthLTM);
*/
std::vector<std::thread> threads;
- for(int i = 0; i < 5; ++i){
+ for(int i = 0; i < static_cast<int>(ltms.size()); ++i){
threads.push_back(std::thread([i, <ms]{
ltms.at(i)->stopRecording();
}));
@@ -570,17 +592,8 @@ namespace armarx::armem::server
thread.join();
}
- ARMARX_INFO << "Stopped all LTM recordings";
-
- /**
- thirdLTM->stopRecording();
- longtermMemory->stopRecording();
- secondLTM->stopRecording();
-
- fourthLTM->stopRecording();
- fiftLTM->stopRecording();
-
- */
+ ARMARX_INFO << "Stopped all LTM recordings, please wait with stopping the component until "
+ "all files are written";
dto::StopRecordResult ret;
ret.success = true;
--
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