diff --git a/source/RobotAPI/interface/armem/mns/MemoryNameSystemInterface.ice b/source/RobotAPI/interface/armem/mns/MemoryNameSystemInterface.ice
index e102426c44a33acb156a10203e77193689a97f92..85a862f4cd815168d6163d2d085426d71b298068 100644
--- a/source/RobotAPI/interface/armem/mns/MemoryNameSystemInterface.ice
+++ b/source/RobotAPI/interface/armem/mns/MemoryNameSystemInterface.ice
@@ -33,6 +33,15 @@ module armarx
string errorMessage;
};
+ dictionary<string, server::MemoryInterface*> MemoryInterfaces;
+ struct GetAllRegisteredMemoriesResult
+ {
+ bool success;
+ string errorMessage;
+
+ MemoryInterfaces proxies;
+ };
+
struct ResolveMemoryNameInput
{
string name;
@@ -69,6 +78,8 @@ module armarx
data::RegisterMemoryResult registerMemory(data::RegisterMemoryInput input);
data::RemoveMemoryResult removeMemory(data::RemoveMemoryInput input);
+ data::GetAllRegisteredMemoriesResult getAllRegisteredMemories();
+
data::ResolveMemoryNameResult resolveMemoryName(data::ResolveMemoryNameInput input);
data::WaitForMemoryResult waitForMemory(data::WaitForMemoryInput input);
};
diff --git a/source/RobotAPI/libraries/armem/mns/ComponentPlugin.cpp b/source/RobotAPI/libraries/armem/mns/ComponentPlugin.cpp
index 0e5c206b636e6504975736d7c6c81a0ff40255d8..79e58300a6968dfda3f60d89ff0511f9ec72f267 100644
--- a/source/RobotAPI/libraries/armem/mns/ComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/armem/mns/ComponentPlugin.cpp
@@ -37,6 +37,15 @@ namespace armarx::armem::mns
}
+ armem::data::GetAllRegisteredMemoriesResult
+ ComponentPluginUser::getAllRegisteredMemories(const Ice::Current&)
+ {
+ std::scoped_lock lock(mnsMutex);
+ armem::data::GetAllRegisteredMemoriesResult result = mns.getAllRegisteredMemories();
+ return result;
+ }
+
+
armem::data::ResolveMemoryNameResult ComponentPluginUser::resolveMemoryName(const armem::data::ResolveMemoryNameInput& input, const Ice::Current&)
{
std::scoped_lock lock(mnsMutex);
diff --git a/source/RobotAPI/libraries/armem/mns/ComponentPlugin.h b/source/RobotAPI/libraries/armem/mns/ComponentPlugin.h
index ade1351d7f24c5315b55056d822fb7b26ef4eec8..1347c197e6d4f560b5773abfed30b92e8f8a7604 100644
--- a/source/RobotAPI/libraries/armem/mns/ComponentPlugin.h
+++ b/source/RobotAPI/libraries/armem/mns/ComponentPlugin.h
@@ -40,6 +40,7 @@ namespace armarx::armem::mns
public:
armem::data::RegisterMemoryResult registerMemory(const armem::data::RegisterMemoryInput& input, const Ice::Current& = Ice::emptyCurrent) override;
armem::data::RemoveMemoryResult removeMemory(const armem::data::RemoveMemoryInput& input, const Ice::Current& = Ice::emptyCurrent) override;
+ armem::data::GetAllRegisteredMemoriesResult getAllRegisteredMemories(const Ice::Current&) override;
armem::data::ResolveMemoryNameResult resolveMemoryName(const armem::data::ResolveMemoryNameInput& input, const Ice::Current& = Ice::emptyCurrent) override;
armem::data::WaitForMemoryResult waitForMemory(const armem::data::WaitForMemoryInput& input, const Ice::Current& = Ice::emptyCurrent) override;
diff --git a/source/RobotAPI/libraries/armem/mns/MemoryNameSystem.cpp b/source/RobotAPI/libraries/armem/mns/MemoryNameSystem.cpp
index c3cff5bb45c2dfbfa793a32d1ff432a51c740203..ece0fa74306ed77465ce0bb0c643b781ec704178 100644
--- a/source/RobotAPI/libraries/armem/mns/MemoryNameSystem.cpp
+++ b/source/RobotAPI/libraries/armem/mns/MemoryNameSystem.cpp
@@ -82,6 +82,30 @@ namespace armarx::armem::mns
}
+ data::GetAllRegisteredMemoriesResult
+ MemoryNameSystem::getAllRegisteredMemories()
+ {
+ data::GetAllRegisteredMemoriesResult result;
+ result.success = true;
+ result.errorMessage = "";
+
+ for (const auto& [name, info] : memoryMap)
+ {
+ try
+ {
+ info.proxy->ice_ping();
+ result.proxies[name] = info.proxy;
+ }
+ catch (const Ice::Exception&)
+ {
+ ;
+ }
+ }
+
+ return result;
+ }
+
+
armem::data::ResolveMemoryNameResult MemoryNameSystem::resolveMemoryName(const armem::data::ResolveMemoryNameInput& input)
{
armem::data::ResolveMemoryNameResult result;
diff --git a/source/RobotAPI/libraries/armem/mns/MemoryNameSystem.h b/source/RobotAPI/libraries/armem/mns/MemoryNameSystem.h
index 891e78f4acf072e49670336b3d95afb4b766695a..7372246d7e8059787f97f117931830d12c9dc082 100644
--- a/source/RobotAPI/libraries/armem/mns/MemoryNameSystem.h
+++ b/source/RobotAPI/libraries/armem/mns/MemoryNameSystem.h
@@ -35,6 +35,8 @@ namespace armarx::armem::mns
*/
data::RemoveMemoryResult removeMemory(const data::RemoveMemoryInput& input);
+ data::GetAllRegisteredMemoriesResult getAllRegisteredMemories();
+
/**
* @brief Gets a memory entry, if it is available.
*/
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
index 2cff7aa28476ba530a8b72febb11d563e5101b0b..78097af1a7a40ca0e8c46f1e75d8ce72783e06ab 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
+++ b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
@@ -9,6 +9,8 @@
#include <ArmarXCore/core/time/TimeUtil.h>
#include <ArmarXCore/observers/variant/Variant.h>
+#include <SimoxUtility/algorithm/get_map_keys_values.h>
+
#include <QBoxLayout>
#include <QDialog>
#include <QCheckBox>
@@ -47,8 +49,8 @@ namespace armarx::armem::gui
ARMARX_CHECK_NULL(_instanceGroupBox);
- connect(this, &This::connected, this, &This::updateMemory);
- connect(updateWidget, &armem::gui::PeriodicUpdateWidget::update, this, &This::updateMemory);
+ connect(this, &This::connected, this, &This::updateMemories);
+ connect(updateWidget, &armem::gui::PeriodicUpdateWidget::update, this, &This::updateMemories);
connect(this, &This::memoryDataChanged, this, &This::updateMemoryTree);
connect(memoryGroup->tree(), &armem::gui::MemoryTreeWidget::selectedItemChanged, this, &This::updateInstanceTree);
@@ -64,9 +66,9 @@ namespace armarx::armem::gui
void MemoryViewer::onInit(ManagedIceObject& component)
{
- if (memoryName.size() > 0)
+ if (mnsName.size() > 0)
{
- component.usingProxy(memoryName);
+ component.usingProxy(mnsName);
}
if (debugObserverName.size() > 0)
{
@@ -78,10 +80,15 @@ namespace armarx::armem::gui
void MemoryViewer::onConnect(ManagedIceObject& component)
{
- if (!memoryName.empty())
+ if (!mnsName.empty())
{
- component.getProxy(memory, memoryName);
- memoryReader = armem::client::Reader(memory);
+ component.getProxy(mns, mnsName);
+ auto res = mns->getAllRegisteredMemories();
+ for (auto& [name, proxy] : res.proxies)
+ {
+ armem::client::Reader memoryReader{proxy};
+ memoryReaders[name] = memoryReader;
+ }
}
// DebugObserver is optional (check for null on every call)
if (!debugObserverName.empty())
@@ -101,52 +108,78 @@ namespace armarx::armem::gui
}
- void MemoryViewer::updateMemory()
+ void MemoryViewer::updateMemories()
{
- if (!memoryReader)
+ memoryReaders.clear();
+ memoryData.clear();
+
+ for (auto& [name, proxy] : mns->getAllRegisteredMemories().proxies)
{
- return;
+ armem::client::Reader memoryReader{proxy};
+ memoryReaders[name] = memoryReader;
}
- TIMING_START(MemoryQuery);
+ bool dataChanged = false;
+
+ for (auto& [name, reader] : memoryReaders)
{
- armem::client::QueryInput input = memoryGroup->queryWidget()->queryInput();
- armem::client::QueryResult result = memoryReader.query(input);
- if (result)
+ TIMING_START(MemoryQuery);
+ {
+ armem::client::QueryInput input = memoryGroup->queryWidget()->queryInput();
+ armem::client::QueryResult result = reader.query(input);
+ if (result)
+ {
+ memoryData[name] = std::move(result.memory);
+ }
+ else
+ {
+ if (statusLabel)
+ {
+ statusLabel->setText(QString::fromStdString(result.errorMessage));
+ }
+ }
+ }
+ TIMING_END_STREAM(MemoryQuery, ARMARX_VERBOSE);
+
+ if (debugObserver)
{
- this->memoryData = std::move(result.memory);
+ debugObserver->setDebugDatafield(Logging::tag.tagName, "Memory Query [ms]", new Variant(MemoryQuery.toMilliSecondsDouble()));
+ }
+
+ if (memoryData[name])
+ {
+ dataChanged = true;
}
else
{
if (statusLabel)
{
- statusLabel->setText(QString::fromStdString(result.errorMessage));
+ statusLabel->setText("No query result.");
}
}
}
- TIMING_END_STREAM(MemoryQuery, ARMARX_VERBOSE);
-
- if (debugObserver)
- {
- debugObserver->setDebugDatafield(Logging::tag.tagName, "Memory Query [ms]", new Variant(MemoryQuery.toMilliSecondsDouble()));
- }
- if (this->memoryData)
+ if (dataChanged)
{
emit memoryDataChanged();
}
- else
- {
- if (statusLabel)
- {
- statusLabel->setText("No query result.");
- }
- }
}
+
void MemoryViewer::updateInstanceTree(const armem::MemoryID& selectedID)
{
- if (memoryData)
+ if (memoryData.find(selectedID.memoryName) == memoryData.end())
+ {
+ std::stringstream ss;
+ ss << "Memory name '" << selectedID.memoryName << "' is unknown. Known are: "
+ << simox::alg::get_keys(memoryData);
+ statusLabel->setText(QString::fromStdString(ss.str()));
+ return;
+ }
+
+ const std::optional<armem::Memory>& data = memoryData.at(selectedID.memoryName);
+
+ if (data)
{
if (!selectedID.hasEntityName())
{
@@ -156,7 +189,7 @@ namespace armarx::armem::gui
const armem::EntitySnapshot* snapshot = nullptr;
if (!id.hasTimestamp())
{
- const armem::Entity& entity = memoryData->getEntity(id);
+ const armem::Entity& entity = data->getEntity(id);
if (entity.empty())
{
return;
@@ -170,7 +203,7 @@ namespace armarx::armem::gui
{
try
{
- snapshot = &memoryData->getEntitySnapshot(id);
+ snapshot = &data->getEntitySnapshot(id);
}
catch (const armem::error::ArMemError& e)
{
@@ -187,19 +220,29 @@ namespace armarx::armem::gui
}
if (id.hasInstanceIndex())
{
- instanceGroup->view->update(id, *memoryData);
+ instanceGroup->view->update(id, *data);
}
}
}
void MemoryViewer::updateMemoryTree()
{
- if (!memoryData)
+ std::map<std::string, const armem::Memory*> convMap;
+ for (auto& [name, data] : memoryData)
+ {
+ if (data.has_value())
+ {
+ convMap[name] = &data.value();
+ }
+ }
+
+ if (convMap.empty())
{
return;
}
+
TIMING_START(GuiUpdate);
- memoryGroup->tree()->update(*memoryData);
+ memoryGroup->tree()->update(convMap);
TIMING_END_STREAM(GuiUpdate, ARMARX_VERBOSE);
if (debugObserver)
@@ -209,34 +252,29 @@ namespace armarx::armem::gui
}
- const static std::string CONFIG_KEY_MEMORY = "MemoryViewer.MemoryName";
+ const static std::string CONFIG_KEY_MEMORY = "MemoryViewer.MemoryNameSystem";
const static std::string CONFIG_KEY_DEBUG_OBSERVER = "MemoryViewer.DebugObserverName";
void MemoryViewer::loadSettings(QSettings* settings)
{
- memoryName = settings->value(QString::fromStdString(CONFIG_KEY_MEMORY), "Memory").toString().toStdString();
+ mnsName = settings->value(QString::fromStdString(CONFIG_KEY_MEMORY), "ArMemMemoryNameSystem").toString().toStdString();
debugObserverName = settings->value(QString::fromStdString(CONFIG_KEY_DEBUG_OBSERVER), "DebugObserver").toString().toStdString();
}
void MemoryViewer::saveSettings(QSettings* settings)
{
- settings->setValue(QString::fromStdString(CONFIG_KEY_MEMORY), QString::fromStdString(memoryName));
+ settings->setValue(QString::fromStdString(CONFIG_KEY_MEMORY), QString::fromStdString(mnsName));
settings->setValue(QString::fromStdString(CONFIG_KEY_DEBUG_OBSERVER), QString::fromStdString(debugObserverName));
}
void MemoryViewer::writeConfigDialog(SimpleConfigDialog* dialog)
{
- dialog->addProxyFinder<armem::server::MemoryInterfacePrx>({CONFIG_KEY_MEMORY, "Memory", "*Memory"});
+ dialog->addProxyFinder<armarx::armem::mns::MemoryNameSystemInterfacePrx>({CONFIG_KEY_MEMORY, "ArMemMemoryNameSystem", "*"});
dialog->addProxyFinder<armarx::DebugObserverInterfacePrx>({CONFIG_KEY_DEBUG_OBSERVER, "Debug Observer", "DebugObserver"});
}
void MemoryViewer::readConfigDialog(SimpleConfigDialog* dialog)
{
- memoryName = dialog->getProxyName(CONFIG_KEY_MEMORY);
+ mnsName = dialog->getProxyName(CONFIG_KEY_MEMORY);
debugObserverName = dialog->getProxyName(CONFIG_KEY_DEBUG_OBSERVER);
}
}
-
-
-
-
-
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryViewer.h b/source/RobotAPI/libraries/armem_gui/MemoryViewer.h
index df66ad86fa603443119744d0ee152f5f126e805a..5c8f4b2f182f798a3c076a89e6a30ff24d10050c 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryViewer.h
+++ b/source/RobotAPI/libraries/armem_gui/MemoryViewer.h
@@ -7,7 +7,7 @@
#include <ArmarXCore/interface/observers/ObserverInterface.h>
#include <ArmarXCore/core/logging/Logging.h>
-#include <RobotAPI/interface/armem/server/MemoryInterface.h>
+#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
#include <RobotAPI/libraries/armem/client/Reader.h>
#include <RobotAPI/libraries/armem_gui/lifecycle.h>
#include <RobotAPI/libraries/armem_gui/instance/GroupBox.h>
@@ -15,7 +15,6 @@
#include <RobotAPI/libraries/armem_gui/PeriodicUpdateWidget.h>
-
class QBoxLayout;
class QDialog;
class QGroupBox;
@@ -63,7 +62,7 @@ namespace armarx::armem::gui
public slots:
- void updateMemory();
+ void updateMemories();
void updateInstanceTree(const armem::MemoryID& selectedID);
@@ -95,11 +94,11 @@ namespace armarx::armem::gui
public:
- std::string memoryName;
- armem::server::MemoryInterfacePrx memory;
- armem::client::Reader memoryReader;
+ std::string mnsName;
+ armem::mns::MemoryNameSystemInterfacePrx mns;
- std::optional<armem::Memory> memoryData;
+ std::map<std::string, armem::client::Reader> memoryReaders;
+ std::map<std::string, std::optional<armem::Memory>> memoryData;
QLayout* updateWidgetLayout;
@@ -121,5 +120,3 @@ namespace armarx::armem::gui
};
}
-
-