From 8f3edae2919c0ebbcc1c58c81232d0d237275014 Mon Sep 17 00:00:00 2001
From: Fabian Peller-Konrad <fabian.peller-konrad@kit.edu>
Date: Tue, 2 Nov 2021 16:52:59 +0100
Subject: [PATCH] full working ltm pipeline
---
.../RobotAPI/libraries/armem/CMakeLists.txt | 36 ++--
.../armem/server/MemoryRemoteGui.cpp | 3 +-
.../armem/server/MemoryToIceAdapter.cpp | 4 +-
.../armem/server/RemoteGuiAronDataVisitor.h | 24 +--
.../ltm/base/converter/bson/BsonConverter.cpp | 0
.../ltm/base/converter/bson/BsonConverter.h | 0
.../ltm/base/converter/dict/Converter.cpp | 1 +
.../ltm/base/converter/dict/Converter.h | 35 ++++
.../converter/dict/bson/BsonConverter.cpp | 35 ++++
.../base/converter/dict/bson/BsonConverter.h | 27 +++
.../converter/dict/json/JsonConverter.cpp | 20 ++
.../base/converter/dict/json/JsonConverter.h | 24 +++
.../ltm/base/converter/image/Converter.cpp | 1 +
.../ltm/base/converter/image/Converter.h | 35 ++++
.../base/converter/image/png/PngConverter.cpp | 25 +++
.../base/converter/image/png/PngConverter.h | 21 ++
.../ltm/base/converter/json/JsonConverter.cpp | 0
.../ltm/base/converter/json/JsonConverter.h | 0
.../ltm/base/detail/BufferedMemoryBase.h | 13 +-
.../server/ltm/base/detail/CoreSegmentBase.h | 20 +-
.../armem/server/ltm/base/detail/EntityBase.h | 20 +-
.../ltm/base/detail/EntitySnapshotBase.h | 28 ++-
.../server/ltm/base/detail/LUTMemoryBase.h | 10 +-
.../armem/server/ltm/base/detail/MemoryBase.h | 44 +++-
.../ltm/base/detail/ProviderSegmentBase.h | 18 +-
.../armem/server/ltm/base/encoder/Encoder.cpp | 0
.../armem/server/ltm/base/encoder/Encoder.h | 0
.../ltm/base/encoder/noEncoder/NoEncoder.cpp | 0
.../ltm/base/encoder/noEncoder/NoEncoder.h | 0
.../server/ltm/base/extractor/Extractor.cpp | 1 +
.../server/ltm/base/extractor/Extractor.h | 32 +++
.../imageExtractor/ImageExtractor.cpp | 54 +++++
.../extractor/imageExtractor/ImageExtractor.h | 29 +++
.../extractor/noExtractor/NoExtractor.cpp | 17 ++
.../base/extractor/noExtractor/NoExtractor.h | 19 ++
.../armem/server/ltm/base/filter/Filter.cpp | 2 +
.../armem/server/ltm/base/filter/Filter.h | 23 +++
.../frequencyFilter/FrequencyFilter.cpp | 17 ++
.../filter/frequencyFilter/FrequencyFilter.h | 23 +++
.../ltm/base/filter/noFilter/NoFilter.cpp | 0
.../ltm/base/filter/noFilter/NoFilter.h | 0
.../LRUForgetter/LRUForgetter.cpp} | 0
.../LRUForgetter/LRUForgetter.h} | 0
.../forgetter/noForgetter/NoForgetter.cpp | 0
.../base/forgetter/noForgetter/NoForgetter.h | 0
.../armem/server/ltm/disk/CoreSegment.cpp | 15 +-
.../armem/server/ltm/disk/CoreSegment.h | 9 +-
.../armem/server/ltm/disk/Entity.cpp | 15 +-
.../libraries/armem/server/ltm/disk/Entity.h | 9 +-
.../armem/server/ltm/disk/EntitySnapshot.cpp | 84 +++++---
.../armem/server/ltm/disk/EntitySnapshot.h | 9 +-
.../armem/server/ltm/disk/Memory.cpp | 30 +--
.../libraries/armem/server/ltm/disk/Memory.h | 15 +-
.../armem/server/ltm/disk/ProviderSegment.cpp | 15 +-
.../armem/server/ltm/disk/ProviderSegment.h | 9 +-
.../armem/server/ltm/disk/detail/Data.h | 6 +-
.../ltm/detail/EntityQueryProcessorBase.h | 6 +-
.../armem/test/ArMemLTMBenchmark.cpp | 21 +-
.../armem_gui/disk/ControlWidget.cpp | 7 +-
.../display_visitors/DataDisplayVisitor.h | 2 +-
.../TypedDataDisplayVisitor.h | 2 +-
.../instance/tree_visitors/TreeDataVisitor.h | 24 +--
.../tree_visitors/TreeTypedDataVisitor.h | 46 ++---
.../aron/converter/opencv/OpenCVConverter.cpp | 3 +-
.../cpp/generator/ndarray/Image.cpp | 4 +-
.../nlohmannJSON/NlohmannJSONConverter.h | 2 +-
.../data/converter/variant/VariantConverter.h | 2 +-
.../aron/core/data/variant/Variant.h | 17 +-
.../aron/core/data/variant/complex/NDArray.h | 6 +
.../aron/core/data/variant/container/Dict.cpp | 24 ++-
.../aron/core/data/variant/container/Dict.h | 14 +-
.../aron/core/data/variant/container/List.cpp | 32 ++-
.../aron/core/data/variant/container/List.h | 10 +
.../data/variant/detail/PrimitiveVariant.h | 6 +
.../aron/core/data/visitor/RecursiveVisitor.h | 188 +++++++++---------
.../nlohmannJSON/NlohmannJSONVisitor.h | 4 +-
.../data/visitor/variant/VariantVisitor.h | 43 +++-
77 files changed, 993 insertions(+), 347 deletions(-)
delete mode 100644 source/RobotAPI/libraries/armem/server/ltm/base/converter/bson/BsonConverter.cpp
delete mode 100644 source/RobotAPI/libraries/armem/server/ltm/base/converter/bson/BsonConverter.h
create mode 100644 source/RobotAPI/libraries/armem/server/ltm/base/converter/dict/Converter.cpp
create mode 100644 source/RobotAPI/libraries/armem/server/ltm/base/converter/dict/Converter.h
create mode 100644 source/RobotAPI/libraries/armem/server/ltm/base/converter/dict/bson/BsonConverter.cpp
create mode 100644 source/RobotAPI/libraries/armem/server/ltm/base/converter/dict/bson/BsonConverter.h
create mode 100644 source/RobotAPI/libraries/armem/server/ltm/base/converter/dict/json/JsonConverter.cpp
create mode 100644 source/RobotAPI/libraries/armem/server/ltm/base/converter/dict/json/JsonConverter.h
create mode 100644 source/RobotAPI/libraries/armem/server/ltm/base/converter/image/Converter.cpp
create mode 100644 source/RobotAPI/libraries/armem/server/ltm/base/converter/image/Converter.h
create mode 100644 source/RobotAPI/libraries/armem/server/ltm/base/converter/image/png/PngConverter.cpp
create mode 100644 source/RobotAPI/libraries/armem/server/ltm/base/converter/image/png/PngConverter.h
delete mode 100644 source/RobotAPI/libraries/armem/server/ltm/base/converter/json/JsonConverter.cpp
delete mode 100644 source/RobotAPI/libraries/armem/server/ltm/base/converter/json/JsonConverter.h
delete mode 100644 source/RobotAPI/libraries/armem/server/ltm/base/encoder/Encoder.cpp
delete mode 100644 source/RobotAPI/libraries/armem/server/ltm/base/encoder/Encoder.h
delete mode 100644 source/RobotAPI/libraries/armem/server/ltm/base/encoder/noEncoder/NoEncoder.cpp
delete mode 100644 source/RobotAPI/libraries/armem/server/ltm/base/encoder/noEncoder/NoEncoder.h
create mode 100644 source/RobotAPI/libraries/armem/server/ltm/base/extractor/Extractor.cpp
create mode 100644 source/RobotAPI/libraries/armem/server/ltm/base/extractor/Extractor.h
create mode 100644 source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/ImageExtractor.cpp
create mode 100644 source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/ImageExtractor.h
create mode 100644 source/RobotAPI/libraries/armem/server/ltm/base/extractor/noExtractor/NoExtractor.cpp
create mode 100644 source/RobotAPI/libraries/armem/server/ltm/base/extractor/noExtractor/NoExtractor.h
create mode 100644 source/RobotAPI/libraries/armem/server/ltm/base/filter/frequencyFilter/FrequencyFilter.cpp
create mode 100644 source/RobotAPI/libraries/armem/server/ltm/base/filter/frequencyFilter/FrequencyFilter.h
delete mode 100644 source/RobotAPI/libraries/armem/server/ltm/base/filter/noFilter/NoFilter.cpp
delete mode 100644 source/RobotAPI/libraries/armem/server/ltm/base/filter/noFilter/NoFilter.h
rename source/RobotAPI/libraries/armem/server/ltm/base/{converter/Converter.cpp => forgetter/LRUForgetter/LRUForgetter.cpp} (100%)
rename source/RobotAPI/libraries/armem/server/ltm/base/{converter/Converter.h => forgetter/LRUForgetter/LRUForgetter.h} (100%)
delete mode 100644 source/RobotAPI/libraries/armem/server/ltm/base/forgetter/noForgetter/NoForgetter.cpp
delete mode 100644 source/RobotAPI/libraries/armem/server/ltm/base/forgetter/noForgetter/NoForgetter.h
diff --git a/source/RobotAPI/libraries/armem/CMakeLists.txt b/source/RobotAPI/libraries/armem/CMakeLists.txt
index 784cb0460..18ddb3492 100644
--- a/source/RobotAPI/libraries/armem/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem/CMakeLists.txt
@@ -20,6 +20,7 @@ set(LIBS
# Needed for LTM
RobotAPI::aron::converter::json
+ RobotAPI::aron::converter::opencv
${LIBMONGOCXX_LIBRARIES}
${LIBBSONCXX_LIBRARIES}
)
@@ -93,17 +94,20 @@ set(LIB_FILES
server/ltm/base/detail/EntitySnapshotBase.cpp
server/ltm/base/filter/Filter.cpp
- server/ltm/base/filter/noFilter/NoFilter.cpp
+ server/ltm/base/filter/frequencyFilter/FrequencyFilter.cpp
- server/ltm/base/encoder/Encoder.cpp
- server/ltm/base/encoder/noEncoder/NoEncoder.cpp
+ server/ltm/base/extractor/Extractor.cpp
+ server/ltm/base/extractor/imageExtractor/ImageExtractor.cpp
+ server/ltm/base/extractor/noExtractor/NoExtractor.cpp
- server/ltm/base/converter/Converter.cpp
- server/ltm/base/converter/json/JsonConverter.cpp
- server/ltm/base/converter/bson/BsonConverter.cpp
+ server/ltm/base/converter/dict/Converter.cpp
+ server/ltm/base/converter/dict/json/JsonConverter.cpp
+ server/ltm/base/converter/dict/bson/BsonConverter.cpp
+ server/ltm/base/converter/image/Converter.cpp
+ server/ltm/base/converter/image/png/PngConverter.cpp
server/ltm/base/forgetter/Forgetter.cpp
- server/ltm/base/forgetter/noForgetter/NoForgetter.cpp
+ server/ltm/base/forgetter/LRUForgetter/LRUForgetter.cpp
server/ltm/disk/detail/Data.cpp
server/ltm/disk/detail/DiskStorage.cpp
@@ -239,17 +243,21 @@ set(LIB_HEADERS
server/ltm/base/detail/EntitySnapshotBase.h
server/ltm/base/filter/Filter.h
- server/ltm/base/filter/noFilter/NoFilter.h
+ server/ltm/base/filter/frequencyFilter/FrequencyFilter.h
- server/ltm/base/encoder/Encoder.h
- server/ltm/base/encoder/noEncoder/NoEncoder.h
+ server/ltm/base/extractor/Extractor.h
+ server/ltm/base/extractor/imageExtractor/ImageExtractor.h
+ server/ltm/base/extractor/noExtractor/NoExtractor.h
+
+ server/ltm/base/converter/dict/Converter.h
+ server/ltm/base/converter/dict/json/JsonConverter.h
+ server/ltm/base/converter/dict/bson/BsonConverter.h
+ server/ltm/base/converter/image/Converter.h
+ server/ltm/base/converter/image/png/PngConverter.h
- server/ltm/base/converter/Converter.h
- server/ltm/base/converter/json/JsonConverter.h
- server/ltm/base/converter/bson/BsonConverter.h
server/ltm/base/forgetter/Forgetter.h
- server/ltm/base/forgetter/noForgetter/NoForgetter.h
+ server/ltm/base/forgetter/LRUForgetter/LRUForgetter.h
server/ltm/disk/detail/Data.h
server/ltm/disk/detail/DiskStorage.h
diff --git a/source/RobotAPI/libraries/armem/server/MemoryRemoteGui.cpp b/source/RobotAPI/libraries/armem/server/MemoryRemoteGui.cpp
index 3b4882789..8c76449e7 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryRemoteGui.cpp
+++ b/source/RobotAPI/libraries/armem/server/MemoryRemoteGui.cpp
@@ -195,7 +195,8 @@ namespace armarx::armem::server
if (instance.data())
{
RemoteGuiAronDataVisitor v;
- aron::data::visitRecursive(v, "", instance.data());
+ aron::data::VariantPtr p;
+ aron::data::visitRecursive(v, instance.data(), "", p);
group = v.result;
}
else
diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
index 32c8f9672..12553981e 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
@@ -251,7 +251,7 @@ namespace armarx::armem::server
{
ARMARX_INFO << "The LTM returned data after query";
- longtermMemory->convert(ltmResult); // convert memory ==> meaning resolving references
+ longtermMemory->load(ltmResult); // convert memory ==> meaning resolving references
wmResult.append(ltmResult);
if (wmResult.empty())
@@ -326,7 +326,7 @@ namespace armarx::armem::server
{
armem::wm::Memory m;
fromIce(queryResult.memory, m);
- longtermMemory->append(m);
+ longtermMemory->store(m);
longtermMemory->storeBuffer();
}
diff --git a/source/RobotAPI/libraries/armem/server/RemoteGuiAronDataVisitor.h b/source/RobotAPI/libraries/armem/server/RemoteGuiAronDataVisitor.h
index 36c83a632..a38c3d50d 100644
--- a/source/RobotAPI/libraries/armem/server/RemoteGuiAronDataVisitor.h
+++ b/source/RobotAPI/libraries/armem/server/RemoteGuiAronDataVisitor.h
@@ -13,7 +13,7 @@ namespace armarx::armem::server
{
struct RemoteGuiAronDataVisitor :
- public aron::data::RecursiveVariantVisitor
+ public aron::data::RecursiveConstVariantVisitor
{
using GroupBox = armarx::RemoteGui::Client::GroupBox;
using GridLayout = armarx::RemoteGui::Client::GridLayout;
@@ -35,22 +35,22 @@ namespace armarx::armem::server
virtual ~RemoteGuiAronDataVisitor() = default;
- void visitDictOnEnter(const std::string& key, const aron::data::VariantPtr& n) override
+ void visitDictOnEnter(const std::string& key, const aron::data::VariantPtr&, const aron::data::VariantPtr& n) override
{
ARMARX_CHECK_NOT_NULL(n);
visitEnter(key, "dict", n->childrenSize());
}
- void visitDictOnExit(const std::string&, const aron::data::VariantPtr&) override
+ void visitDictOnExit(const std::string&, const aron::data::VariantPtr&, const aron::data::VariantPtr&) override
{
visitExit();
}
- void visitListOnEnter(const std::string& key, const aron::data::VariantPtr& n) override
+ void visitListOnEnter(const std::string& key, const aron::data::VariantPtr&, const aron::data::VariantPtr& n) override
{
ARMARX_CHECK_NOT_NULL(n);
visitEnter(key, "list", n->childrenSize());
}
- void visitListOnExit(const std::string&, const aron::data::VariantPtr&) override
+ void visitListOnExit(const std::string&, const aron::data::VariantPtr&, const aron::data::VariantPtr&) override
{
visitExit();
}
@@ -59,38 +59,38 @@ namespace armarx::armem::server
bool visitEnter(const std::string& key, const std::string& type, size_t size);
bool visitExit();
- void visitBool(const std::string& key, const aron::data::VariantPtr& b) override
+ void visitBool(const std::string& key, const aron::data::VariantPtr&, const aron::data::VariantPtr& b) override
{
ARMARX_CHECK_NOT_NULL(b);
this->addValueLabel(key, *aron::data::Bool::DynamicCastAndCheck(b), "bool");
}
- void visitDouble(const std::string& key, const aron::data::VariantPtr& d) override
+ void visitDouble(const std::string& key, const aron::data::VariantPtr&, const aron::data::VariantPtr& d) override
{
ARMARX_CHECK_NOT_NULL(d);
this->addValueLabel(key, *aron::data::Double::DynamicCastAndCheck(d), "double");
}
- void visitFloat(const std::string& key, const aron::data::VariantPtr& f) override
+ void visitFloat(const std::string& key, const aron::data::VariantPtr&, const aron::data::VariantPtr& f) override
{
ARMARX_CHECK_NOT_NULL(f);
this->addValueLabel(key, *aron::data::Float::DynamicCastAndCheck(f), "float");
}
- void visitInt(const std::string& key, const aron::data::VariantPtr& i) override
+ void visitInt(const std::string& key, const aron::data::VariantPtr&, const aron::data::VariantPtr& i) override
{
ARMARX_CHECK_NOT_NULL(i);
this->addValueLabel(key, *aron::data::Int::DynamicCastAndCheck(i), "int");
}
- void visitLong(const std::string& key, const aron::data::VariantPtr& l) override
+ void visitLong(const std::string& key, const aron::data::VariantPtr&, const aron::data::VariantPtr& l) override
{
ARMARX_CHECK_NOT_NULL(l);
this->addValueLabel(key, *aron::data::Long::DynamicCastAndCheck(l), "long");
}
- void visitString(const std::string& key, const aron::data::VariantPtr& string) override
+ void visitString(const std::string& key, const aron::data::VariantPtr&, const aron::data::VariantPtr& string) override
{
ARMARX_CHECK_NOT_NULL(string);
this->addValueLabel(key, *aron::data::String::DynamicCastAndCheck(string), "string");
}
- void visitNDArray(const std::string& key, const aron::data::VariantPtr& array) override
+ void visitNDArray(const std::string& key, const aron::data::VariantPtr&, const aron::data::VariantPtr& array) override
{
ARMARX_CHECK_NOT_NULL(array);
this->addValueLabel(key, *aron::data::NDArray::DynamicCastAndCheck(array), "ND Array");
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/converter/bson/BsonConverter.cpp b/source/RobotAPI/libraries/armem/server/ltm/base/converter/bson/BsonConverter.cpp
deleted file mode 100644
index e69de29bb..000000000
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/converter/bson/BsonConverter.h b/source/RobotAPI/libraries/armem/server/ltm/base/converter/bson/BsonConverter.h
deleted file mode 100644
index e69de29bb..000000000
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/converter/dict/Converter.cpp b/source/RobotAPI/libraries/armem/server/ltm/base/converter/dict/Converter.cpp
new file mode 100644
index 000000000..fd719807e
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/converter/dict/Converter.cpp
@@ -0,0 +1 @@
+#include "Converter.h"
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/converter/dict/Converter.h b/source/RobotAPI/libraries/armem/server/ltm/base/converter/dict/Converter.h
new file mode 100644
index 000000000..776b7c05c
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/converter/dict/Converter.h
@@ -0,0 +1,35 @@
+#pragma once
+
+// STD/STL
+#include <memory>
+
+// ArmarX
+#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
+
+namespace armarx::armem::server::ltm
+{
+ class DictConverter;
+ using DictConverterPtr = std::shared_ptr<DictConverter>;
+
+ class DictConverter
+ {
+ public:
+ enum class ConverterType
+ {
+ Str,
+ Binary
+ };
+
+ DictConverter(const ConverterType t, const std::string& s):
+ type(t),
+ suffix(s)
+ {}
+ virtual ~DictConverter() = default;
+
+ virtual std::vector<unsigned char> convert(const aron::data::DictPtr& data) = 0;
+ virtual aron::data::DictPtr convert(const std::vector<unsigned char>& data) = 0;
+
+ const ConverterType type;
+ const std::string suffix;
+ };
+}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/converter/dict/bson/BsonConverter.cpp b/source/RobotAPI/libraries/armem/server/ltm/base/converter/dict/bson/BsonConverter.cpp
new file mode 100644
index 000000000..e78913abd
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/converter/dict/bson/BsonConverter.cpp
@@ -0,0 +1,35 @@
+#include "BsonConverter.h"
+
+#include <bsoncxx/json.hpp>
+#include <bsoncxx/builder/stream/helpers.hpp>
+#include <bsoncxx/builder/stream/document.hpp>
+#include <bsoncxx/builder/stream/array.hpp>
+
+namespace armarx::armem::server::ltm::converter::dict
+{
+ namespace bsoncxxbuilder = bsoncxx::builder::stream;
+ namespace bsoncxxdoc = bsoncxx::document;
+
+ std::vector<unsigned char> BsonConverter::convert(const aron::data::DictPtr& data)
+ {
+ std::vector<unsigned char> jsonVec = jsonConverter.convert(data);
+ std::string json(jsonVec.begin(), jsonVec.end());
+ auto view = bsoncxx::from_json(json).view();
+
+ std::vector<unsigned char> bson(view.length());
+ if (view.length() > 0)
+ {
+ std::memcpy(bson.data(), view.data(), view.length());
+ }
+ return bson;
+ }
+
+ aron::data::DictPtr BsonConverter::convert(const std::vector<unsigned char>& data)
+ {
+ bsoncxx::document::view view(data.data(), data.size());
+ nlohmann::json json = bsoncxx::to_json(view);
+ std::string str = json.dump(2);
+ std::vector<unsigned char> jsonVec(str.begin(), str.end());
+ return jsonConverter.convert(jsonVec);
+ }
+}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/converter/dict/bson/BsonConverter.h b/source/RobotAPI/libraries/armem/server/ltm/base/converter/dict/bson/BsonConverter.h
new file mode 100644
index 000000000..0d6f858b0
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/converter/dict/bson/BsonConverter.h
@@ -0,0 +1,27 @@
+#pragma once
+
+// Base Class
+#include "../Converter.h"
+
+// ArmarX
+#include "../json/JsonConverter.h"
+
+namespace armarx::armem::server::ltm::converter::dict
+{
+ class BsonConverter;
+ using BsonConverterPtr = std::shared_ptr<BsonConverter>;
+
+ class BsonConverter : public DictConverter
+ {
+ public:
+ BsonConverter() :
+ DictConverter(ConverterType::Binary, ".bson")
+ {}
+
+ virtual std::vector<unsigned char> convert(const aron::data::DictPtr& data) override;
+ virtual aron::data::DictPtr convert(const std::vector<unsigned char>& data) override;
+
+ private:
+ JsonConverter jsonConverter;
+ };
+}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/converter/dict/json/JsonConverter.cpp b/source/RobotAPI/libraries/armem/server/ltm/base/converter/dict/json/JsonConverter.cpp
new file mode 100644
index 000000000..379caf9b7
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/converter/dict/json/JsonConverter.cpp
@@ -0,0 +1,20 @@
+#include "JsonConverter.h"
+
+#include <RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h>
+
+namespace armarx::armem::server::ltm::converter::dict
+{
+ std::vector<unsigned char> JsonConverter::convert(const aron::data::DictPtr& data)
+ {
+ nlohmann::json j = aron::converter::AronNlohmannJSONConverter::ConvertToNlohmannJSON(data);
+ auto str = j.dump(2);
+ return std::vector<unsigned char>(str.begin(), str.end());
+ }
+
+ aron::data::DictPtr JsonConverter::convert(const std::vector<unsigned char>& data)
+ {
+ std::string str(data.begin(), data.end());
+ nlohmann::json j = nlohmann::json::parse(str);
+ return aron::converter::AronNlohmannJSONConverter::ConvertFromNlohmannJSONObject(j);
+ }
+}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/converter/dict/json/JsonConverter.h b/source/RobotAPI/libraries/armem/server/ltm/base/converter/dict/json/JsonConverter.h
new file mode 100644
index 000000000..fad44583f
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/converter/dict/json/JsonConverter.h
@@ -0,0 +1,24 @@
+#pragma once
+
+// Base Class
+#include "../Converter.h"
+
+// Simox
+#include <SimoxUtility/json.h>
+
+namespace armarx::armem::server::ltm::converter::dict
+{
+ class JsonConverter;
+ using JsonConverterPtr = std::shared_ptr<JsonConverter>;
+
+ class JsonConverter : public DictConverter
+ {
+ public:
+ JsonConverter() :
+ DictConverter(ConverterType::Str, ".json")
+ {}
+
+ virtual std::vector<unsigned char> convert(const aron::data::DictPtr& data) override;
+ virtual aron::data::DictPtr convert(const std::vector<unsigned char>& data) override;
+ };
+}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/Converter.cpp b/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/Converter.cpp
new file mode 100644
index 000000000..fd719807e
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/Converter.cpp
@@ -0,0 +1 @@
+#include "Converter.h"
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/Converter.h b/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/Converter.h
new file mode 100644
index 000000000..740757ef8
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/Converter.h
@@ -0,0 +1,35 @@
+#pragma once
+
+// STD/STL
+#include <memory>
+
+// ArmarX
+#include <RobotAPI/libraries/aron/core/data/variant/complex/NDArray.h>
+
+namespace armarx::armem::server::ltm
+{
+ class ImageConverter;
+ using ImageConverterPtr = std::shared_ptr<ImageConverter>;
+
+ class ImageConverter
+ {
+ public:
+ enum class ConverterType
+ {
+ Str,
+ Binary
+ };
+
+ ImageConverter(const ConverterType t, const std::string& s):
+ type(t),
+ suffix(s)
+ {}
+ virtual ~ImageConverter() = default;
+
+ virtual std::vector<unsigned char> convert(const aron::data::NDArrayPtr& data) = 0;
+ virtual aron::data::NDArrayPtr convert(const std::vector<unsigned char>& data) = 0;
+
+ const ConverterType type;
+ const std::string suffix;
+ };
+}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/png/PngConverter.cpp b/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/png/PngConverter.cpp
new file mode 100644
index 000000000..917bbde00
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/png/PngConverter.cpp
@@ -0,0 +1,25 @@
+#include "PngConverter.h"
+
+// ArmarX
+#include <RobotAPI/libraries/aron/converter/opencv/OpenCVConverter.h>
+
+#include <opencv2/opencv.hpp>
+#include <opencv2/imgcodecs.hpp>
+#include <opencv2/imgproc.hpp>
+
+
+namespace armarx::armem::server::ltm::converter::image
+{
+ std::vector<unsigned char> PngConverter::convert(const aron::data::NDArrayPtr& data)
+ {
+ auto img = aron::converter::AronOpenCVConverter::ConvertToMat(data);
+ std::vector<unsigned char> buffer;
+ cv::imencode(".png", img, buffer);
+ return buffer;
+ }
+
+ aron::data::NDArrayPtr PngConverter::convert(const std::vector<unsigned char>& data)
+ {
+ return {};
+ }
+}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/png/PngConverter.h b/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/png/PngConverter.h
new file mode 100644
index 000000000..13581518a
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/png/PngConverter.h
@@ -0,0 +1,21 @@
+#pragma once
+
+// Base Class
+#include "../Converter.h"
+
+namespace armarx::armem::server::ltm::converter::image
+{
+ class PngConverter;
+ using PngConverterPtr = std::shared_ptr<PngConverter>;
+
+ class PngConverter : public ImageConverter
+ {
+ public:
+ PngConverter() :
+ ImageConverter(ConverterType::Str, ".png")
+ {}
+
+ virtual std::vector<unsigned char> convert(const aron::data::NDArrayPtr& data) override;
+ virtual aron::data::NDArrayPtr convert(const std::vector<unsigned char>& data) override;
+ };
+}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/converter/json/JsonConverter.cpp b/source/RobotAPI/libraries/armem/server/ltm/base/converter/json/JsonConverter.cpp
deleted file mode 100644
index e69de29bb..000000000
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/converter/json/JsonConverter.h b/source/RobotAPI/libraries/armem/server/ltm/base/converter/json/JsonConverter.h
deleted file mode 100644
index e69de29bb..000000000
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 aabceb4c0..71806cbcb 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/detail/BufferedMemoryBase.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/detail/BufferedMemoryBase.h
@@ -17,9 +17,16 @@ namespace armarx::armem::server::ltm
return buffer;
}
+ void directlyStore(const armem::wm::Memory& memory)
+ {
+ TIMING_START(LTM_Memory_DirectlyStore);
+ _directlyStore(memory);
+ TIMING_END(LTM_Memory_DirectlyStore);
+ }
+
void storeBuffer()
{
- this->store(buffer);
+ this->directlyStore(buffer);
buffer.clear();
}
@@ -29,7 +36,9 @@ namespace armarx::armem::server::ltm
buffer.name() = this->name();
}
- void append(const armem::wm::Memory& memory) override
+ protected:
+ virtual void _directlyStore(const armem::wm::Memory& memory) = 0;
+ void _store(const armem::wm::Memory& memory) override
{
std::lock_guard l(this->ltm_mutex);
buffer.append(memory);
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 807d45f20..47a6278ab 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/detail/CoreSegmentBase.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/detail/CoreSegmentBase.h
@@ -24,13 +24,22 @@ namespace armarx::armem::server::ltm
/// return the full sub-ltm as a wm::CoreSegment with only references
/// the ltm may be huge, use with caution
- virtual armem::wm::CoreSegment loadAll() = 0;
+ void loadAll(armem::wm::CoreSegment& coreSeg)
+ {
+ _loadAll(coreSeg);
+ }
/// convert the references of the input into a wm::Memory
- virtual void convert(armem::wm::CoreSegment&) = 0;
+ void load(armem::wm::CoreSegment& coreSeg)
+ {
+ _load(coreSeg);
+ }
/// encode the content of a wm::Memory and store
- virtual void store(const armem::wm::CoreSegment&) = 0;
+ void store(const armem::wm::CoreSegment& coreSeg)
+ {
+ _store(coreSeg);
+ }
/// iterate over all provider segments of this ltm
virtual bool forEachProviderSegment(std::function<void(ProviderSegmentT&)>&& func) const = 0;
@@ -50,6 +59,11 @@ namespace armarx::armem::server::ltm
return "LT-CoreSegment";
}
+ protected:
+ virtual void _loadAll(armem::wm::CoreSegment&) = 0;
+ virtual void _load(armem::wm::CoreSegment&) = 0;
+ virtual void _store(const armem::wm::CoreSegment&) = 0;
+
protected:
mutable std::recursive_mutex ltm_mutex;
};
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 49dcbbee0..38d3dec99 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/detail/EntityBase.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/detail/EntityBase.h
@@ -24,13 +24,22 @@ namespace armarx::armem::server::ltm
/// return the full sub-ltm as a wm::Entity with only references
/// the ltm may be huge, use with caution
- virtual armem::wm::Entity loadAll() = 0;
+ void loadAll(armem::wm::Entity& e)
+ {
+ _loadAll(e);
+ }
/// convert the references of the input into a wm::Memory
- virtual void convert(armem::wm::Entity&) = 0;
+ void load(armem::wm::Entity& e)
+ {
+ _load(e);
+ }
/// encode the content of a wm::Memory and store
- virtual void store(const armem::wm::Entity&) = 0;
+ void store(const armem::wm::Entity& e)
+ {
+ _store(e);
+ }
/// iterate over all entity snapshots of this ltm
virtual bool forEachSnapshot(std::function<void(EntitySnapshotT&)>&& func) const = 0;
@@ -52,6 +61,11 @@ namespace armarx::armem::server::ltm
return "LT-Entity";
}
+ protected:
+ virtual void _loadAll(armem::wm::Entity&) = 0;
+ virtual void _load(armem::wm::Entity&) = 0;
+ virtual void _store(const armem::wm::Entity&) = 0;
+
protected:
mutable std::recursive_mutex ltm_mutex;
};
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 027ac262f..a94255064 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/detail/EntitySnapshotBase.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/detail/EntitySnapshotBase.h
@@ -9,6 +9,10 @@
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/core/wm/aron_conversions.h>
+#include "../extractor/Extractor.h"
+#include "../converter/dict/Converter.h"
+#include "../converter/image/Converter.h"
+
namespace armarx::armem::server::ltm
{
/// @brief Interface functions for the longterm memory classes
@@ -20,17 +24,35 @@ namespace armarx::armem::server::ltm
/// return the full sub-ltm as a wm::EntitySnapshot with only references
/// the ltm may be huge, use with caution
- virtual armem::wm::EntitySnapshot loadAll() const = 0;
+ void loadAll(armem::wm::EntitySnapshot& e) const
+ {
+ _loadAll(e);
+ }
/// convert the references of the input into a wm::Memory
- virtual void convert(armem::wm::EntitySnapshot&) const = 0;
+ void load(armem::wm::EntitySnapshot& e) const
+ {
+ _load(e);
+ }
/// encode the content of a wm::Memory and store
- virtual void store(const armem::wm::EntitySnapshot&) const = 0;
+ void store(const armem::wm::EntitySnapshot& e) const
+ {
+ _store(e);
+ }
static std::string getLevelName();
+ protected:
+ virtual void _loadAll(armem::wm::EntitySnapshot&) const = 0;
+ virtual void _load(armem::wm::EntitySnapshot&) const = 0;
+ virtual void _store(const armem::wm::EntitySnapshot&) const = 0;
+
protected:
mutable std::recursive_mutex ltm_mutex;
+
+ DictConverterPtr dictConverter;
+ ImageConverterPtr imgConverter;
+ ExtractorPtr extractor;
};
} // namespace armarx::armem::server::ltm
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/detail/LUTMemoryBase.h b/source/RobotAPI/libraries/armem/server/ltm/base/detail/LUTMemoryBase.h
index 49d05ab2b..159e1912c 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/detail/LUTMemoryBase.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/detail/LUTMemoryBase.h
@@ -5,21 +5,21 @@
namespace armarx::armem::server::ltm
{
template <class _CoreSegmentT>
- class LUTMemoryBase : virtual public MemoryBase<_CoreSegmentT>
+ class CachedMemoryBase : virtual public MemoryBase<_CoreSegmentT>
{
public:
using MemoryBase<_CoreSegmentT>::MemoryBase;
- armem::wm::Memory getLUT() const
+ armem::wm::Memory getCache() const
{
std::lock_guard l(this->ltm_mutex);
- return lut;
+ return cache;
}
void setMemoryID(const MemoryID& id) override
{
MemoryBase<_CoreSegmentT>::setMemoryID(id);
- lut.name() = this->name();
+ cache.name() = this->name();
}
protected:
@@ -41,7 +41,7 @@ namespace armarx::armem::server::ltm
protected:
- armem::wm::Memory lut;
+ armem::wm::Memory cache;
};
} // 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 919619488..d56d3e798 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/detail/MemoryBase.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/detail/MemoryBase.h
@@ -5,8 +5,15 @@
// BaseClass
#include "MemoryItem.h"
+// ChildType
#include "CoreSegmentBase.h"
+// Members
+#include "../filter/Filter.h"
+
+// ArmarX
+#include <ArmarXCore/core/time/TimeUtil.h>
+#include <ArmarXCore/core/logging/LoggingUtil.h>
#include <RobotAPI/libraries/armem/core/MemoryID.h>
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/core/wm/aron_conversions.h>
@@ -24,16 +31,31 @@ namespace armarx::armem::server::ltm
/// return the full ltm as a wm::Memory with only references
/// the ltm may be huge, use with caution
- virtual armem::wm::Memory loadAll() = 0;
-
- /// append a wm::Memory instance to the ltm
- virtual void append(const armem::wm::Memory& memory) = 0;
+ void loadAll(armem::wm::Memory& memory)
+ {
+ TIMING_START(LTM_Memory_LoadAll);
+ _loadAll(memory);
+ TIMING_END(LTM_Memory_LoadAll);
+ }
/// convert the references of the input into a wm::Memory
- virtual void convert(armem::wm::Memory&) = 0;
+ void load(armem::wm::Memory& memory)
+ {
+ TIMING_START(LTM_Memory_Load);
+ _load(memory);
+ TIMING_END(LTM_Memory_Load);
+ }
- /// encode the content of a wm::Memory and store
- virtual void store(const armem::wm::Memory&) = 0;
+ /// append a wm::Memory instance to the ltm
+ void store(const armem::wm::Memory& memory, bool force = false)
+ {
+ TIMING_START(LTM_Memory_Append);
+ if (force or filter->accept(memory))
+ {
+ _store(memory);
+ }
+ TIMING_END(LTM_Memory_Append);
+ }
/// iterate over all core segments of this ltm
virtual bool forEachCoreSegment(std::function<void(CoreSegmentT&)>&& func) const = 0;
@@ -48,8 +70,14 @@ namespace armarx::armem::server::ltm
}
protected:
- mutable std::recursive_mutex ltm_mutex;
+ virtual void _loadAll(armem::wm::Memory& memory) = 0;
+ virtual void _load(armem::wm::Memory& memory) = 0;
+ virtual void _store(const armem::wm::Memory& memory) = 0;
+ protected:
+ mutable std::recursive_mutex ltm_mutex;
+ FilterPtr filter;
+ // ForgetterPtr forgetter;
};
} // namespace armarx::armem::server::ltm
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 9294a6c19..167858dc7 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/detail/ProviderSegmentBase.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/detail/ProviderSegmentBase.h
@@ -24,13 +24,22 @@ namespace armarx::armem::server::ltm
/// return the full sub-ltm as a wm::ProviderSegment with only references
/// the ltm may be huge, use with caution
- virtual armem::wm::ProviderSegment loadAll() = 0;
+ void loadAll(armem::wm::ProviderSegment& provSeg)
+ {
+ _loadAll(provSeg);
+ }
/// convert the references of the input into a wm::Memory
- virtual void convert(armem::wm::ProviderSegment&) = 0;
+ void load(armem::wm::ProviderSegment& provSeg)
+ {
+ _load(provSeg);
+ }
/// encode the content of a wm::Memory and store
- virtual void store(const armem::wm::ProviderSegment&) = 0;
+ void store(const armem::wm::ProviderSegment& provSeg)
+ {
+ _store(provSeg);
+ }
/// iterate over all core segments of this ltm
virtual bool forEachEntity(std::function<void(EntityT&)>&& func) const = 0;
@@ -49,6 +58,9 @@ namespace armarx::armem::server::ltm
}
protected:
+ virtual void _loadAll(armem::wm::ProviderSegment&) = 0;
+ virtual void _load(armem::wm::ProviderSegment&) = 0;
+ virtual void _store(const armem::wm::ProviderSegment&) = 0;
protected:
mutable std::recursive_mutex ltm_mutex;
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/encoder/Encoder.cpp b/source/RobotAPI/libraries/armem/server/ltm/base/encoder/Encoder.cpp
deleted file mode 100644
index e69de29bb..000000000
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/encoder/Encoder.h b/source/RobotAPI/libraries/armem/server/ltm/base/encoder/Encoder.h
deleted file mode 100644
index e69de29bb..000000000
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/encoder/noEncoder/NoEncoder.cpp b/source/RobotAPI/libraries/armem/server/ltm/base/encoder/noEncoder/NoEncoder.cpp
deleted file mode 100644
index e69de29bb..000000000
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/encoder/noEncoder/NoEncoder.h b/source/RobotAPI/libraries/armem/server/ltm/base/encoder/noEncoder/NoEncoder.h
deleted file mode 100644
index e69de29bb..000000000
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/extractor/Extractor.cpp b/source/RobotAPI/libraries/armem/server/ltm/base/extractor/Extractor.cpp
new file mode 100644
index 000000000..574431539
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/extractor/Extractor.cpp
@@ -0,0 +1 @@
+#include "Extractor.h"
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/extractor/Extractor.h b/source/RobotAPI/libraries/armem/server/ltm/base/extractor/Extractor.h
new file mode 100644
index 000000000..4c3030f89
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/extractor/Extractor.h
@@ -0,0 +1,32 @@
+#pragma once
+
+// STD/STL
+#include <memory>
+
+// ArmarX
+#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
+#include <RobotAPI/libraries/aron/core/data/variant/complex/NDArray.h>
+
+namespace armarx::armem::server::ltm
+{
+ class Extractor;
+ typedef std::shared_ptr<Extractor> ExtractorPtr;
+
+ class Extractor
+ {
+ public:
+ struct Extraction
+ {
+ aron::data::DictPtr data;
+ std::map<std::string, aron::data::NDArrayPtr> images;
+ std::map<std::string, aron::data::NDArrayPtr> pointclouds;
+ std::map<std::string, aron::data::NDArrayPtr> matrices;
+ };
+
+ Extractor() = default;
+ virtual ~Extractor() = default;
+
+ virtual Extraction extract(aron::data::DictPtr& data) = 0;
+ virtual aron::data::DictPtr merge(Extraction& encoding) = 0;
+ };
+}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/ImageExtractor.cpp b/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/ImageExtractor.cpp
new file mode 100644
index 000000000..845b66e82
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/ImageExtractor.cpp
@@ -0,0 +1,54 @@
+#include "ImageExtractor.h"
+
+
+namespace armarx::armem::server::ltm::extractor
+{
+ void ImageExtractorVisitor::visitNDArray(const std::string& key, Input& parent, Input& variant)
+ {
+ ARMARX_CHECK_NOT_NULL(parent);
+ ARMARX_CHECK_NOT_NULL(variant);
+
+ auto ndarray = aron::data::NDArray::DynamicCastAndCheck(variant);
+ if (ndarray->getShape().size() == 3)
+ {
+ images[key] = ndarray;
+ switch (parent->getDescriptor())
+ {
+ case aron::data::Descriptor::eDict:
+ {
+ auto dict = aron::data::Dict::DynamicCastAndCheck(parent);
+ dict->setElement(key, nullptr);
+ break;
+ }
+ case aron::data::Descriptor::eList:
+ {
+ auto list = aron::data::List::DynamicCastAndCheck(parent);
+ list->setElement(std::stoi(key), nullptr);
+ break;
+ }
+ default:
+ {
+ throw aron::error::AronException(__PRETTY_FUNCTION__, "Found invalid parent in visitor.");
+ }
+ }
+ }
+ }
+
+ Extractor::Extraction ImageExtractor::extract(aron::data::DictPtr& data)
+ {
+ ImageExtractorVisitor visitor;
+ aron::data::VariantPtr var = std::static_pointer_cast<aron::data::Variant>(data);
+ aron::data::VariantPtr p;
+ aron::data::visitRecursive(visitor, var, "", p);
+
+ Extraction encoding;
+ encoding.data = data;
+ encoding.images = visitor.images;
+ return encoding;
+ }
+
+ aron::data::DictPtr ImageExtractor::merge(Extraction& encoding)
+ {
+ return encoding.data;
+ }
+}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/ImageExtractor.h b/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/ImageExtractor.h
new file mode 100644
index 000000000..a1a5b3823
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/ImageExtractor.h
@@ -0,0 +1,29 @@
+#pragma once
+
+// Base Class
+#include "../Extractor.h"
+
+#include <RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.h>
+
+namespace armarx::armem::server::ltm::extractor
+{
+ class ImageExtractor;
+ typedef std::shared_ptr<ImageExtractor> ImageExtractorPtr;
+
+ class ImageExtractorVisitor : public aron::data::RecursiveVariantVisitor
+ {
+ public:
+ std::map<std::string, aron::data::NDArrayPtr> images;
+
+ void visitNDArray(const std::string& key, Input& parent, Input& data);
+ };
+
+ class ImageExtractor : public Extractor
+ {
+ public:
+ ImageExtractor() = default;
+
+ virtual Extraction extract(aron::data::DictPtr& data) override;
+ virtual aron::data::DictPtr merge(Extraction& encoding) override;
+ };
+}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/extractor/noExtractor/NoExtractor.cpp b/source/RobotAPI/libraries/armem/server/ltm/base/extractor/noExtractor/NoExtractor.cpp
new file mode 100644
index 000000000..a0d446f7f
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/extractor/noExtractor/NoExtractor.cpp
@@ -0,0 +1,17 @@
+#include "NoExtractor.h"
+
+
+namespace armarx::armem::server::ltm::extractor
+{
+ Extractor::Extraction NoExtractor::extract(aron::data::DictPtr& data)
+ {
+ Extraction encoding;
+ encoding.data = data;
+ return encoding;
+ }
+
+ aron::data::DictPtr NoExtractor::merge(Extraction& encoding)
+ {
+ return encoding.data;
+ }
+}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/extractor/noExtractor/NoExtractor.h b/source/RobotAPI/libraries/armem/server/ltm/base/extractor/noExtractor/NoExtractor.h
new file mode 100644
index 000000000..fdcc66684
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/extractor/noExtractor/NoExtractor.h
@@ -0,0 +1,19 @@
+#pragma once
+
+// Base Class
+#include "../Extractor.h"
+
+namespace armarx::armem::server::ltm::extractor
+{
+ class NoExtractor;
+ typedef std::shared_ptr<NoExtractor> NoExtractorPtr;
+
+ class NoExtractor : public Extractor
+ {
+ public:
+ NoExtractor() = default;
+
+ virtual Extraction extract(aron::data::DictPtr& data) override;
+ virtual aron::data::DictPtr merge(Extraction& encoding) override;
+ };
+}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/filter/Filter.cpp b/source/RobotAPI/libraries/armem/server/ltm/base/filter/Filter.cpp
index e69de29bb..088af9712 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/filter/Filter.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/filter/Filter.cpp
@@ -0,0 +1,2 @@
+#include "Filter.h"
+
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/filter/Filter.h b/source/RobotAPI/libraries/armem/server/ltm/base/filter/Filter.h
index e69de29bb..c4b5871c8 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/filter/Filter.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/filter/Filter.h
@@ -0,0 +1,23 @@
+#pragma once
+
+// STD/STL
+#include <memory>
+
+// ArmarX
+#include <RobotAPI/libraries/armem/core/MemoryID.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
+
+namespace armarx::armem::server::ltm
+{
+ class Filter;
+ typedef std::shared_ptr<Filter> FilterPtr;
+
+ class Filter
+ {
+ public:
+ Filter() = default;
+ virtual ~Filter() = default;
+
+ virtual bool accept(const armem::wm::Memory& memory) = 0;
+ };
+}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/filter/frequencyFilter/FrequencyFilter.cpp b/source/RobotAPI/libraries/armem/server/ltm/base/filter/frequencyFilter/FrequencyFilter.cpp
new file mode 100644
index 000000000..15802afb6
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/filter/frequencyFilter/FrequencyFilter.cpp
@@ -0,0 +1,17 @@
+#include "FrequencyFilter.h"
+
+#include <IceUtil/Time.h>
+
+namespace armarx::armem::server::ltm::filter
+{
+ bool FrequencyFilter::accept(const armem::wm::Memory&)
+ {
+ auto now = IceUtil::Time::now().toMilliSeconds();
+ if (waitingTimeInMs < 0 || (now - timestampLastCommitInMs) > waitingTimeInMs)
+ {
+ timestampLastCommitInMs = now;
+ return true;
+ }
+ return false;
+ }
+}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/filter/frequencyFilter/FrequencyFilter.h b/source/RobotAPI/libraries/armem/server/ltm/base/filter/frequencyFilter/FrequencyFilter.h
new file mode 100644
index 000000000..acf952825
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/filter/frequencyFilter/FrequencyFilter.h
@@ -0,0 +1,23 @@
+#pragma once
+
+// Base Class
+#include "../Filter.h"
+
+namespace armarx::armem::server::ltm::filter
+{
+ class FrequencyFilter;
+ typedef std::shared_ptr<FrequencyFilter> FrequencyFilterPtr;
+
+ class FrequencyFilter :
+ public Filter
+ {
+ public:
+ FrequencyFilter() = default;
+
+ virtual bool accept(const armem::wm::Memory& memory) override;
+
+ private:
+ int waitingTimeInMs = 100;
+ long timestampLastCommitInMs = 0;
+ };
+}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/filter/noFilter/NoFilter.cpp b/source/RobotAPI/libraries/armem/server/ltm/base/filter/noFilter/NoFilter.cpp
deleted file mode 100644
index e69de29bb..000000000
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/filter/noFilter/NoFilter.h b/source/RobotAPI/libraries/armem/server/ltm/base/filter/noFilter/NoFilter.h
deleted file mode 100644
index e69de29bb..000000000
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/converter/Converter.cpp b/source/RobotAPI/libraries/armem/server/ltm/base/forgetter/LRUForgetter/LRUForgetter.cpp
similarity index 100%
rename from source/RobotAPI/libraries/armem/server/ltm/base/converter/Converter.cpp
rename to source/RobotAPI/libraries/armem/server/ltm/base/forgetter/LRUForgetter/LRUForgetter.cpp
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/converter/Converter.h b/source/RobotAPI/libraries/armem/server/ltm/base/forgetter/LRUForgetter/LRUForgetter.h
similarity index 100%
rename from source/RobotAPI/libraries/armem/server/ltm/base/converter/Converter.h
rename to source/RobotAPI/libraries/armem/server/ltm/base/forgetter/LRUForgetter/LRUForgetter.h
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/forgetter/noForgetter/NoForgetter.cpp b/source/RobotAPI/libraries/armem/server/ltm/base/forgetter/noForgetter/NoForgetter.cpp
deleted file mode 100644
index e69de29bb..000000000
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/forgetter/noForgetter/NoForgetter.h b/source/RobotAPI/libraries/armem/server/ltm/base/forgetter/noForgetter/NoForgetter.h
deleted file mode 100644
index e69de29bb..000000000
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/CoreSegment.cpp b/source/RobotAPI/libraries/armem/server/ltm/disk/CoreSegment.cpp
index 5de81875d..93809ca6d 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/CoreSegment.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/CoreSegment.cpp
@@ -66,29 +66,28 @@ namespace armarx::armem::server::ltm::disk
return name();
}
- armem::wm::CoreSegment CoreSegment::loadAll()
+ void CoreSegment::_loadAll(armem::wm::CoreSegment& e)
{
- armem::wm::CoreSegment e(id());
+ e.id() = id();
forEachProviderSegment([&e](ProviderSegment& x) {
- auto s = x.loadAll();
+ armem::wm::ProviderSegment s;
+ x.loadAll(s);
e.addProviderSegment(s);
});
-
- return e;
}
- void CoreSegment::convert(armem::wm::CoreSegment& c)
+ void CoreSegment::_load(armem::wm::CoreSegment& c)
{
c.forEachProviderSegment([this](armem::wm::ProviderSegment& e)
{
util::ensureFolderExists(std::filesystem::path(path) / e.id().providerSegmentName, false);
ProviderSegment c(std::filesystem::path(path) / e.id().providerSegmentName);
- c.convert(e);
+ c.load(e);
});
}
- void CoreSegment::store(const armem::wm::CoreSegment& c)
+ void CoreSegment::_store(const armem::wm::CoreSegment& c)
{
c.forEachProviderSegment([this](const armem::wm::ProviderSegment& e)
{
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/CoreSegment.h b/source/RobotAPI/libraries/armem/server/ltm/disk/CoreSegment.h
index a0d3872ce..c7125b59e 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/CoreSegment.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/CoreSegment.h
@@ -15,18 +15,17 @@ namespace armarx::armem::server::ltm::disk
public DiskStorage
{
public:
- using CoreSegmentBase::CoreSegmentBase;
CoreSegment(const std::filesystem::path&);
- armem::wm::CoreSegment loadAll() override;
- void convert(armem::wm::CoreSegment&) override;
- void store(const armem::wm::CoreSegment&) override;
-
bool forEachProviderSegment(std::function<void(ProviderSegment&)>&& func) const override;
std::shared_ptr<ProviderSegment> findProviderSegment(const std::string&) const override;
protected:
+ void _loadAll(armem::wm::CoreSegment&) override;
+ void _load(armem::wm::CoreSegment&) override;
+ void _store(const armem::wm::CoreSegment&) override;
+
std::string getExpectedFolderName() const override;
};
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.cpp b/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.cpp
index 5ddabc38e..7b9313217 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.cpp
@@ -114,29 +114,28 @@ namespace armarx::armem::server::ltm::disk
return {};
}
- armem::wm::Entity Entity::loadAll()
+ void Entity::_loadAll(armem::wm::Entity& e)
{
- armem::wm::Entity e(id());
+ e.id() = id();
forEachSnapshot([&e](EntitySnapshotBase& x) {
- auto s = x.loadAll();
+ armem::wm::EntitySnapshot s;
+ x.loadAll(s);
e.addSnapshot(s);
});
-
- return e;
}
- void Entity::convert(armem::wm::Entity& p)
+ void Entity::_load(armem::wm::Entity& p)
{
p.forEachSnapshot([this](armem::wm::EntitySnapshot& e)
{
util::ensureFolderExists(std::filesystem::path(path) / std::to_string(e.id().timestamp.toMicroSeconds()), false);
EntitySnapshot c(std::filesystem::path(path) / std::to_string(e.id().timestamp.toMicroSeconds()));
- c.store(e);
+ c.load(e);
});
}
- void Entity::store(const armem::wm::Entity& c)
+ void Entity::_store(const armem::wm::Entity& c)
{
c.forEachSnapshot([this](armem::wm::EntitySnapshot& e)
{
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.h b/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.h
index 48b46c34e..fa77b6adc 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.h
@@ -16,13 +16,8 @@ namespace armarx::armem::server::ltm::disk
public DiskStorage
{
public:
- using EntityBase::EntityBase;
Entity(const std::filesystem::path&);
- armem::wm::Entity loadAll() override;
- void convert(armem::wm::Entity&) override;
- void store(const armem::wm::Entity&) override;
-
bool forEachSnapshot(std::function<void(EntitySnapshot&)>&& func) const override;
bool forEachSnapshotInIndexRange(long first, long last, std::function<void(EntitySnapshot&)>&& func) const override;
bool forEachSnapshotInTimeRange(const Time& min, const Time& max, std::function<void(EntitySnapshot&)>&& func) const override;
@@ -37,6 +32,10 @@ namespace armarx::armem::server::ltm::disk
std::shared_ptr<EntitySnapshot> findFirstSnapshotAfterOrAt(const Time& time) const override;
protected:
+ void _loadAll(armem::wm::Entity&) override;
+ void _load(armem::wm::Entity&) override;
+ void _store(const armem::wm::Entity&) override;
+
std::string getExpectedFolderName() const override;
};
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.cpp b/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.cpp
index 204769226..8256d1af9 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.cpp
@@ -9,7 +9,13 @@
#include <ArmarXCore/core/time/TimeUtil.h>
#include <ArmarXCore/core/logging/Logging.h>
#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
-#include <RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h>
+
+// ArmarX
+#include "../base/extractor/noExtractor/NoExtractor.h"
+#include "../base/extractor/imageExtractor/ImageExtractor.h"
+#include "../base/converter/dict/json/JsonConverter.h"
+#include "../base/converter/dict/bson/BsonConverter.h"
+#include "../base/converter/image/png/PngConverter.h"
namespace armarx::armem::server::ltm::disk
{
@@ -28,12 +34,23 @@ namespace armarx::armem::server::ltm::disk
m.timestamp = IceUtil::Time::microSeconds(std::stol(p.filename()));
return m;
}
+
+ void writeDataToFile(const std::filesystem::path& path, const std::vector<unsigned char>& data)
+ {
+ std::ofstream dataofs;
+ dataofs.open(path);
+ dataofs.write(reinterpret_cast<const char*>(data.data()), data.size());
+ dataofs.close();
+ }
}
EntitySnapshot::EntitySnapshot(const std::filesystem::path& p) :
EntitySnapshotBase(getMemoryIDFromPath(p)),
DiskStorage(p)
{
+ extractor = std::make_shared<extractor::ImageExtractor>();
+ dictConverter = std::make_shared<converter::dict::JsonConverter>();
+ imgConverter = std::make_shared<converter::image::PngConverter>();
}
std::string EntitySnapshot::getExpectedFolderName() const
@@ -41,12 +58,12 @@ namespace armarx::armem::server::ltm::disk
return name();
}
- armem::wm::EntitySnapshot EntitySnapshot::loadAll() const
+ void EntitySnapshot::_loadAll(armem::wm::EntitySnapshot& e) const
{
std::filesystem::path p = path;
util::ensureFolderExists(p, false);
- armem::wm::EntitySnapshot e(id());
+ e.id() = id();
for (unsigned int i = 0; i < 1000; ++i) // 1000 is max size for instances in a single timestamp
{
@@ -58,10 +75,9 @@ namespace armarx::armem::server::ltm::disk
// add instance. Do not set data, since we only return references
e.addInstance();
}
- return e;
}
- void EntitySnapshot::convert(armem::wm::EntitySnapshot& e) const
+ void EntitySnapshot::_load(armem::wm::EntitySnapshot& e) const
{
// Get data from disk
std::filesystem::path p = path;
@@ -71,61 +87,67 @@ namespace armarx::armem::server::ltm::disk
{
util::ensureFolderExists(p / std::to_string(i), false);
- std::filesystem::path data = p / std::to_string(i) / constantes::DATA_FILENAME;
- std::filesystem::path metadata = p / std::to_string(i) / constantes::METADATA_FILENAME;
+ std::filesystem::path data = p / std::to_string(i) / (constantes::DATA_FILENAME + dictConverter->suffix);
+ std::filesystem::path metadata = p / std::to_string(i) / (constantes::METADATA_FILENAME + dictConverter->suffix);
util::ensureFileExists(data);
auto& ins = e.getInstance(i);
std::ifstream dataifs(data);
- std::string datafilecontent((std::istreambuf_iterator<char>(dataifs)), (std::istreambuf_iterator<char>()));
- nlohmann::json datajson = nlohmann::json::parse(datafilecontent);
- auto dataaron = aron::converter::AronNlohmannJSONConverter::ConvertFromNlohmannJSONObject(datajson);
+ std::vector<unsigned char> datafilecontent((std::istreambuf_iterator<char>(dataifs)), (std::istreambuf_iterator<char>()));
+ auto dataaron = dictConverter->convert(datafilecontent);
std::ifstream metadataifs(metadata);
- std::string metadatafilecontent((std::istreambuf_iterator<char>(metadataifs)), (std::istreambuf_iterator<char>()));
- nlohmann::json metadatajson = nlohmann::json::parse(metadatafilecontent);
- auto metadataaron = aron::converter::AronNlohmannJSONConverter::ConvertFromNlohmannJSONObject(metadatajson);
+ std::vector<unsigned char> metadatafilecontent((std::istreambuf_iterator<char>(metadataifs)), (std::istreambuf_iterator<char>()));
+ auto metadataaron = dictConverter->convert(metadatafilecontent);
from_aron(metadataaron, dataaron, ins);
}
}
- void EntitySnapshot::store(const armem::wm::EntitySnapshot& e) const
+ void EntitySnapshot::_store(const armem::wm::EntitySnapshot& e) const
{
std::filesystem::path p = path;
util::ensureFolderExists(p);
for (unsigned int i = 0; i < e.size(); ++i)
{
- util::ensureFolderExists(p / std::to_string(i));
+ std::filesystem::path instancePath = p / std::to_string(i);
+ util::ensureFolderExists(instancePath);
- std::filesystem::path data = p / std::to_string(i) / constantes::DATA_FILENAME;
- std::filesystem::path metadata = p / std::to_string(i) / constantes::METADATA_FILENAME;
+ std::filesystem::path dataPath = instancePath / (constantes::DATA_FILENAME + dictConverter->suffix);
+ std::filesystem::path metadataPath = instancePath / (constantes::METADATA_FILENAME + dictConverter->suffix);
- if (util::checkIfFileExists(data) or util::checkIfFileExists(metadata))
+ if (util::checkIfFileExists(dataPath) or util::checkIfFileExists(metadataPath))
{
continue;
}
auto& ins = e.getInstance(i);
- auto dataaron = std::make_shared<aron::data::Dict>();
- auto metadataaron = std::make_shared<aron::data::Dict>();
- to_aron(metadataaron, dataaron, ins);
- nlohmann::json datajson = aron::converter::AronNlohmannJSONConverter::ConvertToNlohmannJSON(dataaron);
- nlohmann::json metadatajson = aron::converter::AronNlohmannJSONConverter::ConvertToNlohmannJSON(metadataaron);
+ // data
+ auto dataAron = std::make_shared<aron::data::Dict>();
+ auto metadataAron = std::make_shared<aron::data::Dict>();
+ to_aron(metadataAron, dataAron, ins);
- std::ofstream dataofs;
- dataofs.open(data);
- dataofs << datajson.dump(2);
- dataofs.close();
+ // extract
+ auto dataExt = extractor->extract(dataAron);
+ auto metadataExt = extractor->extract(metadataAron);
+
+ // convert images
+ for (const auto& [memberName, img] : dataExt.images)
+ {
+ std::filesystem::path imgPath = instancePath / (memberName + imgConverter->suffix);
+ auto imgVec = imgConverter->convert(img);
+ writeDataToFile(imgPath, imgVec);
+ }
- std::ofstream metadataofs;
- metadataofs.open(metadata);
- metadataofs << metadatajson.dump(2);
- metadataofs.close();
+ // convert dict and metadata
+ auto dataVec = dictConverter->convert(dataExt.data);
+ auto metadataVec = dictConverter->convert(metadataExt.data);
+ writeDataToFile(dataPath, dataVec);
+ writeDataToFile(metadataPath, metadataVec);
}
}
}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.h b/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.h
index d93a62c9c..8206d9d6d 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.h
@@ -14,14 +14,13 @@ namespace armarx::armem::server::ltm::disk
public DiskStorage
{
public:
- using EntitySnapshotBase::EntitySnapshotBase;
EntitySnapshot(const std::filesystem::path&);
- armem::wm::EntitySnapshot loadAll() const override;
- void convert(armem::wm::EntitySnapshot&) const override;
- void store(const armem::wm::EntitySnapshot&) const override;
-
protected:
+ void _loadAll(armem::wm::EntitySnapshot&) const override;
+ void _load(armem::wm::EntitySnapshot&) const override;
+ void _store(const armem::wm::EntitySnapshot&) const override;
+
std::string getExpectedFolderName() const override;
};
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.cpp b/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.cpp
index b75a3f557..0735a4389 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.cpp
@@ -23,6 +23,7 @@ namespace armarx::armem::server::ltm::disk
BufferedMemoryBase(),
DiskStorage()
{
+ filter = std::make_shared<filter::FrequencyFilter>();
setMemoryID(MemoryID("Test", ""));
/*std::string armarx_home = std::string(getenv("HOME")) + "/.armarx";
@@ -38,6 +39,7 @@ namespace armarx::armem::server::ltm::disk
BufferedMemoryBase(),
DiskStorage(p)
{
+ filter = std::make_shared<filter::FrequencyFilter>();
setMemoryID(getMemoryIDFromPath(p));
}
@@ -81,25 +83,19 @@ namespace armarx::armem::server::ltm::disk
return c;
}
- armem::wm::Memory Memory::loadAll()
+ void Memory::_loadAll(armem::wm::Memory& m)
{
- TIMING_START(LTM_Memory_Load);
-
- armem::wm::Memory m(id());
+ m.id() = id();
forEachCoreSegment([&m](CoreSegment& x) {
- auto s = x.loadAll();
+ armem::wm::CoreSegment s;
+ x.loadAll(s);
m.addCoreSegment(s);
});
-
- TIMING_END_STREAM(LTM_Memory_Load, ARMARX_DEBUG);
- return m;
}
- void Memory::convert(armem::wm::Memory& m)
+ void Memory::_load(armem::wm::Memory& m)
{
- TIMING_START(LTM_Memory_Convert);
-
if (!checkPath())
{
return;
@@ -110,16 +106,13 @@ namespace armarx::armem::server::ltm::disk
{
util::ensureFolderExists(std::filesystem::path(path) / e.id().coreSegmentName, false);
CoreSegment c(std::filesystem::path(path) / e.id().coreSegmentName);
- c.convert(e);
+ c.load(e);
});
- TIMING_END_STREAM(LTM_Memory_Convert, ARMARX_DEBUG);
}
- void Memory::store(const armem::wm::Memory& m)
+ void Memory::_directlyStore(const armem::wm::Memory& m)
{
- TIMING_START(LTM_Memory_Store);
-
if (!checkPath())
{
return;
@@ -133,10 +126,5 @@ namespace armarx::armem::server::ltm::disk
CoreSegment c(std::filesystem::path(path) / e.id().coreSegmentName);
c.store(e);
});
-
- // Finaly clear cache and put reference to lut
- buffer.clear();
-
- TIMING_END_STREAM(LTM_Memory_Store, ARMARX_DEBUG);
}
}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.h b/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.h
index e9e422577..5b17f97ca 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.h
@@ -6,8 +6,13 @@
#include "../base/detail/BufferedMemoryBase.h"
#include "detail/DiskStorage.h"
+// Segmnet Type
#include "CoreSegment.h"
+// Config
+#include "../base/filter/frequencyFilter/FrequencyFilter.h"
+
+
namespace armarx::armem::server::ltm::disk
{
/// @brief A memory storing data in mongodb (needs 'armarx memory start' to start the mongod instance)
@@ -16,19 +21,19 @@ namespace armarx::armem::server::ltm::disk
public DiskStorage
{
public:
- using BufferedMemoryBase::BufferedMemoryBase;
Memory();
Memory(const std::filesystem::path&);
- armem::wm::Memory loadAll() override;
- void convert(armem::wm::Memory&) override;
- void store(const armem::wm::Memory&) override;
-
bool forEachCoreSegment(std::function<void(CoreSegment&)>&& func) const override;
std::shared_ptr<CoreSegment> findCoreSegment(const std::string&) const override;
protected:
+ void _loadAll(armem::wm::Memory&) override;
+ void _load(armem::wm::Memory&) override;
+ void _directlyStore(const armem::wm::Memory&) override;
+
std::string getExpectedFolderName() const override;
+
};
} // namespace armarx::armem::server::ltm::disk
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/ProviderSegment.cpp b/source/RobotAPI/libraries/armem/server/ltm/disk/ProviderSegment.cpp
index bc3310c11..ec0eee681 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/ProviderSegment.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/ProviderSegment.cpp
@@ -67,29 +67,28 @@ namespace armarx::armem::server::ltm::disk
return name();
}
- armem::wm::ProviderSegment ProviderSegment::loadAll()
+ void ProviderSegment::_loadAll(armem::wm::ProviderSegment& e)
{
- armem::wm::ProviderSegment e(id());
+ e.id() = id();
forEachEntity([&e](Entity& x) {
- auto s = x.loadAll();
+ armem::wm::Entity s;
+ x.loadAll(s);
e.addEntity(s);
});
-
- return e;
}
- void ProviderSegment::convert(armem::wm::ProviderSegment& p)
+ void ProviderSegment::_load(armem::wm::ProviderSegment& p)
{
p.forEachEntity([this](armem::wm::Entity& e)
{
util::ensureFolderExists(std::filesystem::path(path) / e.id().entityName, false);
Entity c(std::filesystem::path(path) / e.id().entityName);
- c.convert(e);
+ c.load(e);
});
}
- void ProviderSegment::store(const armem::wm::ProviderSegment& p)
+ void ProviderSegment::_store(const armem::wm::ProviderSegment& p)
{
p.forEachEntity([this](const armem::wm::Entity& e)
{
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/ProviderSegment.h b/source/RobotAPI/libraries/armem/server/ltm/disk/ProviderSegment.h
index 45ed5c8ac..80524afd0 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/ProviderSegment.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/ProviderSegment.h
@@ -15,18 +15,17 @@ namespace armarx::armem::server::ltm::disk
public DiskStorage
{
public:
- using ProviderSegmentBase::ProviderSegmentBase;
ProviderSegment(const std::filesystem::path&);
- armem::wm::ProviderSegment loadAll() override;
- void convert(armem::wm::ProviderSegment&) override;
- void store(const armem::wm::ProviderSegment&) override;
-
bool forEachEntity(std::function<void(Entity&)>&& func) const override;
std::shared_ptr<Entity> findEntity(const std::string&) const override;
protected:
+ void _loadAll(armem::wm::ProviderSegment&) override;
+ void _load(armem::wm::ProviderSegment&) override;
+ void _store(const armem::wm::ProviderSegment&) override;
+
std::string getExpectedFolderName() const override;
};
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/detail/Data.h b/source/RobotAPI/libraries/armem/server/ltm/disk/detail/Data.h
index f5dc9078f..6adbf12e2 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/detail/Data.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/detail/Data.h
@@ -8,9 +8,9 @@ namespace armarx::armem::server::ltm::disk
{
namespace constantes
{
- const std::string TYPE_FILENAME = "type.aron.json";
- const std::string DATA_FILENAME = "data.aron.json";
- const std::string METADATA_FILENAME = "metadata.aron.json";
+ const std::string TYPE_FILENAME = "type.aron";
+ const std::string DATA_FILENAME = "data.aron";
+ const std::string METADATA_FILENAME = "metadata.aron";
}
namespace util
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 405abb2e3..a0be62d21 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
@@ -18,7 +18,7 @@ namespace armarx::armem::server::query_proc::ltm::detail
using EntityT = typename Base::EntityT;
using EntitySnapshotT = typename Base::EntitySnapshotT;
using ResultEntityT = typename Base::ResultEntityT;
- using ResultSnapshotT = typename Base::EntitySnapshotT;
+ using ResultSnapshotT = typename Base::ResultSnapshotT;
public:
virtual ~EntityQueryProcessorBase() = default;
@@ -29,7 +29,9 @@ namespace armarx::armem::server::query_proc::ltm::detail
protected:
void addResultSnapshot(ResultEntityT& result, const EntitySnapshotT& snapshot) const override
{
- result.addSnapshot(snapshot.loadAll());
+ ResultSnapshotT s;
+ snapshot.loadAll(s);
+ result.addSnapshot(s);
}
};
}
diff --git a/source/RobotAPI/libraries/armem/test/ArMemLTMBenchmark.cpp b/source/RobotAPI/libraries/armem/test/ArMemLTMBenchmark.cpp
index a5d1b1a81..e539ce52d 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemLTMBenchmark.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemLTMBenchmark.cpp
@@ -83,14 +83,14 @@ BOOST_AUTO_TEST_CASE(test_memory_export__benchmark)
ltm.setMemoryID(ltm.id().withMemoryName("Test"));
auto data = std::make_shared<aron::data::Dict>();
- //auto member1 = std::make_shared<aron::data::Int>(42);
- //auto member2 = std::make_shared<aron::data::String>("Hallo Welt");
- //data->addElement("Member1", member1);
- //data->addElement("Member2", member2);
-
- std::vector<int> dimensions = {1280, 720, 3};
- std::string type = "0";
- std::vector<unsigned char> d(1280*720*3, 0);
+ auto member1 = std::make_shared<aron::data::Int>(42);
+ auto member2 = std::make_shared<aron::data::String>("Hallo Welt");
+ data->addElement("Member1", member1);
+ data->addElement("Member2", member2);
+
+ std::vector<int> dimensions = {720, 1280, 3};
+ std::string type = "16";
+ std::vector<unsigned char> d(720*1280*3, 255);
data->addElement("image", std::make_shared<aron::data::NDArray>(dimensions, type, d));
armem::wm::Memory wm("Test");
@@ -105,9 +105,10 @@ BOOST_AUTO_TEST_CASE(test_memory_export__benchmark)
en.clear();
auto& snap = en.addSnapshot(IceUtil::Time::now());
auto& ins = snap.addInstance();
- ins.data() = data;
+ auto cloned = aron::data::Dict::DynamicCastAndCheck(data->clone());
+ ins.data() = cloned;
- ltm.append(wm);
+ ltm.store(wm);
ltm.storeBuffer();
}
diff --git a/source/RobotAPI/libraries/armem_gui/disk/ControlWidget.cpp b/source/RobotAPI/libraries/armem_gui/disk/ControlWidget.cpp
index 2306f3c60..5d4542d2f 100644
--- a/source/RobotAPI/libraries/armem_gui/disk/ControlWidget.cpp
+++ b/source/RobotAPI/libraries/armem_gui/disk/ControlWidget.cpp
@@ -103,7 +103,7 @@ namespace armarx::armem::gui::disk
std::filesystem::create_directories(path / name);
armem::server::ltm::disk::Memory memory((path / name));
- memory.append(data);
+ memory.store(data);
memory.storeBuffer();
numStored++;
@@ -147,7 +147,10 @@ namespace armarx::armem::gui::disk
if (dir.is_directory())
{
armem::server::ltm::disk::Memory ltm(dir.path());
- armem::wm::Memory memory = ltm.loadAll();
+
+ armem::wm::Memory memory;
+ ltm.loadAll(memory);
+
memoryData[memory.name()] = std::move(memory);
numLoaded++;
diff --git a/source/RobotAPI/libraries/armem_gui/instance/display_visitors/DataDisplayVisitor.h b/source/RobotAPI/libraries/armem_gui/instance/display_visitors/DataDisplayVisitor.h
index 765cb6026..1595e6ffb 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/display_visitors/DataDisplayVisitor.h
+++ b/source/RobotAPI/libraries/armem_gui/instance/display_visitors/DataDisplayVisitor.h
@@ -8,7 +8,7 @@
namespace armarx::aron
{
- class DataDisplayVisitor : public aron::data::VariantVisitor
+ class DataDisplayVisitor : public aron::data::ConstVariantVisitor
{
public:
static std::string getValue(const data::VariantPtr& n);
diff --git a/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.h b/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.h
index e05d92031..fa42d27ad 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.h
+++ b/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.h
@@ -11,7 +11,7 @@
namespace armarx::aron
{
- class TypedDataDisplayVisitor : public aron::data::TypedVariantVisitor
+ class TypedDataDisplayVisitor : public aron::data::ConstTypedVariantVisitor
{
public:
diff --git a/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeDataVisitor.h b/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeDataVisitor.h
index d65c6bc3f..a34459ee1 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeDataVisitor.h
+++ b/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeDataVisitor.h
@@ -13,7 +13,7 @@ namespace armarx::armem::gui::instance
{
class TreeDataVisitor :
- public aron::data::RecursiveVariantVisitor,
+ public aron::data::RecursiveConstVariantVisitor,
public TreeDataVisitorBase
{
public:
@@ -21,57 +21,57 @@ namespace armarx::armem::gui::instance
using TreeDataVisitorBase::TreeDataVisitorBase;
- void visitDictOnEnter(const std::string& key, const aron::data::VariantPtr& n) override
+ void visitDictOnEnter(const std::string& key, const aron::data::VariantPtr&, const aron::data::VariantPtr& n) override
{
_visitEnter(key, "Dict", n->childrenSize());
}
- void visitDictOnExit(const std::string&, const aron::data::VariantPtr&) override
+ void visitDictOnExit(const std::string&, const aron::data::VariantPtr&, const aron::data::VariantPtr&) override
{
_visitExit();
}
- void visitListOnEnter(const std::string& key, const aron::data::VariantPtr& n) override
+ void visitListOnEnter(const std::string& key, const aron::data::VariantPtr&, const aron::data::VariantPtr& n) override
{
_visitEnter(key, "List", n->childrenSize());
}
- void visitListOnExit(const std::string&, const aron::data::VariantPtr&) override
+ void visitListOnExit(const std::string&, const aron::data::VariantPtr&, const aron::data::VariantPtr&) override
{
_visitExit();
}
- void visitBool(const std::string& key, const aron::data::VariantPtr& b) override
+ void visitBool(const std::string& key, const aron::data::VariantPtr&, const aron::data::VariantPtr& b) override
{
const auto x = *aron::data::Bool::DynamicCastAndCheck(b);
this->addValueRow(key, x, "Bool");
}
- void visitDouble(const std::string& key, const aron::data::VariantPtr& d) override
+ void visitDouble(const std::string& key, const aron::data::VariantPtr&, const aron::data::VariantPtr& d) override
{
const auto x = *aron::data::Double::DynamicCastAndCheck(d);
this->addValueRow(key, x, "Double");
}
- void visitFloat(const std::string& key, const aron::data::VariantPtr& f) override
+ void visitFloat(const std::string& key, const aron::data::VariantPtr&, const aron::data::VariantPtr& f) override
{
const auto x = *aron::data::Float::DynamicCastAndCheck(f);
this->addValueRow(key, x, "Float");
}
- void visitInt(const std::string& key, const aron::data::VariantPtr& i) override
+ void visitInt(const std::string& key, const aron::data::VariantPtr&, const aron::data::VariantPtr& i) override
{
const auto x = *aron::data::Int::DynamicCastAndCheck(i);
this->addValueRow(key, x, "Int");
}
- void visitLong(const std::string& key, const aron::data::VariantPtr& l) override
+ void visitLong(const std::string& key, const aron::data::VariantPtr&, const aron::data::VariantPtr& l) override
{
const auto x = *aron::data::Long::DynamicCastAndCheck(l);
this->addValueRow(key, x, "Long");
}
- void visitString(const std::string& key, const aron::data::VariantPtr& string) override
+ void visitString(const std::string& key, const aron::data::VariantPtr&, const aron::data::VariantPtr& string) override
{
const auto x = *aron::data::String::DynamicCastAndCheck(string);
this->addValueRow(key, x, "String");
}
- void visitNDArray(const std::string& key, const aron::data::VariantPtr& array) override
+ void visitNDArray(const std::string& key, const aron::data::VariantPtr&, const aron::data::VariantPtr& array) override
{
const auto x = *aron::data::NDArray::DynamicCastAndCheck(array);
this->addValueRow(key, x, "ND Array");
diff --git a/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedDataVisitor.h b/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedDataVisitor.h
index 1941fb5f7..72848d6ea 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedDataVisitor.h
+++ b/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedDataVisitor.h
@@ -20,7 +20,7 @@ namespace armarx::armem::gui::instance
{
class TreeTypedDataVisitor :
- public aron::data::RecursiveTypedVariantVisitor,
+ public aron::data::RecursiveConstTypedVariantVisitor,
public TreeDataVisitorBase
{
public:
@@ -28,81 +28,81 @@ namespace armarx::armem::gui::instance
using TreeDataVisitorBase::TreeDataVisitorBase;
- void visitDictOnEnter(const std::string& key, const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
+ void visitDictOnEnter(const std::string& key, const aron::data::VariantPtr&, const aron::type::VariantPtr&, const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
{
_visitEnter(key, sanitizeTypeName(type->getFullName()), data->childrenSize());
}
- void visitDictOnExit(const std::string& key, const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
+ void visitDictOnExit(const std::string& key, const aron::data::VariantPtr&, const aron::type::VariantPtr&, const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
{
_visitExit();
}
- void visitObjectOnEnter(const std::string& key, const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
+ void visitObjectOnEnter(const std::string& key, const aron::data::VariantPtr&, const aron::type::VariantPtr&, const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
{
_visitEnter(key, sanitizeTypeName(type->getFullName()), data->childrenSize());
}
- void visitObjectOnExit(const std::string& key, const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
+ void visitObjectOnExit(const std::string& key, const aron::data::VariantPtr&, const aron::type::VariantPtr&, const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
{
_visitExit();
}
- void visitListOnEnter(const std::string& key, const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
+ void visitListOnEnter(const std::string& key, const aron::data::VariantPtr&, const aron::type::VariantPtr&, const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
{
_visitEnter(key, sanitizeTypeName(type->getFullName()), data->childrenSize());
}
- void visitListOnExit(const std::string& key, const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
+ void visitListOnExit(const std::string& key, const aron::data::VariantPtr&, const aron::type::VariantPtr&, const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
{
_visitExit();
}
- void visitTupleOnEnter(const std::string& key, const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
+ void visitTupleOnEnter(const std::string& key, const aron::data::VariantPtr&, const aron::type::VariantPtr&, const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
{
_visitEnter(key, sanitizeTypeName(type->getFullName()), data->childrenSize());
}
- void visitTupleOnExit(const std::string& key, const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
+ void visitTupleOnExit(const std::string& key, const aron::data::VariantPtr&, const aron::type::VariantPtr&, const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
{
_visitExit();
}
// What about Pair??
- void visitBool(const std::string& key, const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
+ void visitBool(const std::string& key, const aron::data::VariantPtr&, const aron::type::VariantPtr&, const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
{
auto d = *aron::data::Bool::DynamicCastAndCheck(data);
auto t = *aron::type::Bool::DynamicCastAndCheck(type);
this->addValueRow(key, d, t);
}
- void visitDouble(const std::string& key, const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
+ void visitDouble(const std::string& key, const aron::data::VariantPtr&, const aron::type::VariantPtr&, const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
{
auto d = *aron::data::Double::DynamicCastAndCheck(data);
auto t = *aron::type::Double::DynamicCastAndCheck(type);
this->addValueRow(key, d, t);
}
- void visitFloat(const std::string& key, const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
+ void visitFloat(const std::string& key, const aron::data::VariantPtr&, const aron::type::VariantPtr&, const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
{
auto d = *aron::data::Float::DynamicCastAndCheck(data);
auto t = *aron::type::Float::DynamicCastAndCheck(type);
this->addValueRow(key, d, t);
}
- void visitInt(const std::string& key, const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
+ void visitInt(const std::string& key, const aron::data::VariantPtr&, const aron::type::VariantPtr&, const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
{
auto d = *aron::data::Int::DynamicCastAndCheck(data);
auto t = *aron::type::Int::DynamicCastAndCheck(type);
this->addValueRow(key, d, t);
}
- void visitLong(const std::string& key, const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
+ void visitLong(const std::string& key, const aron::data::VariantPtr&, const aron::type::VariantPtr&, const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
{
auto d = *aron::data::Long::DynamicCastAndCheck(data);
auto t = *aron::type::Long::DynamicCastAndCheck(type);
this->addValueRow(key, d, t);
}
- void visitString(const std::string& key, const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
+ void visitString(const std::string& key, const aron::data::VariantPtr&, const aron::type::VariantPtr&, const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
{
auto d = *aron::data::String::DynamicCastAndCheck(data);
auto t = *aron::type::String::DynamicCastAndCheck(type);
this->addValueRow(key, d, t);
}
- void visitTime(const std::string& key, const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
+ void visitTime(const std::string& key, const aron::data::VariantPtr&, const aron::type::VariantPtr&, const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
{
auto d = *aron::data::Long::DynamicCastAndCheck(data);
auto t = *aron::type::Time::DynamicCastAndCheck(type);
@@ -110,43 +110,43 @@ namespace armarx::armem::gui::instance
}
- void visitMatrix(const std::string& key, const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
+ void visitMatrix(const std::string& key, const aron::data::VariantPtr&, const aron::type::VariantPtr&, const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
{
auto d = *aron::data::NDArray::DynamicCastAndCheck(data);
auto t = *aron::type::Matrix::DynamicCastAndCheck(type);
this->addValueRow(key, d, t);
}
- void visitQuaternion(const std::string& key, const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
+ void visitQuaternion(const std::string& key, const aron::data::VariantPtr&, const aron::type::VariantPtr&, const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
{
auto d = *aron::data::NDArray::DynamicCastAndCheck(data);
auto t = *aron::type::Quaternion::DynamicCastAndCheck(type);
this->addValueRow(key, d, t);
}
- void visitPointCloud(const std::string& key, const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
+ void visitPointCloud(const std::string& key, const aron::data::VariantPtr&, const aron::type::VariantPtr&, const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
{
auto d = *aron::data::NDArray::DynamicCastAndCheck(data);
auto t = *aron::type::PointCloud::DynamicCastAndCheck(type);
this->addValueRow(key, d, t);
}
- void visitPose(const std::string& key, const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
+ void visitPose(const std::string& key, const aron::data::VariantPtr&, const aron::type::VariantPtr&, const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
{
auto d = *aron::data::NDArray::DynamicCastAndCheck(data);
auto t = *aron::type::Pose::DynamicCastAndCheck(type);
this->addValueRow(key, d, t);
}
- void visitPosition(const std::string& key, const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
+ void visitPosition(const std::string& key, const aron::data::VariantPtr&, const aron::type::VariantPtr&, const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
{
auto d = *aron::data::NDArray::DynamicCastAndCheck(data);
auto t = *aron::type::Position::DynamicCastAndCheck(type);
this->addValueRow(key, d, t);
}
- void visitImage(const std::string& key, const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
+ void visitImage(const std::string& key, const aron::data::VariantPtr&, const aron::type::VariantPtr&, const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
{
auto d = *aron::data::NDArray::DynamicCastAndCheck(data);
auto t = *aron::type::Image::DynamicCastAndCheck(type);
this->addValueRow(key, d, t);
}
- void visitOrientation(const std::string& key, const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
+ void visitOrientation(const std::string& key, const aron::data::VariantPtr&, const aron::type::VariantPtr&, const aron::data::VariantPtr& data, const aron::type::VariantPtr& type) override
{
auto d = *aron::data::NDArray::DynamicCastAndCheck(data);
auto t = *aron::type::Orientation::DynamicCastAndCheck(type);
diff --git a/source/RobotAPI/libraries/aron/converter/opencv/OpenCVConverter.cpp b/source/RobotAPI/libraries/aron/converter/opencv/OpenCVConverter.cpp
index 7659581fc..6208bd9b4 100644
--- a/source/RobotAPI/libraries/aron/converter/opencv/OpenCVConverter.cpp
+++ b/source/RobotAPI/libraries/aron/converter/opencv/OpenCVConverter.cpp
@@ -40,7 +40,8 @@ namespace armarx::aron::converter
auto dims = nav->getShape();
cv::Mat ret(std::vector<int>({dims.begin(), std::prev(dims.end())}), std::stoi(nav->getType()));
- memcpy(reinterpret_cast<unsigned char*>(ret.data), nav->getData(), std::accumulate(std::begin(dims), std::end(dims), 1, std::multiplies<int>()));
+ auto size = std::accumulate(std::begin(dims), std::end(dims), 1, std::multiplies<int>());
+ memcpy(reinterpret_cast<unsigned char*>(ret.data), nav->getData(), size);
return ret;
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Image.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Image.cpp
index c994d831e..7d1226e52 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Image.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/Image.cpp
@@ -32,8 +32,8 @@ namespace armarx::aron::codegenerator::cpp::generator
const std::map<type::image::PixelType, std::pair<std::string, int>> Image::PixelType2Cpp =
{
- { type::image::PixelType::rgb24, {"CV_8UC3", 0}},
- { type::image::PixelType::depth32, {"CV_32FC1", 0}},
+ { type::image::PixelType::rgb24, {"CV_8UC3", 3}},
+ { type::image::PixelType::depth32, {"CV_32FC1", 4}},
};
diff --git a/source/RobotAPI/libraries/aron/core/data/converter/nlohmannJSON/NlohmannJSONConverter.h b/source/RobotAPI/libraries/aron/core/data/converter/nlohmannJSON/NlohmannJSONConverter.h
index e7b423c39..25cd0dc57 100644
--- a/source/RobotAPI/libraries/aron/core/data/converter/nlohmannJSON/NlohmannJSONConverter.h
+++ b/source/RobotAPI/libraries/aron/core/data/converter/nlohmannJSON/NlohmannJSONConverter.h
@@ -33,7 +33,7 @@ namespace armarx::aron::data
/// WriterImplementation is a writer class, TODO: add concept
template <class WriterImplementation, class DerivedT>
struct NlohmannJSONConverter :
- virtual public NlohmannJSONVisitor,
+ virtual public ConstNlohmannJSONVisitor,
virtual public Converter<aron::data::reader::NlohmannJSONReader, WriterImplementation, DerivedT>
{
virtual ~NlohmannJSONConverter() = default;
diff --git a/source/RobotAPI/libraries/aron/core/data/converter/variant/VariantConverter.h b/source/RobotAPI/libraries/aron/core/data/converter/variant/VariantConverter.h
index be8a7c670..4173e7143 100644
--- a/source/RobotAPI/libraries/aron/core/data/converter/variant/VariantConverter.h
+++ b/source/RobotAPI/libraries/aron/core/data/converter/variant/VariantConverter.h
@@ -34,7 +34,7 @@ namespace armarx::aron::data
/// WriterImplementation is a writer class, TODO: add concept
template <class WriterImplementation, class DerivedT>
struct VariantConverter :
- virtual public VariantVisitor,
+ virtual public ConstVariantVisitor,
virtual public Converter<aron::data::reader::VariantReader, WriterImplementation, DerivedT>
{
virtual ~VariantConverter() = default;
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/Variant.h b/source/RobotAPI/libraries/aron/core/data/variant/Variant.h
index dc37a2d09..be3d93336 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/Variant.h
+++ b/source/RobotAPI/libraries/aron/core/data/variant/Variant.h
@@ -95,20 +95,6 @@ namespace armarx::aron::data
/// return a list of dto objects from a list of variant objects
static std::vector<data::dto::GenericDataPtr> ToAronDTO(const std::vector<VariantPtr>&);
- /// Static cast an arbitrary variantptr (e.g. IntPtr) to VariantPtr
- /// Trick for automatic template deduction
- static const VariantPtr StaticCast(const VariantPtr& p)
- {
- return p;
- }
-
- /// Static cast an arbitrary variantptr (e.g. IntPtr) to VariantPtr
- /// Trick for automatic template deduction
- static VariantPtr StaticCast(VariantPtr& p)
- {
- return p;
- }
-
/// getter for the descriptor enum
data::Descriptor getDescriptor() const
{
@@ -128,6 +114,9 @@ namespace armarx::aron::data
}
// virtual definitions
+ /// get a pointer to a copy of this variant
+ virtual VariantPtr clone() const = 0;
+
/// get the children of a data variant
virtual std::vector<VariantPtr> getChildren() const = 0;
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/complex/NDArray.h b/source/RobotAPI/libraries/aron/core/data/variant/complex/NDArray.h
index dab077188..31677060a 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/complex/NDArray.h
+++ b/source/RobotAPI/libraries/aron/core/data/variant/complex/NDArray.h
@@ -84,6 +84,12 @@ namespace armarx::aron::data
data::dto::NDArrayPtr toNDArrayDTO() const;
// virtual implementations
+ virtual VariantPtr clone() const override
+ {
+ NDArrayPtr ret(new NDArray(getShape(), getType(), getDataAsVector(), getPath()));
+ return ret;
+ }
+
virtual std::string getShortName() const override;
virtual std::string getFullName() const override;
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/container/Dict.cpp b/source/RobotAPI/libraries/aron/core/data/variant/container/Dict.cpp
index 387a983fa..62fa05d24 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/container/Dict.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/variant/container/Dict.cpp
@@ -119,16 +119,11 @@ namespace armarx::aron::data
void Dict::addElement(const std::string& key, const VariantPtr& data)
{
- if (data)
+ if (hasElement(key))
{
- this->childrenNavigators[key] = data;
- this->aron->elements[key] = data->toAronDTO();
- }
- else
- {
- this->childrenNavigators[key] = nullptr;
- this->aron->elements[key] = nullptr;
+ throw error::AronException(__PRETTY_FUNCTION__, "The key '"+key+"' already exists in a aron dict.");
}
+ setElement(key, data);
}
bool Dict::hasElement(const std::string& key) const
@@ -156,6 +151,19 @@ namespace armarx::aron::data
return childrenNavigators;
}
+ void Dict::setElement(const std::string& key, const VariantPtr& data)
+ {
+ this->childrenNavigators[key] = data;
+ if (data)
+ {
+ this->aron->elements[key] = data->toAronDTO();
+ }
+ else
+ {
+ this->aron->elements[key] = nullptr;
+ }
+ }
+
void Dict::removeElement(const std::string& key)
{
childrenNavigators.erase(key);
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/container/Dict.h b/source/RobotAPI/libraries/aron/core/data/variant/container/Dict.h
index bd823a1bd..01842e78a 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/container/Dict.h
+++ b/source/RobotAPI/libraries/aron/core/data/variant/container/Dict.h
@@ -62,14 +62,24 @@ namespace armarx::aron::data
void addElement(const std::string& key, const VariantPtr&);
bool hasElement(const std::string&) const;
+ void setElement(const std::string&, const VariantPtr&);
VariantPtr getElement(const std::string&) const;
std::map<std::string, VariantPtr> getElements() const;
void removeElement(const std::string& key);
-
void clear();
- // virtual implementations
+ // virtual implementations
+ virtual VariantPtr clone() const override
+ {
+ DictPtr ret(new Dict(getPath()));
+ for (const auto& [key, val] : getElements())
+ {
+ ret->addElement(key, val->clone());
+ }
+ return ret;
+ }
+
virtual std::string getShortName() const override;
virtual std::string getFullName() const override;
virtual std::vector<VariantPtr> getChildren() const override;
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/container/List.cpp b/source/RobotAPI/libraries/aron/core/data/variant/container/List.cpp
index e144e9d6a..23cc7b8d2 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/container/List.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/variant/container/List.cpp
@@ -114,15 +114,39 @@ namespace armarx::aron::data
void List::addElement(const VariantPtr& n)
{
- if (n)
+ setElement(aron->elements.size(), n);
+ }
+
+ void List::setElement(unsigned int i, const VariantPtr& n)
+ {
+ if (i > aron->elements.size())
+ {
+ error::AronException(__PRETTY_FUNCTION__, "Cannot set a listelement at index " + std::to_string(i) + " because this list has size " + std::to_string(aron->elements.size()));
+ }
+
+ if (i == aron->elements.size())
{
childrenNavigators.push_back(n);
- aron->elements.push_back(n->toAronDTO());
+ if (n)
+ {
+ aron->elements.push_back(n->toAronDTO());
+ }
+ else
+ {
+ aron->elements.push_back(nullptr);
+ }
}
else
{
- childrenNavigators.push_back(nullptr);
- aron->elements.push_back(nullptr);
+ childrenNavigators[i] = n;
+ if (n)
+ {
+ aron->elements[i] = (n->toAronDTO());
+ }
+ else
+ {
+ aron->elements[i] = nullptr;
+ }
}
}
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/container/List.h b/source/RobotAPI/libraries/aron/core/data/variant/container/List.h
index ef36e026b..d70929e1f 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/container/List.h
+++ b/source/RobotAPI/libraries/aron/core/data/variant/container/List.h
@@ -63,6 +63,7 @@ namespace armarx::aron::data
data::dto::ListPtr toAronListPtr() const;
void addElement(const VariantPtr&);
+ void setElement(unsigned int, const VariantPtr&);
VariantPtr getElement(unsigned int) const;
bool hasElement(unsigned int) const;
std::vector<VariantPtr> getElements() const;
@@ -72,6 +73,15 @@ namespace armarx::aron::data
void clear();
// virtual implementations
+ virtual VariantPtr clone() const override
+ {
+ ListPtr ret(new List(getPath()));
+ for (const auto& val : getElements())
+ {
+ ret->addElement(val->clone());
+ }
+ return ret;
+ }
virtual std::string getShortName() const override;
virtual std::string getFullName() const override;
virtual std::vector<VariantPtr> getChildren() const override;
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/detail/PrimitiveVariant.h b/source/RobotAPI/libraries/aron/core/data/variant/detail/PrimitiveVariant.h
index 8033edf4f..e2c479bbe 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/detail/PrimitiveVariant.h
+++ b/source/RobotAPI/libraries/aron/core/data/variant/detail/PrimitiveVariant.h
@@ -72,6 +72,12 @@ namespace armarx::aron::data::detail
}*/
// virtual implementations
+ virtual VariantPtr clone() const override
+ {
+ typename DerivedT::PointerType ret(new DerivedT(getValue(), this->getPath()));
+ return ret;
+ }
+
virtual std::vector<VariantPtr> getChildren() const override
{
return {};
diff --git a/source/RobotAPI/libraries/aron/core/data/visitor/RecursiveVisitor.h b/source/RobotAPI/libraries/aron/core/data/visitor/RecursiveVisitor.h
index 97280fb35..a46373175 100644
--- a/source/RobotAPI/libraries/aron/core/data/visitor/RecursiveVisitor.h
+++ b/source/RobotAPI/libraries/aron/core/data/visitor/RecursiveVisitor.h
@@ -34,49 +34,49 @@ namespace armarx::aron::data
* @see type/visitor/RecursiveVisitor.h
*/
template <class RecursiveVisitorImplementation>
- void visitRecursive(RecursiveVisitorImplementation& v, const std::string& key, typename RecursiveVisitorImplementation::Input& o)
+ void visitRecursive(RecursiveVisitorImplementation& v, typename RecursiveVisitorImplementation::Input& o, const std::string& key, typename RecursiveVisitorImplementation::Input& po)
{
data::Descriptor descriptor = v.getDescriptor(o);
switch (descriptor)
{
case data::Descriptor::eList:
{
- v.visitListOnEnter(key, o);
+ v.visitListOnEnter(key, po, o);
unsigned int i = 0;
- for (const auto& value : v.getListElements(o))
+ for (auto& value : v.getListElements(o))
{
- visitRecursive(v, std::to_string(i), value);
+ visitRecursive(v, value, std::to_string(i), o);
i++;
}
- v.visitListOnExit(key, o);
+ v.visitListOnExit(key, po, o);
return;
}
case data::Descriptor::eDict:
{
- v.visitDictOnEnter(key, o);
- for (const auto& [key, value] : v.getDictElements(o))
+ v.visitDictOnEnter(key, po, o);
+ for (auto& [key, value] : v.getDictElements(o))
{
- visitRecursive(v, key, value);
+ visitRecursive(v, value, key, o);
}
- v.visitDictOnExit(key, o);
+ v.visitDictOnExit(key, po, o);
return;
}
case data::Descriptor::eNDArray:
- return v.visitNDArray(key, o);
+ return v.visitNDArray(key, po, o);
case data::Descriptor::eInt:
- return v.visitInt(key, o);
+ return v.visitInt(key, po, o);
case data::Descriptor::eLong:
- return v.visitLong(key, o);
+ return v.visitLong(key, po, o);
case data::Descriptor::eFloat:
- return v.visitFloat(key, o);
+ return v.visitFloat(key, po, o);
case data::Descriptor::eDouble:
- return v.visitDouble(key, o);
+ return v.visitDouble(key, po, o);
case data::Descriptor::eString:
- return v.visitString(key, o);
+ return v.visitString(key, po, o);
case data::Descriptor::eBool:
- return v.visitBool(key, o);
+ return v.visitBool(key, po, o);
case data::Descriptor::eUnknown:
- return v.visitUnknown(key, o);
+ return v.visitUnknown(key, po, o);
}
}
@@ -85,100 +85,100 @@ namespace armarx::aron::data
* @see data/visitor/Visitor.h
*/
template <class RecursiveVisitorImplementation>
- void visitRecursive(RecursiveVisitorImplementation& v, const std::string& key, typename RecursiveVisitorImplementation::DataInput& o, typename RecursiveVisitorImplementation::TypeInput& t)
+ void visitRecursive(RecursiveVisitorImplementation& v, typename RecursiveVisitorImplementation::DataInput& o, typename RecursiveVisitorImplementation::TypeInput& t, const std::string& key, typename RecursiveVisitorImplementation::DataInput& po, typename RecursiveVisitorImplementation::TypeInput& pt)
{
type::Descriptor descriptor = v.getDescriptor(t);
switch (descriptor)
{
case type::Descriptor::eList:
{
- v.visitListOnEnter(key, o, t);
+ v.visitListOnEnter(key, po, pt, o, t);
unsigned int i = 0;
- for (const auto& [value, acceptedType] : v.getListElements(o, t))
+ for (auto& [value, acceptedType] : v.getListElements(o, t))
{
- visitRecursive(v, std::to_string(i), value, acceptedType);
+ visitRecursive(v, value, acceptedType, std::to_string(i), o, t);
i++;
}
- v.visitListOnExit(key, o, t);
+ v.visitListOnExit(key, po, pt, o, t);
return;
}
case type::Descriptor::ePair:
{
- v.visitPairOnEnter(key, o, t);
+ v.visitPairOnEnter(key, po, pt, o, t);
auto pair = v.getPairElements(o, t);
auto first = pair.first;
auto second = pair.second;
- visitRecursive(v, "1", first.first, first.second);
- visitRecursive(v, "2", second.first, second.second);
- v.visitPairOnExit(key, o, t);
+ visitRecursive(v, first.first, first.second, "1", o, t);
+ visitRecursive(v, second.first, second.second, "2", o, t);
+ v.visitPairOnExit(key, po, pt, o, t);
return;
}
case type::Descriptor::eTuple:
{
- v.visitTupleOnEnter(key, o, t);
+ v.visitTupleOnEnter(key, po, pt, o, t);
unsigned int i = 0;
- for (const auto& [value, acceptedType] : v.getTupleElements(o, t))
+ for (auto& [value, acceptedType] : v.getTupleElements(o, t))
{
- visitRecursive(v, std::to_string(i), value, acceptedType);
+ visitRecursive(v, value, acceptedType, std::to_string(i), o, t);
i++;
}
- v.visitTupleOnExit(key, o, t);
+ v.visitTupleOnExit(key, po, pt, o, t);
return;
}
case type::Descriptor::eDict:
{
- v.visitDictOnEnter(key, o, t);
- for (const auto& [key, value, acceptedType] : v.getDictElements(o, t))
+ v.visitDictOnEnter(key, po, pt, o, t);
+ for (auto& [key, value, acceptedType] : v.getDictElements(o, t))
{
- visitRecursive(v, key, value, acceptedType);
+ visitRecursive(v, value, acceptedType, key, o, t);
}
- v.visitDictOnExit(key, o, t);
+ v.visitDictOnExit(key, po, pt, o, t);
return;
}
case type::Descriptor::eObject:
{
- v.visitObjectOnEnter(key, o, t);
- for (const auto& [key, value, acceptedType] : v.getObjectElements(o, t))
+ v.visitObjectOnEnter(key, po, pt, o, t);
+ for (auto& [key, value, acceptedType] : v.getObjectElements(o, t))
{
- visitRecursive(v, key, value, acceptedType);
+ visitRecursive(v, value, acceptedType, key, o, t);
}
- v.visitObjectOnExit(key, o, t);
+ v.visitObjectOnExit(key, po, pt, o, t);
return;
}
case type::Descriptor::eNDArray:
- return v.visitNDArray(key, o, t);
+ return v.visitNDArray(key, po, pt, o, t);
case type::Descriptor::eMatrix:
- return v.visitMatrix(key, o, t);
+ return v.visitMatrix(key, po, pt, o, t);
case type::Descriptor::eOrientation:
- return v.visitOrientation(key, o, t);
+ return v.visitOrientation(key, po, pt, o, t);
case type::Descriptor::eImage:
- return v.visitImage(key, o, t);
+ return v.visitImage(key, po, pt, o, t);
case type::Descriptor::ePointCloud:
- return v.visitPointCloud(key, o, t);
+ return v.visitPointCloud(key, po, pt, o, t);
case type::Descriptor::ePosition:
- return v.visitPosition(key, o, t);
+ return v.visitPosition(key, po, pt, o, t);
case type::Descriptor::ePose:
- return v.visitPose(key, o, t);
+ return v.visitPose(key, po, pt, o, t);
case type::Descriptor::eQuaternion:
- return v.visitQuaternion(key, o, t);
+ return v.visitQuaternion(key, po, pt, o, t);
case type::Descriptor::eInt:
- return v.visitInt(key, o, t);
+ return v.visitInt(key, po, pt, o, t);
case type::Descriptor::eLong:
- return v.visitLong(key, o, t);
+ return v.visitLong(key, po, pt, o, t);
case type::Descriptor::eFloat:
- return v.visitFloat(key, o, t);
+ return v.visitFloat(key, po, pt, o, t);
case type::Descriptor::eDouble:
- return v.visitDouble(key, o, t);
+ return v.visitDouble(key, po, pt, o, t);
case type::Descriptor::eString:
- return v.visitString(key, o, t);
+ return v.visitString(key, po, pt, o, t);
case type::Descriptor::eBool:
- return v.visitBool(key, o, t);
+ return v.visitBool(key, po, pt, o, t);
case type::Descriptor::eTime:
- return v.visitTime(key, o, t);
+ return v.visitTime(key, po, pt, o, t);
case type::Descriptor::eIntEnum:
- return v.visitIntEnum(key, o, t);
+ return v.visitIntEnum(key, po, pt, o, t);
case type::Descriptor::eUnknown:
- return v.visitUnknown(key, o, t);
+ return v.visitUnknown(key, po, pt, o, t);
}
}
@@ -194,19 +194,19 @@ namespace armarx::aron::data
virtual std::map<std::string, InputNonConst> getDictElements(Input&) = 0;
virtual std::vector<InputNonConst> getListElements(Input&) = 0;
- virtual void visitDictOnEnter(const std::string& key, Input&) {};
- virtual void visitDictOnExit(const std::string& key, Input&) {};
- virtual void visitListOnEnter(const std::string& key, Input&) {};
- virtual void visitListOnExit(const std::string& key, Input&) {};
+ virtual void visitDictOnEnter(const std::string& key, Input& parent, Input& element) {};
+ virtual void visitDictOnExit(const std::string& key, Input& parent, Input& element) {};
+ virtual void visitListOnEnter(const std::string& key, Input& parent, Input& element) {};
+ virtual void visitListOnExit(const std::string& key, Input& parent, Input& element) {};
- virtual void visitNDArray(const std::string& key, Input&) {};
- virtual void visitInt(const std::string& key, Input&) {};
- virtual void visitLong(const std::string& key, Input&) {};
- virtual void visitFloat(const std::string& key, Input&) {};
- virtual void visitDouble(const std::string& key, Input&) {};
- virtual void visitBool(const std::string& key, Input&) {};
- virtual void visitString(const std::string& key, Input&) {};
- virtual void visitUnknown(const std::string&, Input&) { throw error::AronException(__PRETTY_FUNCTION__, "Unknown type in visitor."); }
+ virtual void visitNDArray(const std::string& key, Input& parent, Input& element) {};
+ virtual void visitInt(const std::string& key, Input& parent, Input& element) {};
+ virtual void visitLong(const std::string& key, Input& parent, Input& element) {};
+ virtual void visitFloat(const std::string& key, Input& parent, Input& element) {};
+ virtual void visitDouble(const std::string& key, Input& parent, Input& element) {};
+ virtual void visitBool(const std::string& key, Input& parent, Input& element) {};
+ virtual void visitString(const std::string& key, Input& parent, Input& element) {};
+ virtual void visitUnknown(const std::string& key, Input& parent, Input& element) { throw error::AronException(__PRETTY_FUNCTION__, "Unknown type in visitor."); }
virtual ~RecursiveVisitor() = default;
};
@@ -228,34 +228,34 @@ namespace armarx::aron::data
virtual std::pair<std::pair<DataInputNonConst, TypeInputNonConst>, std::pair<DataInputNonConst, TypeInputNonConst>> getPairElements(DataInput&, TypeInput&) = 0;
virtual std::vector<std::pair<DataInputNonConst, TypeInputNonConst>> getTupleElements(DataInput&, TypeInput&) = 0;
- virtual void visitObjectOnEnter(const std::string& key, DataInput&, TypeInput&) {};
- virtual void visitObjectOnExit(const std::string& key, DataInput&, TypeInput&) {};
- virtual void visitDictOnEnter(const std::string& key, DataInput&, TypeInput&) {};
- virtual void visitDictOnExit(const std::string& key, DataInput&, TypeInput&) {};
- virtual void visitPairOnEnter(const std::string& key, DataInput&, TypeInput&) {};
- virtual void visitPairOnExit(const std::string& key, DataInput&, TypeInput&) {};
- virtual void visitTupleOnEnter(const std::string& key, DataInput&, TypeInput&) {};
- virtual void visitTupleOnExit(const std::string& key, DataInput&, TypeInput&) {};
- virtual void visitListOnEnter(const std::string& key, DataInput&, TypeInput&) {};
- virtual void visitListOnExit(const std::string& key, DataInput&, TypeInput&) {};
+ virtual void visitObjectOnEnter(const std::string& key, DataInput& parentData, TypeInput& parentType, DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitObjectOnExit(const std::string& key, DataInput& parentData, TypeInput& parentType, DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitDictOnEnter(const std::string& key, DataInput& parentData, TypeInput& parentType, DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitDictOnExit(const std::string& key, DataInput& parentData, TypeInput& parentType, DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitPairOnEnter(const std::string& key, DataInput& parentData, TypeInput& parentType, DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitPairOnExit(const std::string& key, DataInput& parentData, TypeInput& parentType, DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitTupleOnEnter(const std::string& key, DataInput& parentData, TypeInput& parentType, DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitTupleOnExit(const std::string& key, DataInput& parentData, TypeInput& parentType, DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitListOnEnter(const std::string& key, DataInput& parentData, TypeInput& parentType, DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitListOnExit(const std::string& key, DataInput& parentData, TypeInput& parentType, DataInput& elementData, TypeInput& elementType) {};
- virtual void visitMatrix(const std::string& key, DataInput&, TypeInput&) {};
- virtual void visitNDArray(const std::string& key, DataInput&, TypeInput&) {};
- virtual void visitQuaternion(const std::string& key, DataInput&, TypeInput&) {};
- virtual void visitOrientation(const std::string& key, DataInput&, TypeInput&) {};
- virtual void visitPosition(const std::string& key, DataInput&, TypeInput&) {};
- virtual void visitPose(const std::string& key, DataInput&, TypeInput&) {};
- virtual void visitImage(const std::string& key, DataInput&, TypeInput&) {};
- virtual void visitPointCloud(const std::string& key, DataInput&, TypeInput&) {};
- virtual void visitIntEnum(const std::string& key, DataInput&, TypeInput&) {};
- virtual void visitInt(const std::string& key, DataInput&, TypeInput&) {};
- virtual void visitLong(const std::string& key, DataInput&, TypeInput&) {};
- virtual void visitFloat(const std::string& key, DataInput&, TypeInput&) {};
- virtual void visitDouble(const std::string& key, DataInput&, TypeInput&) {};
- virtual void visitBool(const std::string& key, DataInput&, TypeInput&) {};
- virtual void visitString(const std::string& key, DataInput&, TypeInput&) {};
- virtual void visitTime(const std::string& key, DataInput&, TypeInput&) {};
- virtual void visitUnknown(const std::string&, DataInput&, TypeInput&) { throw error::AronException(__PRETTY_FUNCTION__, "Unknown type in visitor."); }
+ virtual void visitMatrix(const std::string& key, DataInput& parentData, TypeInput& parentType, DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitNDArray(const std::string& key, DataInput& parentData, TypeInput& parentType, DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitQuaternion(const std::string& key, DataInput& parentData, TypeInput& parentType, DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitOrientation(const std::string& key, DataInput& parentData, TypeInput& parentType, DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitPosition(const std::string& key, DataInput& parentData, TypeInput& parentType, DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitPose(const std::string& key, DataInput& parentData, TypeInput& parentType, DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitImage(const std::string& key, DataInput& parentData, TypeInput& parentType, DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitPointCloud(const std::string& key, DataInput& parentData, TypeInput& parentType, DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitIntEnum(const std::string& key, DataInput& parentData, TypeInput& parentType, DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitInt(const std::string& key, DataInput& parentData, TypeInput& parentType, DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitLong(const std::string& key, DataInput& parentData, TypeInput& parentType, DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitFloat(const std::string& key, DataInput& parentData, TypeInput& parentType, DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitDouble(const std::string& key, DataInput& parentData, TypeInput& parentType, DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitBool(const std::string& key, DataInput& parentData, TypeInput& parentType, DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitString(const std::string& key, DataInput& parentData, TypeInput& parentType, DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitTime(const std::string& key, DataInput& parentData, TypeInput& parentType, DataInput& elementData, TypeInput& elementType) {};
+ virtual void visitUnknown(const std::string&, DataInput& parentData, TypeInput& parentType, DataInput& elementData, TypeInput& elementType) { throw error::AronException(__PRETTY_FUNCTION__, "Unknown type in visitor."); }
virtual ~RecursiveTypedVisitor() = default;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/data/visitor/nlohmannJSON/NlohmannJSONVisitor.h b/source/RobotAPI/libraries/aron/core/data/visitor/nlohmannJSON/NlohmannJSONVisitor.h
index 4042cd195..7ff87236d 100644
--- a/source/RobotAPI/libraries/aron/core/data/visitor/nlohmannJSON/NlohmannJSONVisitor.h
+++ b/source/RobotAPI/libraries/aron/core/data/visitor/nlohmannJSON/NlohmannJSONVisitor.h
@@ -39,7 +39,7 @@ namespace armarx::aron::data
/**
* @see type/visitor/nlohmannJSON/NlohmannJSONVisitor.h
*/
- struct NlohmannJSONVisitor : virtual public Visitor<const nlohmann::json>
+ struct ConstNlohmannJSONVisitor : virtual public Visitor<const nlohmann::json>
{
virtual data::Descriptor getDescriptor(Input& n) override
{
@@ -51,7 +51,7 @@ namespace armarx::aron::data
return armarx::aron::data::rw::json::conversion::String2Descriptor.at(t);
}
- virtual ~NlohmannJSONVisitor() = default;
+ virtual ~ConstNlohmannJSONVisitor() = default;
};
// TODO
diff --git a/source/RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.h b/source/RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.h
index b4faa7485..c0e3f66e6 100644
--- a/source/RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.h
+++ b/source/RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.h
@@ -35,7 +35,7 @@ namespace armarx::aron::data
/**
* @see type/visitor/variant/VariantVisitor.h
*/
- struct VariantVisitor : virtual public Visitor<const data::VariantPtr>
+ struct ConstVariantVisitor : virtual public Visitor<const data::VariantPtr>
{
virtual data::Descriptor getDescriptor(Input& n) override
{
@@ -46,13 +46,13 @@ namespace armarx::aron::data
return n->getDescriptor();
}
- virtual ~VariantVisitor() = default;
+ virtual ~ConstVariantVisitor() = default;
};
/**
* @see type/visitor/variant/VariantVisitor.h
*/
- struct TypedVariantVisitor : virtual public TypedVisitor<const data::VariantPtr, const type::VariantPtr>
+ struct ConstTypedVariantVisitor : virtual public TypedVisitor<const data::VariantPtr, const type::VariantPtr>
{
virtual type::Descriptor getDescriptor(TypeInput& n) override
{
@@ -63,13 +63,42 @@ namespace armarx::aron::data
return n->getDescriptor();
}
- virtual ~TypedVariantVisitor() = default;
+ virtual ~ConstTypedVariantVisitor() = default;
};
/**
* @see type/visitor/variant/VariantVisitor.h
*/
- struct RecursiveVariantVisitor : virtual public RecursiveVisitor<const data::VariantPtr>
+ struct RecursiveConstVariantVisitor : virtual public RecursiveVisitor<const data::VariantPtr>
+ {
+ virtual data::Descriptor getDescriptor(Input& n) override
+ {
+ if (!n)
+ {
+ return data::Descriptor::eUnknown;
+ }
+ return n->getDescriptor();
+ }
+
+ virtual std::map<std::string, InputNonConst> getDictElements(Input& n) override
+ {
+ auto x = data::Dict::DynamicCastAndCheck(n);
+ return x->getElements();
+ }
+
+ virtual std::vector<InputNonConst> getListElements(Input& n) override
+ {
+ auto x = data::List::DynamicCastAndCheck(n);
+ return x->getElements();
+ }
+
+ virtual ~RecursiveConstVariantVisitor() = default;
+ };
+
+ /**
+ * @see type/visitor/variant/VariantVisitor.h
+ */
+ struct RecursiveVariantVisitor : virtual public RecursiveVisitor<data::VariantPtr>
{
virtual data::Descriptor getDescriptor(Input& n) override
{
@@ -98,7 +127,7 @@ namespace armarx::aron::data
/**
* @see type/visitor/variant/VariantVisitor.h
*/
- struct RecursiveTypedVariantVisitor : virtual public RecursiveTypedVisitor<const data::VariantPtr, const type::VariantPtr>
+ struct RecursiveConstTypedVariantVisitor : virtual public RecursiveTypedVisitor<const data::VariantPtr, const type::VariantPtr>
{
virtual type::Descriptor getDescriptor(TypeInput& n) override
{
@@ -174,6 +203,6 @@ namespace armarx::aron::data
return ret;
}
- virtual ~RecursiveTypedVariantVisitor() = default;
+ virtual ~RecursiveConstTypedVariantVisitor() = default;
};
}
--
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