From 9a81eab03c485c176ee4cfd84de162ab605d668c Mon Sep 17 00:00:00 2001
From: uhfpm_plewnia <uhfpm@student.kit.edu>
Date: Fri, 17 Nov 2023 09:45:04 +0100
Subject: [PATCH] changes to support c++ versions older than c++20
---
.../armem/server/MemoryToIceAdapter.cpp | 38 +++++++------
.../armem/server/ltm/EntityInstance.cpp | 20 +++++--
.../ltm/detail/mixins/BufferedMemoryMixin.h | 55 +++++++++++++------
.../converter/data/image/png/PngConverter.h | 1 +
4 files changed, 75 insertions(+), 39 deletions(-)
diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
index b6a5a79cc..dd9bc72a2 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
@@ -1,5 +1,7 @@
#include "MemoryToIceAdapter.h"
+#include <thread>
+
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <ArmarXCore/core/ice_conversions/ice_conversions_templates.h>
#include <ArmarXCore/core/logging/Logging.h>
@@ -16,8 +18,6 @@
#include "query_proc/ltm/disk/ltm.h"
#include "query_proc/wm/wm.h"
-#include <thread>
-
namespace armarx::armem::server
{
@@ -33,7 +33,8 @@ namespace armarx::armem::server
this->memoryListenerTopic = memoryListener;
}
- void MemoryToIceAdapter::addSecondLTM(ltm::Memory *longtermMemory)
+ void
+ MemoryToIceAdapter::addSecondLTM(ltm::Memory* longtermMemory)
{
std::string name = longtermMemory->getExportName();
/*
@@ -89,8 +90,6 @@ namespace armarx::armem::server
"You tried to add " << name;
}
*/
-
-
}
// WRITING
@@ -228,7 +227,7 @@ namespace armarx::armem::server
armem::CommitResult
MemoryToIceAdapter::_commit(const armem::Commit& commit, bool locking)
- {
+ {
ARMARX_TRACE;
std::vector<data::MemoryID> updatedIDs;
const bool publishUpdates = bool(memoryListenerTopic);
@@ -392,7 +391,8 @@ namespace armarx::armem::server
result.success = false;
result.errorMessage = e.what();
}
- catch (...){
+ catch (...)
+ {
ARMARX_INFO << "Error during LTM consollidation";
}
}
@@ -546,8 +546,9 @@ namespace armarx::armem::server
ltms.push_back(fifteenthLTM);
ltms.push_back(sixteenthLTM);
*/
- for(int i = 0; i < static_cast<int>(ltms.size()); i++){
- ltms.at(i)->startRecording();
+ for (int i = 0; i < static_cast<int>(ltms.size()); i++)
+ {
+ ltms.at(i)->startRecording();
}
//longtermMemory->startRecording(); // TODO: config and execution time!
@@ -585,25 +586,25 @@ namespace armarx::armem::server
ltms.push_back(sixteenthLTM);
*/
std::vector<std::thread> threads;
- for(int i = 0; i < static_cast<int>(ltms.size()); ++i){
- threads.push_back(std::thread([i, <ms]{
- ltms.at(i)->stopRecording();
- }));
+ for (int i = 0; i < static_cast<int>(ltms.size()); ++i)
+ {
+ threads.push_back(std::thread([i, <ms] { ltms.at(i)->stopRecording(); }));
}
-
- ARMARX_IMPORTANT << "Stopped all LTM recordings, please wait with stopping the component until "
- "all files are written";
+ ARMARX_IMPORTANT
+ << "Stopped all LTM recordings, please wait with stopping the component until "
+ "all files are written";
dto::StopRecordResult ret;
ret.success = true;
- for(auto& thread: threads){
+ for (auto& thread : threads)
+ {
thread.detach();
}
-
+ /*
try {
auto l = longtermMemory;
//ARMARX_INFO << "Current buffer status: " << longtermMemory->bufferFinished();
@@ -614,6 +615,7 @@ namespace armarx::armem::server
} catch (...) {
ARMARX_WARNING << "Problem when accessing storing task thread information";
}
+*/
return ret;
diff --git a/source/RobotAPI/libraries/armem/server/ltm/EntityInstance.cpp b/source/RobotAPI/libraries/armem/server/ltm/EntityInstance.cpp
index 0f22975cf..f1fb07d0a 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/EntityInstance.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/EntityInstance.cpp
@@ -193,14 +193,27 @@ namespace armarx::armem::server::ltm
auto metadataAron = std::make_shared<aron::data::Dict>();
to_aron(metadataAron, dataAron, e);
- auto deep_copy_dataAron = dataAron->clone(); //this is only a fix for now, I need to find out what is actually happening
+ std::shared_ptr<aron::data::Dict> source;
+
+ bool saveAndExtract = true;
+
+ if (saveAndExtract)
+ {
+ source = dataAron->clone();
+ }
+ else
+ {
+ source = dataAron;
+ }
+
+ //auto deep_copy_dataAron = dataAron->clone(); //this is only a fix for now, I need to find out what is actually happening
// check special members for special converters
for (auto& c : processors->converters)
{
ARMARX_CHECK_NOT_NULL(c);
ARMARX_CHECK_NOT_NULL(c->extractor);
- auto dataExt = c->extractor->extract(deep_copy_dataAron);
+ auto dataExt = c->extractor->extract(source);
for (const auto& [memberName, var] : dataExt.extraction)
{
@@ -212,10 +225,9 @@ namespace armarx::armem::server::ltm
ensureFileExists(filename, true);
writeDataToFile(filename, memberDataVec);
- }
+ }
//deep_copy_dataAron = dataExt.dataWithoutExtraction;
-
}
// convert dict and metadata
diff --git a/source/RobotAPI/libraries/armem/server/ltm/detail/mixins/BufferedMemoryMixin.h b/source/RobotAPI/libraries/armem/server/ltm/detail/mixins/BufferedMemoryMixin.h
index 7c774394b..7f490b541 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/detail/mixins/BufferedMemoryMixin.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/detail/mixins/BufferedMemoryMixin.h
@@ -1,14 +1,15 @@
#pragma once
+#include <atomic>
+#include <chrono>
+#include <thread>
+
#include <SimoxUtility/json.h>
#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
-#include <chrono>
-#include <thread>
-
namespace armarx::armem::server::ltm::detail::mixin
{
template <class _CoreSegmentT>
@@ -35,17 +36,34 @@ namespace armarx::armem::server::ltm::detail::mixin
}
void
- bufferFinished(){
- while(!(buffer->empty())){ //wait until buffer is empty
- ARMARX_INFO << deactivateSpam() << "Writing data to files, please do not stop this component";
+ bufferFinished()
+ {
+ ARMARX_INFO << "Saving data in files...";
+
+ while (!(buffer->empty()))
+ { //wait until buffer is empty
+ ARMARX_INFO << deactivateSpam()
+ << "Writing data to files, please do not stop this component";
sleep(5); //do not test too often
}
- while(storeFlag.test()){ //and then wait until the store_buffer was emptied, indicated by the store flag
- ARMARX_INFO << deactivateSpam() << "Writing data from memory to files, pleaso do not stop this component";
+ /*
+ sleep(30);
+ ARMARX_INFO << "Test";
+ bool store = storeFlag.test_and_set();
+ storeFlag.clear();
+ while (store)
+ { //and then wait until the store_buffer was emptied, indicated by the store flag
+ ARMARX_INFO
+ << deactivateSpam()
+ << "Writing data from memory to files, pleaso do not stop this component";
sleep(2);
+ store = storeFlag.test_and_set();
+ storeFlag.clear();
}
sleep(5); //make sure last buffer was also written
- ARMARX_IMPORTANT << "All buffers empty, all information stored on disk. You can stop this component now";
+ ARMARX_IMPORTANT << "All buffers empty, all information stored on disk. You can stop "
+ "this component now";
+*/
}
protected:
@@ -68,7 +86,8 @@ namespace armarx::armem::server::ltm::detail::mixin
task = new armarx::PeriodicTask<BufferedMemoryMixin>(
this, &BufferedMemoryMixin::storeBuffer, waitingTimeMs);
task->start();
- task->setDelayWarningTolerance(waitingTimeMs); //a warning will be issued if the task takes longer than the waitingTime
+ task->setDelayWarningTolerance(
+ waitingTimeMs); //a warning will be issued if the task takes longer than the waitingTime
}
}
@@ -105,13 +124,16 @@ namespace armarx::armem::server::ltm::detail::mixin
return;
}
- while(storeFlag.test_and_set(std::memory_order_acquire)){
+ while (storeFlag.test_and_set(std::memory_order_acquire))
+ {
std::this_thread::yield();
}
- std::thread storingThread([&]{
- this->directlyStore(*to_store);
- storeFlag.clear(std::memory_order_release);
- });
+ std::thread storingThread(
+ [&]
+ {
+ this->directlyStore(*to_store);
+ storeFlag.clear(std::memory_order_release);
+ });
storingThread.detach();
}
@@ -128,7 +150,7 @@ namespace armarx::armem::server::ltm::detail::mixin
}
void
- createPropertyDefinitions(PropertyDefinitionsPtr &defs, const std::string &prefix)
+ createPropertyDefinitions(PropertyDefinitionsPtr& defs, const std::string& prefix)
{
defs->optional(storeFrequency, prefix + "storeFrequency");
}
@@ -143,7 +165,6 @@ namespace armarx::armem::server::ltm::detail::mixin
}
-
protected:
/// Internal memory for data consolidated from wm to ltm (double-buffer)
/// The to-put-to-ltm buffer (contains data in plain text)
diff --git a/source/RobotAPI/libraries/armem/server/ltm/processors/converter/data/image/png/PngConverter.h b/source/RobotAPI/libraries/armem/server/ltm/processors/converter/data/image/png/PngConverter.h
index 8fb622d28..34904df5c 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/processors/converter/data/image/png/PngConverter.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/processors/converter/data/image/png/PngConverter.h
@@ -21,6 +21,7 @@ namespace armarx::armem::server::ltm::processor::converter::data::image
void configure(const nlohmann::json& json) override;
+
protected:
ConversionResult _convert(const aron::data::NDArrayPtr& data) final;
aron::data::NDArrayPtr _convert(const ConversionResult& data,
--
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