From a89f6204a9cb2394b6d28f6380dfbcdff6b97acd Mon Sep 17 00:00:00 2001
From: Fabian Peller-Konrad <fabian.peller-konrad@kit.edu>
Date: Tue, 20 Feb 2024 15:33:54 +0100
Subject: [PATCH] fix loading of ltm from filesystem again
---
.../GeneralPurposeMemory.cpp | 4 +-
.../armem/server/ltm/CoreSegment.cpp | 13 +++++
.../libraries/armem/server/ltm/Memory.cpp | 8 +--
.../armem/server/ltm/ProviderSegment.cpp | 13 +++++
.../ltm/detail/mixins/util/filesystem.cpp | 2 +-
.../libraries/armem_gui/MemoryViewer.cpp | 3 +-
.../armem_gui/disk/ControlWidget.cpp | 4 +-
.../converter/json/NLohmannJSONConverter.cpp | 3 +-
.../aron/core/type/converter/Converter.h | 38 ++++++++++++-
.../nlohmannJSON/NlohmannJSONReader.cpp | 54 ++++++++++++++++---
10 files changed, 123 insertions(+), 19 deletions(-)
diff --git a/source/RobotAPI/components/armem/server/GeneralPurposeMemory/GeneralPurposeMemory.cpp b/source/RobotAPI/components/armem/server/GeneralPurposeMemory/GeneralPurposeMemory.cpp
index 756ffdcab..12d1848e5 100644
--- a/source/RobotAPI/components/armem/server/GeneralPurposeMemory/GeneralPurposeMemory.cpp
+++ b/source/RobotAPI/components/armem/server/GeneralPurposeMemory/GeneralPurposeMemory.cpp
@@ -39,9 +39,6 @@ namespace armarx
armarx::PropertyDefinitionsPtr GeneralPurposeMemory::createPropertyDefinitions()
{
armarx::PropertyDefinitionsPtr defs = new ComponentPropertyDefinitions(getConfigIdentifier());
-
- workingMemory().name() = "GeneralPurpose";
-
return defs;
}
@@ -54,6 +51,7 @@ namespace armarx
void GeneralPurposeMemory::onInitComponent()
{
+ setMemoryName(getName());
}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/CoreSegment.cpp b/source/RobotAPI/libraries/armem/server/ltm/CoreSegment.cpp
index 87575f5d3..6ec04595c 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/CoreSegment.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/CoreSegment.cpp
@@ -84,6 +84,19 @@ namespace armarx::armem::server::ltm
e.id() = id().getCoreSegmentID().cleanID();
+ ARMARX_INFO << VAROUT(id());
+
+ auto& conv = processors->defaultTypeConverter;
+ if (fileExists(DiskMemoryItemMixin::TYPE_FILENAME + conv.suffix))
+ {
+ // load and set type
+ auto& conv = processors->defaultTypeConverter;
+
+ auto filecontent = readDataFromFile(DiskMemoryItemMixin::TYPE_FILENAME + conv.suffix);
+ auto aron = conv.convert(filecontent, "");
+ e.aronType() = aron;
+ }
+
forEachProviderSegment(
[&e](auto& x)
{
diff --git a/source/RobotAPI/libraries/armem/server/ltm/Memory.cpp b/source/RobotAPI/libraries/armem/server/ltm/Memory.cpp
index 6ffd3b8c2..bb2fd2ceb 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/Memory.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/Memory.cpp
@@ -88,9 +88,7 @@ namespace armarx::armem::server::ltm
{
for (const auto& subdirName : getAllDirectories())
{
-
std::string segmentName = util::fs::detail::unescapeName(subdirName);
- ARMARX_INFO << VAROUT(id().withCoreSegmentName(segmentName));
CoreSegment c(getMemoryBasePath(),
getSettings(),
getExportName(),
@@ -99,6 +97,10 @@ namespace armarx::armem::server::ltm
func(c);
}
}
+ else
+ {
+ ARMARX_WARNING << "Could not load the core segments of LTM " << id().str() << " as the path " << getFullPath().string() << " does not exist.";
+ }
ARMARX_INFO << "All CoreSegments handeled";
@@ -172,7 +174,7 @@ namespace armarx::armem::server::ltm
{
std::lock_guard l(ltm_mutex);
- m.id() = id().getMemoryID();
+ m.id() = id().getMemoryID().cleanID();
ARMARX_INFO << VAROUT(id());
diff --git a/source/RobotAPI/libraries/armem/server/ltm/ProviderSegment.cpp b/source/RobotAPI/libraries/armem/server/ltm/ProviderSegment.cpp
index cfb613221..983dfb894 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/ProviderSegment.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/ProviderSegment.cpp
@@ -108,6 +108,19 @@ namespace armarx::armem::server::ltm
e.id() = id().getProviderSegmentID().cleanID();
+ auto& conv = processors->defaultTypeConverter;
+ if (fileExists(DiskMemoryItemMixin::TYPE_FILENAME + conv.suffix))
+ {
+ // load and set type
+ auto& conv = processors->defaultTypeConverter;
+
+ auto filecontent = readDataFromFile(DiskMemoryItemMixin::TYPE_FILENAME + conv.suffix);
+ auto aron = conv.convert(filecontent, "");
+ e.aronType() = aron;
+ }
+
+ ARMARX_INFO << VAROUT(id());
+
/*
auto& conv = processors->defaultTypeConverter;
diff --git a/source/RobotAPI/libraries/armem/server/ltm/detail/mixins/util/filesystem.cpp b/source/RobotAPI/libraries/armem/server/ltm/detail/mixins/util/filesystem.cpp
index 0b1f29b70..0e78e8f01 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/detail/mixins/util/filesystem.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/detail/mixins/util/filesystem.cpp
@@ -201,7 +201,7 @@ namespace armarx::armem::server::ltm ::util::fs
std::sort(ret.begin(),
ret.end(),
[](const std::filesystem::path& a, const std::filesystem::path& b) -> bool
- { return a.string() > b.string(); });
+ { return a.string() < b.string(); });
return ret;
}
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
index c84f1a8b9..5cf0df437 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
+++ b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
@@ -441,6 +441,7 @@ namespace armarx::armem::gui
for (auto& [path, memory] : data)
{
std::string name = memory.id().memoryName;
+
auto commit = armem::toCommit(memory);
if (memoryWriters.count(name) > 0)
@@ -458,7 +459,7 @@ namespace armarx::armem::gui
std::string virtualMemoryName = name + " (at " + path.string() + ")";
wm::Memory virtualMemory(virtualMemoryName);
virtualMemory.update(commit, true, false);
- memoryData[virtualMemoryName] = virtualMemory;
+ memoryData[virtualMemoryName] = std::move(virtualMemory);
}
}
diff --git a/source/RobotAPI/libraries/armem_gui/disk/ControlWidget.cpp b/source/RobotAPI/libraries/armem_gui/disk/ControlWidget.cpp
index cb828b64f..868c315ad 100644
--- a/source/RobotAPI/libraries/armem_gui/disk/ControlWidget.cpp
+++ b/source/RobotAPI/libraries/armem_gui/disk/ControlWidget.cpp
@@ -178,10 +178,10 @@ namespace armarx::armem::gui::disk
{
if (std::filesystem::is_directory(p))
{
- armem::server::ltm::Memory ltm(p.parent_path(), "MemoryExport", p.filename());
+ armem::server::ltm::Memory ltm(p.parent_path().parent_path(), "MemoryExport", p.filename());
armem::wm::Memory memory =
ltm.loadAllAndResolve(); // load list of references and load data
- memoryData[p] = memory;
+ memoryData[p] = std::move(memory);
numLoaded++;
}
diff --git a/source/RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.cpp b/source/RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.cpp
index c94ff951a..efb14f9aa 100644
--- a/source/RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.cpp
+++ b/source/RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.cpp
@@ -66,8 +66,7 @@ namespace armarx::aron::type::converter
AronNlohmannJSONConverter::ConvertFromNlohmannJSONTypeObject(const nlohmann::json& j,
const armarx::aron::Path& p)
{
- type::ObjectPtr foo = std::make_shared<aron::type::Object>();
- type::VariantPtr aron = std::make_shared<aron::type::Object>(*foo, p);
+ type::VariantPtr aron = std::make_shared<aron::type::Object>(p);
ConvertFromNlohmannJSON(aron, j);
return type::Object::DynamicCastAndCheck(aron);
}
diff --git a/source/RobotAPI/libraries/aron/core/type/converter/Converter.h b/source/RobotAPI/libraries/aron/core/type/converter/Converter.h
index 7e6f0c84d..d714842d4 100644
--- a/source/RobotAPI/libraries/aron/core/type/converter/Converter.h
+++ b/source/RobotAPI/libraries/aron/core/type/converter/Converter.h
@@ -73,6 +73,8 @@ namespace armarx::aron::type
void
visitObject(ReaderInputType& o) final
{
+ //ARMARX_INFO << "convert visitObject";
+
std::map<std::string, ReaderInputTypeNonConst> elementsOfInput;
std::string name;
std::vector<std::string> templates;
@@ -94,6 +96,8 @@ namespace armarx::aron::type
void
visitDict(ReaderInputType& o) final
{
+ //ARMARX_INFO << "convert visitDict";
+
ReaderInputTypeNonConst acceptedType;
type::Maybe maybe;
Path p;
@@ -106,7 +110,9 @@ namespace armarx::aron::type
void
visitList(ReaderInputType& o) final
- {
+ {
+ //ARMARX_INFO << "convert visitList";
+
ReaderInputTypeNonConst acceptedType;
type::Maybe maybe;
Path p;
@@ -120,6 +126,8 @@ namespace armarx::aron::type
void
visitPair(ReaderInputType& o) final
{
+ //ARMARX_INFO << "convert visitPair";
+
ReaderInputTypeNonConst acceptedType1;
ReaderInputTypeNonConst acceptedType2;
type::Maybe maybe;
@@ -135,6 +143,8 @@ namespace armarx::aron::type
void
visitTuple(ReaderInputType& o) final
{
+ //ARMARX_INFO << "convert visitTuple";
+
std::vector<ReaderInputTypeNonConst> acceptedTypes;
std::vector<WriterReturnType> elementsReturn;
type::Maybe maybe;
@@ -153,6 +163,8 @@ namespace armarx::aron::type
void
visitNDArray(ReaderInputType& o) final
{
+ //ARMARX_INFO << "convert visitNDArray";
+
type::Maybe maybe;
type::ndarray::ElementType type;
std::string defaultValue;
@@ -165,6 +177,8 @@ namespace armarx::aron::type
void
visitMatrix(ReaderInputType& o) final
{
+ //ARMARX_INFO << "convert visitMatrix";
+
type::Maybe maybe;
type::matrix::ElementType type;
std::string defaultValue;
@@ -178,6 +192,8 @@ namespace armarx::aron::type
void
visitQuaternion(ReaderInputType& o) final
{
+ //ARMARX_INFO << "convert visitQuaternion";
+
type::Maybe maybe;
type::quaternion::ElementType type;
std::string defaultValue;
@@ -189,6 +205,8 @@ namespace armarx::aron::type
void
visitImage(ReaderInputType& o) final
{
+ //ARMARX_INFO << "convert visitImage";
+
type::Maybe maybe;
type::image::PixelType type;
std::string defaultValue;
@@ -200,6 +218,8 @@ namespace armarx::aron::type
void
visitPointCloud(ReaderInputType& o) final
{
+ //ARMARX_INFO << "convert visitPointCloud";
+
type::Maybe maybe;
type::pointcloud::VoxelType type;
std::string defaultValue;
@@ -211,6 +231,8 @@ namespace armarx::aron::type
void
visitIntEnum(ReaderInputType& o) final
{
+ //ARMARX_INFO << "convert visitIntEnum";
+
type::Maybe maybe;
std::string name;
std::map<std::string, int> values;
@@ -223,6 +245,8 @@ namespace armarx::aron::type
void
visitInt(ReaderInputType& o) final
{
+ //ARMARX_INFO << "convert visitInt";
+
type::Maybe maybe;
Path p;
std::optional<int> defaultValue;
@@ -233,6 +257,8 @@ namespace armarx::aron::type
void
visitLong(ReaderInputType& o) final
{
+ //ARMARX_INFO << "convert visitLong";
+
type::Maybe maybe;
Path p;
std::optional<long> defaultValue;
@@ -243,6 +269,8 @@ namespace armarx::aron::type
void
visitFloat(ReaderInputType& o) final
{
+ //ARMARX_INFO << "convert visitFloat";
+
type::Maybe maybe;
Path p;
std::optional<float> defaultValue;
@@ -253,6 +281,8 @@ namespace armarx::aron::type
void
visitDouble(ReaderInputType& o) final
{
+ //ARMARX_INFO << "convert visitDouble";
+
type::Maybe maybe;
Path p;
std::optional<double> defaultValue;
@@ -263,6 +293,8 @@ namespace armarx::aron::type
void
visitBool(ReaderInputType& o) final
{
+ //ARMARX_INFO << "convert visitBool";
+
type::Maybe maybe;
Path p;
std::optional<bool> defaultValue;
@@ -273,6 +305,8 @@ namespace armarx::aron::type
void
visitString(ReaderInputType& o) final
{
+ //ARMARX_INFO << "convert visitString";
+
type::Maybe maybe;
Path p;
std::optional<std::string> defaultValue;
@@ -283,6 +317,8 @@ namespace armarx::aron::type
void
visitUnknown(ReaderInputType& o) final
{
+ //ARMARX_INFO << "convert visitUnknown";
+
if (!r.readNull(o))
{
throw error::AronException(__PRETTY_FUNCTION__,
diff --git a/source/RobotAPI/libraries/aron/core/type/rw/reader/nlohmannJSON/NlohmannJSONReader.cpp b/source/RobotAPI/libraries/aron/core/type/rw/reader/nlohmannJSON/NlohmannJSONReader.cpp
index 9b0ae2b3e..3421d3854 100644
--- a/source/RobotAPI/libraries/aron/core/type/rw/reader/nlohmannJSON/NlohmannJSONReader.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/rw/reader/nlohmannJSON/NlohmannJSONReader.cpp
@@ -257,7 +257,14 @@ namespace armarx::aron::type::reader
getAronMetaInformationForType(input, rw::json::constantes::INT_TYPENAME_SLUG, p);
maybe = rw::json::conversion::String2Maybe.at(input[rw::json::constantes::MAYBE_SLUG]);
- defaultValue = input[rw::json::constantes::DEFAULT_SLUG];
+
+ if (input.count(rw::json::constantes::DEFAULT_SLUG) && not input.at(rw::json::constantes::DEFAULT_SLUG).is_null())
+ {
+ if (std::string d = input[rw::json::constantes::DEFAULT_SLUG]; not d.empty())
+ {
+ defaultValue = std::stoi(d);
+ }
+ }
}
void
@@ -269,7 +276,14 @@ namespace armarx::aron::type::reader
getAronMetaInformationForType(input, rw::json::constantes::LONG_TYPENAME_SLUG, p);
maybe = rw::json::conversion::String2Maybe.at(input[rw::json::constantes::MAYBE_SLUG]);
- defaultValue = input[rw::json::constantes::DEFAULT_SLUG];
+
+ if (input.count(rw::json::constantes::DEFAULT_SLUG) && not input.at(rw::json::constantes::DEFAULT_SLUG).is_null())
+ {
+ if (std::string d = input[rw::json::constantes::DEFAULT_SLUG]; not d.empty())
+ {
+ defaultValue = std::stol(d);
+ }
+ }
}
void
@@ -281,7 +295,14 @@ namespace armarx::aron::type::reader
getAronMetaInformationForType(input, rw::json::constantes::FLOAT_TYPENAME_SLUG, p);
maybe = rw::json::conversion::String2Maybe.at(input[rw::json::constantes::MAYBE_SLUG]);
- defaultValue = input[rw::json::constantes::DEFAULT_SLUG];
+
+ if (input.count(rw::json::constantes::DEFAULT_SLUG) && not input.at(rw::json::constantes::DEFAULT_SLUG).is_null())
+ {
+ if (std::string d = input[rw::json::constantes::DEFAULT_SLUG]; not d.empty())
+ {
+ defaultValue = std::stof(d);
+ }
+ }
}
void
@@ -293,7 +314,14 @@ namespace armarx::aron::type::reader
getAronMetaInformationForType(input, rw::json::constantes::DOUBLE_TYPENAME_SLUG, p);
maybe = rw::json::conversion::String2Maybe.at(input[rw::json::constantes::MAYBE_SLUG]);
- defaultValue = input[rw::json::constantes::DEFAULT_SLUG];
+
+ if (input.count(rw::json::constantes::DEFAULT_SLUG) && not input.at(rw::json::constantes::DEFAULT_SLUG).is_null())
+ {
+ if (std::string d = input[rw::json::constantes::DEFAULT_SLUG]; not d.empty())
+ {
+ defaultValue = std::stod(d);
+ }
+ }
}
void
@@ -305,7 +333,14 @@ namespace armarx::aron::type::reader
getAronMetaInformationForType(input, rw::json::constantes::STRING_TYPENAME_SLUG, p);
maybe = rw::json::conversion::String2Maybe.at(input[rw::json::constantes::MAYBE_SLUG]);
- defaultValue = input[rw::json::constantes::DEFAULT_SLUG];
+
+ if (input.count(rw::json::constantes::DEFAULT_SLUG) && not input.at(rw::json::constantes::DEFAULT_SLUG).is_null())
+ {
+ if (std::string d = input[rw::json::constantes::DEFAULT_SLUG]; not d.empty())
+ {
+ defaultValue = d;
+ }
+ }
}
void
@@ -317,7 +352,14 @@ namespace armarx::aron::type::reader
getAronMetaInformationForType(input, rw::json::constantes::BOOL_TYPENAME_SLUG, p);
maybe = rw::json::conversion::String2Maybe.at(input[rw::json::constantes::MAYBE_SLUG]);
- defaultValue = input[rw::json::constantes::DEFAULT_SLUG];
+
+ if (input.count(rw::json::constantes::DEFAULT_SLUG) && not input.at(rw::json::constantes::DEFAULT_SLUG).is_null())
+ {
+ if (std::string d = input[rw::json::constantes::DEFAULT_SLUG]; not d.empty())
+ {
+ defaultValue = std::stoi(d);
+ }
+ }
}
void
--
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