From a9bff1489047550e9b5e078485f5f9cbcd440493 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Mon, 30 Aug 2021 09:20:56 +0200
Subject: [PATCH] Update usages
---
.../ExampleMemoryClient.cpp | 10 ++++---
.../VirtualRobotReaderExampleClient.cpp | 2 +-
.../server/ExampleMemory/ExampleMemory.cpp | 10 +++----
.../server/ExampleMemory/ExampleMemory.h | 2 --
.../GeneralPurposeMemory.cpp | 13 ++++-----
.../GeneralPurposeMemory.h | 18 +++++++-----
.../server/MotionMemory/MotionMemory.cpp | 14 +++++----
.../armem/server/MotionMemory/MotionMemory.h | 3 +-
.../server/ObjectMemory/ObjectMemory.cpp | 29 +++++++++----------
.../RobotStateMemory/RobotStateMemory.cpp | 14 ++++-----
.../server/SkillsMemory/SkillsMemory.cpp | 28 ++++++++++--------
.../armem/server/SkillsMemory/SkillsMemory.h | 8 +++--
12 files changed, 80 insertions(+), 71 deletions(-)
diff --git a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
index 3678ecd55..acf354925 100644
--- a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
+++ b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
@@ -76,8 +76,8 @@ namespace armarx
ARMARX_IMPORTANT << "Waiting for memory '" << p.usedMemoryName << "' ...";
try
{
- memoryReader = memoryNameSystem.useReader(p.usedMemoryName);
- memoryWriter = memoryNameSystem.useWriter(p.usedMemoryName);
+ memoryReader = memoryNameSystem().useReader(p.usedMemoryName);
+ memoryWriter = memoryNameSystem().useWriter(p.usedMemoryName);
}
catch (const armem::error::CouldNotResolveMemoryServer& e)
{
@@ -93,12 +93,14 @@ namespace armarx
// Subscribe to example_entity updates
// Using a lambda:
- memoryNameSystem.subscribe(exampleEntityID, [&](const armem::MemoryID & exampleEntityID, const std::vector<armem::MemoryID>& snapshotIDs)
+ memoryNameSystem().subscribe(
+ exampleEntityID,
+ [&](const armem::MemoryID & exampleEntityID, const std::vector<armem::MemoryID>& snapshotIDs)
{
ARMARX_INFO << "Entity " << exampleEntityID << " was updated by " << snapshotIDs.size() << " snapshots.";
});
// Using a member function:
- memoryNameSystem.subscribe(exampleEntityID, this, &ExampleMemoryClient::processExampleEntityUpdate);
+ memoryNameSystem().subscribe(exampleEntityID, this, &ExampleMemoryClient::processExampleEntityUpdate);
task = new RunningTask<ExampleMemoryClient>(this, &ExampleMemoryClient::run);
diff --git a/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.cpp b/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.cpp
index 8ab75efc7..552f68ac7 100644
--- a/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.cpp
+++ b/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.cpp
@@ -31,7 +31,7 @@
namespace armarx::robot_state
{
VirtualRobotReaderExampleClient::VirtualRobotReaderExampleClient() :
- virtualRobotReader(this->memoryNameSystem) {}
+ virtualRobotReader(this->memoryNameSystem()) {}
armarx::PropertyDefinitionsPtr VirtualRobotReaderExampleClient::createPropertyDefinitions()
{
diff --git a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
index 879809064..86db99394 100644
--- a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
+++ b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
@@ -40,7 +40,7 @@ namespace armarx
defs->topic(debugObserver);
- defs->optional(p.memoryName, "memory.Name", "Name of this memory (server).");
+ workingMemory().name() = "Example";
p.core._defaultSegmentsStr = simox::alg::join(p.core.defaultCoreSegments, ", ");
defs->optional(p.core._defaultSegmentsStr, "core.DefaultSegments",
@@ -60,10 +60,8 @@ namespace armarx
void ExampleMemory::onInitComponent()
{
- this->setMemoryName(p.memoryName);
-
// Usually, the memory server will specify a number of core segments with a specific aron type.
- workingMemory.addCoreSegment("ExampleData", armem::example::ExampleData::toAronType());
+ workingMemory().addCoreSegment("ExampleData", armem::example::ExampleData::toAronType());
// For illustration purposes, we add more segments (without types).
bool trim = true;
@@ -72,7 +70,7 @@ namespace armarx
for (const std::string& name : p.core.defaultCoreSegments)
{
- workingMemory.addCoreSegment(name);
+ workingMemory().addCoreSegment(name);
}
}
@@ -126,7 +124,7 @@ namespace armarx
{
// Core segments are locked by MemoryRemoteGui.
- tab.memoryGroup = armem::server::MemoryRemoteGui().makeGroupBox(workingMemory);
+ tab.memoryGroup = armem::server::MemoryRemoteGui().makeGroupBox(workingMemory());
}
VBoxLayout root = {tab.memoryGroup, VSpacer()};
diff --git a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.h b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.h
index 37d20608b..86741dcff 100644
--- a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.h
+++ b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.h
@@ -85,8 +85,6 @@ namespace armarx
struct Properties
{
- std::string memoryName = "Example";
-
struct CoreSegments
{
std::vector<std::string> defaultCoreSegments = { "ExampleModality", "ExampleConcept" };
diff --git a/source/RobotAPI/components/armem/server/GeneralPurposeMemory/GeneralPurposeMemory.cpp b/source/RobotAPI/components/armem/server/GeneralPurposeMemory/GeneralPurposeMemory.cpp
index 3b17f4fc8..02a4c51c8 100644
--- a/source/RobotAPI/components/armem/server/GeneralPurposeMemory/GeneralPurposeMemory.cpp
+++ b/source/RobotAPI/components/armem/server/GeneralPurposeMemory/GeneralPurposeMemory.cpp
@@ -29,6 +29,7 @@
#include <RobotAPI/libraries/armem/core/error.h>
#include <RobotAPI/libraries/armem/server/MemoryRemoteGui.h>
+
namespace armarx
{
GeneralPurposeMemory::GeneralPurposeMemory()
@@ -38,6 +39,9 @@ namespace armarx
armarx::PropertyDefinitionsPtr GeneralPurposeMemory::createPropertyDefinitions()
{
armarx::PropertyDefinitionsPtr defs = new ComponentPropertyDefinitions(getConfigIdentifier());
+
+ workingMemory().name() = "GeneralPurpose";
+
return defs;
}
@@ -50,7 +54,6 @@ namespace armarx
void GeneralPurposeMemory::onInitComponent()
{
- workingMemory.name() = memoryName;
}
@@ -70,17 +73,11 @@ namespace armarx
- // WRITING
armem::data::AddSegmentsResult GeneralPurposeMemory::addSegments(const armem::data::AddSegmentsInput& input, const Ice::Current&)
{
+ // Allowing adding core segments.
armem::data::AddSegmentsResult result = ComponentPluginUser::addSegments(input, addCoreSegmentOnUsage);
return result;
}
-
- armem::data::CommitResult GeneralPurposeMemory::commit(const armem::data::Commit& commit, const Ice::Current&)
- {
- armem::data::CommitResult result = ComponentPluginUser::commit(commit);
- return result;
- }
}
diff --git a/source/RobotAPI/components/armem/server/GeneralPurposeMemory/GeneralPurposeMemory.h b/source/RobotAPI/components/armem/server/GeneralPurposeMemory/GeneralPurposeMemory.h
index c91e38d07..fe0aa7989 100644
--- a/source/RobotAPI/components/armem/server/GeneralPurposeMemory/GeneralPurposeMemory.h
+++ b/source/RobotAPI/components/armem/server/GeneralPurposeMemory/GeneralPurposeMemory.h
@@ -25,7 +25,6 @@
#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/interface/observers/ObserverInterface.h>
#include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
@@ -50,16 +49,24 @@ namespace armarx
virtual public armem::server::ComponentPluginUser
{
public:
+
GeneralPurposeMemory();
/// @see armarx::ManagedIceObject::getDefaultName()
std::string getDefaultName() const override;
+
public:
- armem::data::AddSegmentsResult addSegments(const armem::data::AddSegmentsInput& input, const Ice::Current&) override;
- armem::data::CommitResult commit(const armem::data::Commit& commit, const Ice::Current&) override;
+
+ armem::data::AddSegmentsResult
+ addSegments(const armem::data::AddSegmentsInput& input, const Ice::Current&) override;
+
protected:
+
+ /// @see PropertyUser::createPropertyDefinitions()
+ armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
+
/// @see armarx::ManagedIceObject::onInitComponent()
void onInitComponent() override;
@@ -72,12 +79,9 @@ namespace armarx
/// @see armarx::ManagedIceObject::onExitComponent()
void onExitComponent() override;
- /// @see PropertyUser::createPropertyDefinitions()
- armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
-
private:
- std::string memoryName = "GeneralPurposeMemory";
+
bool addCoreSegmentOnUsage = true;
};
diff --git a/source/RobotAPI/components/armem/server/MotionMemory/MotionMemory.cpp b/source/RobotAPI/components/armem/server/MotionMemory/MotionMemory.cpp
index 15253dffb..f44ee6007 100644
--- a/source/RobotAPI/components/armem/server/MotionMemory/MotionMemory.cpp
+++ b/source/RobotAPI/components/armem/server/MotionMemory/MotionMemory.cpp
@@ -35,16 +35,17 @@ namespace armarx
{
armarx::PropertyDefinitionsPtr defs = new ComponentPropertyDefinitions(getConfigIdentifier());
+ workingMemory().name() = "Motion";
+
const std::string prefix = "mem.";
- defs->optional(memoryName, prefix + "MemoryName", "Name of this memory (server).");
mdbMotions.defineProperties(defs, prefix + "mdbmotions.");
return defs;
}
+
MotionMemory::MotionMemory() :
- mdbMotions(armem::server::ComponentPluginUser::iceMemory)
+ mdbMotions(armem::server::ComponentPluginUser::iceAdapter())
{
-
}
@@ -53,23 +54,26 @@ namespace armarx
return "MotionMemory";
}
+
void MotionMemory::onInitComponent()
{
- this->setMemoryName(memoryName);
-
mdbMotions.onInit();
}
+
void MotionMemory::onConnectComponent()
{
mdbMotions.onConnect();
}
+
void MotionMemory::onDisconnectComponent()
{
}
+
void MotionMemory::onExitComponent()
{
}
+
}
diff --git a/source/RobotAPI/components/armem/server/MotionMemory/MotionMemory.h b/source/RobotAPI/components/armem/server/MotionMemory/MotionMemory.h
index 0218f0106..2363dae59 100644
--- a/source/RobotAPI/components/armem/server/MotionMemory/MotionMemory.h
+++ b/source/RobotAPI/components/armem/server/MotionMemory/MotionMemory.h
@@ -28,6 +28,7 @@
#include <RobotAPI/libraries/armem_motions/server/MotionDatabase/MDBMotions/Segment.h>
+
namespace armarx
{
/**
@@ -52,6 +53,7 @@ namespace armarx
/// @see armarx::ManagedIceObject::getDefaultName()
std::string getDefaultName() const override;
+
protected:
armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
@@ -63,7 +65,6 @@ namespace armarx
private:
- std::string memoryName = "Motion";
armem::server::motions::mdb::Segment mdbMotions;
// TODO: mdt Segment
diff --git a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
index 40ceb2864..23a821016 100644
--- a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
+++ b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
@@ -33,7 +33,16 @@ namespace armarx::armem::server::obj
{
armarx::PropertyDefinitionsPtr defs(new ComponentPropertyDefinitions(getConfigIdentifier()));
- // Offer
+ const std::string prefix = "mem.";
+ workingMemory().name() = defaultMemoryName;
+
+ classSegment.defineProperties(defs, prefix + "cls.");
+ instance::SegmentAdapter::defineProperties(defs, prefix + "inst.");
+
+ attachmentSegment.defineProperties(defs, prefix + "attachments.");
+
+
+ // Publish
defs->topic(debugObserver);
// Subscribe
@@ -44,25 +53,15 @@ namespace armarx::armem::server::obj
defs->defineOptionalProperty<std::string>("cmp.KinematicUnitObserverName", "KinematicUnitObserver",
"Name of the kinematic unit observer.");
- const std::string prefix = "mem.";
-
- workingMemory.name() = defaultMemoryName;
- defs->optional(workingMemory.name(), prefix + "MemoryName", "Name of this memory server.");
-
- classSegment.defineProperties(defs, prefix + "cls.");
- instance::SegmentAdapter::defineProperties(defs, prefix + "inst.");
-
- attachmentSegment.defineProperties(defs, prefix + "attachments.");
-
return defs;
}
ObjectMemory::ObjectMemory() :
server::ComponentPluginUser(),
- instance::SegmentAdapter(server::ComponentPluginUser::iceMemory),
- classSegment(server::ComponentPluginUser::iceMemory),
- attachmentSegment(server::ComponentPluginUser::iceMemory)
+ instance::SegmentAdapter(server::ComponentPluginUser::iceAdapter()),
+ classSegment(server::ComponentPluginUser::iceAdapter()),
+ attachmentSegment(server::ComponentPluginUser::iceAdapter())
{
}
@@ -80,8 +79,6 @@ namespace armarx::armem::server::obj
void ObjectMemory::onInitComponent()
{
- workingMemory.name() = defaultMemoryName;
-
const auto initSegmentWithCatch = [&](const std::string & segmentName, const auto&& fn)
{
try
diff --git a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
index 582cf2058..2b6edb972 100644
--- a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
+++ b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
@@ -44,11 +44,11 @@
namespace armarx::armem::server::robot_state
{
- RobotStateMemory::RobotStateMemory()
- : descriptionSegment(server::ComponentPluginUser::iceMemory),
- proprioceptionSegment(server::ComponentPluginUser::iceMemory),
- localizationSegment(server::ComponentPluginUser::iceMemory),
- commonVisu(descriptionSegment, proprioceptionSegment, localizationSegment)
+ RobotStateMemory::RobotStateMemory() :
+ descriptionSegment(server::ComponentPluginUser::iceAdapter()),
+ proprioceptionSegment(server::ComponentPluginUser::iceAdapter()),
+ localizationSegment(server::ComponentPluginUser::iceAdapter()),
+ commonVisu(descriptionSegment, proprioceptionSegment, localizationSegment)
{
addPlugin(debugObserver);
ARMARX_CHECK_NOT_NULL(debugObserver);
@@ -69,7 +69,7 @@ namespace armarx::armem::server::robot_state
const std::string prefix = "mem.";
this->setMemoryName("RobotState");
- defs->optional(workingMemory.name(), prefix + "MemoryName", "Name of this memory server.");
+ defs->optional(workingMemory().name(), prefix + "MemoryName", "Name of this memory server.");
const std::string robotUnitPrefix{sensorValuePrefix};
@@ -158,7 +158,7 @@ namespace armarx::armem::server::robot_state
{
robotUnit.writer.run(
robotUnit.pollFrequency, robotUnit.dataQueue, robotUnit.dataMutex,
- iceMemory, localizationSegment
+ iceAdapter(), localizationSegment
);
}, "Robot State Writer");
diff --git a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
index 6c86b6afa..2899736c9 100644
--- a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
+++ b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
@@ -38,13 +38,19 @@
namespace armarx
{
+
SkillsMemory::SkillsMemory()
- = default;
+ {
+ }
+
armarx::PropertyDefinitionsPtr SkillsMemory::createPropertyDefinitions()
{
armarx::PropertyDefinitionsPtr defs = new ComponentPropertyDefinitions(getConfigIdentifier());
+ workingMemory().name() = "Skills";
+
+
// Publish
defs->topic(debugObserver);
@@ -53,9 +59,6 @@ namespace armarx
defs->optional(p.statechartTransitionsProviderSegmentName, "TransitionsProviderSegmentName", "Name of the provider segment for statechart transitions.");
defs->optional(p.statechartTransitionsTopicName, "tpc.sub.ProfilerListener", "Name of the ProfilerListenerInterface topics to subscribe.");
- const std::string prefix = "mem.";
- defs->optional(p.memoryName, prefix + "MemoryName", "Name of this memory server.");
-
return defs;
}
@@ -68,12 +71,10 @@ namespace armarx
void SkillsMemory::onInitComponent()
{
- workingMemory.name() = p.memoryName;
-
- {
- armarx::armem::server::wm::CoreSegment& c = workingMemory.addCoreSegment(p.statechartCoreSegmentName, armarx::armem::arondto::Statechart::Transition::toAronType());
- c.addProviderSegment("Transitions", armarx::armem::arondto::Statechart::Transition::toAronType());
- }
+ armarx::armem::server::wm::CoreSegment& c = workingMemory().addCoreSegment(
+ p.statechartCoreSegmentName,
+ armarx::armem::arondto::Statechart::Transition::toAronType());
+ c.addProviderSegment("Transitions", armarx::armem::arondto::Statechart::Transition::toAronType());
}
@@ -132,6 +133,7 @@ namespace armarx
[this](const std::vector<StatechartListener::Transition>& transitions,
armarx::StatechartListener & source)
{
+ (void) source; // Unused.
this->reportTransitions(transitions);
});
@@ -150,6 +152,7 @@ namespace armarx
return listener;
}
+
void
SkillsMemory::reportTransitions(const std::vector<StatechartListener::Transition>& transitions)
{
@@ -160,7 +163,7 @@ namespace armarx
armem::EntityUpdate update;
update.entityID = armem::MemoryID()
- .withMemoryName(p.memoryName)
+ .withMemoryName(workingMemory().name())
.withCoreSegmentName(p.statechartCoreSegmentName)
.withProviderSegmentName(p.statechartTransitionsProviderSegmentName)
.withEntityName(entityName);
@@ -172,7 +175,7 @@ namespace armarx
try
{
- workingMemory.update(update);
+ workingMemory().update(update);
}
catch (const armem::error::ArMemError& e)
{
@@ -181,6 +184,7 @@ namespace armarx
}
}
+
std::string SkillsMemory::getStatechartName(std::string stateName)
{
const std::string delimiter = "->";
diff --git a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h
index ebf0b02c4..0c64f6751 100644
--- a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h
+++ b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h
@@ -53,18 +53,22 @@ namespace armarx
// , virtual public armarx::ArVizComponentPluginUser
{
public:
+
SkillsMemory();
/// @see armarx::ManagedIceObject::getDefaultName()
std::string getDefaultName() const override;
+
// WritingInterface interface
public:
+
armem::data::AddSegmentsResult addSegments(const armem::data::AddSegmentsInput& input, const Ice::Current&) override;
armem::data::CommitResult commit(const armem::data::Commit& commit, const Ice::Current&) override;
protected:
+
/// @see armarx::ManagedIceObject::onInitComponent()
void onInitComponent() override;
@@ -82,12 +86,11 @@ namespace armarx
private:
+
DebugObserverInterfacePrx debugObserver;
struct Properties
{
- std::string memoryName = "Skills";
-
// Statechart transition logging
std::string statechartCoreSegmentName = "Statechart";
std::string statechartTransitionsProviderSegmentName = "Transitions";
@@ -110,5 +113,6 @@ namespace armarx
// Gets the statechart name from a state name (takes first two levels of the hierarchy)
static std::string getStatechartName(std::string stateName);
+
};
}
--
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