From b850c38cb222fea9d50b26f9d454713fb052e6db Mon Sep 17 00:00:00 2001
From: Fabian Peller-Konrad <fabian.peller-konrad@kit.edu>
Date: Mon, 19 Aug 2024 10:47:25 +0200
Subject: [PATCH] allow the ltm to record in different recording modes
---
.../armem/server/MemoryToIceAdapter.cpp | 21 +++++-
.../armem/server/ltm/detail/MemoryBase.h | 66 +++++++++++++++++--
.../armem/server/ltm/detail/MemoryItem.cpp | 2 +
3 files changed, 81 insertions(+), 8 deletions(-)
diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
index 4aee9800a..adcf0f0fd 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
@@ -235,9 +235,21 @@ namespace armarx::armem::server
ARMARX_DEBUG << "The id " << snapshot.id() << " was removed from wm";
}
+ // Consolidate to ltm(s) if recording mode is CLONE_WM
+ if (longtermMemory->isRecording() && longtermMemory->getRecordingMode() == server::ltm::RecordingMode::CONSOLIDATE_ALL)
+ {
+ // convert removedSnapshots to Memory
+ armem::wm::Memory m(longtermMemory->name());
+ m.update(update, true, false);
+ //this removes information about segments, because new memory (wm) is used
+
+ // store memory
+ longtermMemory->store(m);
+ }
+
- // Consollidate to ltm(s)
- if (longtermMemory->isRecording())
+ // Consolidate to ltm(s) if recording mode is CONSOLIDATE_REMOVED
+ if (longtermMemory->isRecording() && longtermMemory->getRecordingMode() == server::ltm::RecordingMode::CONSOLIDATE_REMOVED)
{
// convert removedSnapshots to Memory
armem::wm::Memory m(longtermMemory->name());
@@ -248,6 +260,11 @@ namespace armarx::armem::server
longtermMemory->store(m);
}
+ if (longtermMemory->isRecording() && longtermMemory->getRecordingMode() == server::ltm::RecordingMode::CONSOLIDATE_LATEST)
+ {
+ ARMARX_WARNING << deactivateSpam() << "THIS IS NOT IMPLEMENTED YET!!!";
+ }
+
if (publishUpdates)
{
data::MemoryID& id = updatedIDs.emplace_back();
diff --git a/source/RobotAPI/libraries/armem/server/ltm/detail/MemoryBase.h b/source/RobotAPI/libraries/armem/server/ltm/detail/MemoryBase.h
index 99df8e2e6..30d9fb60a 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/detail/MemoryBase.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/detail/MemoryBase.h
@@ -20,6 +20,16 @@
#include <RobotAPI/libraries/armem/server/test/ForgettingExperiments.h>
#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
+namespace armarx::armem::server::ltm
+{
+ enum class RecordingMode
+ {
+ CONSOLIDATE_REMOVED, // only store whats removed from the WM
+ CONSOLIDATE_ALL, // store whats in the WM (on commit)
+ CONSOLIDATE_LATEST // store the latest snapshots at a fixed frequency (for now 1Hz)
+ };
+}
+
namespace armarx::armem::server::ltm::detail
{
/// @brief Interface functions for the longterm memory classes
@@ -27,6 +37,8 @@ namespace armarx::armem::server::ltm::detail
class MemoryBase : public MemoryItem
{
public:
+
+
struct Statistics
{
armarx::core::time::DateTime lastEnabled = armarx::core::time::DateTime::Invalid();
@@ -47,6 +59,36 @@ namespace armarx::armem::server::ltm::detail
{
}
+ void setRecordingMode(const std::string& m)
+ {
+ if (m == "CONSOLIDATE_REMOVED")
+ {
+ this->recordingMode = RecordingMode::CONSOLIDATE_REMOVED;
+ }
+ else if (m == "CONSOLIDATE_ALL")
+ {
+ this->recordingMode = RecordingMode::CONSOLIDATE_ALL;
+ }
+ else if (m == "CONSOLIDATE_LATEST")
+ {
+ this->recordingMode = RecordingMode::CONSOLIDATE_LATEST;
+ }
+ else
+ {
+ ARMARX_WARNING << "Unknown recording mode: " << m;
+ }
+ }
+
+ void setRecordingMode(const RecordingMode m)
+ {
+ this->recordingMode = m;
+ }
+
+ RecordingMode getRecordingMode() const
+ {
+ return recordingMode;
+ }
+
/// initialize config
void
configure()
@@ -55,15 +97,16 @@ namespace armarx::armem::server::ltm::detail
ARMARX_INFO << VAROUT(p.configuration_on_startup);
ARMARX_INFO << VAROUT(p.export_name);
this->setExportName(p.export_name);
+ this->setRecordingMode(p.recordingMode);
try
{
- const auto j = nlohmann::json::parse(p.configuration_on_startup);
+ const auto json = nlohmann::json::parse(p.configuration_on_startup);
// Processors are shared. So we only need to configure the root
- processors->configure(j);
+ processors->configure(json);
- this->_configure(j);
+ this->_configure(json);
}
catch (...)
{
@@ -201,6 +244,7 @@ namespace armarx::armem::server::ltm::detail
createPropertyDefinitions(PropertyDefinitionsPtr& defs, const std::string& prefix)
{
defs->optional(p.enabled_on_startup, prefix + "enabled");
+ defs->optional(p.recordingMode, prefix + "recordingMode");
defs->optional(p.configuration_on_startup, prefix + "configuration");
defs->optional(p.export_name, prefix + "exportName");
}
@@ -301,12 +345,20 @@ namespace armarx::armem::server::ltm::detail
// stuff for scenario parameters
struct Properties
{
+ // whether the LTM is enabled on startup
bool enabled_on_startup = false;
- std::string configuration_on_startup =
- "{ \"SnapshotFrequencyFilter\": {\"WaitingTimeInMsForFilter\" : 50}, "
- "\"PngConverter\": {}, \"ExrConverter\": {}}"; //record with 20 fps as standard
+
+ // How data is stored, if the LTM is enabled
+ std::string recordingMode = "CONSOLIDATE_REMOVED";
+
+ // Name and export path (TODO: Should this be part of the base class? Export path is a disk memory thing)
std::string export_name = "MemoryExport";
std::string export_path = "/tmp/ltm";
+
+ // Other configuration
+ std::string configuration_on_startup = "{\"SnapshotFilter\": {\"WaitingTimeInMsForFilter\" : 50}, "
+ "\"PngConverter\": {}, \"ExrConverter\": {}}"; //record with 20 fps as standard
+
} p;
protected:
@@ -315,5 +367,7 @@ namespace armarx::armem::server::ltm::detail
mutable Statistics statistics;
std::atomic_bool enabled = false;
+
+ RecordingMode recordingMode = RecordingMode::CONSOLIDATE_REMOVED;
};
} // namespace armarx::armem::server::ltm::detail
diff --git a/source/RobotAPI/libraries/armem/server/ltm/detail/MemoryItem.cpp b/source/RobotAPI/libraries/armem/server/ltm/detail/MemoryItem.cpp
index 99dfcfee3..29061d0ee 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/detail/MemoryItem.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/detail/MemoryItem.cpp
@@ -26,6 +26,8 @@ namespace armarx::armem::server::ltm::detail
_setExportName(id);
}
+
+
void
MemoryItem::setMemoryID(const MemoryID& id)
{
--
GitLab