From cbd9ed12eb5248887e83d818aa2017f717b602f3 Mon Sep 17 00:00:00 2001
From: "fabian.peller-konrad@kit.edu" <fabian.peller-konrad@kit.edu>
Date: Wed, 28 Jul 2021 08:39:29 +0200
Subject: [PATCH] memory can add coresegments on commit if enabled (useful for
LTM)
---
.../armem/core/base/CoreSegmentBase.h | 37 ++++++++-----
.../libraries/armem/core/base/MemoryBase.h | 54 +++++++++++++++++--
.../armem/core/workingmemory/Memory.cpp | 28 ++--------
.../armem/core/workingmemory/Memory.h | 3 --
.../armem/server/MemoryToIceAdapter.cpp | 1 +
5 files changed, 77 insertions(+), 46 deletions(-)
diff --git a/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h b/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h
index 6dc77c576..5e22ba703 100644
--- a/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h
@@ -150,38 +150,49 @@ namespace armarx::armem::base
*
* Missing entity entries are added before updating.
*/
- UpdateResult update(const EntityUpdate& update)
+ virtual UpdateResult update(const EntityUpdate& update)
{
this->_checkContainerName(update.entityID.coreSegmentName, this->name());
+ auto [inserted, provSeg] = addProviderSegmentIfMissing(update.entityID.providerSegmentName);
+
+
+ // Update entry.
+ UpdateResult ret(provSeg->update(update));
+ if (inserted)
+ {
+ ret.coreSegmentUpdateType = UpdateType::InsertedNew;
+ }
+ else
+ {
+ ret.coreSegmentUpdateType = UpdateType::UpdatedExisting;
+ }
+ return ret;
+ }
+
+ std::pair<bool, ProviderSegmentT*> addProviderSegmentIfMissing(const std::string& providerSegmentName)
+ {
ProviderSegmentT* provSeg;
- UpdateType updateType = UpdateType::InsertedNew;
- auto it = this->_container.find(update.entityID.providerSegmentName);
+ auto it = this->_container.find(providerSegmentName);
if (it == this->_container.end())
{
if (_addMissingProviderSegmentDuringUpdate)
{
// Insert into map.
- provSeg = &addProviderSegment(update.entityID.providerSegmentName);
- provSeg->setMaxHistorySize(_maxHistorySize);
- updateType = UpdateType::InsertedNew;
+ provSeg = &addProviderSegment(providerSegmentName);
+ return {true, provSeg};
}
else
{
- throw error::MissingEntry::create<EntitySnapshotT>(update.entityID.providerSegmentName, *this);
+ throw error::MissingEntry::create<EntitySnapshotT>(providerSegmentName, *this);
}
}
else
{
provSeg = &it->second;
- updateType = UpdateType::UpdatedExisting;
+ return {false, provSeg};
}
-
- // Update entry.
- UpdateResult ret(provSeg->update(update));
- ret.coreSegmentUpdateType = updateType;
- return ret;
}
void append(const _Derived& m)
diff --git a/source/RobotAPI/libraries/armem/core/base/MemoryBase.h b/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
index 73e70478f..781322b54 100644
--- a/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
@@ -242,16 +242,43 @@ namespace armarx::armem::base
{
this->_checkContainerName(update.entityID.memoryName, this->name());
- auto it = this->_container.find(update.entityID.coreSegmentName);
- if (it != this->_container.end())
+ auto [inserted, coreSeg] = addCoreSegmentIfMissing(update.entityID.coreSegmentName);
+
+ // Update entry.
+ UpdateResult ret(coreSeg->update(update));
+ if (inserted)
+ {
+ ret.memoryUpdateType = UpdateType::InsertedNew;
+ }
+ else
{
- UpdateResult ret(it->second.update(update));
ret.memoryUpdateType = UpdateType::UpdatedExisting;
- return ret;
+ }
+ return ret;
+ }
+
+ std::pair<bool, CoreSegmentT*> addCoreSegmentIfMissing(const std::string& coreSegmentName)
+ {
+ CoreSegmentT* coreSeg;
+
+ auto it = this->_container.find(coreSegmentName);
+ if (it == this->_container.end())
+ {
+ if (_addMissingCoreSegmentDuringUpdate)
+ {
+ // Insert into map.
+ coreSeg = &addCoreSegment(coreSegmentName);
+ return {true, coreSeg};
+ }
+ else
+ {
+ throw error::MissingEntry::create<EntitySnapshotT>(coreSegmentName, *this);
+ }
}
else
{
- throw armem::error::MissingEntry::create<CoreSegmentT>(update.entityID.coreSegmentName, *this);
+ coreSeg = &it->second;
+ return {false, coreSeg};
}
}
@@ -308,5 +335,22 @@ namespace armarx::armem::base
{
return this->name();
}
+
+ protected:
+
+ virtual void _copySelf(DerivedT& other) const override
+ {
+ Base::_copySelf(other);
+ other._addMissingCoreSegmentDuringUpdate = _addMissingCoreSegmentDuringUpdate;
+ }
+ virtual void _copySelfEmpty(DerivedT& other) const override
+ {
+ Base::_copySelfEmpty(other);
+ other._addMissingCoreSegmentDuringUpdate = _addMissingCoreSegmentDuringUpdate;
+ }
+
+ public:
+
+ bool _addMissingCoreSegmentDuringUpdate = false;
};
}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/Memory.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/Memory.cpp
index cd6c9cc58..70fd41e7c 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/Memory.cpp
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/Memory.cpp
@@ -7,18 +7,7 @@
namespace armarx::armem::wm
{
- std::vector<Memory::Base::UpdateResult>
- Memory::update(const Commit& commit)
- {
- std::vector<Memory::Base::UpdateResult> result;
- for (const EntityUpdate& update : commit.updates)
- {
- result.push_back(this->update(update));
- }
- return result;
- }
-
-
+ // TODO: add core segment if param is set
std::vector<Memory::Base::UpdateResult>
Memory::updateLocking(const Commit& commit)
{
@@ -30,7 +19,7 @@ namespace armarx::armem::wm
}
std::vector<Memory::Base::UpdateResult> result;
- // To throw an exception after the commit if a core segment is missing.
+ // To throw an exception after the commit if a core segment is missing and the memory should not create new ones
std::vector<std::string> missingCoreSegmentNames;
for (const auto& [coreSegmentName, updates] : updatesPerCoreSegment)
{
@@ -66,18 +55,7 @@ namespace armarx::armem::wm
}
- Memory::Base::UpdateResult
- Memory::update(const EntityUpdate& update)
- {
- this->_checkContainerName(update.entityID.memoryName, this->name());
-
- CoreSegment& segment = getCoreSegment(update.entityID.coreSegmentName);
- Base::UpdateResult result = segment.update(update);
- result.memoryUpdateType = UpdateType::UpdatedExisting;
- return result;
- }
-
-
+ // TODO: Add core segment if param is set
Memory::Base::UpdateResult
Memory::updateLocking(const EntityUpdate& update)
{
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/Memory.h b/source/RobotAPI/libraries/armem/core/workingmemory/Memory.h
index 99a14dbdd..d52bce5ca 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/Memory.h
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/Memory.h
@@ -27,8 +27,6 @@ namespace armarx::armem::wm
Memory& operator=(const Memory& other) = default;
Memory& operator=(Memory&& other) = default;
-
- virtual std::vector<Base::UpdateResult> update(const Commit& commit) override;
/**
* @brief Perform the commit, locking the core segments.
*
@@ -37,7 +35,6 @@ namespace armarx::armem::wm
*/
std::vector<Base::UpdateResult> updateLocking(const Commit& commit);
- virtual Base::UpdateResult update(const EntityUpdate& update) override;
/**
* @brief Update the memory, locking the updated core segment.
*/
diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
index 0d6685c45..801536883 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
@@ -178,6 +178,7 @@ namespace armarx::armem::server
if (longtermMemory->alwaysTransferSettings.enabled)
{
wm::Memory tmp(longtermMemory->name());
+ tmp._addMissingCoreSegmentDuringUpdate = true;
tmp.update(update);
longtermMemory->append(tmp);
}
--
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