From da86677880ee6e2c6879cb4fd0154edb12edbf75 Mon Sep 17 00:00:00 2001
From: "fabian.peller-konrad@kit.edu" <fabian.peller-konrad@kit.edu>
Date: Tue, 3 Aug 2021 13:57:59 +0200
Subject: [PATCH] removed disk ltm from query type. Added file browser to
memory gui. Removed AlwaysTransfer setting from ltm
---
source/RobotAPI/interface/armem/query.ice | 3 +-
.../armem/core/longtermmemory/Memory.cpp | 12 +--
.../armem/core/longtermmemory/Memory.h | 8 +-
.../armem/core/workingmemory/Memory.cpp | 5 +
.../armem/core/workingmemory/Memory.h | 8 ++
.../armem/server/MemoryToIceAdapter.cpp | 12 +--
.../diskmemory/BaseQueryProcessor.h | 2 +-
.../armem_gui/MemoryControlWidget.cpp | 38 ++++++--
.../libraries/armem_gui/MemoryControlWidget.h | 7 ++
.../libraries/armem_gui/MemoryViewer.cpp | 91 +++++++++++--------
.../query_widgets/SnapshotSelectorWidget.cpp | 24 +++--
.../query_widgets/SnapshotSelectorWidget.h | 4 +-
12 files changed, 128 insertions(+), 86 deletions(-)
diff --git a/source/RobotAPI/interface/armem/query.ice b/source/RobotAPI/interface/armem/query.ice
index 2a1586fec..936294507 100644
--- a/source/RobotAPI/interface/armem/query.ice
+++ b/source/RobotAPI/interface/armem/query.ice
@@ -14,8 +14,7 @@ module armarx
enum QueryTarget
{
WM,
- LTM,
- Disk
+ LTM
};
sequence<QueryTarget> QueryTargets;
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.cpp
index 2080879c5..316368676 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.cpp
@@ -13,7 +13,6 @@ namespace armarx::armem::ltm
Memory::Memory(const Memory& other) :
Base(other),
dbsettings(other.dbsettings),
- alwaysTransferSettings(other.alwaysTransferSettings),
periodicTransferSettings(other.periodicTransferSettings),
onFullTransferSettings(other.onFullTransferSettings),
mongoDBMutex()
@@ -25,7 +24,6 @@ namespace armarx::armem::ltm
Memory::Memory(Memory&& other) :
Base(other),
dbsettings(other.dbsettings),
- alwaysTransferSettings(other.alwaysTransferSettings),
periodicTransferSettings(other.periodicTransferSettings),
onFullTransferSettings(other.onFullTransferSettings),
reloaded(other.reloaded)
@@ -38,7 +36,6 @@ namespace armarx::armem::ltm
{
Base::operator=(other);
dbsettings = other.dbsettings;
- alwaysTransferSettings = other.alwaysTransferSettings;
periodicTransferSettings = other.periodicTransferSettings;
onFullTransferSettings = other.onFullTransferSettings;
@@ -51,7 +48,6 @@ namespace armarx::armem::ltm
{
Base::operator=(other);
dbsettings = std::move(other.dbsettings);
- alwaysTransferSettings = std::move(other.alwaysTransferSettings);
periodicTransferSettings = std::move(other.periodicTransferSettings);
onFullTransferSettings = std::move(other.onFullTransferSettings);
reloaded = other.reloaded;
@@ -69,7 +65,7 @@ namespace armarx::armem::ltm
ARMARX_WARNING << deactivateSpam("ConnectionIsNotValid")
<< "The connection to mongocxx for memory '" << name() << "' is not valid. Settings are: " << dbsettings.toString()
<< "\nTo start it, run e.g.: \n"
- << "mongod --port " << dbsettings.port << " --dbpath \"/tmp/\""
+ << "armarx memory start"
<< "\n\n";
return false;
}
@@ -83,9 +79,8 @@ namespace armarx::armem::ltm
defs->optional(dbsettings.user, prefix + "ltm.20_user");
defs->optional(dbsettings.password, prefix + "ltm.21_password");
defs->optional(dbsettings.database, prefix + "ltm.22_database");
- defs->optional(alwaysTransferSettings.enabled, prefix + "ltm.30_enableAlwaysTransfer", "Enable transfer whenever new data is committed (This disables the other transfer modes!).");
- defs->optional(periodicTransferSettings.enabled, prefix + "ltm.31_enablePeriodicTransfer", "Enable transfer based on periodic interval.");
- defs->optional(onFullTransferSettings.enabled, prefix + "ltm.32_enableOnFullTransfer", "Enable transfer whenever the wm is full (see maxHistorySize).");
+ defs->optional(periodicTransferSettings.enabled, prefix + "ltm.30_enablePeriodicTransfer", "Enable transfer based on periodic interval.");
+ defs->optional(onFullTransferSettings.enabled, prefix + "ltm.31_enableOnFullTransfer", "Enable transfer whenever the wm is full (see maxHistorySize).");
}
wm::Memory Memory::convert() const
@@ -230,7 +225,6 @@ namespace armarx::armem::ltm
toAppendQueue.push_back(m);
return;
}
-
_append(m);
}
}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.h b/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.h
index b24f4a7a6..4902701b3 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.h
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.h
@@ -10,7 +10,6 @@
#include "../workingmemory/Memory.h"
// Properties
-#include <ArmarXCore/core/application/properties/PluginAll.h>
#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
namespace armarx::armem::ltm
@@ -33,11 +32,6 @@ namespace armarx::armem::ltm
bool enabled = false;
};
- struct AlwaysTransferSettings : public TransferSettings
- {
-
- };
-
struct PeriodicTransferSettings : public TransferSettings
{
bool deleteFromWMOnTransfer = false;
@@ -53,6 +47,7 @@ namespace armarx::armem::ltm
};
Mode mode;
+ int batch_size = 20;
};
@@ -92,7 +87,6 @@ namespace armarx::armem::ltm
public:
MongoDBConnectionManager::MongoDBSettings dbsettings;
- AlwaysTransferSettings alwaysTransferSettings;
PeriodicTransferSettings periodicTransferSettings;
OnFullTransferSettings onFullTransferSettings;
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/Memory.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/Memory.cpp
index 70fd41e7c..3d0888c7f 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/Memory.cpp
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/Memory.cpp
@@ -55,6 +55,11 @@ namespace armarx::armem::wm
}
+ void Memory::defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix)
+ {
+ }
+
+
// 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 d52bce5ca..5093ffce2 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/Memory.h
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/Memory.h
@@ -1,10 +1,15 @@
#pragma once
+// Base Class
#include <RobotAPI/libraries/armem/core/base/MemoryBase.h>
+// ArmarX
#include "CoreSegment.h"
#include "detail/CopyWithoutData.h"
+// Properties
+#include <ArmarXCore/core/application/properties/PluginAll.h>
+#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
namespace armarx::armem::wm
{
@@ -27,6 +32,9 @@ namespace armarx::armem::wm
Memory& operator=(const Memory& other) = default;
Memory& operator=(Memory&& other) = default;
+ // PropertyDefinitions related to LTM
+ void defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix = "");
+
/**
* @brief Perform the commit, locking the core segments.
*
diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
index 354eec9ce..65bd2f642 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
@@ -176,17 +176,7 @@ namespace armarx::armem::server
// TODO: Move outside of loop?
if (longtermMemory)
{
- if (longtermMemory->alwaysTransferSettings.enabled)
- {
- wm::Memory tmp(longtermMemory->name());
- tmp._addMissingCoreSegmentDuringUpdate = true;
- tmp.update(update);
- longtermMemory->append(tmp);
- }
- else
- {
- // TODO: see below
- }
+
}
// TODO: Consollidate to ltm if onFilledTransfer is enabled (fabian.peller)
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/BaseQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/BaseQueryProcessor.h
index 469b5f907..0e3ddac45 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/BaseQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/BaseQueryProcessor.h
@@ -25,7 +25,7 @@ namespace armarx::armem::d_ltm::query_proc
query::data::QueryTarget getTargetType() const override
{
- return query::data::QueryTarget::Disk;
+ return query::data::QueryTarget::LTM;
}
};
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryControlWidget.cpp b/source/RobotAPI/libraries/armem_gui/MemoryControlWidget.cpp
index 5016db50b..38e4d8c88 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryControlWidget.cpp
+++ b/source/RobotAPI/libraries/armem_gui/MemoryControlWidget.cpp
@@ -4,6 +4,7 @@
#include <QLineEdit>
#include <QTimer>
#include <QHBoxLayout>
+#include <QFileDialog>
#include <cmath>
@@ -16,32 +17,53 @@ namespace armarx::armem::gui
setSizePolicy(QSizePolicy::Policy::Minimum, QSizePolicy::Policy::Fixed);
auto vlayout = new QVBoxLayout();
- auto hlayout = new QHBoxLayout();
+ auto hlayout1 = new QHBoxLayout();
+ auto hlayout2 = new QHBoxLayout();
+
+ hlayout1->setContentsMargins(10, 2, 10, 2);
+ hlayout2->setContentsMargins(10, 2, 10, 2);
const int margin = 0;
vlayout->setContentsMargins(margin, margin, margin, margin);
_lineEdit = new QLineEdit("/tmp/MemoryExport", this);
_lineEdit->setSizePolicy(QSizePolicy::Ignored, QSizePolicy::Preferred);
- _lineEdit->setMinimumWidth(400);
+ _lineEdit->setMinimumWidth(150);
+
+ _openFileBrowserButton = new QPushButton("Search files", this);
+
+ _storeOnDiskButton = new QPushButton("Store query (Disk)", this);
+ _storeInLTMButton = new QPushButton("Store query (LTM)", this);
- _storeOnDiskButton = new QPushButton("Store current result on local Disk", this);
+ hlayout1->addWidget(_lineEdit);
+ hlayout1->addWidget(_openFileBrowserButton);
- _storeInLTMButton = new QPushButton("Store current result in LTM", this);
+ hlayout2->addWidget(_storeOnDiskButton);
+ hlayout2->addWidget(_storeInLTMButton);
- vlayout->addWidget(_lineEdit);
- hlayout->addWidget(_storeOnDiskButton);
- hlayout->addWidget(_storeInLTMButton);
- vlayout->addItem(hlayout);
+ vlayout->addItem(hlayout1);
+ vlayout->addItem(hlayout2);
this->setLayout(vlayout);
// Private connections.
// Public connections.
+ connect(_openFileBrowserButton, &QPushButton::pressed, this, &This::openFileBrowser);
connect(_storeInLTMButton, &QPushButton::pressed, this, &This::storeInLTM);
connect(_storeOnDiskButton, &QPushButton::pressed, this, &This::storeOnDisk);
}
+ void MemoryControlWidget::openFileBrowser()
+ {
+ QFileDialog dialog;
+ dialog.setFileMode(QFileDialog::DirectoryOnly);
+ //dialog.setOption(QFileDialog::DontUseNativeDialog, true);
+ dialog.setOption(QFileDialog::ShowDirsOnly, false);
+ dialog.exec();
+ QString open = dialog.directory().path();
+ _lineEdit->setText(open);
+ }
+
QLineEdit* MemoryControlWidget::pathInputBox()
{
return _lineEdit;
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryControlWidget.h b/source/RobotAPI/libraries/armem_gui/MemoryControlWidget.h
index 19831694a..c6b156db3 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryControlWidget.h
+++ b/source/RobotAPI/libraries/armem_gui/MemoryControlWidget.h
@@ -4,6 +4,7 @@
class QPushButton;
class QLineEdit;
+class QFileDialog;
namespace armarx::armem::gui
{
@@ -20,11 +21,15 @@ namespace armarx::armem::gui
QLineEdit* pathInputBox();
QString getEnteredPath();
+ QPushButton* openFileBrowserButton();
+
QPushButton* storeInLTMButton();
QPushButton* storeOnDiskButton();
public slots:
+ void openFileBrowser();
+
signals:
void storeInLTM();
@@ -40,6 +45,8 @@ namespace armarx::armem::gui
QLineEdit* _lineEdit;
+ QPushButton* _openFileBrowserButton;
+
QPushButton* _storeInLTMButton;
QPushButton* _storeOnDiskButton;
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
index f88a2e173..4edb2b417 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
+++ b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
@@ -216,6 +216,8 @@ namespace armarx::armem::gui
void MemoryViewer::updateMemories()
{
+ int errorCnt = 0;
+
memoryReaders.clear();
memoryData.clear();
@@ -228,6 +230,8 @@ namespace armarx::armem::gui
std::filesystem::path p(utf8_text);
+ armem::client::QueryInput input = memoryGroup->queryWidget()->queryInput();
+
// first check if the local file system should be queried
if (memoryGroup->queryWidget()->alsoQueryLocalDisk())
{
@@ -241,15 +245,13 @@ namespace armarx::armem::gui
armem::d_ltm::Memory dMem(k);
dMem.reload(p / k);
- armem::client::QueryInput input = memoryGroup->queryWidget()->queryInput();
- input.addQueryTargetToAll(armem::query::data::QueryTarget::Disk);
+ input.addQueryTargetToAll(armem::query::data::QueryTarget::LTM); // We use LTM as query target for the disk
armem::d_ltm::query_proc::MemoryQueryProcessor d_ltm_processor;
dMem = d_ltm_processor.process(input.toIce(), dMem);
wm::Memory converted = dMem.convert();
memoryData[k] = std::move(converted);
- dataChanged = true;
}
}
}
@@ -257,67 +259,78 @@ namespace armarx::armem::gui
{
ARMARX_WARNING << "Could not import a memory from '" << utf8_text << "'. Skipping import.";
}
- }
- armem::client::QueryInput input = memoryGroup->queryWidget()->queryInput();
- for (auto& [name, reader] : memoryReaders)
+ dataChanged = true; // in any case we update the view (even if there was no result)
+ }
+ else
{
- TIMING_START(MemoryQuery);
+
+ for (auto& [name, reader] : memoryReaders)
{
- armem::client::QueryResult result = reader.query(input);
- if (result)
+ TIMING_START(MemoryQuery);
{
- if (result.memory.hasData())
+ armem::client::QueryResult result = reader.query(input);
+ if (result)
{
- if (const auto& it = memoryData.find(name); it != memoryData.end())
+ if (result.memory.hasData())
{
- result.memory.append(it->second);
-
- // requery (e.g. to get only the last n values instead of the last n from disk and the last n from wm)
- armem::wm::query_proc::MemoryQueryProcessor wm_processor;
- result.memory = wm_processor.process(input.toIce(), result.memory);
-
- if (!result.memory.hasData())
+ if (const auto& it = memoryData.find(name); it != memoryData.end())
{
- ARMARX_ERROR << "A memory which had data before lost data. This indicates that there is something wrong.";
+ // TODO is this necessary (or dead code?)
+ result.memory.append(it->second);
+
+ if (!result.memory.hasData())
+ {
+ ARMARX_ERROR << "A memory which had data before lost data. This indicates that there is something wrong.";
+ }
}
- }
- dataChanged = true;
- memoryData[name] = std::move(result.memory);
+ memoryData[name] = std::move(result.memory);
+ }
+ else
+ {
+ ARMARX_INFO << "The memory " << name << " has no data after querying.";
+ }
+ dataChanged = true; // in any case we update the view (even if there was no result)
}
else
{
- ARMARX_INFO << "The memory " << name << " has no data after querying.";
+ ARMARX_WARNING << "A query for memory '" << name << "' produced an error: " << result.errorMessage;
+ errorCnt++;
}
}
- else
+ TIMING_END_STREAM(MemoryQuery, ARMARX_VERBOSE);
+
+ if (debugObserver)
{
- ARMARX_WARNING << "A query for memory '" << name << "' produced an error: " << result.errorMessage;
- if (statusLabel)
- {
- statusLabel->setText(QString::fromStdString(result.errorMessage));
- }
+ debugObserver->setDebugDatafield(Logging::tag.tagName, "Memory Query [ms]", new Variant(MemoryQuery.toMilliSecondsDouble()));
}
}
- TIMING_END_STREAM(MemoryQuery, ARMARX_VERBOSE);
-
- if (debugObserver)
- {
- debugObserver->setDebugDatafield(Logging::tag.tagName, "Memory Query [ms]", new Variant(MemoryQuery.toMilliSecondsDouble()));
- }
}
+ // Code to output status label information
+ std::stringstream ss;
+ auto now = std::chrono::system_clock::now();
+ auto in_time_t = std::chrono::system_clock::to_time_t(now);
+ ss << "Last update: " << std::put_time(std::localtime(&in_time_t), "%Y-%m-%d %X");
+
if (dataChanged)
{
emit memoryDataChanged();
}
else
{
- if (statusLabel)
- {
- statusLabel->setText("No query result.");
- }
+ ss << "- No query result. ";
+ }
+
+ if (errorCnt > 0)
+ {
+ ss << "The query produced " << errorCnt << " errors! Please check log.";
+ }
+
+ if (statusLabel)
+ {
+ statusLabel->setText(ss.str().c_str());
}
}
diff --git a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.cpp b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.cpp
index e41bed15c..9d5cc9ea6 100644
--- a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.cpp
+++ b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.cpp
@@ -26,11 +26,23 @@ namespace armarx::armem::gui
{
targets.push_back(query::data::QueryTarget::LTM);
}
- if (_DiskMemoryQueryTargetCheckBox->isChecked())
+ return targets;
+ }
+
+ void SnapshotSelectorWidget::localDiskStateChanged()
+ {
+ if (_LocalDiskMemoryQueryTargetCheckBox->isChecked())
{
- targets.push_back(query::data::QueryTarget::Disk);
+ _WMQueryTargetCheckBox->setChecked(false);
+ _LTMQueryTargetCheckBox->setChecked(false);
+ _WMQueryTargetCheckBox->setEnabled(false);
+ _LTMQueryTargetCheckBox->setEnabled(false);
+ }
+ else
+ {
+ _WMQueryTargetCheckBox->setEnabled(true);
+ _LTMQueryTargetCheckBox->setEnabled(true);
}
- return targets;
}
bool SnapshotSelectorWidget::queryTargetContainsLocalDisk() const
@@ -59,13 +71,13 @@ namespace armarx::armem::gui
// query type select box
auto queryTargetLayout = new QHBoxLayout();
_WMQueryTargetCheckBox = new QCheckBox("WM");
- _LTMQueryTargetCheckBox = new QCheckBox("LTM (MongoDB)");
- _DiskMemoryQueryTargetCheckBox = new QCheckBox("LTM (Disk)");
+ _LTMQueryTargetCheckBox = new QCheckBox("LTM");
_LocalDiskMemoryQueryTargetCheckBox = new QCheckBox("Local Disk");
+ connect(_LocalDiskMemoryQueryTargetCheckBox, &QCheckBox::stateChanged, this, &This::localDiskStateChanged);
+
queryTargetLayout->addWidget(_WMQueryTargetCheckBox);
queryTargetLayout->addWidget(_LTMQueryTargetCheckBox);
- queryTargetLayout->addWidget(_DiskMemoryQueryTargetCheckBox);
queryTargetLayout->addWidget(_LocalDiskMemoryQueryTargetCheckBox);
_WMQueryTargetCheckBox->setChecked(true);
diff --git a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.h b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.h
index 6f6422c3c..a0b69eb1b 100644
--- a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.h
+++ b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.h
@@ -45,14 +45,13 @@ namespace armarx::armem::gui
signals:
void queryChanged();
-
private slots:
//void updateSelector();
void hideAllForms();
void showSelectedFormForQuery(QString selected);
-
+ void localDiskStateChanged();
signals:
void queryOutdated();
@@ -68,7 +67,6 @@ namespace armarx::armem::gui
QComboBox* _queryComboBox;
QCheckBox* _WMQueryTargetCheckBox;
QCheckBox* _LTMQueryTargetCheckBox;
- QCheckBox* _DiskMemoryQueryTargetCheckBox;
QCheckBox* _LocalDiskMemoryQueryTargetCheckBox;
/// The forms for the different query types. Hidden when not selected.
std::map<QString, SnapshotForm*> _queryForms;
--
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