From db75914520c541572e59f93137f2bb69c4fba5c4 Mon Sep 17 00:00:00 2001
From: Fabian Paus <fabian.paus@kit.edu>
Date: Thu, 30 Dec 2021 16:52:21 +0100
Subject: [PATCH] ArViz: Storage saves interactions in internal buffer
---
.../components/ArViz/ArVizStorage.cpp | 63 +++++++++++--------
.../RobotAPI/components/ArViz/ArVizStorage.h | 8 ++-
.../RobotAPI/components/ArViz/CMakeLists.txt | 1 -
3 files changed, 42 insertions(+), 30 deletions(-)
diff --git a/source/RobotAPI/components/ArViz/ArVizStorage.cpp b/source/RobotAPI/components/ArViz/ArVizStorage.cpp
index 3891d216e..629966489 100644
--- a/source/RobotAPI/components/ArViz/ArVizStorage.cpp
+++ b/source/RobotAPI/components/ArViz/ArVizStorage.cpp
@@ -22,18 +22,12 @@
#include "ArVizStorage.h"
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-#include <ArmarXCore/core/util/OnScopeExit.h>
-#include <ArmarXCore/core/time/TimeUtil.h>
#include <ArmarXCore/core/util/IceBlobToObject.h>
#include <ArmarXCore/core/util/ObjectToIceBlob.h>
#include <ArmarXCore/core/system/ArmarXDataPath.h>
#include <SimoxUtility/json/json.hpp>
-#include <iomanip>
-
namespace armarx
{
@@ -137,7 +131,7 @@ namespace armarx
std::unique_lock<std::mutex> lock(historyMutex);
revision += 1;
- IceUtil::Time now = TimeUtil::GetTime();
+ IceUtil::Time now = IceUtil::Time::now();
long nowInMicroSeconds = now.toMicroSeconds();
for (auto& update : updates)
@@ -208,9 +202,41 @@ namespace armarx
viz::data::LayerUpdates ArVizStorage::pullUpdatesSinceAndSendInteractions(
Ice::Long revision, viz::data::InteractionFeedbackSeq const& interactions, const Ice::Current& c)
{
- // TODO: Implement storing the interactions somewhere
+ viz::data::LayerUpdates result;
+
+ std::unique_lock<std::mutex> lock(historyMutex);
- return pullUpdatesSince(revision, c);
+ for (auto& interaction : interactions)
+ {
+ for (auto& entry : interactionBuffer)
+ {
+ if (entry.component == interaction.component
+ && entry.layer == interaction.layer
+ && entry.element == interaction.element)
+ {
+ // Should we check whether this interaction is compatible / should be overwritten?
+ entry = interaction;
+ goto for_end;
+ }
+ }
+
+ // Interaction did not exist, add it to the buffer
+ interactionBuffer.push_back(interaction);
+
+ for_end: ;
+ }
+
+ result.updates.reserve(currentState.size());
+ for (auto& layer : currentState)
+ {
+ if (layer.revision > revision)
+ {
+ result.updates.push_back(layer.update);
+ }
+ }
+ result.revision = this->revision;
+
+ return result;
}
void ArVizStorage::record()
@@ -348,17 +374,9 @@ void armarx::ArVizStorage::recordBatch(armarx::viz::data::RecordingBatch& batch)
return;
}
- const auto startT = TimeUtil::GetTime();
-
auto& first = batch.updates.front();
auto& last = batch.updates.back();
- ARMARX_ON_SCOPE_EXIT
- {
- ARMARX_INFO << "Storing batch " << first.revision << " - " << last.revision << " took "
- << (TimeUtil::GetTime() - startT).toSecondsDouble() << "s";
- };
-
batch.header.index = -1; // TODO: Should we save the index?
batch.header.firstRevision = first.revision;
batch.header.lastRevision = last.revision;
@@ -421,12 +439,11 @@ std::string armarx::ArVizStorage::startRecording(std::string const& newRecording
return recordingMetaData.id;
}
- auto t = std::time(nullptr);
- auto tm = *std::localtime(&t);
+ IceUtil::Time now = IceUtil::Time::now();
std::ostringstream id;
id << newRecordingPrefix
<< '_'
- << std::put_time(&tm, "%Y-%m-%d_%H-%M-%S");
+ << now.toString("%Y-%m-%d_%H-%M-%S");
std::string newRecordingID = id.str();
recordingPath = historyPath / newRecordingID;
@@ -508,12 +525,6 @@ armarx::viz::data::RecordingSeq armarx::ArVizStorage::getAllRecordings(const Ice
armarx::viz::data::RecordingBatch armarx::ArVizStorage::getRecordingBatch(std::string const& recordingID, Ice::Long batchIndex, const Ice::Current&)
{
- const auto startT = TimeUtil::GetTime();
- ARMARX_ON_SCOPE_EXIT
- {
- ARMARX_INFO << "Loading " << recordingID << " " << batchIndex << " took "
- << (TimeUtil::GetTime() - startT).toSecondsDouble() << "s";
- };
viz::data::RecordingBatch result;
result.header.index = -1;
diff --git a/source/RobotAPI/components/ArViz/ArVizStorage.h b/source/RobotAPI/components/ArViz/ArVizStorage.h
index 69299fb6e..a7ffb8709 100644
--- a/source/RobotAPI/components/ArViz/ArVizStorage.h
+++ b/source/RobotAPI/components/ArViz/ArVizStorage.h
@@ -22,8 +22,6 @@
#pragma once
-#include "Coin/Visualizer.h"
-
#include <RobotAPI/interface/ArViz.h>
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/services/tasks/RunningTask.h>
@@ -108,10 +106,14 @@ namespace armarx
std::mutex historyMutex;
std::vector<viz::data::TimestampedLayerUpdate> currentState;
- // We ignore the history for now
std::vector<viz::data::TimestampedLayerUpdate> history;
long revision = 0;
+ // We store all interactions in here
+ // But we curate them, so that only the last interaction with an element is reported
+ // in case the component never retrieves the interactions
+ std::vector<viz::data::InteractionFeedback> interactionBuffer;
+
std::mutex recordingMutex;
std::filesystem::path recordingPath;
std::vector<viz::data::TimestampedLayerUpdate> recordingInitialState;
diff --git a/source/RobotAPI/components/ArViz/CMakeLists.txt b/source/RobotAPI/components/ArViz/CMakeLists.txt
index 9a5a3adcb..e4022f09a 100644
--- a/source/RobotAPI/components/ArViz/CMakeLists.txt
+++ b/source/RobotAPI/components/ArViz/CMakeLists.txt
@@ -6,7 +6,6 @@ set(COMPONENT_LIBS
RobotAPIInterfaces
RobotAPIArmarXObjects
RobotStatechartHelpers # For RobotNameHelper, used by RobotHand
- boost_iostreams #compression
)
set(SOURCES
--
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