From e1549595e98861532e6977bc560612b068a3b33e Mon Sep 17 00:00:00 2001
From: Patrick Hegemann <patrick.hegemann@kit.edu>
Date: Tue, 18 May 2021 13:18:32 +0200
Subject: [PATCH] SkillsMemory Review
---
.../RobotSkillsMemory/config/SkillsMemory.cfg | 16 ++++++
.../server/SkillsMemory/SkillsMemory.cpp | 22 +++----
.../armem/server/SkillsMemory/SkillsMemory.h | 9 +--
.../SkillsMemory/aron/StatechartData.xml | 57 -------------------
.../libraries/armem_skills/CMakeLists.txt | 2 +-
.../armem_skills/aron_conversions.cpp | 19 ++++++-
6 files changed, 50 insertions(+), 75 deletions(-)
delete mode 100644 source/RobotAPI/components/armem/server/SkillsMemory/aron/StatechartData.xml
diff --git a/scenarios/RobotSkillsMemory/config/SkillsMemory.cfg b/scenarios/RobotSkillsMemory/config/SkillsMemory.cfg
index 33ff12f50..57a92b84c 100644
--- a/scenarios/RobotSkillsMemory/config/SkillsMemory.cfg
+++ b/scenarios/RobotSkillsMemory/config/SkillsMemory.cfg
@@ -151,6 +151,22 @@
# ArmarX.SkillsMemory.ObjectName = ""
+# ArmarX.SkillsMemory.StatechartCoreSegmentName: Name of the core segment for statecharts.
+# Attributes:
+# - Default: Statechart
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SkillsMemory.StatechartCoreSegmentName = Statechart
+
+
+# ArmarX.SkillsMemory.TransitionsProviderSegmentName: Name of the provider segment for statechart transitions.
+# Attributes:
+# - Default: Transitions
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SkillsMemory.TransitionsProviderSegmentName = Transitions
+
+
# ArmarX.SkillsMemory.mem.MemoryName: Name of this memory server.
# Attributes:
# - Default: Skills
diff --git a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
index c912f55a1..8a03cc159 100644
--- a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
+++ b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
@@ -47,7 +47,9 @@ namespace armarx
// Publish
defs->topic(debugObserver);
- // Subscribe
+ // Statechart Logging
+ defs->optional(p.statechartCoreSegmentName, "StatechartCoreSegmentName", "Name of the core segment for statecharts.");
+ 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.";
@@ -68,7 +70,7 @@ namespace armarx
workingMemory.name() = p.memoryName;
{
- armarx::armem::wm::CoreSegment& c = workingMemory.addCoreSegment(statechartCoreSegmentName, armarx::armem::arondto::Statechart::Transition::toInitialAronType());
+ armarx::armem::wm::CoreSegment& c = workingMemory.addCoreSegment(p.statechartCoreSegmentName, armarx::armem::arondto::Statechart::Transition::toInitialAronType());
c.addProviderSegment("Transitions", armarx::armem::arondto::Statechart::Transition::toInitialAronType());
}
}
@@ -115,13 +117,13 @@ namespace armarx
IceInternal::Handle<StatechartListener>
- SkillsMemory::createStatechartListener(const std::string& topicName, const std::string& _name)
+ SkillsMemory::createStatechartListener(const std::string& topicName, const std::string& name)
{
- const std::string name = _name.empty() ? topicName + ".Listener" : _name;
- ARMARX_DEBUG << "Registering StatechartListener '" << name << "' listening to topic '" << topicName << "'.";
+ const std::string name_ = name.empty() ? topicName + ".Listener" : name;
+ ARMARX_DEBUG << "Registering StatechartListener '" << name_ << "' listening to topic '" << topicName << "'.";
IceInternal::Handle<armarx::StatechartListener> listener = Component::create<armarx::StatechartListener>();
- listener->setName(name);
+ listener->setName(name_);
listener->setTopicName(topicName);
// Callback for the transition listener
@@ -138,9 +140,9 @@ namespace armarx
}
catch (const Ice::AlreadyRegisteredException& e)
{
- ARMARX_ERROR << "The name '" << name << "' is already used. Please choose another one.\n"
+ ARMARX_ERROR << "The name '" << name_ << "' is already used. Please choose another one.\n"
<< "Reason: " << e.what();
- getArmarXManager()->removeObjectBlocking(name);
+ getArmarXManager()->removeObjectBlocking(name_);
}
listener->getObjectScheduler()->waitForObjectState(armarx::ManagedIceObjectState::eManagedIceObjectStarted);
@@ -158,8 +160,8 @@ namespace armarx
armem::EntityUpdate update;
update.entityID = armem::MemoryID()
.withMemoryName(p.memoryName)
- .withCoreSegmentName(statechartCoreSegmentName)
- .withProviderSegmentName(statechartTransitionsProviderSegmentName)
+ .withCoreSegmentName(p.statechartCoreSegmentName)
+ .withProviderSegmentName(p.statechartTransitionsProviderSegmentName)
.withEntityName(entityName);
update.timeCreated = transitionTime;
diff --git a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h
index 266806187..ebf0b02c4 100644
--- a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h
+++ b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h
@@ -88,6 +88,9 @@ namespace armarx
{
std::string memoryName = "Skills";
+ // Statechart transition logging
+ std::string statechartCoreSegmentName = "Statechart";
+ std::string statechartTransitionsProviderSegmentName = "Transitions";
std::string statechartTransitionsTopicName = "StateReportingTopic";
struct CoreSegments
@@ -98,12 +101,10 @@ namespace armarx
};
Properties p;
- // Statechart transition logging
- const std::string statechartCoreSegmentName = "Statechart";
- const std::string statechartTransitionsProviderSegmentName = "Transitions";
+
IceInternal::Handle<StatechartListener> createStatechartListener(const std::string& topicName,
- const std::string& _name = "");
+ const std::string& name = "");
IceInternal::Handle<armarx::StatechartListener> statechartListener;
void reportTransitions(const std::vector<StatechartListener::Transition>& transitions);
diff --git a/source/RobotAPI/components/armem/server/SkillsMemory/aron/StatechartData.xml b/source/RobotAPI/components/armem/server/SkillsMemory/aron/StatechartData.xml
deleted file mode 100644
index 45fe63006..000000000
--- a/source/RobotAPI/components/armem/server/SkillsMemory/aron/StatechartData.xml
+++ /dev/null
@@ -1,57 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<AronTypeDefinition>
- <CodeIncludes>
- </CodeIncludes>
-
- <GenerateTypes>
- <IntEnum name="armarx::statechart::aron::StateType">
- <EnumValue key="NORMAL" value="0" />
- <EnumValue key="FINAL" value="1" />
- <EnumValue key="REMOTE" value="2" />
- <EnumValue key="DYNAMIC_REMOTE" value="3" />
- <EnumValue key="UNDEFINED" value="4" />
- </IntEnum>
-
- <Object name='armarx::statechart::aron::ParameterMap'>
- <ObjectChild key='parameters'>
- <dict>
- <String />
- </dict>
- </ObjectChild>
- </Object>
-
- <Object name='armarx::statechart::aron::Transition'>
- <ObjectChild key='processId'>
- <int />
- </ObjectChild>
-
- <ObjectChild key="sourceStateIdentifier">
- <String />
- </ObjectChild>
-
- <ObjectChild key="targetStateIdentifier">
- <String />
- </ObjectChild>
-
- <ObjectChild key="eventName">
- <String />
- </ObjectChild>
-
- <ObjectChild key="targetStateType">
- <armarx::statechart::aron::StateType />
- </ObjectChild>
-
- <ObjectChild key="inputParameters">
- <armarx::statechart::aron::ParameterMap />
- </ObjectChild>
-
- <ObjectChild key="localParameters">
- <armarx::statechart::aron::ParameterMap />
- </ObjectChild>
-
- <ObjectChild key="outputParameters">
- <armarx::statechart::aron::ParameterMap />
- </ObjectChild>
- </Object>
- </GenerateTypes>
-</AronTypeDefinition>
diff --git a/source/RobotAPI/libraries/armem_skills/CMakeLists.txt b/source/RobotAPI/libraries/armem_skills/CMakeLists.txt
index 0e18610cd..bb6968ecb 100644
--- a/source/RobotAPI/libraries/armem_skills/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem_skills/CMakeLists.txt
@@ -10,7 +10,7 @@ armarx_add_library(
ArmarXCoreObservers
RobotAPI::Core
- RobotAPI::libraries::armem
+ RobotAPI::armem
SOURCES
./aron_conversions.cpp
./StatechartListener.cpp
diff --git a/source/RobotAPI/libraries/armem_skills/aron_conversions.cpp b/source/RobotAPI/libraries/armem_skills/aron_conversions.cpp
index ca1292031..0b6d18a61 100644
--- a/source/RobotAPI/libraries/armem_skills/aron_conversions.cpp
+++ b/source/RobotAPI/libraries/armem_skills/aron_conversions.cpp
@@ -5,12 +5,26 @@ namespace armarx::armem
void fromAron(const arondto::Statechart::StateType& dto, eStateType& bo)
{
- bo = fromAronStateTypeMap[dto];
+ if (fromAronStateTypeMap.find(dto) != fromAronStateTypeMap.end())
+ {
+ bo = fromAronStateTypeMap[dto];
+ }
+ else
+ {
+ bo = eStateType::eUndefined;
+ }
}
void toAron(arondto::Statechart::StateType& dto, const eStateType& bo)
{
- dto.value = toAronStateTypeMap[bo].value;
+ if (toAronStateTypeMap.find(bo) != toAronStateTypeMap.end())
+ {
+ dto.value = toAronStateTypeMap[bo].value;
+ }
+ else
+ {
+ dto.value = arondto::Statechart::StateType::UNDEFINED;
+ }
}
void fromAron(const arondto::Statechart::ParameterMap& dto, StateParameterMap& bo)
@@ -49,7 +63,6 @@ namespace armarx::armem
dto.sourceStateIdentifier = bo.sourceStateIdentifier;
dto.targetStateIdentifier = bo.targetStateIdentifier;
dto.eventName = bo.eventName;
- dto.targetStateType.initialize();
toAron(dto.targetStateType, bo.targetStateType);
toAron(dto.inputParameters, bo.inputParameters);
toAron(dto.localParameters, bo.localParameters);
--
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