From e1d6dc086ae47b7b534792af68720f876ce49de0 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Fri, 23 Apr 2021 18:04:01 +0200
Subject: [PATCH] Hookup class segment's remote gui. Add locks
---
.../server/ObjectMemory/ObjectMemory.cpp | 11 ++++++--
.../armem/server/ObjectMemory/ObjectMemory.h | 1 +
.../armem_objects/server/class/Segment.cpp | 25 ++++++-------------
.../armem_objects/server/class/Segment.h | 15 ++++-------
.../armem_objects/server/instance/Segment.cpp | 23 +++++++++++------
.../armem_objects/server/instance/Segment.h | 5 ++--
.../server/instance/SegmentAdapter.cpp | 2 +-
7 files changed, 42 insertions(+), 40 deletions(-)
diff --git a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
index 781eed48e..8df7556a9 100644
--- a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
+++ b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
@@ -58,7 +58,7 @@ namespace armarx::armem::server::obj
ObjectMemory::ObjectMemory() :
server::ComponentPluginUser(),
instance::SegmentAdapter(server::ComponentPluginUser::iceMemory, server::ComponentPluginUser::memoryMutex),
- classSegment(server::ComponentPluginUser::iceMemory)
+ classSegment(server::ComponentPluginUser::iceMemory, server::ComponentPluginUser::memoryMutex)
{
}
@@ -128,10 +128,16 @@ namespace armarx::armem::server::obj
using namespace armarx::RemoteGui::Client;
tab.instance.setup(*this);
+ tab.clazz.setup(classSegment);
- VBoxLayout root =
+ HBoxLayout segments =
{
tab.instance.group,
+ tab.clazz.group
+ };
+ VBoxLayout root =
+ {
+ segments,
VSpacer()
};
RemoteGui_createTab(Component::getName(), root, &tab);
@@ -141,6 +147,7 @@ namespace armarx::armem::server::obj
{
// Non-atomic variables need to be guarded by a mutex if accessed by multiple threads
tab.instance.update(*this);
+ tab.clazz.update(classSegment);
}
}
diff --git a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
index 0a53588c1..9a3d65ac7 100644
--- a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
+++ b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
@@ -115,6 +115,7 @@ namespace armarx::armem::server::obj
struct RemoteGuiTab : armarx::RemoteGui::Client::Tab
{
instance::SegmentAdapter::RemoteGui instance;
+ clazz::Segment::RemoteGui clazz;
};
RemoteGuiTab tab;
diff --git a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
index e4d46ae5e..1a42f6968 100644
--- a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
@@ -16,8 +16,9 @@
namespace armarx::armem::server::obj::clazz
{
- Segment::Segment(armem::server::MemoryToIceAdapter& memoryToIceAdapter) :
- iceMemory(memoryToIceAdapter)
+ Segment::Segment(armem::server::MemoryToIceAdapter& memoryToIceAdapter, std::mutex& memoryMutex) :
+ iceMemory(memoryToIceAdapter),
+ memoryMutex(memoryMutex)
{
Logging::setTag("ClassSegment");
}
@@ -46,18 +47,6 @@ namespace armarx::armem::server::obj::clazz
}
- armem::CoreSegment& Segment::getCoreSegment()
- {
- ARMARX_CHECK_NOT_NULL(coreSegment);
- return *coreSegment;
- }
-
- const armem::CoreSegment& Segment::getCoreSegment() const
- {
- ARMARX_CHECK_NOT_NULL(coreSegment);
- return *coreSegment;
- }
-
void Segment::loadByObjectFinder(const std::string& objectsPackage)
{
loadByObjectFinder(ObjectFinder(objectsPackage));
@@ -101,7 +90,7 @@ namespace armarx::armem::server::obj::clazz
iceMemory.commit(commit);
}
- arondto::ObjectClass Segment::objectClassFromInfo(const ObjectInfo& info) const
+ arondto::ObjectClass Segment::objectClassFromInfo(const ObjectInfo& info)
{
namespace fs = std::filesystem;
@@ -155,14 +144,16 @@ namespace armarx::armem::server::obj::clazz
grid.add(Label("Infinite History Size"), {row, 0}).add(infiniteHistory, {row, 1});
row++;
- group.setLabel("Data");
- group.addChild(grid);
+ group = {};
+ group.setLabel("Class");
+ group.addChildren({grid, VSpacer()});
}
void Segment::RemoteGui::update(Segment& data)
{
if (infiniteHistory.hasValueChanged() || maxHistorySize.hasValueChanged())
{
+ std::scoped_lock lock(data.memoryMutex);
data.p.maxHistorySize = infiniteHistory.getValue() ? -1 : maxHistorySize.getValue();
if (data.coreSegment)
{
diff --git a/source/RobotAPI/libraries/armem_objects/server/class/Segment.h b/source/RobotAPI/libraries/armem_objects/server/class/Segment.h
index 851148e13..6ba5409cd 100644
--- a/source/RobotAPI/libraries/armem_objects/server/class/Segment.h
+++ b/source/RobotAPI/libraries/armem_objects/server/class/Segment.h
@@ -1,5 +1,6 @@
#pragma once
+#include <mutex>
#include <string>
#include <ArmarXCore/core/logging/Logging.h>
@@ -22,10 +23,8 @@ namespace armarx::armem::server::obj::clazz
{
public:
-
- public:
-
- Segment(armem::server::MemoryToIceAdapter& iceMemory);
+ Segment(armem::server::MemoryToIceAdapter& iceMemory,
+ std::mutex& memoryMutex);
void defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix = "");
@@ -35,18 +34,14 @@ namespace armarx::armem::server::obj::clazz
void loadByObjectFinder(const ObjectFinder& finder);
void loadByObjectFinder();
-
- armem::CoreSegment& getCoreSegment();
- const armem::CoreSegment& getCoreSegment() const;
-
-
- arondto::ObjectClass objectClassFromInfo(const ObjectInfo& info) const;
+ static arondto::ObjectClass objectClassFromInfo(const ObjectInfo& info);
private:
armem::server::MemoryToIceAdapter& iceMemory;
armem::CoreSegment* coreSegment = nullptr;
+ std::mutex& memoryMutex;
ObjectFinder objectFinder;
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
index d831d5dee..6283f6aa0 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
@@ -24,8 +24,9 @@
namespace armarx::armem::server::obj::instance
{
- Segment::Segment(armem::server::MemoryToIceAdapter& memoryToIceAdapter) :
- iceMemory(memoryToIceAdapter)
+ Segment::Segment(armem::server::MemoryToIceAdapter& memoryToIceAdapter, std::mutex& memoryMutex) :
+ iceMemory(memoryToIceAdapter),
+ memoryMutex(memoryMutex)
{
Logging::setTag("InstanceSegment");
@@ -691,16 +692,22 @@ namespace armarx::armem::server::obj::instance
void Segment::RemoteGui::update(Segment& data)
{
- if (infiniteHistory.hasValueChanged() || maxHistorySize.hasValueChanged())
+ if (infiniteHistory.hasValueChanged() || maxHistorySize.hasValueChanged()
+ || discardSnapshotsWhileAttached.hasValueChanged())
{
- data.p.maxHistorySize = infiniteHistory.getValue() ? -1 : maxHistorySize.getValue();
- if (data.coreSegment)
+ std::scoped_lock lock(data.memoryMutex);
+
+ if (infiniteHistory.hasValueChanged() || maxHistorySize.hasValueChanged())
{
- data.coreSegment->setMaxHistorySize(long(data.p.maxHistorySize));
+ data.p.maxHistorySize = infiniteHistory.getValue() ? -1 : maxHistorySize.getValue();
+ if (data.coreSegment)
+ {
+ data.coreSegment->setMaxHistorySize(long(data.p.maxHistorySize));
+ }
}
- }
- data.p.discardSnapshotsWhileAttached = discardSnapshotsWhileAttached.getValue();
+ data.p.discardSnapshotsWhileAttached = discardSnapshotsWhileAttached.getValue();
+ }
}
}
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
index 4a1e69742..5e82e2ac4 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
@@ -40,7 +40,8 @@ namespace armarx::armem::server::obj::instance
public:
- Segment(armem::server::MemoryToIceAdapter& iceMemory);
+ Segment(armem::server::MemoryToIceAdapter& iceMemory,
+ std::mutex& memoryMutex);
void defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix = "");
@@ -151,8 +152,8 @@ namespace armarx::armem::server::obj::instance
private:
armem::server::MemoryToIceAdapter& iceMemory;
-
armem::CoreSegment* coreSegment = nullptr;
+ std::mutex& memoryMutex;
struct Properties
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp
index d44f5dfa0..f570ca9b4 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp
@@ -38,7 +38,7 @@ namespace armarx::armem::server::obj::instance
{
SegmentAdapter::SegmentAdapter(MemoryToIceAdapter& iceMemory, std::mutex& memoryMutex) :
- segment(iceMemory),
+ segment(iceMemory, memoryMutex),
memoryMutex(memoryMutex)
{
}
--
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