From e2f30738703bbf2e122cb83be0b3f457805e0836 Mon Sep 17 00:00:00 2001
From: joana <uhfpm@student.kit.edu>
Date: Mon, 22 Jan 2024 13:53:49 +0100
Subject: [PATCH] Make sure statistics for recording are saved if recording is
interupted due to stopping the component
---
source/RobotAPI/libraries/armem/server/ltm/Memory.h | 10 +++++-----
.../libraries/armem/server/ltm/detail/MemoryBase.h | 4 ++--
.../RobotAPI/libraries/armem/server/plugins/Plugin.cpp | 10 ++++++++++
.../armem/server/test/ForgettingExperiments.cpp | 7 +++++++
4 files changed, 24 insertions(+), 7 deletions(-)
diff --git a/source/RobotAPI/libraries/armem/server/ltm/Memory.h b/source/RobotAPI/libraries/armem/server/ltm/Memory.h
index b3cd24b8b..05d04551d 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/Memory.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/Memory.h
@@ -49,6 +49,11 @@ namespace armarx::armem::server::ltm
void createPropertyDefinitions(PropertyDefinitionsPtr& defs, const std::string& prefix) override;
+ /**
+ * @brief getAndSaveStatistics generates and saves statistics for a LTM recording
+ */
+ void getAndSaveStatistics();
+
protected:
void _loadAllReferences(armem::wm::Memory&) final;
void _resolve(armem::wm::Memory&) final;
@@ -56,11 +61,6 @@ namespace armarx::armem::server::ltm
void _directlyStore(const armem::wm::Memory&) final;
private:
- /**
- * @brief getAndSaveStatistics generates and saves statistics for a LTM recording
- */
- void getAndSaveStatistics();
-
std::time_t current_date;
};
} // namespace armarx::armem::server::ltm
diff --git a/source/RobotAPI/libraries/armem/server/ltm/detail/MemoryBase.h b/source/RobotAPI/libraries/armem/server/ltm/detail/MemoryBase.h
index 99839aab4..99df8e2e6 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/detail/MemoryBase.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/detail/MemoryBase.h
@@ -303,8 +303,8 @@ namespace armarx::armem::server::ltm::detail
{
bool enabled_on_startup = false;
std::string configuration_on_startup =
- "{ \"SnapshotFrequencyFilter\": {\"WaitingTimeInMsForFilter\" : 500}, "
- "\"PngConverter\": {}, \"ExrConverter\": {}}";
+ "{ \"SnapshotFrequencyFilter\": {\"WaitingTimeInMsForFilter\" : 50}, "
+ "\"PngConverter\": {}, \"ExrConverter\": {}}"; //record with 20 fps as standard
std::string export_name = "MemoryExport";
std::string export_path = "/tmp/ltm";
} p;
diff --git a/source/RobotAPI/libraries/armem/server/plugins/Plugin.cpp b/source/RobotAPI/libraries/armem/server/plugins/Plugin.cpp
index 14b4f7dc1..da889f795 100644
--- a/source/RobotAPI/libraries/armem/server/plugins/Plugin.cpp
+++ b/source/RobotAPI/libraries/armem/server/plugins/Plugin.cpp
@@ -133,6 +133,16 @@ namespace armarx::armem::server::plugins
statistics_saved = true;
*/
+ try{
+ if(longtermMemory.isRecording()){
+ ARMARX_INFO << "Recording still in progress, stopping component anyways. "
+ "Saving statistics...";
+ longtermMemory.getAndSaveStatistics();
+ }
+ } catch(...){
+ ARMARX_WARNING << "Statistics could not be saved for recording that was interrupted by "
+ "disconnecting the component";
+ }
if (clientPlugin->isMemoryNameSystemEnabled() and clientPlugin->getMemoryNameSystemClient())
{
diff --git a/source/RobotAPI/libraries/armem/server/test/ForgettingExperiments.cpp b/source/RobotAPI/libraries/armem/server/test/ForgettingExperiments.cpp
index 0025f3e20..9e84d09f9 100644
--- a/source/RobotAPI/libraries/armem/server/test/ForgettingExperiments.cpp
+++ b/source/RobotAPI/libraries/armem/server/test/ForgettingExperiments.cpp
@@ -84,6 +84,7 @@ void save_statistics(
//get current date:
auto now = std::chrono::high_resolution_clock::now();
+ auto now_ax_datetime = DateTime::Now();
auto now_time = std::chrono::high_resolution_clock::to_time_t(now);
auto time = localtime(&now_time);
@@ -97,6 +98,12 @@ void save_statistics(
bool ended_without_recording = false;
+ if(firstStoppedRecording.toMilliSecondsSinceEpoch() < firstStartedRecording.toMilliSecondsSinceEpoch()){
+ //this can happen if the recording is not propperly stopped but interrupted by stopping
+ //the component
+ firstStoppedRecording = now_ax_datetime;
+ }
+
for(const auto& filter: stats){
filter_statistics(filter.second, memoryName,firstStartedRecording, firstStoppedRecording, &jsonData);
}
--
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