From e75ac32e64f1431c11eb5f5fbb1136bcfe955a5a Mon Sep 17 00:00:00 2001
From: phesch <ulila@student.kit.edu>
Date: Fri, 6 May 2022 20:49:48 +0200
Subject: [PATCH] Make getAvailableEngines return map instead of vec
---
.../server/ExampleMemory/ExampleMemory.cpp | 4 ++--
.../armem/server/ExampleMemory/ExampleMemory.h | 2 +-
source/RobotAPI/interface/armem/prediction.ice | 1 +
.../armem/server/PredictingMemoryInterface.ice | 6 ++++--
.../RobotAPI/libraries/armem/client/Reader.cpp | 18 +++++++++---------
.../RobotAPI/libraries/armem/client/Reader.h | 2 +-
.../server/plugins/ReadWritePluginUser.cpp | 4 ++--
.../armem/server/plugins/ReadWritePluginUser.h | 4 ++--
8 files changed, 22 insertions(+), 19 deletions(-)
diff --git a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
index 1e8f29802..a82524efc 100644
--- a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
+++ b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
@@ -272,10 +272,10 @@ namespace armarx
return result.toIce();
}
- armem::prediction::data::PredictionEngineSeq
+ armem::prediction::data::EngineSupportMap
ExampleMemory::getAvailableEngines()
{
- return {{"Latest"}};
+ return {{armarx::toIce<armem::data::MemoryID>(workingMemory().id()), {{"Latest"}}}};
}
// REMOTE GUI
diff --git a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.h b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.h
index de89914ba..fa9c2b1ea 100644
--- a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.h
+++ b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.h
@@ -76,7 +76,7 @@ namespace armarx
armem::prediction::data::PredictionResultSeq
predict(const armem::prediction::data::PredictionRequestSeq& requests) override;
- armem::prediction::data::PredictionEngineSeq getAvailableEngines() override;
+ armem::prediction::data::EngineSupportMap getAvailableEngines() override;
protected:
diff --git a/source/RobotAPI/interface/armem/prediction.ice b/source/RobotAPI/interface/armem/prediction.ice
index f42535928..a2aae725e 100644
--- a/source/RobotAPI/interface/armem/prediction.ice
+++ b/source/RobotAPI/interface/armem/prediction.ice
@@ -17,6 +17,7 @@ module armarx
string engineID;
}
sequence<PredictionEngine> PredictionEngineSeq;
+ dictionary<armem::data::MemoryID, PredictionEngineSeq> EngineSupportMap;
// Settings to use for a given prediction (e.g. which engine to use)
struct PredictionSettings
diff --git a/source/RobotAPI/interface/armem/server/PredictingMemoryInterface.ice b/source/RobotAPI/interface/armem/server/PredictingMemoryInterface.ice
index 65e0c2a6e..ead5ad03b 100644
--- a/source/RobotAPI/interface/armem/server/PredictingMemoryInterface.ice
+++ b/source/RobotAPI/interface/armem/server/PredictingMemoryInterface.ice
@@ -17,9 +17,11 @@ module armarx
prediction::data::PredictionResultSeq
predict(prediction::data::PredictionRequestSeq requests);
- /* Get the list of engines the memory offers for use in predictions.
+ /* Get a map from memory segments to the prediction engines they support.
+ * Best used with the armem::core::PrefixMap to easily retrieve
+ * the available engine selection for fully evaluated MemoryIDs.
*/
- prediction::data::PredictionEngineSeq getAvailableEngines();
+ prediction::data::EngineSupportMap getAvailableEngines();
}
};
};
diff --git a/source/RobotAPI/libraries/armem/client/Reader.cpp b/source/RobotAPI/libraries/armem/client/Reader.cpp
index 52be34eb4..ce2d0cfcf 100644
--- a/source/RobotAPI/libraries/armem/client/Reader.cpp
+++ b/source/RobotAPI/libraries/armem/client/Reader.cpp
@@ -479,7 +479,7 @@ namespace armarx::armem::client
return boResults;
}
- std::vector<PredictionEngine>
+ armem::prediction::data::EngineSupportMap
Reader::getAvailablePredictionEngines() const
{
if (!predictionPrx)
@@ -489,7 +489,7 @@ namespace armarx::armem::client
"Prediction interface proxy must be set to request a prediction.");
}
- std::vector<armem::prediction::data::PredictionEngine> engines;
+ armem::prediction::data::EngineSupportMap engines;
try
{
engines = predictionPrx->getAvailableEngines();
@@ -499,13 +499,13 @@ namespace armarx::armem::client
// Just leave engines empty in this case.
}
- std::vector<PredictionEngine> boEngines;
- boEngines.reserve(engines.size());
- for (const auto& engine : engines)
- {
- boEngines.push_back(armarx::fromIce<PredictionEngine>(engine));
- }
+ //std::vector<PredictionEngine> boEngines;
+ //boEngines.reserve(engines.size());
+ //for (const auto& engine : engines)
+ //{
+ // boEngines.push_back(armarx::fromIce<PredictionEngine>(engine));
+ //}
- return boEngines;
+ return engines;
}
} // namespace armarx::armem::client
diff --git a/source/RobotAPI/libraries/armem/client/Reader.h b/source/RobotAPI/libraries/armem/client/Reader.h
index beb0e53f5..37bc5fba0 100644
--- a/source/RobotAPI/libraries/armem/client/Reader.h
+++ b/source/RobotAPI/libraries/armem/client/Reader.h
@@ -185,7 +185,7 @@ namespace armarx::armem::client
*
* @return the vector of supported prediction engines
*/
- std::vector<PredictionEngine> getAvailablePredictionEngines() const;
+ armem::prediction::data::EngineSupportMap getAvailablePredictionEngines() const;
inline operator bool() const
{
diff --git a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp
index 115e38311..51aab4813 100644
--- a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp
+++ b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp
@@ -134,7 +134,7 @@ namespace armarx::armem::server::plugins
return result;
}
- armem::prediction::data::PredictionEngineSeq
+ armem::prediction::data::EngineSupportMap
ReadWritePluginUser::getAvailableEngines()
{
return {};
@@ -147,7 +147,7 @@ namespace armarx::armem::server::plugins
return predict(requests);
}
- armem::prediction::data::PredictionEngineSeq
+ armem::prediction::data::EngineSupportMap
ReadWritePluginUser::getAvailableEngines(const ::Ice::Current& /*unused*/)
{
return getAvailableEngines();
diff --git a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h
index 1e0b4bc82..37f25fd8f 100644
--- a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h
+++ b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h
@@ -57,10 +57,10 @@ namespace armarx::armem::server::plugins
// PredictingInterface interface
virtual armem::prediction::data::PredictionResultSeq predict(const armem::prediction::data::PredictionRequestSeq& requests);
- virtual armem::prediction::data::PredictionEngineSeq getAvailableEngines();
+ virtual armem::prediction::data::EngineSupportMap getAvailableEngines();
virtual armem::prediction::data::PredictionResultSeq predict(const armem::prediction::data::PredictionRequestSeq& requests, const ::Ice::Current&) override;
- virtual armem::prediction::data::PredictionEngineSeq getAvailableEngines(const ::Ice::Current&) override;
+ virtual armem::prediction::data::EngineSupportMap getAvailableEngines(const ::Ice::Current&) override;
public:
--
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