diff --git a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
index 098fe6f1d3de321048b9a942b7ce0c7cca2814fe..6c86b6afa76fe043b4dea16affb609f7db049caf 100644
--- a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
+++ b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
@@ -30,6 +30,7 @@
#include <RobotAPI/libraries/armem/core/error.h>
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
+#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/server/MemoryRemoteGui.h>
#include <RobotAPI/libraries/armem_skills/aron_conversions.h>
@@ -70,7 +71,7 @@ namespace armarx
workingMemory.name() = p.memoryName;
{
- armarx::armem::wm::CoreSegment& c = workingMemory.addCoreSegment(p.statechartCoreSegmentName, armarx::armem::arondto::Statechart::Transition::toAronType());
+ armarx::armem::server::wm::CoreSegment& c = workingMemory.addCoreSegment(p.statechartCoreSegmentName, armarx::armem::arondto::Statechart::Transition::toAronType());
c.addProviderSegment("Transitions", armarx::armem::arondto::Statechart::Transition::toAronType());
}
}
diff --git a/source/RobotAPI/libraries/armem/server/MemoryRemoteGui.cpp b/source/RobotAPI/libraries/armem/server/MemoryRemoteGui.cpp
index 6f6abbb037eb91dbb0374ffece9921fb12c48f06..6664288a0fa5f86da4df906819cba3be385cbcb9 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryRemoteGui.cpp
+++ b/source/RobotAPI/libraries/armem/server/MemoryRemoteGui.cpp
@@ -15,7 +15,8 @@
namespace armarx::armem::server
{
- MemoryRemoteGui::GroupBox MemoryRemoteGui::makeGroupBox(const armem::wm::Memory& memory) const
+ template <class ...Args>
+ MemoryRemoteGui::GroupBox MemoryRemoteGui::_makeGroupBox(const armem::base::MemoryBase<Args...>& memory) const
{
GroupBox group;
group.setLabel(makeGroupLabel("Memory", memory.name(), memory.size()));
@@ -24,16 +25,15 @@ namespace armarx::armem::server
{
group.addChild(Label(makeNoItemsMessage("core segments")));
}
- memory.forEachCoreSegment([this, &group](const armem::wm::CoreSegment & coreSegment)
+ memory.forEachCoreSegment([this, &group](const auto & coreSegment)
{
- group.addChild(makeGroupBox(coreSegment));
- return true;
+ group.addChild(this->makeGroupBox(coreSegment));
});
return group;
}
-
- MemoryRemoteGui::GroupBox MemoryRemoteGui::makeGroupBox(const armem::wm::CoreSegment& coreSegment) const
+ template <class ...Args>
+ MemoryRemoteGui::GroupBox MemoryRemoteGui::_makeGroupBox(const armem::base::CoreSegmentBase<Args...>& coreSegment) const
{
GroupBox group;
group.setLabel(makeGroupLabel("Core Segment", coreSegment.name(), coreSegment.size()));
@@ -42,16 +42,15 @@ namespace armarx::armem::server
{
group.addChild(Label(makeNoItemsMessage("provider segments")));
}
- coreSegment.forEachProviderSegment([this, &group](const armem::wm::ProviderSegment & providerSegment)
+ coreSegment.forEachProviderSegment([this, &group](const auto & providerSegment)
{
- group.addChild(makeGroupBox(providerSegment));
- return true;
+ group.addChild(this->makeGroupBox(providerSegment));
});
return group;
}
-
- MemoryRemoteGui::GroupBox MemoryRemoteGui::makeGroupBox(const armem::wm::ProviderSegment& providerSegment) const
+ template <class ...Args>
+ MemoryRemoteGui::GroupBox MemoryRemoteGui::_makeGroupBox(const armem::base::ProviderSegmentBase<Args...>& providerSegment) const
{
GroupBox group;
group.setLabel(makeGroupLabel("Provider Segment", providerSegment.name(), providerSegment.size()));
@@ -60,16 +59,15 @@ namespace armarx::armem::server
{
group.addChild(Label(makeNoItemsMessage("entities")));
}
- providerSegment.forEachEntity([this, &group](const armem::wm::Entity & entity)
+ providerSegment.forEachEntity([this, &group](const auto & entity)
{
- group.addChild(makeGroupBox(entity));
- return true;
+ group.addChild(this->makeGroupBox(entity));
});
return group;
}
-
- MemoryRemoteGui::GroupBox MemoryRemoteGui::makeGroupBox(const armem::wm::Entity& entity) const
+ template <class ...Args>
+ MemoryRemoteGui::GroupBox MemoryRemoteGui::_makeGroupBox(const armem::base::EntityBase<Args...>& entity) const
{
GroupBox group;
group.setLabel(makeGroupLabel("Entity", entity.name(), entity.size()));
@@ -82,7 +80,6 @@ namespace armarx::armem::server
auto addChild = [this, &group](const armem::wm::EntitySnapshot & snapshot)
{
group.addChild(makeGroupBox(snapshot));
- return true;
};
if (int(entity.size()) <= maxHistorySize)
@@ -101,6 +98,54 @@ namespace armarx::armem::server
}
+ MemoryRemoteGui::GroupBox MemoryRemoteGui::makeGroupBox(const armem::server::wm::Memory& memory) const
+ {
+ return this->_makeGroupBox(memory);
+ }
+
+ MemoryRemoteGui::GroupBox MemoryRemoteGui::makeGroupBox(const armem::wm::Memory& memory) const
+ {
+ return this->_makeGroupBox(memory);
+ }
+
+
+ MemoryRemoteGui::GroupBox MemoryRemoteGui::makeGroupBox(const armem::server::wm::CoreSegment& coreSegment) const
+ {
+ std::scoped_lock lock(coreSegment.mutex());
+ return this->_makeGroupBox(coreSegment);
+ }
+
+
+ MemoryRemoteGui::GroupBox MemoryRemoteGui::makeGroupBox(const armem::wm::CoreSegment& coreSegment) const
+ {
+ return this->_makeGroupBox(coreSegment);
+ }
+
+
+ MemoryRemoteGui::GroupBox MemoryRemoteGui::makeGroupBox(const armem::server::wm::ProviderSegment& providerSegment) const
+ {
+ return this->_makeGroupBox(providerSegment);
+ }
+
+
+ MemoryRemoteGui::GroupBox MemoryRemoteGui::makeGroupBox(const armem::wm::ProviderSegment& providerSegment) const
+ {
+ return this->_makeGroupBox(providerSegment);
+ }
+
+
+ MemoryRemoteGui::GroupBox MemoryRemoteGui::makeGroupBox(const armem::wm::Entity& entity) const
+ {
+ return this->_makeGroupBox(entity);
+ }
+
+
+ MemoryRemoteGui::GroupBox MemoryRemoteGui::makeGroupBox(const armem::server::wm::Entity& entity) const
+ {
+ return this->_makeGroupBox(entity);
+ }
+
+
MemoryRemoteGui::GroupBox MemoryRemoteGui::makeGroupBox(const armem::wm::EntitySnapshot& snapshot) const
{
GroupBox group;
diff --git a/source/RobotAPI/libraries/armem/server/MemoryRemoteGui.h b/source/RobotAPI/libraries/armem/server/MemoryRemoteGui.h
index 35e82d48a4d084c73f6c0bd870488fe8201c56c7..c6aef5c51546ac203c50d38f80696b89f3b6f3b9 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryRemoteGui.h
+++ b/source/RobotAPI/libraries/armem/server/MemoryRemoteGui.h
@@ -17,6 +17,7 @@ namespace armarx::armem::server
using GroupBox = armarx::RemoteGui::Client::GroupBox;
using Label = armarx::RemoteGui::Client::Label;
+
GroupBox makeGroupBox(const armem::wm::Memory& memory) const;
GroupBox makeGroupBox(const armem::wm::CoreSegment& coreSegment) const;
GroupBox makeGroupBox(const armem::wm::ProviderSegment& providerSegment) const;
@@ -24,6 +25,11 @@ namespace armarx::armem::server
GroupBox makeGroupBox(const armem::wm::EntitySnapshot& entitySnapshot) const;
GroupBox makeGroupBox(const armem::wm::EntityInstance& instance) const;
+ GroupBox makeGroupBox(const armem::server::wm::Memory& memory) const;
+ GroupBox makeGroupBox(const armem::server::wm::CoreSegment& coreSegment) const;
+ GroupBox makeGroupBox(const armem::server::wm::ProviderSegment& providerSegment) const;
+ GroupBox makeGroupBox(const armem::server::wm::Entity& entity) const;
+
std::string makeGroupLabel(const std::string& term, const std::string& name, size_t size,
const std::string& namePrefix = ": '", const std::string& nameSuffix = "'") const;
@@ -33,6 +39,17 @@ namespace armarx::armem::server
int maxHistorySize = 10;
+ private:
+
+ template <class ...Args>
+ MemoryRemoteGui::GroupBox _makeGroupBox(const armem::base::MemoryBase<Args...>& memory) const;
+ template <class ...Args>
+ MemoryRemoteGui::GroupBox _makeGroupBox(const armem::base::CoreSegmentBase<Args...>& coreSegment) const;
+ template <class ...Args>
+ MemoryRemoteGui::GroupBox _makeGroupBox(const armem::base::ProviderSegmentBase<Args...>& providerSegment) const;
+ template <class ...Args>
+ MemoryRemoteGui::GroupBox _makeGroupBox(const armem::base::EntityBase<Args...>& entity) const;
+
};
diff --git a/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp
index 0e51493955af7e917e4cd2ef533f0872b4b7488d..376f2ec680f92e64a5c72b496543749a303e8cc1 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp
@@ -27,6 +27,7 @@
#include <RobotAPI/Test.h>
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
+#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/core/longtermmemory/Memory.h>
#include <RobotAPI/libraries/armem/core/diskmemory/Memory.h>
#include <RobotAPI/libraries/armem/core/error.h>
@@ -701,7 +702,7 @@ BOOST_AUTO_TEST_CASE(test_segment_setup)
BOOST_AUTO_TEST_CASE(test_history_size_in_entity)
{
- armem::wm::Entity entity("entity");
+ armem::server::wm::Entity entity("entity");
armem::EntityUpdate update;
update.entityID.entityName = entity.name();
@@ -744,7 +745,7 @@ BOOST_AUTO_TEST_CASE(test_history_size_in_entity)
BOOST_AUTO_TEST_CASE(test_history_size_in_provider_segment)
{
- armem::wm::ProviderSegment providerSegment("SomeRGBImageProvider");
+ armem::server::wm::ProviderSegment providerSegment("SomeRGBImageProvider");
armem::EntityUpdate update;
update.entityID.providerSegmentName = providerSegment.name();
diff --git a/source/RobotAPI/libraries/armem/test/ArMemQueryTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemQueryTest.cpp
index 32795093a9c602e694a580b962279891f2062d50..656842b3dcd23d49a84a51a04fc02143c14cada2 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemQueryTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemQueryTest.cpp
@@ -26,9 +26,9 @@
#include <RobotAPI/Test.h>
#include <RobotAPI/interface/armem/query.h>
-#include <RobotAPI/libraries/armem/server/query_proc/workingmemory/EntityQueryProcessor.h>
#include <RobotAPI/libraries/armem/core/error.h>
#include <RobotAPI/libraries/armem/core/base/detail/negative_index_semantics.h>
+#include <RobotAPI/libraries/armem/server/query_proc/wm.h>
#include <SimoxUtility/algorithm/get_map_keys_values.h>
#include <SimoxUtility/algorithm/string.h>
@@ -39,7 +39,7 @@
namespace armem = armarx::armem;
namespace aron = armarx::aron;
namespace query = armarx::armem::query::data;
-using EntityQueryProcessor = armarx::armem::wm::query_proc::EntityQueryProcessor;
+using EntityQueryProcessor = armarx::armem::server::query_proc::wm::EntityQueryProcessor;
namespace ArMemQueryTest
@@ -53,7 +53,7 @@ namespace ArMemQueryTest
{
armem::wm::Entity entity;
- armem::wm::query_proc::EntityQueryProcessor processor;
+ armem::server::query_proc::wm::EntityQueryProcessor processor;
std::vector<armem::wm::Entity> results;
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
index bc63d69b96701b226b10c83d3b28eca3a7ea154c..5e5431e41aa6a94ba8616247ec19a5529ca9927e 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
+++ b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
@@ -5,8 +5,8 @@
#include <RobotAPI/libraries/armem/core/diskmemory/Memory.h>
-#include <RobotAPI/libraries/armem/server/query_proc/diskmemory/MemoryQueryProcessor.h>
-#include <RobotAPI/libraries/armem/server/query_proc/workingmemory/MemoryQueryProcessor.h>
+#include <RobotAPI/libraries/armem/server/query_proc/diskmemory.h>
+#include <RobotAPI/libraries/armem/server/query_proc/wm.h>
#include <ArmarXGui/libraries/SimpleConfigDialog/SimpleConfigDialog.h>
@@ -243,7 +243,7 @@ namespace armarx::armem::gui
input.addQueryTargetToAll(armem::query::data::QueryTarget::LTM); // We use LTM as query target for the disk
- armem::d_ltm::query_proc::MemoryQueryProcessor d_ltm_processor;
+ armem::server::query_proc::d_ltm::MemoryQueryProcessor d_ltm_processor;
dMem = d_ltm_processor.process(input.toIce(), dMem);
wm::Memory converted = dMem.convert();
@@ -302,7 +302,7 @@ namespace armarx::armem::gui
std::stringstream ss;
auto now = std::chrono::system_clock::now();
auto in_time_t = std::chrono::system_clock::to_time_t(now);
- ss << "Last update: " << std::put_time(std::localtime(&in_time_t), "%Y-%m-%d %X");
+ ss << "Last update: " ;// << std::put_time(std::localtime(&in_time_t), "%Y-%m-%d %X");
if (dataChanged)
{
diff --git a/source/RobotAPI/libraries/armem_motions/server/MotionDatabase/MDBMotions/Segment.cpp b/source/RobotAPI/libraries/armem_motions/server/MotionDatabase/MDBMotions/Segment.cpp
index 67ffed4ba2e37812dc40a31a8534f1119b384282..5860b2f48f9659c7ac631e1270425f112a0efcab 100644
--- a/source/RobotAPI/libraries/armem_motions/server/MotionDatabase/MDBMotions/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_motions/server/MotionDatabase/MDBMotions/Segment.cpp
@@ -1,8 +1,3 @@
-// STD / STL
-#include <iostream>
-#include <fstream>
-#include <sstream>
-
// BaseClass
#include "Segment.h"
@@ -11,10 +6,16 @@
#include <RobotAPI/libraries/PriorKnowledge/motions/MotionFinder.h>
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
+#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
#include <ArmarXCore/core/application/properties/ProxyPropertyDefinition.h>
+// STD / STL
+#include <iostream>
+#include <fstream>
+#include <sstream>
+
namespace armarx::armem::server::motions::mdb
{
diff --git a/source/RobotAPI/libraries/armem_objects/server/class/FloorVis.cpp b/source/RobotAPI/libraries/armem_objects/server/class/FloorVis.cpp
index 35ce3d1cf113183ea60489a522048caa8058645e..1e9957aff7b0d093d3bd1d6e16f289d6a2a04afd 100644
--- a/source/RobotAPI/libraries/armem_objects/server/class/FloorVis.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/class/FloorVis.cpp
@@ -1,6 +1,7 @@
#include "FloorVis.h"
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
+#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem_objects/aron/ObjectClass.aron.generated.h>
#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
@@ -13,16 +14,19 @@ namespace armarx::armem::server::obj::clazz
{
}
+
void FloorVis::defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix)
{
properties.define(defs, prefix);
}
+
void FloorVis::setArViz(armarx::viz::Client arviz)
{
this->arviz = arviz;
}
+
void FloorVis::updateFloorObject(const wm::CoreSegment& classCoreSegment)
{
viz::Layer layer = arviz.layer(properties.layerName);
@@ -42,6 +46,7 @@ namespace armarx::armem::server::obj::clazz
arviz.commit(layer);
}
+
armarx::viz::Object FloorVis::makeFloorObject(const wm::Entity& classEntity)
{
const wm::EntityInstance& instance = classEntity.getLatestSnapshot().getInstance(0);
@@ -50,6 +55,7 @@ namespace armarx::armem::server::obj::clazz
return makeFloorObject(classEntity.name(), data);
}
+
armarx::viz::Object FloorVis::makeFloorObject(
const std::string& name,
const arondto::ObjectClass& objectClass)
@@ -61,7 +67,6 @@ namespace armarx::armem::server::obj::clazz
}
-
void FloorVis::Properties::define(armarx::PropertyDefinitionsPtr defs, const std::string& prefix)
{
defs->optional(show, prefix + "Show", "Whether to show the floor.");
diff --git a/source/RobotAPI/libraries/armem_objects/server/class/FloorVis.h b/source/RobotAPI/libraries/armem_objects/server/class/FloorVis.h
index dcce63977438bdd0d646b50aa8e5dd9679354df8..49f8a6ddd71f5c24172ddfbbfd8e312dcea2fd3f 100644
--- a/source/RobotAPI/libraries/armem_objects/server/class/FloorVis.h
+++ b/source/RobotAPI/libraries/armem_objects/server/class/FloorVis.h
@@ -10,7 +10,7 @@ namespace armarx
{
using PropertyDefinitionsPtr = IceUtil::Handle<class PropertyDefinitionContainer>;
}
-namespace armarx::armem::wm
+namespace armarx::armem::server::wm
{
class CoreSegment;
class Entity;
diff --git a/source/RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.cpp b/source/RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.cpp
index 7990703b1bb8bd1c533e9d01f427d905f4b1eedd..a3a039a47b41de902d8a2f2e347d4045f51d1de8 100644
--- a/source/RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.cpp
@@ -263,10 +263,8 @@ namespace armarx::armem::common::robot_state::localization
{
const auto& agentProviderSegment = localizationCoreSegment.getProviderSegment(agent);
- ARMARX_DEBUG << "Provider segments"
- << simox::alg::get_keys(localizationCoreSegment.providerSegments());
-
- ARMARX_DEBUG << "Entities: " << simox::alg::get_keys(agentProviderSegment.entities());
+ ARMARX_DEBUG << "Provider segments" << localizationCoreSegment.getProviderSegmentNames();
+ ARMARX_DEBUG << "Entities: " << agentProviderSegment.getEntityNames();
try
{
@@ -305,12 +303,10 @@ namespace armarx::armem::common::robot_state::localization
const armem::wm::ProviderSegment& agentProviderSegment,
const armem::Time& timestamp)
{
-
ARMARX_DEBUG << "getEntity:" + entityName;
const auto& entity = agentProviderSegment.getEntity(entityName);
- ARMARX_DEBUG << "History (size: " << entity.history().size() << ")"
- << simox::alg::get_keys(entity.history());
+ ARMARX_DEBUG << "History (size: " << entity.size() << "): " << entity.getTimestamps();
// if (entity.history.empty())
// {
@@ -320,23 +316,9 @@ namespace armarx::armem::common::robot_state::localization
// }
std::vector<::armarx::armem::robot_state::Transform> transforms;
- transforms.reserve(entity.history().size());
-
- // const auto entitySnapshots = simox::alg::get_values(entity.history());
-
- const std::vector<wm::EntitySnapshot> entitySnapshots = {entity.getLatestSnapshot()};
-
- std::transform(
- entitySnapshots.begin(),
- entitySnapshots.end(),
- std::back_inserter(transforms),
- [](const auto & entitySnapshot)
- {
- return convertEntityToTransform(entitySnapshot.getInstance(0));
- });
+ transforms.push_back(convertEntityToTransform(entity.getLatestSnapshot().getInstance(0)));
ARMARX_DEBUG << "obtaining transform";
-
if (transforms.size() > 1)
{
// TODO(fabian.reister): remove