From ebcb55409b6984272c2c9874595ea00fc792df9d Mon Sep 17 00:00:00 2001
From: phesch <ulila@student.kit.edu>
Date: Mon, 23 May 2022 23:07:42 +0200
Subject: [PATCH] Add memory implementation for pred. engine support
---
.../RobotAPI/libraries/armem/CMakeLists.txt | 1 +
.../armem/core/base/CoreSegmentBase.h | 22 ++++--
.../libraries/armem/core/base/MemoryBase.h | 12 ++-
.../armem/core/base/ProviderSegmentBase.h | 48 ++++++++++--
.../armem/core/base/detail/Predictive.h | 73 +++++++++++++++++++
.../armem/server/MemoryToIceAdapter.cpp | 32 ++++++++
.../armem/server/MemoryToIceAdapter.h | 3 +
.../server/plugins/ReadWritePluginUser.cpp | 2 +-
.../server/segment/SpecializedCoreSegment.cpp | 12 ++-
.../server/segment/SpecializedCoreSegment.h | 6 +-
.../segment/SpecializedProviderSegment.cpp | 29 ++++++--
.../segment/SpecializedProviderSegment.h | 7 +-
12 files changed, 218 insertions(+), 29 deletions(-)
create mode 100644 source/RobotAPI/libraries/armem/core/base/detail/Predictive.h
diff --git a/source/RobotAPI/libraries/armem/CMakeLists.txt b/source/RobotAPI/libraries/armem/CMakeLists.txt
index cff3ea8a1..8dba8b8e7 100644
--- a/source/RobotAPI/libraries/armem/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem/CMakeLists.txt
@@ -106,6 +106,7 @@ set(LIB_HEADERS
core/base/detail/iteration_mixins.h
core/base/detail/lookup_mixins.h
core/base/detail/negative_index_semantics.h
+ core/base/detail/Predictive.h
core/base/CoreSegmentBase.h
core/base/EntityBase.h
diff --git a/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h b/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h
index 8f158a3fe..56526eb1c 100644
--- a/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h
@@ -8,6 +8,7 @@
#include "detail/MemoryContainerBase.h"
#include "detail/iteration_mixins.h"
#include "detail/lookup_mixins.h"
+#include "detail/Predictive.h"
#include <ArmarXCore/core/logging/Logging.h>
@@ -21,6 +22,7 @@ namespace armarx::armem::base
class CoreSegmentBase :
public detail::MemoryContainerBase<std::map<std::string, _ProviderSegmentT>, _Derived>
, public detail::AronTyped
+ , public detail::Predictive<_Derived>
, public detail::ForEachEntityInstanceMixin<_Derived>
, public detail::ForEachEntitySnapshotMixin<_Derived>
, public detail::ForEachEntityMixin<_Derived>
@@ -66,17 +68,23 @@ namespace armarx::armem::base
CoreSegmentBase()
{
}
- explicit CoreSegmentBase(const std::string& name, aron::type::ObjectPtr aronType = nullptr) :
- CoreSegmentBase(name, MemoryID(), aronType)
+ explicit CoreSegmentBase(const std::string& name,
+ aron::type::ObjectPtr aronType = nullptr,
+ const prediction::data::PredictionEngineSeq& predictionEngines = {}) :
+ CoreSegmentBase(name, MemoryID(), aronType, predictionEngines)
{
}
- explicit CoreSegmentBase(const std::string& name, const MemoryID& parentID, aron::type::ObjectPtr aronType = nullptr) :
- CoreSegmentBase(parentID.withCoreSegmentName(name), aronType)
+ explicit CoreSegmentBase(const std::string& name,
+ const MemoryID& parentID,
+ aron::type::ObjectPtr aronType = nullptr,
+ const prediction::data::PredictionEngineSeq& predictionEngines = {}) :
+ CoreSegmentBase(parentID.withCoreSegmentName(name), aronType, predictionEngines)
{
}
- explicit CoreSegmentBase(const MemoryID& id, aron::type::ObjectPtr aronType = nullptr) :
- Base(id),
- AronTyped(aronType)
+ explicit CoreSegmentBase(const MemoryID& id,
+ aron::type::ObjectPtr aronType = nullptr,
+ const prediction::data::PredictionEngineSeq& predictionEngines = {}) :
+ Base(id), AronTyped(aronType), detail::Predictive<_Derived>(predictionEngines)
{
}
diff --git a/source/RobotAPI/libraries/armem/core/base/MemoryBase.h b/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
index 0bb30f689..991cc609e 100644
--- a/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
@@ -7,6 +7,7 @@
#include "detail/MemoryContainerBase.h"
#include "detail/iteration_mixins.h"
#include "detail/lookup_mixins.h"
+#include "detail/Predictive.h"
namespace armarx::armem::base
@@ -18,6 +19,7 @@ namespace armarx::armem::base
template <class _CoreSegmentT, class _Derived>
class MemoryBase :
public detail::MemoryContainerBase<std::map<std::string, _CoreSegmentT>, _Derived>
+ , public detail::Predictive<_Derived>
, public detail::ForEachEntityInstanceMixin<_Derived>
, public detail::ForEachEntitySnapshotMixin<_Derived>
, public detail::ForEachEntityMixin<_Derived>
@@ -67,12 +69,14 @@ namespace armarx::armem::base
MemoryBase()
{
}
- explicit MemoryBase(const std::string& name) :
- MemoryBase(MemoryID().withMemoryName(name))
+ explicit MemoryBase(const std::string& name,
+ const prediction::data::PredictionEngineSeq& predictionEngines = {}) :
+ MemoryBase(MemoryID().withMemoryName(name), predictionEngines)
{
}
- explicit MemoryBase(const MemoryID& id) :
- Base(id)
+ explicit MemoryBase(const MemoryID& id,
+ const prediction::data::PredictionEngineSeq& predictionEngines = {}) :
+ Base(id), detail::Predictive<_Derived>(predictionEngines)
{
}
diff --git a/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h b/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h
index 7deccd836..ffa8bbda1 100644
--- a/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h
@@ -3,6 +3,8 @@
#include <map>
#include <string>
+#include <RobotAPI/interface/armem/prediction.h>
+
#include "EntityBase.h"
#include "detail/AronTyped.h"
#include "detail/MemoryContainerBase.h"
@@ -53,6 +55,9 @@ namespace armarx::armem::base
{}
};
+ private:
+
+ prediction::data::PredictionEngineSeq supportedEngines;
public:
@@ -60,17 +65,26 @@ namespace armarx::armem::base
{
}
- explicit ProviderSegmentBase(const std::string& name, aron::type::ObjectPtr aronType = nullptr) :
- ProviderSegmentBase(name, MemoryID(), aronType)
+ explicit ProviderSegmentBase(
+ const std::string& name,
+ aron::type::ObjectPtr aronType = nullptr,
+ const prediction::data::PredictionEngineSeq& predictionEngines = {}) :
+ ProviderSegmentBase(name, MemoryID(), aronType, predictionEngines)
{
}
- explicit ProviderSegmentBase(const std::string& name, const MemoryID parentID, aron::type::ObjectPtr aronType = nullptr) :
- ProviderSegmentBase(parentID.withProviderSegmentName(name), aronType)
+ explicit ProviderSegmentBase(
+ const std::string& name,
+ const MemoryID parentID,
+ aron::type::ObjectPtr aronType = nullptr,
+ const prediction::data::PredictionEngineSeq& predictionEngines = {}) :
+ ProviderSegmentBase(parentID.withProviderSegmentName(name), aronType, predictionEngines)
{
}
- explicit ProviderSegmentBase(const MemoryID id, aron::type::ObjectPtr aronType = nullptr) :
- Base(id),
- AronTyped(aronType)
+ explicit ProviderSegmentBase(
+ const MemoryID id,
+ aron::type::ObjectPtr aronType = nullptr,
+ const prediction::data::PredictionEngineSeq& predictionEngines = {}) :
+ Base(id), AronTyped(aronType), supportedEngines(predictionEngines)
{
}
@@ -274,6 +288,26 @@ namespace armarx::armem::base
return child;
}
+ // PREDICTION ENGINES
+ prediction::data::PredictionEngineSeq&
+ predictionEngines()
+ {
+ return supportedEngines;
+ }
+
+ std::map<MemoryID, prediction::data::PredictionEngineSeq>
+ getAllPredictionEngines()
+ {
+ auto engines = predictionEngines();
+ if (engines.empty())
+ {
+ return {};
+ }
+ // Type inference fails when using initializer lists here, not sure why.
+ std::map<MemoryID, prediction::data::PredictionEngineSeq> engineMap;
+ engineMap.emplace(this->id(), engines);
+ return engineMap;
+ }
// MISC
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/Predictive.h b/source/RobotAPI/libraries/armem/core/base/detail/Predictive.h
new file mode 100644
index 000000000..096ba6429
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/base/detail/Predictive.h
@@ -0,0 +1,73 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package RobotAPI::armem::core::base::detail
+ * @author phesch ( phesch at student dot kit dot edu )
+ * @date 2022
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <RobotAPI/interface/armem/prediction.h>
+#include <RobotAPI/libraries/armem/core/MemoryID.h>
+
+#include "derived.h"
+
+namespace armarx::armem::base::detail
+{
+ /**
+ * @brief Something that supports a set of prediction engines.
+ */
+ template <class DerivedT>
+ class Predictive
+ {
+ public:
+ explicit Predictive(const prediction::data::PredictionEngineSeq& engines = {}) :
+ supportedEngines(engines)
+ {
+ }
+
+ prediction::data::PredictionEngineSeq&
+ predictionEngines()
+ {
+ return supportedEngines;
+ }
+
+ std::map<MemoryID, prediction::data::PredictionEngineSeq>
+ getAllPredictionEngines()
+ {
+ std::map<MemoryID, prediction::data::PredictionEngineSeq> engines;
+ auto& derivedContainer = derived<DerivedT>(this);
+ derivedContainer.forEachChild(
+ [&engines](auto& child)
+ {
+ auto childMap = child.getAllPredictionEngines();
+ engines.insert(childMap.begin(), childMap.end());
+ });
+ auto ownEngines = derivedContainer.predictionEngines();
+ if (!ownEngines.empty())
+ {
+ engines.emplace(derivedContainer.id(), derivedContainer.predictionEngines());
+ }
+
+ return engines;
+ }
+
+ protected:
+ prediction::data::PredictionEngineSeq supportedEngines;
+ };
+} // namespace armarx::armem::base::detail
diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
index a838e9e0f..930c1c15d 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
@@ -360,4 +360,36 @@ namespace armarx::armem::server
return output;
}
+ // PREDICTION
+ prediction::data::EngineSupportMap MemoryToIceAdapter::getAvailableEngines()
+ {
+ prediction::data::EngineSupportMap result;
+ auto wmMap = workingMemory->getAllPredictionEngines();
+ for (const auto& [memoryID, engines] : wmMap)
+ {
+ result.emplace(armarx::toIce<data::MemoryID>(memoryID), engines);
+ }
+
+ auto ltmMap = workingMemory->getAllPredictionEngines();
+ for (const auto& [memoryID, engines] : ltmMap)
+ {
+ auto dtoID = armarx::toIce<data::MemoryID>(memoryID);
+ auto entryIter = result.find(dtoID);
+ if (entryIter == result.end())
+ {
+ result.emplace(armarx::toIce<data::MemoryID>(memoryID), engines);
+ }
+ else
+ {
+ // Merge LTM-supported engines with WM-supported engines, removing duplicates
+ std::set<prediction::data::PredictionEngine> engineSet;
+ engineSet.insert(entryIter->second.begin(), entryIter->second.end());
+ engineSet.insert(engines.begin(), engines.end());
+ entryIter->second.assign(engineSet.begin(), engineSet.end());
+ }
+ }
+
+ return result;
+ }
+
}
diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h
index 33e788ff5..96c1e822d 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h
@@ -52,6 +52,9 @@ namespace armarx::armem::server
// LTM STORING
data::StoreResult store(const armem::data::StoreInput& input);
+ // PREDICTION
+ prediction::data::EngineSupportMap getAvailableEngines();
+
public:
server::wm::Memory* workingMemory;
diff --git a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp
index f690cbaee..53027b903 100644
--- a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp
+++ b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp
@@ -137,7 +137,7 @@ namespace armarx::armem::server::plugins
armem::prediction::data::EngineSupportMap
ReadWritePluginUser::getAvailableEngines()
{
- return {};
+ return iceAdapter().getAvailableEngines();
}
armem::prediction::data::PredictionResultSeq
diff --git a/source/RobotAPI/libraries/armem/server/segment/SpecializedCoreSegment.cpp b/source/RobotAPI/libraries/armem/server/segment/SpecializedCoreSegment.cpp
index b0afa2826..e33009bbb 100644
--- a/source/RobotAPI/libraries/armem/server/segment/SpecializedCoreSegment.cpp
+++ b/source/RobotAPI/libraries/armem/server/segment/SpecializedCoreSegment.cpp
@@ -14,9 +14,11 @@ namespace armarx::armem::server::segment
armem::server::MemoryToIceAdapter& iceMemory,
const std::string& defaultCoreSegmentName,
aron::type::ObjectPtr coreSegmentAronType,
- int defaultMaxHistorySize) :
+ int defaultMaxHistorySize,
+ const prediction::data::PredictionEngineSeq& predictionEngines) :
Base(iceMemory),
aronType(coreSegmentAronType),
+ predictionEngines(predictionEngines),
properties({defaultCoreSegmentName, defaultMaxHistorySize})
{
Logging::setTag("armarx::armem::SpecializedCoreSegment");
@@ -60,6 +62,7 @@ namespace armarx::armem::server::segment
segmentPtr->aronType() = aronType;
segmentPtr->setMaxHistorySize(properties.maxHistorySize);
+ segmentPtr->predictionEngines() = predictionEngines;
}
}
@@ -80,6 +83,13 @@ namespace armarx::armem::server::segment
this->aronType = aronType;
}
+ void
+ SpecializedCoreSegment::setPredictionEngines(
+ const prediction::data::PredictionEngineSeq& predictionEngines)
+ {
+ this->predictionEngines = predictionEngines;
+ }
+
wm::CoreSegment& SpecializedCoreSegment::getCoreSegment()
{
ARMARX_CHECK_NOT_NULL(segmentPtr);
diff --git a/source/RobotAPI/libraries/armem/server/segment/SpecializedCoreSegment.h b/source/RobotAPI/libraries/armem/server/segment/SpecializedCoreSegment.h
index d94fa1aed..059d9c7bc 100644
--- a/source/RobotAPI/libraries/armem/server/segment/SpecializedCoreSegment.h
+++ b/source/RobotAPI/libraries/armem/server/segment/SpecializedCoreSegment.h
@@ -27,7 +27,8 @@ namespace armarx::armem::server::segment
MemoryToIceAdapter& iceMemory,
const std::string& defaultCoreSegmentName = "",
aron::type::ObjectPtr coreSegmentAronType = nullptr,
- int defaultMaxHistorySize = -1);
+ int defaultMaxHistorySize = -1,
+ const prediction::data::PredictionEngineSeq& predictionEngines = {});
virtual ~SpecializedCoreSegment() override;
@@ -43,6 +44,8 @@ namespace armarx::armem::server::segment
void setDefaultCoreSegmentName(const std::string& coreSegmentName);
void setDefaultMaxHistorySize(int64_t maxHistorySize);
void setAronType(aron::type::ObjectPtr aronType);
+ void
+ setPredictionEngines(const prediction::data::PredictionEngineSeq& predictionEngines);
wm::CoreSegment& getCoreSegment();
const wm::CoreSegment& getCoreSegment() const;
@@ -51,6 +54,7 @@ namespace armarx::armem::server::segment
public:
aron::type::ObjectPtr aronType;
+ prediction::data::PredictionEngineSeq predictionEngines;
struct Properties
{
diff --git a/source/RobotAPI/libraries/armem/server/segment/SpecializedProviderSegment.cpp b/source/RobotAPI/libraries/armem/server/segment/SpecializedProviderSegment.cpp
index 747b2bec8..541f5ce07 100644
--- a/source/RobotAPI/libraries/armem/server/segment/SpecializedProviderSegment.cpp
+++ b/source/RobotAPI/libraries/armem/server/segment/SpecializedProviderSegment.cpp
@@ -10,15 +10,22 @@
namespace armarx::armem::server::segment
{
SpecializedProviderSegment::SpecializedProviderSegment(
- armem::server::MemoryToIceAdapter& iceMemory,
- const std::string& defaultProviderSegmentName,
- const std::string& defaultCoreSegmentName,
- aron::type::ObjectPtr providerSegmentAronType,
- aron::type::ObjectPtr coreSegmentAronType,
- int defaultMaxHistorySize) :
+ armem::server::MemoryToIceAdapter& iceMemory,
+ const std::string& defaultProviderSegmentName,
+ const std::string& defaultCoreSegmentName,
+ aron::type::ObjectPtr providerSegmentAronType,
+ aron::type::ObjectPtr coreSegmentAronType,
+ int defaultMaxHistorySize,
+ const prediction::data::PredictionEngineSeq& providerSegmentPredictionEngines,
+ const prediction::data::PredictionEngineSeq& coreSegmentPredictionEngines) :
Base(iceMemory),
aronType(providerSegmentAronType),
- coreSegment(iceMemory, defaultCoreSegmentName, coreSegmentAronType),
+ predictionEngines(providerSegmentPredictionEngines),
+ coreSegment(iceMemory,
+ defaultCoreSegmentName,
+ coreSegmentAronType,
+ -1,
+ providerSegmentPredictionEngines),
properties({defaultProviderSegmentName, defaultMaxHistorySize})
{
Logging::setTag("armarx::armem::SpecializedProviderSegment");
@@ -65,6 +72,7 @@ namespace armarx::armem::server::segment
segmentPtr->aronType() = aronType;
segmentPtr->setMaxHistorySize(properties.maxHistorySize);
+ segmentPtr->predictionEngines() = predictionEngines;
}
}
@@ -85,6 +93,13 @@ namespace armarx::armem::server::segment
this->aronType = aronType;
}
+ void
+ SpecializedProviderSegment::setPredictionEngines(
+ const prediction::data::PredictionEngineSeq& predictionEngines)
+ {
+ this->predictionEngines = predictionEngines;
+ }
+
wm::ProviderSegment& SpecializedProviderSegment::getProviderSegment()
{
ARMARX_CHECK_NOT_NULL(segmentPtr);
diff --git a/source/RobotAPI/libraries/armem/server/segment/SpecializedProviderSegment.h b/source/RobotAPI/libraries/armem/server/segment/SpecializedProviderSegment.h
index 44db000d1..f8ffa13c0 100644
--- a/source/RobotAPI/libraries/armem/server/segment/SpecializedProviderSegment.h
+++ b/source/RobotAPI/libraries/armem/server/segment/SpecializedProviderSegment.h
@@ -29,7 +29,9 @@ namespace armarx::armem::server::segment
const std::string& defaultCoreSegmentName = "",
aron::type::ObjectPtr providerSegmentAronType = nullptr,
aron::type::ObjectPtr coreSegmentAronType = nullptr,
- int defaultMaxHistorySize = -1);
+ int defaultMaxHistorySize = -1,
+ const prediction::data::PredictionEngineSeq& providerSegmentPredictionEngines = {},
+ const prediction::data::PredictionEngineSeq& coreSegmentPredictionEngines = {});
virtual ~SpecializedProviderSegment() override;
@@ -39,6 +41,8 @@ namespace armarx::armem::server::segment
void setDefaultProviderSegmentName(const std::string& providerSegmentName);
void setDefaultMaxHistorySize(int64_t maxHistorySize);
void setAronType(aron::type::ObjectPtr aronType);
+ void
+ setPredictionEngines(const prediction::data::PredictionEngineSeq& predictionEngines);
wm::ProviderSegment& getProviderSegment();
const wm::ProviderSegment& getProviderSegment() const;
@@ -47,6 +51,7 @@ namespace armarx::armem::server::segment
public:
aron::type::ObjectPtr aronType;
+ prediction::data::PredictionEngineSeq predictionEngines;
SpecializedCoreSegment coreSegment;
struct Properties
--
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