diff --git a/source/RobotAPI/libraries/armem/server/MemoryRemoteGui.cpp b/source/RobotAPI/libraries/armem/server/MemoryRemoteGui.cpp
index 6664288a0fa5f86da4df906819cba3be385cbcb9..6826523b35ebab7e3fbe6c7708b22cc076ce7f61 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryRemoteGui.cpp
+++ b/source/RobotAPI/libraries/armem/server/MemoryRemoteGui.cpp
@@ -111,8 +111,10 @@ namespace armarx::armem::server
MemoryRemoteGui::GroupBox MemoryRemoteGui::makeGroupBox(const armem::server::wm::CoreSegment& coreSegment) const
{
- std::scoped_lock lock(coreSegment.mutex());
- return this->_makeGroupBox(coreSegment);
+ return coreSegment.doLocked([this, &coreSegment]()
+ {
+ return this->_makeGroupBox(coreSegment);
+ });
}
diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
index 52fb496592390a1f7df893d0709c73937da55ae5..a61fbfefa85c3371187dde11fbaca82fcacc6b3a 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
@@ -60,20 +60,22 @@ namespace armarx::armem::server
if (input.providerSegmentName.size() > 0)
{
- std::scoped_lock lock(coreSegment->mutex());
- try
- {
- coreSegment->addProviderSegment(input.providerSegmentName);
- }
- catch (const armem::error::ContainerEntryAlreadyExists&)
+ coreSegment->doLocked([&coreSegment, &input]()
{
- // This is ok.
- if (input.clearWhenExists)
+ try
{
- server::wm::ProviderSegment& provider = coreSegment->getProviderSegment(input.providerSegmentName);
- provider.clear();
+ coreSegment->addProviderSegment(input.providerSegmentName);
}
- }
+ catch (const armem::error::ContainerEntryAlreadyExists&)
+ {
+ // This is ok.
+ if (input.clearWhenExists)
+ {
+ server::wm::ProviderSegment& provider = coreSegment->getProviderSegment(input.providerSegmentName);
+ provider.clear();
+ }
+ }
+ });
}
armem::MemoryID segmentID;
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/wm.cpp b/source/RobotAPI/libraries/armem/server/query_proc/wm.cpp
index 4e968623d63aa57213507879608c81823d31c7d6..0ace705be878087b9023ea574f50769489514cb5 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/wm.cpp
+++ b/source/RobotAPI/libraries/armem/server/query_proc/wm.cpp
@@ -55,8 +55,10 @@ namespace armarx::armem::server::query_proc::wm_server
const armem::query::data::CoreSegmentQuery& query,
const CoreSegment& coreSegment) const
{
- std::scoped_lock lock(coreSegment.mutex());
- CoreSegmentQueryProcessorBase::process(result, query, coreSegment);
+ coreSegment.doLocked([&]()
+ {
+ CoreSegmentQueryProcessorBase::process(result, query, coreSegment);
+ });
}
diff --git a/source/RobotAPI/libraries/armem/server/segment/Segment.cpp b/source/RobotAPI/libraries/armem/server/segment/Segment.cpp
index 050e77d392da77bc5c4e4edfcf11f76ee6e1e051..d538568c2430c9ffbd00c9b48bebcd46086280ea 100644
--- a/source/RobotAPI/libraries/armem/server/segment/Segment.cpp
+++ b/source/RobotAPI/libraries/armem/server/segment/Segment.cpp
@@ -48,14 +48,6 @@ namespace armarx::armem::server::segment
}
- std::mutex& wm::CoreSegmentBase::mutex() const
- {
- ARMARX_CHECK_NOT_NULL(segment);
- return segment->mutex();
- }
-
-
-
wm::ProviderSegmentBase::ProviderSegmentBase(
armem::server::MemoryToIceAdapter& iceMemory,
const std::string& defaultProviderSegmentName,
diff --git a/source/RobotAPI/libraries/armem/server/segment/Segment.h b/source/RobotAPI/libraries/armem/server/segment/Segment.h
index 7808e99d31f4df3543bfbd5b882a408dda143ed5..a34f89e9cab53b75860599c1d6f5174400843abd 100644
--- a/source/RobotAPI/libraries/armem/server/segment/Segment.h
+++ b/source/RobotAPI/libraries/armem/server/segment/Segment.h
@@ -1,29 +1,16 @@
#pragma once
-// STD/STL
-#include <mutex>
-#include <string>
+#include <RobotAPI/libraries/armem/server/forward_declarations.h>
+#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
+
+#include <RobotAPI/libraries/aron/core/navigator/type/forward_declarations.h>
-// ArmarX
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/application/properties/forward_declarations.h>
-#include <RobotAPI/libraries/aron/core/navigator/type/forward_declarations.h>
+#include <string>
-namespace armarx::armem
-{
- namespace server
- {
- class MemoryToIceAdapter;
-
- namespace wm
- {
- class CoreSegment;
- class ProviderSegment;
- }
- }
-}
namespace armarx::armem::server::segment
{
namespace detail
@@ -88,7 +75,11 @@ namespace armarx::armem::server::segment
// virtual void onConnect() override;
- std::mutex& mutex() const;
+ template <class FunctionT>
+ auto doLocked(FunctionT&& function)
+ {
+ return segment->doLocked(function);
+ }
protected:
diff --git a/source/RobotAPI/libraries/armem/server/segment/SpecializedSegment.cpp b/source/RobotAPI/libraries/armem/server/segment/SpecializedSegment.cpp
index 8184e27c985877a19aaa873db07883685140b17b..50f5ae6451bb49f9a4356579d78618a865297881 100644
--- a/source/RobotAPI/libraries/armem/server/segment/SpecializedSegment.cpp
+++ b/source/RobotAPI/libraries/armem/server/segment/SpecializedSegment.cpp
@@ -12,11 +12,11 @@ namespace armarx::armem::server::segment
{
SpecializedSegment::SpecializedSegment(
- server::MemoryToIceAdapter& iceMemory,
- aron::typenavigator::ObjectNavigatorPtr aronType,
- const std::string& defaultCoreSegmentName,
- int64_t defaultMaxHistorySize
- ) :
+ server::MemoryToIceAdapter& iceMemory,
+ aron::typenavigator::ObjectNavigatorPtr aronType,
+ const std::string& defaultCoreSegmentName,
+ int64_t defaultMaxHistorySize
+ ) :
iceMemory(iceMemory), aronType(aronType)
{
setDefaultCoreSegmentName(defaultCoreSegmentName);
@@ -52,13 +52,6 @@ namespace armarx::armem::server::segment
}
- std::mutex& SpecializedSegment::mutex() const
- {
- ARMARX_CHECK_NOT_NULL(coreSegment);
- return coreSegment->mutex();
- }
-
-
void SpecializedSegment::setDefaultCoreSegmentName(const std::string& coreSegmentName)
{
this->properties.coreSegmentName = coreSegmentName;
diff --git a/source/RobotAPI/libraries/armem/server/segment/SpecializedSegment.h b/source/RobotAPI/libraries/armem/server/segment/SpecializedSegment.h
index 460fbf3f0f0cd4ea6c2835d499071f2e43bf2a7d..59b198ec20be181a6359eee06e2ddac93be4cc1d 100644
--- a/source/RobotAPI/libraries/armem/server/segment/SpecializedSegment.h
+++ b/source/RobotAPI/libraries/armem/server/segment/SpecializedSegment.h
@@ -1,26 +1,14 @@
#pragma once
-#include <mutex>
-#include <string>
+#include <RobotAPI/libraries/armem/server/forward_declarations.h>
+#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
+#include <RobotAPI/libraries/aron/core/navigator/type/forward_declarations.h>
#include <ArmarXCore/core/application/properties/forward_declarations.h>
#include <ArmarXCore/core/logging/Logging.h>
-#include <RobotAPI/libraries/aron/core/navigator/type/forward_declarations.h>
-
-
-namespace armarx::armem
-{
- namespace server
- {
- class MemoryToIceAdapter;
+#include <string>
- namespace wm
- {
- class CoreSegment;
- }
- }
-}
namespace armarx::armem::server::segment
{
@@ -46,7 +34,12 @@ namespace armarx::armem::server::segment
virtual void init();
// void connect();
- std::mutex& mutex() const;
+
+ template <class FunctionT>
+ auto doLocked(FunctionT&& function)
+ {
+ return coreSegment->doLocked(function);
+ }
protected:
diff --git a/source/RobotAPI/libraries/armem/server/wm/memory_definitions.cpp b/source/RobotAPI/libraries/armem/server/wm/memory_definitions.cpp
index 7cf7d4e225f9cdd0d360f6d372e0d5d21cf01f30..6f031a4d62811d871a5cd627081ad3741cfd3d4b 100644
--- a/source/RobotAPI/libraries/armem/server/wm/memory_definitions.cpp
+++ b/source/RobotAPI/libraries/armem/server/wm/memory_definitions.cpp
@@ -43,36 +43,6 @@ namespace armarx::armem::server::wm
}
-
- std::mutex& CoreSegment::mutex() const
- {
- return _mutex;
- }
-
-
-
- std::optional<wm::EntitySnapshot>
- CoreSegment::getLatestEntitySnapshotLocking(const MemoryID& entityID) const
- {
- std::scoped_lock lock(_mutex);
- return getLatestEntitySnapshot(entityID);
- }
-
- std::optional<wm::EntityInstance>
- CoreSegment::getLatestEntityInstanceLocking(const MemoryID& entityID, int instanceIndex) const
- {
- std::scoped_lock lock(_mutex);
- return getLatestEntityInstance(entityID, instanceIndex);
- }
-
- armarx::aron::datanavigator::DictNavigatorPtr
- CoreSegment::getLatestEntityInstanceDataLocking(const MemoryID& entityID, int instanceIndex) const
- {
- std::scoped_lock lock(_mutex);
- return getLatestEntityInstanceData(entityID, instanceIndex);
- }
-
-
// TODO: add core segment if param is set
std::vector<Memory::Base::UpdateResult>
Memory::updateLocking(const Commit& commit)
@@ -95,15 +65,16 @@ namespace armarx::armem::server::wm
CoreSegment& coreSegment = it->second;
// Lock the core segment for the whole batch.
- std::scoped_lock lock(coreSegment.mutex());
-
- for (const EntityUpdate* update : updates)
+ coreSegment.doLocked([&result, &coreSegment, updates = &updates]()
{
- auto r = coreSegment.update(*update);
- Base::UpdateResult ret { r };
- ret.memoryUpdateType = UpdateType::UpdatedExisting;
- result.push_back(ret);
- }
+ for (const EntityUpdate* update : *updates)
+ {
+ auto r = coreSegment.update(*update);
+ Base::UpdateResult ret { r };
+ ret.memoryUpdateType = UpdateType::UpdatedExisting;
+ result.push_back(ret);
+ }
+ });
}
else
{
@@ -129,10 +100,10 @@ namespace armarx::armem::server::wm
CoreSegment& segment = getCoreSegment(update.entityID.coreSegmentName);
Base::UpdateResult result;
+ segment.doLocked([&result, &segment, &update]()
{
- std::scoped_lock lock(segment.mutex());
result = segment.update(update);
- }
+ });
result.memoryUpdateType = UpdateType::UpdatedExisting;
return result;
}
diff --git a/source/RobotAPI/libraries/armem/server/wm/memory_definitions.h b/source/RobotAPI/libraries/armem/server/wm/memory_definitions.h
index 0849a9b582e44b7f7c1e20942232a323fa1b4012..cb4aa1a0cc5c00783de70a77986998f07c08902c 100644
--- a/source/RobotAPI/libraries/armem/server/wm/memory_definitions.h
+++ b/source/RobotAPI/libraries/armem/server/wm/memory_definitions.h
@@ -10,6 +10,8 @@
#include <RobotAPI/libraries/armem/core/base/CoreSegmentBase.h>
#include <RobotAPI/libraries/armem/core/base/MemoryBase.h>
+#include <RobotAPI/libraries/armem/core/wm/detail/data_lookup_mixins.h>
+
#include <mutex>
#include <optional>
@@ -28,6 +30,7 @@ namespace armarx::armem::server::wm
class Entity :
public base::EntityBase<EntitySnapshot, Entity>
, public detail::MaxHistorySize
+ , public armem::wm::detail::FindInstanceDataMixin<Entity>
{
public:
@@ -55,8 +58,9 @@ namespace armarx::armem::server::wm
/// @see base::ProviderSegmentBase
class ProviderSegment :
- public base::ProviderSegmentBase<Entity, ProviderSegment>,
- public detail::MaxHistorySizeParent<ProviderSegment>
+ public base::ProviderSegmentBase<Entity, ProviderSegment>
+ , public detail::MaxHistorySizeParent<ProviderSegment>
+ , public armem::wm::detail::FindInstanceDataMixin<ProviderSegment>
{
public:
@@ -81,6 +85,7 @@ namespace armarx::armem::server::wm
class CoreSegment :
public base::CoreSegmentBase<ProviderSegment, CoreSegment>,
public detail::MaxHistorySizeParent<CoreSegment>
+ , public armem::wm::detail::FindInstanceDataMixin<CoreSegment>
{
using Base = base::CoreSegmentBase<ProviderSegment, CoreSegment>;
@@ -88,38 +93,6 @@ namespace armarx::armem::server::wm
using Base::CoreSegmentBase;
- // ToDo: Replace by runLocked()
- std::mutex& mutex() const;
-
-
- // Non-locking interface
-
- std::optional<wm::EntitySnapshot> getLatestEntitySnapshot(
- const MemoryID& entityID) const;
- std::optional<wm::EntityInstance> getLatestEntityInstance(
- const MemoryID& entityID, int instanceIndex = 0) const;
- armarx::aron::datanavigator::DictNavigatorPtr getLatestEntityInstanceData(
- const MemoryID& entityID, int instanceIndex = 0) const;
-
-
- template <class AronDtoT>
- std::optional<AronDtoT> getLatestEntityInstanceDataAs(
- const MemoryID& entityID, int instanceIndex = 0) const
- {
- wm::EntityInstanceDataPtr data = getLatestEntityInstanceData(entityID, instanceIndex);
- if (data)
- {
- AronDtoT aron;
- aron.fromAron(data);
- return aron;
- }
- else
- {
- return std::nullopt;
- }
- }
-
-
/// @see base::CoreSegmentBase::addProviderSegment()
using CoreSegmentBase::addProviderSegment;
template <class ...Args>
@@ -133,38 +106,15 @@ namespace armarx::armem::server::wm
// Locking interface
- std::optional<wm::EntitySnapshot> getLatestEntitySnapshotLocking(
- const MemoryID& entityID) const;
- std::optional<wm::EntityInstance> getLatestEntityInstanceLocking(
- const MemoryID& entityID, int instanceIndex = 0) const;
- armarx::aron::datanavigator::DictNavigatorPtr getLatestEntityInstanceDataLocking(
- const MemoryID& entityID, int instanceIndex = 0) const;
-
-
- template <class AronDtoT>
- std::optional<AronDtoT> getLatestEntityInstanceDataLockingAs(
- const MemoryID& entityID, int instanceIndex = 0) const
+ template <class FunctionT>
+ auto doLocked(FunctionT&& function) const
{
- // Keep lock to a minimum.
- wm::EntityInstanceDataPtr data = nullptr;
- {
- std::scoped_lock lock(_mutex);
- data = getLatestEntityInstanceData(entityID, instanceIndex);
- }
- if (data)
- {
- AronDtoT aron;
- aron.fromAron(data);
- return aron;
- }
- else
- {
- return std::nullopt;
- }
+ std::scoped_lock lock(_mutex);
+ return function();
}
- protected:
+ private:
mutable std::mutex _mutex;
@@ -175,6 +125,7 @@ namespace armarx::armem::server::wm
/// @see base::MemoryBase
class Memory :
public base::MemoryBase<CoreSegment, Memory>
+ , public armem::wm::detail::FindInstanceDataMixin<Memory>
{
using Base = base::MemoryBase<CoreSegment, Memory>;
diff --git a/source/RobotAPI/libraries/armem/test/ArMemForEachTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemForEachTest.cpp
index cc34f7e2d7cb73d7a3e3715064508c3b73cab351..9c29804ebdc56444b175b3de0abd115b3a1067c0 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemForEachTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemForEachTest.cpp
@@ -27,6 +27,7 @@
#include <RobotAPI/Test.h>
#include <RobotAPI/libraries/armem/core/Commit.h>
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
+#include <RobotAPI/libraries/armem/core/operations.h>
#include <iostream>
#include <set>
@@ -98,7 +99,7 @@ BOOST_AUTO_TEST_CASE(test_forEach)
BOOST_CHECK_GT(pids.size(), 0);
BOOST_CHECK_GT(cids.size(), 0);
- BOOST_TEST_MESSAGE("Memory: \n" << memory.dump());
+ BOOST_TEST_MESSAGE("Memory: \n" << armem::print(memory));
memory.forEachInstance([&](const wm::EntityInstance & i) -> bool
{
diff --git a/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp
index 143577fc3303aec2e73c5e7bd6f2c2d7226bc3fd..439f3d8bc338695ad293e8d179ea3f9d100b6ae9 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp
@@ -499,7 +499,7 @@ struct CopyMoveCtorsOpsTest : public CopyMoveCtorsOpsTestBase
|| std::is_same_v<T, armem::ltm::Memory>
|| std::is_same_v<T, armem::d_ltm::Memory>)
{
- in._addMissingCoreSegmentDuringUpdate = true;
+ in.addCoreSegment("C");
}
{
armem::EntityUpdate update;
diff --git a/source/RobotAPI/libraries/armem/test/ArMemQueryTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemQueryTest.cpp
index 656842b3dcd23d49a84a51a04fc02143c14cada2..b97ac5e3ca5944f4998d70da72fefdd6426efbfc 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemQueryTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemQueryTest.cpp
@@ -123,8 +123,9 @@ BOOST_AUTO_TEST_CASE(test_entity_Single_latest)
{
BOOST_CHECK_EQUAL(result.name(), entity.name());
BOOST_CHECK_EQUAL(result.size(), 1);
- const armem::wm::EntitySnapshot& first = result.getFirstSnapshotAfterOrAt(armem::Time::microSeconds(0));
- BOOST_CHECK_EQUAL(first.time(), armem::Time::microSeconds(5000));
+ const armem::wm::EntitySnapshot* first = result.findFirstSnapshotAfterOrAt(armem::Time::microSeconds(0));
+ BOOST_REQUIRE_NE(first, nullptr);
+ BOOST_CHECK_EQUAL(first->time(), armem::Time::microSeconds(5000));
}
}
diff --git a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
index cd10a49c91957e5fa86094597c7903f76fb04c13..aac9200bc90353c61319e506e34e8e9017d6d445 100644
--- a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
@@ -124,8 +124,11 @@ namespace armarx::armem::server::obj::clazz
{
try
{
- std::optional<arondto::ObjectClass> aron =
- coreSegment->getLatestEntityInstanceDataLockingAs<arondto::ObjectClass>(entityID, 0);
+ std::optional<arondto::ObjectClass> aron = coreSegment->doLocked([&coreSegment, &entity]()
+ {
+ return coreSegment->findLatestInstanceDataAs<arondto::ObjectClass>(entityID, 0);
+ });
+
if (not aron.has_value())
{
return;