From ee699a475aef09c4665b69ccb63d26a3f5e27ec5 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Mon, 16 Aug 2021 09:51:21 +0200
Subject: [PATCH] Cleanup, add ARMARX_TRACE
---
.../ExampleMemoryClient.cpp | 5 +++--
.../RobotAPI/libraries/armem/core/Commit.cpp | 4 ++--
.../armem/core/base/ice_conversions.h | 2 --
.../libraries/armem/core/error/ArMemError.cpp | 2 +-
.../armem/core/wm/ice_conversions.cpp | 1 -
.../armem/server/ComponentPlugin.cpp | 9 +++++----
.../armem/server/MemoryToIceAdapter.cpp | 20 ++++++++++++-------
.../libraries/armem/test/ArMemQueryTest.cpp | 2 ++
8 files changed, 26 insertions(+), 19 deletions(-)
diff --git a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
index 036d27d2b..3678ecd55 100644
--- a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
+++ b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
@@ -34,6 +34,7 @@
#include <RobotAPI/libraries/armem/client/query/query_fns.h>
#include <RobotAPI/libraries/armem/core/error.h>
#include <RobotAPI/libraries/armem/core/aron_conversions.h>
+#include <RobotAPI/libraries/armem/core/operations.h>
#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
#include <RobotAPI/components/armem/server/ExampleMemory/aron/ExampleData.aron.generated.h>
@@ -257,7 +258,6 @@ namespace armarx
armem::client::QueryResult qResult = memoryReader.query(builder.buildQueryInput());
ARMARX_INFO << qResult;
-
if (qResult.success)
{
ARMARX_IMPORTANT << "Getting entity via ID";
@@ -266,7 +266,8 @@ namespace armarx
ARMARX_CHECK_GREATER_EQUAL(memory.size(), 1);
const armem::wm::Entity* entity = memory.findEntity(entityID);
- ARMARX_CHECK_NOT_NULL(entity);
+ ARMARX_CHECK_NOT_NULL(entity)
+ << "Entity " << entityID << " was not found in " << armem::print(memory);
ARMARX_CHECK_GREATER_EQUAL(entity->size(), 1);
const armem::wm::EntitySnapshot& snapshot = entity->getLatestSnapshot();
diff --git a/source/RobotAPI/libraries/armem/core/Commit.cpp b/source/RobotAPI/libraries/armem/core/Commit.cpp
index fed012450..db5f1b630 100644
--- a/source/RobotAPI/libraries/armem/core/Commit.cpp
+++ b/source/RobotAPI/libraries/armem/core/Commit.cpp
@@ -14,7 +14,7 @@ namespace armarx::armem
{
return os << "Entity update: "
<< "\n- success: \t" << rhs.entityID
- << "\n- timestamp: \t" << rhs.timeCreated
+ << "\n- timestamp: \t" << toDateTimeMilliSeconds(rhs.timeCreated)
<< "\n- #instances: \t" << rhs.instancesData.size()
<< "\n"
;
@@ -25,7 +25,7 @@ namespace armarx::armem
return os << "Entity update result: "
<< "\n- success: \t" << (rhs.success ? "true" : "false")
<< "\n- snapshotID: \t" << rhs.snapshotID
- << "\n- time arrived: \t" << rhs.timeArrived.toDateTime()
+ << "\n- time arrived: \t" << toDateTimeMilliSeconds(rhs.timeArrived)
<< "\n- error message: \t" << rhs.errorMessage
<< "\n"
;
diff --git a/source/RobotAPI/libraries/armem/core/base/ice_conversions.h b/source/RobotAPI/libraries/armem/core/base/ice_conversions.h
index dba990834..182e0c0a4 100644
--- a/source/RobotAPI/libraries/armem/core/base/ice_conversions.h
+++ b/source/RobotAPI/libraries/armem/core/base/ice_conversions.h
@@ -110,7 +110,6 @@ namespace armarx::armem::base
detail::toIce(ice.aronType, providerSegment.aronType());
ARMARX_CHECK(!providerSegment.aronType() || ice.aronType);
- // toIce(ice.entities, providerSegment.entities());
ice.entities.clear();
providerSegment.forEachEntity([&ice](const auto & entity)
{
@@ -125,7 +124,6 @@ namespace armarx::armem::base
detail::fromIce(ice.aronType, providerSegment.aronType());
ARMARX_CHECK(!providerSegment.aronType() || ice.aronType);
- // fromIce(ice.entities, providerSegment.entities());
providerSegment.clear();
for (const auto& [key, entity] : ice.entities)
{
diff --git a/source/RobotAPI/libraries/armem/core/error/ArMemError.cpp b/source/RobotAPI/libraries/armem/core/error/ArMemError.cpp
index 8936fab6f..003ef9fb5 100644
--- a/source/RobotAPI/libraries/armem/core/error/ArMemError.cpp
+++ b/source/RobotAPI/libraries/armem/core/error/ArMemError.cpp
@@ -59,7 +59,7 @@ namespace armarx::armem::error
{
std::stringstream ss;
ss << simox::alg::capitalize_words(existingTerm) << " with name '" << existingName << "' "
- << " already exists in " << ownTerm << " '" << ownName << "'.";
+ << "already exists in " << ownTerm << " '" << ownName << "'.";
return ss.str();
}
diff --git a/source/RobotAPI/libraries/armem/core/wm/ice_conversions.cpp b/source/RobotAPI/libraries/armem/core/wm/ice_conversions.cpp
index 70a905a93..ba6c9782e 100644
--- a/source/RobotAPI/libraries/armem/core/wm/ice_conversions.cpp
+++ b/source/RobotAPI/libraries/armem/core/wm/ice_conversions.cpp
@@ -15,7 +15,6 @@ namespace armarx::armem
base::fromIce(ice, data);
}
-
void wm::toIce(data::EntitySnapshot& ice, const EntitySnapshot& snapshot)
{
base::toIce(ice, snapshot);
diff --git a/source/RobotAPI/libraries/armem/server/ComponentPlugin.cpp b/source/RobotAPI/libraries/armem/server/ComponentPlugin.cpp
index 28bf14da2..86b1d93ef 100644
--- a/source/RobotAPI/libraries/armem/server/ComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/armem/server/ComponentPlugin.cpp
@@ -124,13 +124,14 @@ namespace armarx::armem::server
// WRITING
data::AddSegmentsResult ComponentPluginUser::addSegments(const data::AddSegmentsInput& input, const Ice::Current&)
{
+ ARMARX_TRACE;
bool addCoreSegmentOnUsage = false;
return addSegments(input, addCoreSegmentOnUsage);
}
data::AddSegmentsResult ComponentPluginUser::addSegments(const data::AddSegmentsInput& input, bool addCoreSegments)
{
- // std::scoped_lock lock(workingMemoryMutex);
+ ARMARX_TRACE;
data::AddSegmentsResult result = iceMemory.addSegments(input, addCoreSegments);
return result;
}
@@ -138,7 +139,7 @@ namespace armarx::armem::server
data::CommitResult ComponentPluginUser::commit(const data::Commit& commitIce, const Ice::Current&)
{
- // std::scoped_lock lock(workingMemoryMutex);
+ ARMARX_TRACE;
return iceMemory.commit(commitIce);
}
@@ -146,7 +147,7 @@ namespace armarx::armem::server
// READING
armem::query::data::Result ComponentPluginUser::query(const armem::query::data::Input& input, const Ice::Current&)
{
- // std::scoped_lock lock(workingMemoryMutex);
+ ARMARX_TRACE;
return iceMemory.query(input);
}
@@ -154,7 +155,7 @@ namespace armarx::armem::server
// LTM STORING
data::StoreResult ComponentPluginUser::store(const data::StoreInput& input, const Ice::Current&)
{
- //std::scoped_lock lock(workingMemoryMutex, longtermMemoryMutex);
+ ARMARX_TRACE;
return iceMemory.store(input);
}
diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
index b47c7f313..73d00c3a3 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
@@ -34,6 +34,7 @@ namespace armarx::armem::server
data::AddSegmentResult
MemoryToIceAdapter::addSegment(const data::AddSegmentInput& input, bool addCoreSegments)
{
+ ARMARX_TRACE;
ARMARX_CHECK_NOT_NULL(workingMemory);
data::AddSegmentResult output;
@@ -92,6 +93,7 @@ namespace armarx::armem::server
data::AddSegmentsResult
MemoryToIceAdapter::addSegments(const data::AddSegmentsInput& input, bool addCoreSegments)
{
+ ARMARX_TRACE;
ARMARX_CHECK_NOT_NULL(workingMemory);
data::AddSegmentsResult output;
@@ -106,6 +108,7 @@ namespace armarx::armem::server
data::CommitResult
MemoryToIceAdapter::commit(const data::Commit& commitIce, Time timeArrived)
{
+ ARMARX_TRACE;
ARMARX_CHECK_NOT_NULL(workingMemory);
auto handleException = [](const std::string & what)
{
@@ -143,6 +146,7 @@ namespace armarx::armem::server
data::CommitResult
MemoryToIceAdapter::commit(const data::Commit& commitIce)
{
+ ARMARX_TRACE;
return commit(commitIce, armem::Time::now());
}
@@ -150,18 +154,21 @@ namespace armarx::armem::server
armem::CommitResult
MemoryToIceAdapter::commit(const armem::Commit& commit)
{
+ ARMARX_TRACE;
return this->_commit(commit, false);
}
armem::CommitResult MemoryToIceAdapter::commitLocking(const armem::Commit& commit)
{
+ ARMARX_TRACE;
return this->_commit(commit, true);
}
armem::CommitResult MemoryToIceAdapter::_commit(const armem::Commit& commit, bool locking)
{
+ ARMARX_TRACE;
std::vector<data::MemoryID> updatedIDs;
const bool publishUpdates = bool(memoryListenerTopic);
@@ -228,6 +235,7 @@ namespace armarx::armem::server
armem::query::data::Result
MemoryToIceAdapter::query(const armem::query::data::Input& input)
{
+ ARMARX_TRACE;
ARMARX_CHECK_NOT_NULL(workingMemory);
// Core segment processors will aquire the core segment locks.
@@ -257,13 +265,13 @@ namespace armarx::armem::server
query_proc::wm::MemoryQueryProcessor wm2wmProcessor(
input.withData ? armem::DataMode::WithData : armem::DataMode::NoData);
- armem::wm::Memory merged_result = wm2wmProcessor.process(queryInput.toIce(), wmResult);
- if (merged_result.empty())
+ armem::wm::Memory mergedResult = wm2wmProcessor.process(queryInput.toIce(), wmResult);
+ if (mergedResult.empty())
{
ARMARX_ERROR << "A merged and postprocessed Memory has no data although at least the LTM result contains data. This indicates that something is wrong.";
}
- result.memory = toIce<data::MemoryPtr>(merged_result);
+ result.memory = toIce<data::MemoryPtr>(mergedResult);
// also move results of ltm to wm
//this->commit(toCommit(ltm_converted));
@@ -289,6 +297,7 @@ namespace armarx::armem::server
client::QueryResult MemoryToIceAdapter::query(const client::QueryInput& input)
{
+ ARMARX_TRACE;
return client::QueryResult::fromIce(query(input.toIce()));
}
@@ -298,6 +307,7 @@ namespace armarx::armem::server
// LTM STORING
data::StoreResult MemoryToIceAdapter::store(const armem::data::StoreInput& input)
{
+ ARMARX_TRACE;
ARMARX_CHECK_NOT_NULL(workingMemory);
ARMARX_CHECK_NOT_NULL(longtermMemoryManager);
data::StoreResult output;
@@ -322,8 +332,4 @@ namespace armarx::armem::server
return output;
}
-
-
-
-
}
diff --git a/source/RobotAPI/libraries/armem/test/ArMemQueryTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemQueryTest.cpp
index b97ac5e3c..13d050572 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemQueryTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemQueryTest.cpp
@@ -30,6 +30,8 @@
#include <RobotAPI/libraries/armem/core/base/detail/negative_index_semantics.h>
#include <RobotAPI/libraries/armem/server/query_proc/wm.h>
+#include <ArmarXCore/core/exceptions/LocalException.h>
+
#include <SimoxUtility/algorithm/get_map_keys_values.h>
#include <SimoxUtility/algorithm/string.h>
--
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