diff --git a/source/RobotAPI/interface/armem/query.ice b/source/RobotAPI/interface/armem/query.ice
index 2a0eb6e217a769fe4bab33dd0ab896e2faeda8e5..2a1586fece346e89cbe491cd21c026ddab603e0e 100644
--- a/source/RobotAPI/interface/armem/query.ice
+++ b/source/RobotAPI/interface/armem/query.ice
@@ -13,15 +13,16 @@ module armarx
{
enum QueryTarget
{
- WMAndLTM,
WM,
- LTM // only for debug. remove later
+ LTM,
+ Disk
};
+ sequence<QueryTarget> QueryTargets;
/// Which entity snapshots to get from an entity?
class EntityQuery
{
- QueryTarget target = QueryTarget::WMAndLTM;
+ QueryTargets targets;
};
sequence<EntityQuery> EntityQuerySeq;
@@ -115,7 +116,7 @@ module armarx
class ProviderSegmentQuery
{
EntityQuerySeq entityQueries;
- QueryTarget target = QueryTarget::WMAndLTM;
+ QueryTargets targets;
};
sequence<ProviderSegmentQuery> ProviderSegmentQuerySeq;
module provider
@@ -138,7 +139,7 @@ module armarx
class CoreSegmentQuery
{
ProviderSegmentQuerySeq providerSegmentQueries;
- QueryTarget target = QueryTarget::WMAndLTM;
+ QueryTargets targets;
};
sequence<CoreSegmentQuery> CoreSegmentQuerySeq;
@@ -162,7 +163,7 @@ module armarx
class MemoryQuery
{
CoreSegmentQuerySeq coreSegmentQueries;
- QueryTarget target = QueryTarget::WMAndLTM;
+ QueryTargets targets;
};
sequence<MemoryQuery> MemoryQuerySeq;
dictionary<string, MemoryQuerySeq> MemoryQueriesDict;
@@ -188,7 +189,6 @@ module armarx
{
/// Dict of memory name to
MemoryQueriesDict memoryQueries;
- QueryTarget target = QueryTarget::WMAndLTM;
};
struct Input
diff --git a/source/RobotAPI/libraries/armem/CMakeLists.txt b/source/RobotAPI/libraries/armem/CMakeLists.txt
index 38d9515cc25818652636ca4b8c5e969eaaf9519a..7f949da5645c81c449a9035edc87e3fa42f49403 100644
--- a/source/RobotAPI/libraries/armem/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem/CMakeLists.txt
@@ -122,6 +122,12 @@ set(LIB_FILES
server/query_proc/longtermmemory/CoreSegmentQueryProcessor.cpp
server/query_proc/longtermmemory/MemoryQueryProcessor.cpp
+ server/query_proc/diskmemory/BaseQueryProcessor.cpp
+ server/query_proc/diskmemory/EntityQueryProcessor.cpp
+ server/query_proc/diskmemory/ProviderSegmentQueryProcessor.cpp
+ server/query_proc/diskmemory/CoreSegmentQueryProcessor.cpp
+ server/query_proc/diskmemory/MemoryQueryProcessor.cpp
+
mns/MemoryNameSystem.cpp
mns/ComponentPlugin.cpp
@@ -237,6 +243,12 @@ set(LIB_HEADERS
server/query_proc/longtermmemory/CoreSegmentQueryProcessor.h
server/query_proc/longtermmemory/MemoryQueryProcessor.h
+ server/query_proc/diskmemory/BaseQueryProcessor.h
+ server/query_proc/diskmemory/EntityQueryProcessor.h
+ server/query_proc/diskmemory/ProviderSegmentQueryProcessor.h
+ server/query_proc/diskmemory/CoreSegmentQueryProcessor.h
+ server/query_proc/diskmemory/MemoryQueryProcessor.h
+
mns.h
mns/MemoryNameSystem.h
mns/ComponentPlugin.h
diff --git a/source/RobotAPI/libraries/armem/client/Query.h b/source/RobotAPI/libraries/armem/client/Query.h
index 4f5a87bdccfc84458210d0811b02d99275b54ae4..916278a8fcde1679545ed39d59531f5772852c13 100644
--- a/source/RobotAPI/libraries/armem/client/Query.h
+++ b/source/RobotAPI/libraries/armem/client/Query.h
@@ -28,6 +28,37 @@ namespace armarx::armem::client
armem::query::data::MemoryQuerySeq memoryQueries;
DataMode dataMode;
+ void addQueryTargetToAll(const armem::query::data::QueryTarget t)
+ {
+ for (const auto& memoryQuery : memoryQueries)
+ {
+ if (std::find(memoryQuery->targets.begin(), memoryQuery->targets.end(), t) == memoryQuery->targets.end())
+ {
+ memoryQuery->targets.push_back(t);
+ }
+ for (const auto& coreSegmentQuery : memoryQuery->coreSegmentQueries)
+ {
+ if (std::find(coreSegmentQuery->targets.begin(), coreSegmentQuery->targets.end(), t) == coreSegmentQuery->targets.end())
+ {
+ coreSegmentQuery->targets.push_back(t);
+ }
+ for (const auto& providerSegmentQuery : coreSegmentQuery->providerSegmentQueries)
+ {
+ if (std::find(providerSegmentQuery->targets.begin(), providerSegmentQuery->targets.end(), t) == providerSegmentQuery->targets.end())
+ {
+ providerSegmentQuery->targets.push_back(t);
+ }
+ for (const auto& entityQuery : providerSegmentQuery->entityQueries)
+ {
+ if (std::find(entityQuery->targets.begin(), entityQuery->targets.end(), t) == entityQuery->targets.end())
+ {
+ entityQuery->targets.push_back(t);
+ }
+ }
+ }
+ }
+ }
+ }
static QueryInput fromIce(const armem::query::data::Input& ice);
armem::query::data::Input toIce() const;
diff --git a/source/RobotAPI/libraries/armem/client/query/Builder.cpp b/source/RobotAPI/libraries/armem/client/query/Builder.cpp
index 5979ea365a863dc0ce1c0c0b91a0d77fc3f331e9..59ae0b7c082bc25a8b1084f8ac49611df107d132 100644
--- a/source/RobotAPI/libraries/armem/client/query/Builder.cpp
+++ b/source/RobotAPI/libraries/armem/client/query/Builder.cpp
@@ -8,12 +8,6 @@ namespace armarx::armem::client::query
{
}
- Builder& Builder::queryTarget(const armem::query::data::QueryTarget target)
- {
- this->_target = target;
- return *this;
- }
-
QueryInput Builder::buildQueryInput() const
{
QueryInput input;
@@ -31,9 +25,9 @@ namespace armarx::armem::client::query
armem::query::data::MemoryQuerySeq memoryQueries;
for (const CoreSegmentSelector& child : _children)
{
- for (const armem::query::data::MemoryQueryPtr& query : child.buildQueries())
+ for (armem::query::data::MemoryQueryPtr& query : child.buildQueries())
{
- query->target = _target;
+ query->targets = _targets;
memoryQueries.push_back(query);
}
}
diff --git a/source/RobotAPI/libraries/armem/client/query/Builder.h b/source/RobotAPI/libraries/armem/client/query/Builder.h
index eae09294320f216aa3e996821c429376ff7675a0..dc6147ef03e7de81518e64bddc9bb486f0062b07 100644
--- a/source/RobotAPI/libraries/armem/client/query/Builder.h
+++ b/source/RobotAPI/libraries/armem/client/query/Builder.h
@@ -28,7 +28,6 @@ namespace armarx::armem::client::query
public:
Builder(DataMode dataMode = DataMode::WithData);
- Builder& queryTarget(const armem::query::data::QueryTarget target);
/// Start specifying core segments.
CoreSegmentSelector& coreSegments();
@@ -66,7 +65,6 @@ namespace armarx::armem::client::query
public:
- armem::query::data::QueryTarget _target = armem::query::data::QueryTarget::WMAndLTM;
DataMode dataMode;
};
diff --git a/source/RobotAPI/libraries/armem/client/query/detail/SelectorOps.h b/source/RobotAPI/libraries/armem/client/query/detail/SelectorOps.h
index 0a0e89e0ab7f651aa40ff3e2f564d48293f64a40..c6e153f0d7358b318c6966f2c9d5c9c2c35579a4 100644
--- a/source/RobotAPI/libraries/armem/client/query/detail/SelectorOps.h
+++ b/source/RobotAPI/libraries/armem/client/query/detail/SelectorOps.h
@@ -5,6 +5,7 @@
#include <Ice/Handle.h>
#include <RobotAPI/libraries/armem/core/MemoryID.h>
+#include <RobotAPI/interface/armem/query.h>
namespace armarx::armem::client::query::detail
@@ -17,7 +18,11 @@ namespace armarx::armem::client::query::detail
using DerivedT = _DerivedT;
using QueryT = _QueryT;
- virtual ~ChildSelectorOps() = default;
+ ChildSelectorOps() = delete;
+
+ ChildSelectorOps(const armem::query::data::QueryTargets& p) :
+ _parentTargets(p)
+ {}
virtual DerivedT& all() = 0;
@@ -36,6 +41,9 @@ namespace armarx::armem::client::query::detail
}
}
+ protected:
+ armem::query::data::QueryTargets _parentTargets;
+
protected:
@@ -81,11 +89,21 @@ namespace armarx::armem::client::query::detail
using ChildT = _ChildT;
+ public:
+ virtual ~ParentSelectorOps() = default;
+
+ /// QueryTargets for this query
+ DerivedT& queryTargets(const armem::query::data::QueryTargets& targets)
+ {
+ this->_targets = targets;
+ return dynamic_cast<DerivedT&>(*this);
+ }
+
protected:
ChildT& _addChild()
{
- return _children.emplace_back();
+ return _children.emplace_back(_targets);
}
ChildT& _addChild(const ChildT& child)
{
@@ -102,7 +120,7 @@ namespace armarx::armem::client::query::detail
std::vector<ChildT> _children;
-
+ armem::query::data::QueryTargets _targets = {armem::query::data::QueryTarget::WM}; // if not specified we only query the WM
};
@@ -114,17 +132,27 @@ namespace armarx::armem::client::query::detail
{
public:
- virtual ~InnerSelectorOps()
+ InnerSelectorOps(const armem::query::data::QueryTargets& p) :
+ ChildSelectorOps<DerivedT, QueryT>(p)
{}
-
virtual std::vector<QueryT> buildQueries() const
{
+ // check own query targets and parent query targets
+ for (const auto& target : this->_targets)
+ {
+ if (std::find(this->_parentTargets.begin(), this->_parentTargets.end(), target) == this->_parentTargets.end())
+ {
+ // TODO: Error, this makes no sense! or just ignore?
+ }
+ }
+
std::vector<typename ChildT::QueryT> childQueries;
for (const auto& child : this->_children)
{
- for (const auto& query : child.buildQueries())
+ for (auto& query : child.buildQueries())
{
+ query->targets = this->_targets;
childQueries.push_back(query);
}
}
diff --git a/source/RobotAPI/libraries/armem/client/query/selectors.cpp b/source/RobotAPI/libraries/armem/client/query/selectors.cpp
index cc3a73829ab7c79eabc96c30b55c4ca350ac33ad..98e79d06ab3642b25bee40e89daf728ab3dfee2b 100644
--- a/source/RobotAPI/libraries/armem/client/query/selectors.cpp
+++ b/source/RobotAPI/libraries/armem/client/query/selectors.cpp
@@ -77,7 +77,6 @@ namespace armarx::armem::client::query
return *this;
}
-
SnapshotSelector& EntitySelector::snapshots()
{
return _addChild();
@@ -115,7 +114,6 @@ namespace armarx::armem::client::query
}
-
EntitySelector& ProviderSegmentSelector::entities()
{
return _addChild();
@@ -153,7 +151,6 @@ namespace armarx::armem::client::query
}
-
ProviderSegmentSelector& CoreSegmentSelector::providerSegments()
{
return _addChild();
diff --git a/source/RobotAPI/libraries/armem/client/query/selectors.h b/source/RobotAPI/libraries/armem/client/query/selectors.h
index df642ded9a70ea2688eaca5865f730e8e99ee6de..b9c257dc6dd5ae1ec07fd7850322d8babef829e4 100644
--- a/source/RobotAPI/libraries/armem/client/query/selectors.h
+++ b/source/RobotAPI/libraries/armem/client/query/selectors.h
@@ -15,6 +15,10 @@ namespace armarx::armem::client::query
{
public:
+ SnapshotSelector(const armem::query::data::QueryTargets& p) :
+ detail::ChildSelectorOps<SnapshotSelector, armem::query::data::EntityQueryPtr>(p)
+ {}
+
armem::query::data::EntityQuerySeq buildQueries() const;
@@ -44,6 +48,10 @@ namespace armarx::armem::client::query
{
public:
+ EntitySelector(const armem::query::data::QueryTargets& p) :
+ detail::InnerSelectorOps<EntitySelector, armem::query::data::ProviderSegmentQueryPtr, SnapshotSelector>(p)
+ {}
+
/// Start specifying entity snapshots.
SnapshotSelector& snapshots();
SnapshotSelector& snapshots(const SnapshotSelector& selector);
@@ -79,6 +87,10 @@ namespace armarx::armem::client::query
{
public:
+ ProviderSegmentSelector(const armem::query::data::QueryTargets& p) :
+ detail::InnerSelectorOps<ProviderSegmentSelector, armem::query::data::CoreSegmentQueryPtr, EntitySelector>(p)
+ {}
+
/// Start specifying entities.
EntitySelector& entities();
EntitySelector& entities(const EntitySelector& selector);
@@ -114,6 +126,10 @@ namespace armarx::armem::client::query
{
public:
+ CoreSegmentSelector(const armem::query::data::QueryTargets& p) :
+ detail::InnerSelectorOps<CoreSegmentSelector, armem::query::data::MemoryQueryPtr, ProviderSegmentSelector>(p)
+ {}
+
/// Start specifying provider segments.
ProviderSegmentSelector& providerSegments();
ProviderSegmentSelector& providerSegments(const ProviderSegmentSelector& selector);
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.cpp
index d838c716a87830fb8f8cde16a80c91861dee5970..2dd6fd615432b9245e308ba285b4be62f99578ab 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.cpp
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.cpp
@@ -24,7 +24,7 @@ namespace armarx::armem::d_ltm
wm::CoreSegment CoreSegment::convert() const
{
- wm::CoreSegment m;
+ wm::CoreSegment m(id());
for (const auto& [_, s] : _container)
{
m.addProviderSegment(s.convert(_aronType));
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/Entity.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/Entity.cpp
index 16f66c488e3bdfbff30e5de65ef754041155da25..5d784a097de4ef68ec2df0bdc1adce94fa737809 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/Entity.cpp
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/Entity.cpp
@@ -18,7 +18,7 @@ namespace armarx::armem::d_ltm
wm::Entity Entity::convert(const aron::typenavigator::NavigatorPtr& expectedStructure) const
{
- wm::Entity m;
+ wm::Entity m(id());
for (const auto& [_, s] : _container)
{
m.addSnapshot(s.convert(expectedStructure));
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.cpp
index 4da151bd537f98e0e5693d948f202d68859f0d76..dd0458b83bbb8ed461ddeab50af42181fda843e4 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.cpp
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.cpp
@@ -41,6 +41,7 @@ namespace armarx::armem::d_ltm
void EntityInstance::_copySelf(EntityInstance& other) const
{
EntityInstanceBase<EntityInstance>::_copySelf(other);
+ other.path = path;
}
std::filesystem::path EntityInstance::_fullPath() const
@@ -49,6 +50,7 @@ namespace armarx::armem::d_ltm
{
return _fullPath(*path);
}
+ ARMARX_WARNING << "The path of the disk memory instance with id '" << id().str() << "' is not set. This may lead to errors.";
return std::filesystem::path();
}
@@ -59,7 +61,7 @@ namespace armarx::armem::d_ltm
wm::EntityInstance EntityInstance::convert(const aron::typenavigator::NavigatorPtr& expectedStructure) const
{
- std::filesystem::path p = _fullPath();
+ std::filesystem::path p = _fullPath(); // here we assume that "reload" has been called first
std::filesystem::path d = p / (std::string(DATA_FILENAME) + ".json");
if (std::filesystem::is_regular_file(d))
@@ -67,7 +69,7 @@ namespace armarx::armem::d_ltm
std::ifstream ifs(d);
std::string file_content((std::istreambuf_iterator<char>(ifs)), (std::istreambuf_iterator<char>()));
- nlohmann::json j(file_content);
+ nlohmann::json j = nlohmann::json::parse(file_content);
auto aron = std::make_shared<aron::datanavigator::DictNavigator>();
to_aron(aron, j, expectedStructure);
wm::EntityInstance e(id());
@@ -76,7 +78,7 @@ namespace armarx::armem::d_ltm
}
else
{
- throw error::ArMemError("An diskMemory EntityInstance is not leading to a regular file.");
+ throw error::ArMemError("An diskMemory EntityInstance is not leading to a regular file. The path was: " + d.string());
}
}
@@ -84,7 +86,7 @@ namespace armarx::armem::d_ltm
{
if (!p_ptr)
{
- ARMARX_WARNING << "The entered is NULL.";
+ ARMARX_WARNING << "The entered path is NULL.";
}
std::filesystem::path p = _fullPath(*p_ptr);
if (!std::filesystem::is_directory(p))
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.cpp
index 88e5c51dcbfa1889e2d2625873501b1a3d9981c1..ab5b56d2274f78c350818693c269af18f0a4a979 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.cpp
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.cpp
@@ -26,7 +26,7 @@ namespace armarx::armem::d_ltm
wm::EntitySnapshot EntitySnapshot::convert(const aron::typenavigator::NavigatorPtr& expectedStructure) const
{
- wm::EntitySnapshot m;
+ wm::EntitySnapshot m(id());
for (const auto& s : _container)
{
m.addInstance(s.convert(expectedStructure));
@@ -56,7 +56,7 @@ namespace armarx::armem::d_ltm
std::filesystem::path d = p / std::to_string(i);
if (std::filesystem::is_directory(d))
{
- auto wms = _container.emplace_back(id().withInstanceIndex(i));
+ auto& wms = _container.emplace_back(id().withInstanceIndex(i));
wms.reload(p_ptr);
}
else
@@ -95,7 +95,7 @@ namespace armarx::armem::d_ltm
continue;;
}
- auto wms = _container.emplace_back(id().withInstanceIndex(i++));
+ auto& wms = _container.emplace_back(id().withInstanceIndex(i++));
wms.path = path;
wms.setTo(s);
}
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/Memory.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/Memory.cpp
index be2415c2eb06658a79214580ca63c0faf37169dc..4a913f2b497fce236c3cb8f9343fa97179b2d757 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/Memory.cpp
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/Memory.cpp
@@ -24,8 +24,8 @@ namespace armarx::armem::d_ltm
wm::Memory Memory::convert() const
{
- wm::Memory m;
- for (const auto& [_, s] : _container)
+ wm::Memory m(id());
+ for (const auto& [k, s] : _container)
{
m.addCoreSegment(s.convert());
}
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.cpp
index bca090b81a79eb380289acac2157f86fbc19918e..f46e165381bf0d9cbdcc12b4cdfa31e286f4a545 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.cpp
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.cpp
@@ -23,7 +23,7 @@ namespace armarx::armem::d_ltm
wm::ProviderSegment ProviderSegment::convert(const aron::typenavigator::NavigatorPtr& expectedStructure) const
{
- wm::ProviderSegment m;
+ wm::ProviderSegment m(id());
for (const auto& [_, s] : _container)
{
if (hasAronType())
diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
index db546ddc586a83356d445202fdfaf94f5b1b916b..f35e9ecb4c330edf520cadbdf4fbc163fc431781 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
@@ -28,7 +28,6 @@ namespace armarx::armem::server
data::AddSegmentResult
MemoryToIceAdapter::addSegment(const data::AddSegmentInput& input, bool addCoreSegments)
{
- ARMARX_DEBUG << "Adding segment '" << input.coreSegmentName << "/" << input.providerSegmentName << "'.";
ARMARX_CHECK_NOT_NULL(workingMemory);
data::AddSegmentResult output;
@@ -205,10 +204,10 @@ namespace armarx::armem::server
: armem::DataMode::NoData);
armem::query::data::Result result;
- wm::Memory wm_result = wm_processor.process(input, *workingMemory, /* ignore if: */ { query::data::QueryTarget::LTM });
+ wm::Memory wm_result = wm_processor.process(input, *workingMemory, /* execute if: */ { query::data::QueryTarget::WM });
armem::ltm::query_proc::MemoryQueryProcessor ltm_processor;
- ltm::Memory ltm_result = ltm_processor.process(input, *longtermMemory, /* ignore if: */ { query::data::QueryTarget::WM });
+ ltm::Memory ltm_result = ltm_processor.process(input, *longtermMemory, /* execute if: */ { query::data::QueryTarget::LTM });
if (ltm_result.hasData())
@@ -237,6 +236,11 @@ namespace armarx::armem::server
}
result.success = true;
+ if (result.memory->coreSegments.size() == 0)
+ {
+ ARMARX_DEBUG << "No data in memory found after query.";
+ }
+
return result;
}
@@ -261,7 +265,7 @@ namespace armarx::armem::server
{
// force query to only query WM
// TODO: Think about other query class (fabian.peller)
- query->target = query::data::QueryTarget::WM;
+ query->targets = {query::data::QueryTarget::WM};
}
armem::query::data::Result queryResult = this->query(input.query);
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.h
index 69a305e45befca5a9189c6fb264985126d16fbf3..f71aede29731259471cf5e8dd660917b3e848bb1 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.h
@@ -1,5 +1,6 @@
#pragma once
+#include <ArmarXCore/core/logging/Logging.h>
#include <RobotAPI/interface/armem/query.h>
@@ -18,39 +19,67 @@ namespace armarx::armem::base::query_proc
public:
- DataT process(const QueryT& query, const DataT& data, const std::vector<query::data::QueryTarget>& ignoreTargets = {}) const
+ DataT process(const QueryT& query, const DataT& data, const query::data::QueryTargets& executeIf = {}) const
{
DataT result = data.copyEmpty();
- if (std::find(ignoreTargets.begin(), ignoreTargets.end(), query.target) != ignoreTargets.end())
+ for (const auto queryTarget : query.targets)
{
- return result;
+ if (std::find(executeIf.begin(), executeIf.end(), queryTarget) != executeIf.end())
+ {
+ this->process(result, query, data);
+ break;
+ }
}
- this->process(result, query, data);
return result;
}
- DataT process(const QueryPtrT& query, const DataT& data, const std::vector<query::data::QueryTarget>& ignoreTargets = {}) const
+ DataT process(const QueryPtrT& query, const DataT& data, const query::data::QueryTargets& executeIf = {}) const
{
- return this->process(*query, *data, ignoreTargets);
+ return this->process(*query, *data, executeIf);
}
- DataT process(const QuerySeqT& queries, const DataT& data, const std::vector<query::data::QueryTarget>& ignoreTargets = {}) const
+ DataT process(const QuerySeqT& queries, const DataT& data, const query::data::QueryTargets& executeIf = {}) const
{
DataT result = data.copyEmpty();
- this->process(result, queries, data, ignoreTargets);
+ this->process(result, queries, data, executeIf);
return result;
}
- void process(DataT& result, const QuerySeqT& queries, const DataT& data, const std::vector<query::data::QueryTarget>& ignoreTargets = {}) const
+ void process(DataT& result, const QuerySeqT& queries, const DataT& data, const query::data::QueryTargets& executeIf = {}) const
{
+ if (queries.empty())
+ {
+ ARMARX_DEBUG << "There are no queries to process.";
+ return;
+ }
+
+ if (executeIf.empty())
+ {
+ ARMARX_DEBUG << "Could not execute query. ExecuteIf s empty.";
+ return;
+ }
+
for (const auto& query : queries)
{
- if (std::find(ignoreTargets.begin(), ignoreTargets.end(), query->target) != ignoreTargets.end())
+ if (query->targets.empty())
{
+ ARMARX_DEBUG << "The targets of a query are empty";
continue;
}
- this->process(result, *query, data);
+
+ for (const auto queryTarget : query->targets)
+ {
+ if (std::find(executeIf.begin(), executeIf.end(), queryTarget) != executeIf.end())
+ {
+ this->process(result, *query, data);
+ break;
+ }
+ else
+ {
+ ARMARX_DEBUG << "The query target " << queryTarget << " was not found in executeIf: " << executeIf;
+ }
+ }
}
}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/MemoryQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/base/MemoryQueryProcessorBase.h
index 5de194d7ba2debada4ef9363005b1a7f2e927e94..cc06defc93976ea018ab8a7d3823a00d6121543d 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/MemoryQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/MemoryQueryProcessorBase.h
@@ -34,9 +34,9 @@ namespace armarx::armem::base::query_proc
using Base::process;
- _MemoryT process(const armem::query::data::Input& input, const _MemoryT& memory, const std::vector<query::data::QueryTarget>& ignoreTargets = {}) const
+ _MemoryT process(const armem::query::data::Input& input, const _MemoryT& memory, const std::vector<query::data::QueryTarget>& executeIf = {}) const
{
- return this->process(input.memoryQueries, memory, ignoreTargets);
+ return this->process(input.memoryQueries, memory, executeIf);
}
void process(_MemoryT& result,
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/BaseQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/BaseQueryProcessor.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..68821bcd95cdf2aaccf7126d4055495d39d0393d
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/BaseQueryProcessor.cpp
@@ -0,0 +1 @@
+#include "BaseQueryProcessor.h"
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/BaseQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/BaseQueryProcessor.h
new file mode 100644
index 0000000000000000000000000000000000000000..84f967795fd26d79d173a14e71498dbec7d56ee1
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/BaseQueryProcessor.h
@@ -0,0 +1,26 @@
+#pragma once
+
+#include <RobotAPI/interface/armem/query.h>
+#include <RobotAPI/libraries/armem/core/DataMode.h>
+
+#include "../base/BaseQueryProcessorBase.h"
+
+
+namespace armarx::armem::d_ltm::query_proc
+{
+ /**
+ * @brief Base class for memory query processors.
+ */
+ template <class DataT, class QueryT>
+ class BaseQueryProcessor :
+ virtual public base::query_proc::BaseQueryProcessorBase<DataT, QueryT>
+ {
+ using Base = base::query_proc::BaseQueryProcessorBase<DataT, QueryT>;
+
+ public:
+ BaseQueryProcessor()
+ {}
+
+ protected:
+ };
+}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/CoreSegmentQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/CoreSegmentQueryProcessor.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..afbe35ad15eea0342b0b0d4df0200aaf0d32aa2a
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/CoreSegmentQueryProcessor.cpp
@@ -0,0 +1 @@
+#include "CoreSegmentQueryProcessor.h"
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/CoreSegmentQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/CoreSegmentQueryProcessor.h
new file mode 100644
index 0000000000000000000000000000000000000000..1c40f7fc64b0a2c59fdc3e54d968c6627480cbb0
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/CoreSegmentQueryProcessor.h
@@ -0,0 +1,36 @@
+#pragma once
+
+#include "BaseQueryProcessor.h"
+#include "../base/CoreSegmentQueryProcessorBase.h"
+
+#include "../../../core/diskmemory/CoreSegment.h"
+
+#include "ProviderSegmentQueryProcessor.h"
+
+
+namespace armarx::armem::d_ltm::query_proc
+{
+ /**
+ * @brief Handles memory queries.
+ */
+ class CoreSegmentQueryProcessor :
+ virtual public BaseQueryProcessor<d_ltm::CoreSegment, armem::query::data::CoreSegmentQuery>,
+ virtual public base::query_proc::CoreSegmentQueryProcessorBase<d_ltm::CoreSegment>
+ {
+ using Base = BaseQueryProcessor<d_ltm::CoreSegment, armem::query::data::CoreSegmentQuery>;
+
+ public:
+ CoreSegmentQueryProcessor() :
+ Base()
+ {}
+
+ protected:
+ virtual ProviderSegmentT providerSegmentProcessorProcess(const armem::query::data::ProviderSegmentQuerySeq& q, const ProviderSegmentT& s) const override
+ {
+ return providerSegmentProcessor.process(q, s, {armem::query::data::QueryTarget::Disk});
+ }
+
+ private:
+ ProviderSegmentQueryProcessor providerSegmentProcessor;
+ };
+}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/EntityQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/EntityQueryProcessor.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..c1c321b026b173c6552758fb9d8b9fdf722ea5a4
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/EntityQueryProcessor.cpp
@@ -0,0 +1 @@
+#include "EntityQueryProcessor.h"
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/EntityQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/EntityQueryProcessor.h
new file mode 100644
index 0000000000000000000000000000000000000000..4d1b9e14e21804f1e44f1a2fd6456da37a113c03
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/EntityQueryProcessor.h
@@ -0,0 +1,39 @@
+#pragma once
+
+#include "BaseQueryProcessor.h"
+#include "../base/EntityQueryProcessorBase.h"
+
+#include "../../../core/diskmemory/Entity.h"
+
+#include "EntityQueryProcessor.h"
+
+namespace armarx::armem::d_ltm::query_proc
+{
+ /**
+ * @brief Handles memory queries.
+ */
+ class EntityQueryProcessor :
+ virtual public BaseQueryProcessor<d_ltm::Entity, armem::query::data::EntityQuery>,
+ virtual public base::query_proc::EntityQueryProcessorBase<d_ltm::Entity>
+ {
+ using Base = BaseQueryProcessor<d_ltm::Entity, armem::query::data::EntityQuery>;
+
+ public:
+ EntityQueryProcessor() :
+ Base()
+ {}
+
+ private:
+ void addResultSnapshot(d_ltm::Entity& result, d_ltm::Entity::ContainerT::const_iterator it) const override
+ {
+ addResultSnapshot(result, it->second);
+ }
+
+ void addResultSnapshot(d_ltm::Entity& result, const d_ltm::EntitySnapshot& snapshot) const override
+ {
+ result.addSnapshot(snapshot.copy());
+ }
+
+ };
+
+}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/MemoryQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/MemoryQueryProcessor.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..69b04de6c9e623286a5bda836dddfdc8b551b64a
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/MemoryQueryProcessor.cpp
@@ -0,0 +1 @@
+#include "MemoryQueryProcessor.h"
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/MemoryQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/MemoryQueryProcessor.h
new file mode 100644
index 0000000000000000000000000000000000000000..2abdcc1ccc7c25a317edc67e36835cb4a4df2f9b
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/MemoryQueryProcessor.h
@@ -0,0 +1,35 @@
+#pragma once
+
+#include "BaseQueryProcessor.h"
+#include "../base/MemoryQueryProcessorBase.h"
+
+#include "../../../core/diskmemory/Memory.h"
+
+#include "CoreSegmentQueryProcessor.h"
+
+namespace armarx::armem::d_ltm::query_proc
+{
+ /**
+ * @brief Handles memory queries.
+ */
+ class MemoryQueryProcessor :
+ virtual public BaseQueryProcessor<d_ltm::Memory, armem::query::data::MemoryQuery>,
+ virtual public base::query_proc::MemoryQueryProcessorBase<d_ltm::Memory>
+ {
+ using Base = BaseQueryProcessor<d_ltm::Memory, armem::query::data::MemoryQuery>;
+
+ public:
+ MemoryQueryProcessor() :
+ Base()
+ {}
+
+ protected:
+ virtual CoreSegmentT coreSegmentProcessorProcess(const armem::query::data::CoreSegmentQuerySeq& q, const CoreSegmentT& s) const override
+ {
+ return coreSegmentProcessor.process(q, s, {armem::query::data::QueryTarget::Disk});
+ }
+
+ private:
+ CoreSegmentQueryProcessor coreSegmentProcessor;
+ };
+}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/ProviderSegmentQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/ProviderSegmentQueryProcessor.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..9a2a4405001f0904b74fc6afcf96813eef0879cd
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/ProviderSegmentQueryProcessor.cpp
@@ -0,0 +1 @@
+#include "ProviderSegmentQueryProcessor.h"
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/ProviderSegmentQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/ProviderSegmentQueryProcessor.h
new file mode 100644
index 0000000000000000000000000000000000000000..94c2e756875c1152f8018f70c5e0d691a5704582
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/ProviderSegmentQueryProcessor.h
@@ -0,0 +1,37 @@
+#pragma once
+
+#include "BaseQueryProcessor.h"
+#include "../base/ProviderSegmentQueryProcessorBase.h"
+
+#include "../../../core/diskmemory/ProviderSegment.h"
+
+#include "EntityQueryProcessor.h"
+
+namespace armarx::armem::d_ltm::query_proc
+{
+ /**
+ * @brief Handles memory queries.
+ */
+ class ProviderSegmentQueryProcessor :
+ virtual public BaseQueryProcessor<d_ltm::ProviderSegment, armem::query::data::ProviderSegmentQuery>,
+ virtual public base::query_proc::ProviderSegmentQueryProcessorBase<d_ltm::ProviderSegment>
+ {
+ using Base = BaseQueryProcessor<d_ltm::ProviderSegment, armem::query::data::ProviderSegmentQuery>;
+
+ public:
+ ProviderSegmentQueryProcessor() :
+ Base()
+ {}
+
+ protected:
+ virtual EntityT entityProcessorProcess(const armem::query::data::EntityQuerySeq& q, const EntityT& s) const override
+ {
+ return entityProcessor.process(q, s, {armem::query::data::QueryTarget::Disk});
+ }
+
+ private:
+ EntityQueryProcessor entityProcessor;
+
+ };
+
+}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/CoreSegmentQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/CoreSegmentQueryProcessor.h
index dc379f1d88fa82bbe886e412e0341079fa43fce9..e333dd816aedabbb8dfa7209c687caf727d9ccf9 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/CoreSegmentQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/CoreSegmentQueryProcessor.h
@@ -27,7 +27,7 @@ namespace armarx::armem::ltm::query_proc
protected:
virtual ProviderSegmentT providerSegmentProcessorProcess(const armem::query::data::ProviderSegmentQuerySeq& q, const ProviderSegmentT& s) const override
{
- return providerSegmentProcessor.process(q, s);
+ return providerSegmentProcessor.process(q, s, {armem::query::data::QueryTarget::LTM});
}
private:
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/EntityQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/EntityQueryProcessor.h
index 952d759c8552c7939f6e08266e7feb880a85438e..5ec4c5dde481e16f0af30589d57ff2a447d81221 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/EntityQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/EntityQueryProcessor.h
@@ -31,7 +31,6 @@ namespace armarx::armem::ltm::query_proc
void addResultSnapshot(ltm::Entity& result, const ltm::EntitySnapshot& snapshot) const override
{
- ARMARX_INFO << "addResultSnapshot" << __LINE__;
result.addSnapshot(snapshot.copy());
}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/MemoryQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/MemoryQueryProcessor.h
index a5129417262515975efa247398602272865ee5ec..569014d6579eeb6c99996e4be5b7cb68f65457b1 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/MemoryQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/MemoryQueryProcessor.h
@@ -26,7 +26,7 @@ namespace armarx::armem::ltm::query_proc
protected:
virtual CoreSegmentT coreSegmentProcessorProcess(const armem::query::data::CoreSegmentQuerySeq& q, const CoreSegmentT& s) const override
{
- return coreSegmentProcessor.process(q, s);
+ return coreSegmentProcessor.process(q, s, {armem::query::data::QueryTarget::LTM});
}
private:
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/ProviderSegmentQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/ProviderSegmentQueryProcessor.h
index e0c6db9e3ef06e6241e9af8c572bb7fc78eec452..5443acfd6594b98250711cf2acfd434a98414066 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/ProviderSegmentQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/ProviderSegmentQueryProcessor.h
@@ -26,7 +26,7 @@ namespace armarx::armem::ltm::query_proc
protected:
virtual EntityT entityProcessorProcess(const armem::query::data::EntityQuerySeq& q, const EntityT& s) const override
{
- return entityProcessor.process(q, s);
+ return entityProcessor.process(q, s, {armem::query::data::QueryTarget::LTM});
}
private:
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/CoreSegmentQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/CoreSegmentQueryProcessor.h
index 079f63ac59928f2bd4ace9ab7ab033bef93c04a1..390ab66f656ece6010457f12f09917d9fca413f6 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/CoreSegmentQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/CoreSegmentQueryProcessor.h
@@ -31,7 +31,7 @@ namespace armarx::armem::wm::query_proc
protected:
virtual ProviderSegmentT providerSegmentProcessorProcess(const armem::query::data::ProviderSegmentQuerySeq& q, const ProviderSegmentT& s) const override
{
- return providerSegmentProcessor.process(q, s);
+ return providerSegmentProcessor.process(q, s, {armem::query::data::QueryTarget::WM});
}
private:
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/MemoryQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/MemoryQueryProcessor.h
index b0616c658a7915568fd910a8f35c9d4701aa1d0b..8284df202bbcf602e2433639fe85388ca13d75ff 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/MemoryQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/MemoryQueryProcessor.h
@@ -24,7 +24,7 @@ namespace armarx::armem::wm::query_proc
protected:
virtual CoreSegmentT coreSegmentProcessorProcess(const armem::query::data::CoreSegmentQuerySeq& q, const CoreSegmentT& s) const override
{
- return coreSegmentProcessor.process(q, s);
+ return coreSegmentProcessor.process(q, s, {armem::query::data::QueryTarget::WM});
}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/ProviderSegmentQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/ProviderSegmentQueryProcessor.h
index 1b2e9ba97850ed1f62f2d761a51996f3b2bb2665..468138d9e2bbd526db3632019beca6a5a29f8269 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/ProviderSegmentQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/ProviderSegmentQueryProcessor.h
@@ -30,7 +30,7 @@ namespace armarx::armem::wm::query_proc
protected:
virtual EntityT entityProcessorProcess(const armem::query::data::EntityQuerySeq& q, const EntityT& s) const override
{
- return entityProcessor.process(q, s);
+ return entityProcessor.process(q, s, {armem::query::data::QueryTarget::WM});
}
private:
diff --git a/source/RobotAPI/libraries/armem/test/ArMemQueryTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemQueryTest.cpp
index b2d07571d619531f45381d1238ca8201b8e0175e..4b83fd43261e1d97da45495f5da94279931e606f 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemQueryTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemQueryTest.cpp
@@ -134,7 +134,7 @@ BOOST_AUTO_TEST_CASE(test_entity_Single_latest)
BOOST_AUTO_TEST_CASE(test_entity_Single_existing)
{
- addResults(query::entity::Single { query::QueryTarget::WMAndLTM, 3000 });
+ addResults(query::entity::Single({query::QueryTarget::WM, query::QueryTarget::LTM}, 3000));
BOOST_REQUIRE_GT(results.size(), 0);
for (const armem::wm::Entity& result : results)
@@ -148,7 +148,7 @@ BOOST_AUTO_TEST_CASE(test_entity_Single_existing)
BOOST_AUTO_TEST_CASE(test_entity_Single_non_existing)
{
- addResults(query::entity::Single { query::QueryTarget::WMAndLTM, 3500 });
+ addResults(query::entity::Single({query::QueryTarget::WM, query::QueryTarget::LTM}, 3500));
BOOST_REQUIRE_GT(results.size(), 0);
for (const armem::wm::Entity& result : results)
@@ -182,7 +182,7 @@ BOOST_AUTO_TEST_CASE(test_entity_All)
BOOST_AUTO_TEST_CASE(test_entity_TimeRange_slice)
{
- addResults(query::entity::TimeRange{ query::QueryTarget::WMAndLTM, 1500, 3500 });
+ addResults(query::entity::TimeRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 1500, 3500));
BOOST_REQUIRE_GT(results.size(), 0);
for (const armem::wm::Entity& result : results)
@@ -203,7 +203,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_slice)
BOOST_AUTO_TEST_CASE(test_entity_TimeRange_exact)
{
- addResults(query::entity::TimeRange{ query::QueryTarget::WMAndLTM, 2000, 4000 });
+ addResults(query::entity::TimeRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 2000, 4000));
BOOST_REQUIRE_GT(results.size(), 0);
for (const armem::wm::Entity& result : results)
@@ -223,8 +223,8 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_exact)
BOOST_AUTO_TEST_CASE(test_entity_TimeRange_all)
{
- addResults(query::entity::TimeRange{ query::QueryTarget::WMAndLTM, 0, 10000 });
- addResults(query::entity::TimeRange{ query::QueryTarget::WMAndLTM, -1, -1 });
+ addResults(query::entity::TimeRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 0, 10000));
+ addResults(query::entity::TimeRange({query::QueryTarget::WM, query::QueryTarget::LTM}, -1, -1));
BOOST_REQUIRE_GT(results.size(), 0);
for (const armem::wm::Entity& result : results)
@@ -242,8 +242,8 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_all)
BOOST_AUTO_TEST_CASE(test_entity_TimeRange_empty)
{
- addResults(query::entity::TimeRange{ query::QueryTarget::WMAndLTM, 2400, 2600 });
- addResults(query::entity::TimeRange{ query::QueryTarget::WMAndLTM, 6000, 1000 });
+ addResults(query::entity::TimeRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 2400, 2600));
+ addResults(query::entity::TimeRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 6000, 1000));
BOOST_REQUIRE_GT(results.size(), 0);
for (const armem::wm::Entity& result : results)
@@ -257,7 +257,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_empty)
BOOST_AUTO_TEST_CASE(test_entity_TimeRange_from_start)
{
- addResults(query::entity::TimeRange{ query::QueryTarget::WMAndLTM, -1, 2500 });
+ addResults(query::entity::TimeRange({query::QueryTarget::WM, query::QueryTarget::LTM}, -1, 2500));
BOOST_REQUIRE_GT(results.size(), 0);
for (const armem::wm::Entity& result : results)
@@ -278,7 +278,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_from_start)
BOOST_AUTO_TEST_CASE(test_entity_TimeRange_to_end)
{
- addResults(query::entity::TimeRange{ query::QueryTarget::WMAndLTM, 2500, -1 });
+ addResults(query::entity::TimeRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 2500, -1));
BOOST_REQUIRE_GT(results.size(), 0);
for (const armem::wm::Entity& result : results)
@@ -302,7 +302,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeRange_to_end)
BOOST_AUTO_TEST_CASE(test_entity_BeforeTime_1)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::BeforeTime{ query::QueryTarget::WMAndLTM, 3500, 1 });
+ addResults(query::entity::BeforeTime({query::QueryTarget::WM, query::QueryTarget::LTM}, 3500, 1));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -318,7 +318,7 @@ BOOST_AUTO_TEST_CASE(test_entity_BeforeTime_1)
BOOST_AUTO_TEST_CASE(test_entity_BeforeTime_2)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::BeforeTime{ query::QueryTarget::WMAndLTM, 3500, 2});
+ addResults(query::entity::BeforeTime({query::QueryTarget::WM, query::QueryTarget::LTM}, 3500, 2));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -343,7 +343,7 @@ BOOST_AUTO_TEST_CASE(test_entity_BeforeTime_2)
BOOST_AUTO_TEST_CASE(test_entity_BeforeOrAtTime_before)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::BeforeOrAtTime{ query::QueryTarget::WMAndLTM, 3500 });
+ addResults(query::entity::BeforeOrAtTime({query::QueryTarget::WM, query::QueryTarget::LTM}, 3500));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -358,7 +358,7 @@ BOOST_AUTO_TEST_CASE(test_entity_BeforeOrAtTime_before)
BOOST_AUTO_TEST_CASE(test_entity_BeforeOrAtTime_at)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::BeforeOrAtTime{ query::QueryTarget::WMAndLTM, 3000 });
+ addResults(query::entity::BeforeOrAtTime({query::QueryTarget::WM, query::QueryTarget::LTM}, 3000));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -373,7 +373,7 @@ BOOST_AUTO_TEST_CASE(test_entity_BeforeOrAtTime_at)
BOOST_AUTO_TEST_CASE(test_entity_BeforeOrAtTime_lookup_past)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::BeforeOrAtTime{ query::QueryTarget::WMAndLTM, 1 });
+ addResults(query::entity::BeforeOrAtTime({query::QueryTarget::WM, query::QueryTarget::LTM}, 1));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -393,7 +393,7 @@ BOOST_AUTO_TEST_CASE(test_entity_BeforeOrAtTime_lookup_past)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_no_limit)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::TimeApprox{ query::QueryTarget::WMAndLTM, 3500, -1});
+ addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM}, 3500, -1));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -419,7 +419,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_no_limit)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_600)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::TimeApprox{ query::QueryTarget::WMAndLTM, 3500, 600});
+ addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM}, 3500, 600));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -445,7 +445,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_600)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_too_small)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::TimeApprox{ query::QueryTarget::WMAndLTM, 3500, 100});
+ addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM}, 3500, 100));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -464,7 +464,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_too_small)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_only_next)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::TimeApprox{ query::QueryTarget::WMAndLTM, 3700, 400});
+ addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM}, 3700, 400));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -489,7 +489,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_only_next)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_only_previous)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::TimeApprox{ query::QueryTarget::WMAndLTM, 3300, 400});
+ addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM}, 3300, 400));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -514,7 +514,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_limit_only_previous)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_perfect_match)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::TimeApprox{ query::QueryTarget::WMAndLTM, 3000, -1});
+ addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM}, 3000, -1));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -539,7 +539,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_perfect_match)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_lookup_past)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::TimeApprox{ query::QueryTarget::WMAndLTM, 1, 1});
+ addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM}, 1, 1));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -557,7 +557,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_lookup_past)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_lookup_future)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::TimeApprox{ query::QueryTarget::WMAndLTM, 10'000, 1});
+ addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM}, 10'000, 1));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -575,7 +575,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_lookup_future)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_lookup_future_valid)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::TimeApprox{ query::QueryTarget::WMAndLTM, 10'000, -1});
+ addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM}, 10'000, -1));
BOOST_REQUIRE_EQUAL(results.size(), 2);
for (const auto& result : results)
@@ -594,7 +594,7 @@ BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_lookup_future_valid)
BOOST_AUTO_TEST_CASE(test_entity_TimeApprox_lookup_invalid_timestamp)
{
- BOOST_REQUIRE_THROW(addResults(query::entity::TimeApprox{ query::QueryTarget::WMAndLTM, -1, 1}), ::armarx::LocalException);
+ BOOST_REQUIRE_THROW(addResults(query::entity::TimeApprox({query::QueryTarget::WM, query::QueryTarget::LTM}, -1, 1)), ::armarx::LocalException);
}
@@ -634,7 +634,7 @@ BOOST_AUTO_TEST_CASE(test_negative_index_semantics)
BOOST_AUTO_TEST_CASE(test_entity_IndexRange_all_default)
{
addResults(query::entity::IndexRange());
- addResults(query::entity::IndexRange(query::QueryTarget::WMAndLTM, 0, -1));
+ addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 0, -1));
BOOST_REQUIRE_GT(results.size(), 0);
for (const armem::wm::Entity& result : results)
@@ -654,10 +654,10 @@ BOOST_AUTO_TEST_CASE(test_entity_IndexRange_all_default)
BOOST_AUTO_TEST_CASE(test_entity_IndexRange_slice)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::IndexRange{ query::QueryTarget::WMAndLTM, 1, 3 }); // => [1, 2, 3]
- addResults(query::entity::IndexRange{ query::QueryTarget::WMAndLTM, 1, -2 }); // 5 - 2 = 3
- addResults(query::entity::IndexRange{ query::QueryTarget::WMAndLTM, -4, 3 }); // 5 - 4 = 1
- addResults(query::entity::IndexRange{ query::QueryTarget::WMAndLTM, -4, -2 });
+ addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 1, 3)); // => [1, 2, 3]
+ addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 1, -2)); // 5 - 2 = 3
+ addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, -4, 3)); // 5 - 4 = 1
+ addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, -4, -2));
BOOST_REQUIRE_GT(results.size(), 0);
for (const armem::wm::Entity& result : results)
@@ -679,12 +679,12 @@ BOOST_AUTO_TEST_CASE(test_entity_IndexRange_slice)
BOOST_AUTO_TEST_CASE(test_entity_IndexRange_empty_range)
{
BOOST_REQUIRE_EQUAL(entity.size(), 5);
- addResults(query::entity::IndexRange{ query::QueryTarget::WMAndLTM, 1, 0 });
- addResults(query::entity::IndexRange{ query::QueryTarget::WMAndLTM, 2, 1 });
- addResults(query::entity::IndexRange{ query::QueryTarget::WMAndLTM, 5, 3 });
- addResults(query::entity::IndexRange{ query::QueryTarget::WMAndLTM, 4, -3 }); // 5-3 = 2
- addResults(query::entity::IndexRange{ query::QueryTarget::WMAndLTM, 3, -3 });
- addResults(query::entity::IndexRange{ query::QueryTarget::WMAndLTM, 1, -5 });
+ addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 1, 0));
+ addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 2, 1));
+ addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 5, 3));
+ addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 4, -3)); // 5-3 = 2
+ addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 3, -3));
+ addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 1, -5));
BOOST_REQUIRE_GT(results.size(), 0);
@@ -701,12 +701,12 @@ BOOST_AUTO_TEST_CASE(test_entity_IndexRange_empty_entity)
{
entity.clear();
BOOST_REQUIRE_EQUAL(entity.size(), 0);
- addResults(query::entity::IndexRange{ query::QueryTarget::WMAndLTM, 0, 0 });
- addResults(query::entity::IndexRange{ query::QueryTarget::WMAndLTM, 0, 10 });
- addResults(query::entity::IndexRange{query::QueryTarget::WMAndLTM, -10, -1 });
- addResults(query::entity::IndexRange{ query::QueryTarget::WMAndLTM, 2, 5 });
- addResults(query::entity::IndexRange{ query::QueryTarget::WMAndLTM, 3, -3 });
- addResults(query::entity::IndexRange{ query::QueryTarget::WMAndLTM, -1, 10 });
+ addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 0, 0));
+ addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 0, 10));
+ addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, -10, -1));
+ addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 2, 5));
+ addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, 3, -3));
+ addResults(query::entity::IndexRange({query::QueryTarget::WM, query::QueryTarget::LTM}, -1, 10));
BOOST_REQUIRE_GT(results.size(), 0);
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryControlWidget.cpp b/source/RobotAPI/libraries/armem_gui/MemoryControlWidget.cpp
index c68673377563e83019640755699187ebee39a418..5016db50bf5da8dc10d0fac5b5c004b9178ddc40 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryControlWidget.cpp
+++ b/source/RobotAPI/libraries/armem_gui/MemoryControlWidget.cpp
@@ -15,26 +15,31 @@ namespace armarx::armem::gui
{
setSizePolicy(QSizePolicy::Policy::Minimum, QSizePolicy::Policy::Fixed);
- QLayout* layout = new QHBoxLayout();
- this->setLayout(layout);
+ auto vlayout = new QVBoxLayout();
+ auto hlayout = new QHBoxLayout();
const int margin = 0;
- layout->setContentsMargins(margin, margin, margin, margin);
+ vlayout->setContentsMargins(margin, margin, margin, margin);
_lineEdit = new QLineEdit("/tmp/MemoryExport", this);
- _exportHereButton = new QPushButton("Export here", this);
+ _lineEdit->setSizePolicy(QSizePolicy::Ignored, QSizePolicy::Preferred);
+ _lineEdit->setMinimumWidth(400);
- _storeButton = new QPushButton("Store in LTM", this);
+ _storeOnDiskButton = new QPushButton("Store current result on local Disk", this);
- layout->addWidget(_lineEdit);
- layout->addWidget(_exportHereButton);
- layout->addWidget(_storeButton);
+ _storeInLTMButton = new QPushButton("Store current result in LTM", this);
+ vlayout->addWidget(_lineEdit);
+ hlayout->addWidget(_storeOnDiskButton);
+ hlayout->addWidget(_storeInLTMButton);
+ vlayout->addItem(hlayout);
+
+ this->setLayout(vlayout);
// Private connections.
// Public connections.
- connect(_storeButton, &QPushButton::pressed, this, &This::store);
- connect(_exportHereButton, &QPushButton::pressed, this, &This::exportHere);
+ connect(_storeInLTMButton, &QPushButton::pressed, this, &This::storeInLTM);
+ connect(_storeOnDiskButton, &QPushButton::pressed, this, &This::storeOnDisk);
}
QLineEdit* MemoryControlWidget::pathInputBox()
@@ -47,14 +52,14 @@ namespace armarx::armem::gui
return _lineEdit->text();
}
- QPushButton* MemoryControlWidget::storeButton()
+ QPushButton* MemoryControlWidget::storeInLTMButton()
{
- return _storeButton;
+ return _storeInLTMButton;
}
- QPushButton* MemoryControlWidget::exportHereButton()
+ QPushButton* MemoryControlWidget::storeOnDiskButton()
{
- return _exportHereButton;
+ return _storeOnDiskButton;
}
}
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryControlWidget.h b/source/RobotAPI/libraries/armem_gui/MemoryControlWidget.h
index 4f8acc62ac9c8918f887703d9188e76cfc9f8584..19831694acc7b9251c7d372b8381f755df1bc292 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryControlWidget.h
+++ b/source/RobotAPI/libraries/armem_gui/MemoryControlWidget.h
@@ -20,17 +20,15 @@ namespace armarx::armem::gui
QLineEdit* pathInputBox();
QString getEnteredPath();
- QPushButton* storeButton();
- QPushButton* loadButton();
- QPushButton* exportHereButton();
+ QPushButton* storeInLTMButton();
+ QPushButton* storeOnDiskButton();
public slots:
signals:
- void store();
- void load();
- void exportHere();
+ void storeInLTM();
+ void storeOnDisk();
private slots:
@@ -42,9 +40,8 @@ namespace armarx::armem::gui
QLineEdit* _lineEdit;
- QPushButton* _storeButton;
- QPushButton* _loadButton;
- QPushButton* _exportHereButton;
+ QPushButton* _storeInLTMButton;
+ QPushButton* _storeOnDiskButton;
};
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
index 6d711ac1dfee696b069a0408a001f5d98a08f2cd..5037bad396c0e7a83b7704b4895a25225ae8106f 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
+++ b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
@@ -5,6 +5,9 @@
#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 <ArmarXGui/libraries/SimpleConfigDialog/SimpleConfigDialog.h>
#include <ArmarXCore/core/ManagedIceObject.h>
@@ -24,7 +27,6 @@
#include <filesystem>
-
namespace armarx::armem::gui
{
MemoryViewer::MemoryViewer(
@@ -79,8 +81,8 @@ namespace armarx::armem::gui
// Connections
//connect(this, &This::connected, this, &This::updateMemory);
- connect(memoryControlWidget, &armem::gui::MemoryControlWidget::exportHere, this, &This::exportHere);
- connect(memoryControlWidget, &armem::gui::MemoryControlWidget::store, this, &This::store);
+ connect(memoryControlWidget, &armem::gui::MemoryControlWidget::storeOnDisk, this, &This::storeOnDisk);
+ connect(memoryControlWidget, &armem::gui::MemoryControlWidget::storeInLTM, this, &This::storeInLTM);
connect(this, &This::connected, this, &This::updateMemories);
connect(updateWidget, &armem::gui::PeriodicUpdateWidget::update, this, &This::updateMemories);
@@ -151,17 +153,18 @@ namespace armarx::armem::gui
statusLabel->setText(QString::fromStdString(ss.str()));
return nullptr;
}
- else if (not it->second.has_value())
+ /*else if (not it->second.has_value())
{
return nullptr;
- }
+ }*/
else
{
- return &it->second.value();
+ //return &it->second.value();
+ return &it->second;
}
}
- void MemoryViewer::store()
+ void MemoryViewer::storeInLTM()
{
TIMING_START(MemoryStore);
@@ -175,32 +178,37 @@ namespace armarx::armem::gui
TIMING_END_STREAM(MemoryStore, ARMARX_VERBOSE);
}
- void MemoryViewer::exportHere()
+ void MemoryViewer::storeOnDisk()
{
TIMING_START(MemoryExport);
QString qs = memoryControlWidget->getEnteredPath();
std::string utf8_text = qs.toUtf8().constData();
- ARMARX_IMPORTANT << "Exporting all memories at '" << utf8_text << "'.";
-
- std::filesystem::path p(utf8_text);
- if (std::filesystem::is_regular_file(p))
+ if (not utf8_text.empty())
{
- ARMARX_WARNING << "Could not export a memory at '" << utf8_text << "'. Skipping export.";
- return;
- }
+ ARMARX_IMPORTANT << "Exporting all memories at '" << utf8_text << "'.";
- std::filesystem::create_directories(p);
- for (auto& [name, reader] : memoryReaders)
+ std::filesystem::path p(utf8_text);
+ if (std::filesystem::is_regular_file(p))
+ {
+ ARMARX_WARNING << "Could not export a memory at '" << utf8_text << "'. Skipping export.";
+ return;
+ }
+
+ std::filesystem::create_directories(p);
+ for (auto& [name, reader] : memoryReaders)
+ {
+ armem::client::QueryInput input = memoryGroup->queryWidget()->queryInput();
+ armem::client::QueryResult result = reader.query(input);
+
+ armem::d_ltm::Memory dMem(name);
+ dMem.reload(p / name);
+ dMem.append(result.memory);
+ }
+ }
+ else
{
- armem::client::QueryInput input = memoryGroup->queryWidget()->queryInput();
- armem::client::QueryResult result = reader.query(input);
-
- armem::d_ltm::Memory dMem(name);
- ARMARX_IMPORTANT << "RELOAD";
- dMem.reload(p / name);
- ARMARX_IMPORTANT << "APPEND";
- dMem.append(result.memory);
+ ARMARX_WARNING << "The path is empty. Could not export the memory in nirvana.";
}
TIMING_END_STREAM(MemoryExport, ARMARX_VERBOSE);
@@ -215,18 +223,77 @@ namespace armarx::armem::gui
bool dataChanged = false;
+ QString qs = memoryControlWidget->getEnteredPath();
+ std::string utf8_text = qs.toUtf8().constData();
+
+ std::filesystem::path p(utf8_text);
+
+ // first check if the local file system should be queried
+ if (memoryGroup->queryWidget()->alsoQueryLocalDisk())
+ {
+ if (std::filesystem::is_directory(p))
+ {
+ for (const auto& d : std::filesystem::directory_iterator(p))
+ {
+ if (d.is_directory())
+ {
+ std::string k = d.path().filename();
+ armem::d_ltm::Memory dMem(k);
+ dMem.reload(p / k);
+
+ armem::client::QueryInput input = memoryGroup->queryWidget()->queryInput();
+ input.addQueryTargetToAll(armem::query::data::QueryTarget::Disk);
+
+ armem::d_ltm::query_proc::MemoryQueryProcessor d_ltm_processor;
+ dMem = d_ltm_processor.process(input.toIce(), dMem, /* execute if: */ { query::data::QueryTarget::Disk });
+
+ wm::Memory converted = dMem.convert();
+ memoryData[k] = std::move(converted);
+ dataChanged = true;
+ }
+ }
+ }
+ else
+ {
+ ARMARX_WARNING << "Could not import a memory from '" << utf8_text << "'. Skipping import.";
+ }
+ }
+
+ armem::client::QueryInput input = memoryGroup->queryWidget()->queryInput();
for (auto& [name, reader] : memoryReaders)
{
TIMING_START(MemoryQuery);
{
- armem::client::QueryInput input = memoryGroup->queryWidget()->queryInput();
armem::client::QueryResult result = reader.query(input);
if (result)
{
- memoryData[name] = std::move(result.memory);
+ if (result.memory.hasData())
+ {
+ if (const auto& it = memoryData.find(name); it != memoryData.end())
+ {
+ result.memory.append(it->second);
+
+ // requery (e.g. to get only the last n values instead of the last n from disk and the last n from wm)
+ armem::wm::query_proc::MemoryQueryProcessor wm_processor;
+ result.memory = wm_processor.process(input.toIce(), result.memory, /* execute if: */ { query::data::QueryTarget::WM });
+
+ if (!result.memory.hasData())
+ {
+ ARMARX_ERROR << "A memory which had data before lost data. This indicates that there is something wrong.";
+ }
+ }
+
+ dataChanged = true;
+ memoryData[name] = std::move(result.memory);
+ }
+ else
+ {
+ ARMARX_INFO << "The memory " << name << " has no data after querying.";
+ }
}
else
{
+ ARMARX_WARNING << "A query for memory '" + name + "' produced an error: " << result.errorMessage;
if (statusLabel)
{
statusLabel->setText(QString::fromStdString(result.errorMessage));
@@ -239,24 +306,19 @@ namespace armarx::armem::gui
{
debugObserver->setDebugDatafield(Logging::tag.tagName, "Memory Query [ms]", new Variant(MemoryQuery.toMilliSecondsDouble()));
}
-
- if (memoryData[name])
- {
- dataChanged = true;
- }
- else
- {
- if (statusLabel)
- {
- statusLabel->setText("No query result.");
- }
- }
}
if (dataChanged)
{
emit memoryDataChanged();
}
+ else
+ {
+ if (statusLabel)
+ {
+ statusLabel->setText("No query result.");
+ }
+ }
}
@@ -382,10 +444,11 @@ namespace armarx::armem::gui
std::map<std::string, const armem::wm::Memory*> convMap;
for (auto& [name, data] : memoryData)
{
- if (data.has_value())
+ /*if (data.has_value())
{
convMap[name] = &data.value();
- }
+ }*/
+ convMap[name] = &data;
}
if (convMap.empty())
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryViewer.h b/source/RobotAPI/libraries/armem_gui/MemoryViewer.h
index 22455503637f55114516bf6e93c6772cd18c179e..71870bdd565b0b8a585808f5f0e9f0f43c93d315 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryViewer.h
+++ b/source/RobotAPI/libraries/armem_gui/MemoryViewer.h
@@ -71,8 +71,8 @@ namespace armarx::armem::gui
void resolveMemoryID(const MemoryID& id);
// LTMControlWidget
- void store();
- void exportHere();
+ void storeInLTM();
+ void storeOnDisk();
signals:
@@ -109,7 +109,7 @@ namespace armarx::armem::gui
armem::client::MemoryNameSystem mns;
std::map<std::string, armem::client::Reader> memoryReaders;
- std::map<std::string, std::optional<armem::wm::Memory>> memoryData;
+ std::map<std::string, armem::wm::Memory> memoryData;
QLayout* updateWidgetLayout = nullptr;
armem::gui::PeriodicUpdateWidget* updateWidget = nullptr;
diff --git a/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.cpp b/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.cpp
index ae9af3c213fbbea4d4a44852e8e02d0af15b8de9..dbb3d3fcabfa2ccf0034d1ba72027664bebe6ebc 100644
--- a/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.cpp
+++ b/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.cpp
@@ -41,14 +41,18 @@ namespace armarx::armem::gui
: armem::DataMode::NoData;
}
+ bool QueryWidget::alsoQueryLocalDisk() const
+ {
+ return _snapshotSelectorWidget->queryTargetContainsLocalDisk();
+ }
+
armem::client::QueryInput QueryWidget::queryInput()
{
armem::client::query::Builder qb(dataMode());
- qb
- .queryTarget(_snapshotSelectorWidget->queryTarget())
- .coreSegments().all()
- .providerSegments().all()
- .entities().all()
+ qb.queryTargets(_snapshotSelectorWidget->queryTargets())
+ .coreSegments().all().queryTargets(_snapshotSelectorWidget->queryTargets())
+ .providerSegments().all().queryTargets(_snapshotSelectorWidget->queryTargets())
+ .entities().all().queryTargets(_snapshotSelectorWidget->queryTargets())
.snapshots(_snapshotSelectorWidget->selector());
return qb.buildQueryInput();
diff --git a/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.h b/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.h
index 37e5fca58b80d54592d4eb6443e8e624bd0a613d..d2c3fecd6198ad2ad5c3f37077eb07f4f365dea9 100644
--- a/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.h
+++ b/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.h
@@ -21,6 +21,7 @@ namespace armarx::armem::gui
armem::DataMode dataMode() const;
+ bool alsoQueryLocalDisk() const;
armem::client::QueryInput queryInput();
diff --git a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotForm.cpp b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotForm.cpp
index 8d60c2252d4e9d6593a228cad75075cc41a21e5c..1d6c0cff39fd69da5e7f29844c64fabc1843f9a4 100644
--- a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotForm.cpp
+++ b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotForm.cpp
@@ -20,9 +20,9 @@
namespace armarx::armem::gui
{
- client::query::SnapshotSelector SnapshotForm::makeEntitySelector()
+ client::query::SnapshotSelector SnapshotForm::makeEntitySelector(const armem::query::data::QueryTargets& targets)
{
- client::query::SnapshotSelector s;
+ client::query::SnapshotSelector s(targets);
fillEntitySelector(s);
return s;
}
diff --git a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotForm.h b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotForm.h
index 0ca9950b33a0585c97a8157bf17ad3c272fc8abc..f2f9ba1940d268d06f3383374d01893ea2d3dea4 100644
--- a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotForm.h
+++ b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotForm.h
@@ -19,7 +19,7 @@ namespace armarx::armem::gui
Q_OBJECT
public:
- virtual client::query::SnapshotSelector makeEntitySelector();
+ virtual client::query::SnapshotSelector makeEntitySelector(const armem::query::data::QueryTargets& targets);
signals:
@@ -30,10 +30,6 @@ namespace armarx::armem::gui
virtual void fillEntitySelector(client::query::SnapshotSelector& selector) = 0;
void setDateTimeDisplayFormat(QDateTimeEdit* dt);
-
- public:
- client::query::SnapshotSelector selector;
-
};
diff --git a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.cpp b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.cpp
index 87d94376e673492d07a7fe2f0206359259ea327a..e41bed15cecbc599c7c97b4266a04e0e9a70e47e 100644
--- a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.cpp
+++ b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.cpp
@@ -10,25 +10,39 @@
namespace armarx::armem::gui
{
- client::query::SnapshotSelector& SnapshotSelectorWidget::selector()
+ client::query::SnapshotSelector SnapshotSelectorWidget::selector()
{
- return _selector;
+ return _queryForms.at(_queryComboBox->currentText())->makeEntitySelector(queryTargets());
}
- query::data::QueryTarget SnapshotSelectorWidget::queryTarget() const
+ query::data::QueryTargets SnapshotSelectorWidget::queryTargets() const
{
- return _queryTarget;
+ query::data::QueryTargets targets;
+ if (_WMQueryTargetCheckBox->isChecked())
+ {
+ targets.push_back(query::data::QueryTarget::WM);
+ }
+ if (_LTMQueryTargetCheckBox->isChecked())
+ {
+ targets.push_back(query::data::QueryTarget::LTM);
+ }
+ if (_DiskMemoryQueryTargetCheckBox->isChecked())
+ {
+ targets.push_back(query::data::QueryTarget::Disk);
+ }
+ return targets;
}
+ bool SnapshotSelectorWidget::queryTargetContainsLocalDisk() const
+ {
+ return _LocalDiskMemoryQueryTargetCheckBox->isChecked();
+ }
SnapshotSelectorWidget::SnapshotSelectorWidget()
{
_pageLayout = new QVBoxLayout();
setLayout(_pageLayout);
- connect(this, &This::queryOutdated, this, &This::updateSelector);
- connect(this, &This::queryTargetOutdated, this, &This::updateQueryTarget);
-
{
QHBoxLayout* typeLayout = new QHBoxLayout();
@@ -40,16 +54,23 @@ namespace armarx::armem::gui
typeLayout->addWidget(_queryComboBox);
connect(_queryComboBox, &QComboBox::currentTextChanged, this, &This::showSelectedFormForQuery);
- connect(_queryComboBox, &QComboBox::currentTextChanged, this, &This::queryOutdated);
+ connect(_queryComboBox, &QComboBox::currentTextChanged, this, &This::queryChanged);
// query type select box
- _queryTargetComboBox = new QComboBox();
- _queryTargetComboBox->addItems({"WM", "WM & LTM", "LTM (debug only)"});
- _queryTargetComboBox->setCurrentIndex(0);
+ auto queryTargetLayout = new QHBoxLayout();
+ _WMQueryTargetCheckBox = new QCheckBox("WM");
+ _LTMQueryTargetCheckBox = new QCheckBox("LTM (MongoDB)");
+ _DiskMemoryQueryTargetCheckBox = new QCheckBox("LTM (Disk)");
+ _LocalDiskMemoryQueryTargetCheckBox = new QCheckBox("Local Disk");
- typeLayout->addWidget(_queryTargetComboBox);
+ queryTargetLayout->addWidget(_WMQueryTargetCheckBox);
+ queryTargetLayout->addWidget(_LTMQueryTargetCheckBox);
+ queryTargetLayout->addWidget(_DiskMemoryQueryTargetCheckBox);
+ queryTargetLayout->addWidget(_LocalDiskMemoryQueryTargetCheckBox);
- connect(_queryTargetComboBox, &QComboBox::currentTextChanged, this, &This::queryTargetOutdated);
+ _WMQueryTargetCheckBox->setChecked(true);
+
+ typeLayout->addLayout(queryTargetLayout);
_pageLayout->addLayout(typeLayout);
}
@@ -61,26 +82,7 @@ namespace armarx::armem::gui
addForm("Time Range", new SnapshotFormTimeRange());
addForm("Index Range", new SnapshotFormIndexRange());
- // Add query targets
- _queryTargets.insert({"WM", query::data::QueryTarget::WM});
- _queryTargets.insert({"WM & LTM", query::data::QueryTarget::WMAndLTM});
- _queryTargets.insert({"LTM (debug only)", query::data::QueryTarget::LTM});
-
showSelectedFormForQuery(_queryComboBox->currentText());
- updateSelector();
- updateQueryTarget();
- }
-
- void SnapshotSelectorWidget::updateSelector()
- {
- this->_selector = _queryForms.at(_queryComboBox->currentText())->makeEntitySelector();
- emit queryChanged();
- }
-
- void SnapshotSelectorWidget::updateQueryTarget()
- {
- this->_queryTarget = _queryTargets.at(_queryTargetComboBox->currentText());
- emit queryTargetChanged();
}
void SnapshotSelectorWidget::showSelectedFormForQuery(QString selected)
@@ -95,7 +97,7 @@ namespace armarx::armem::gui
{
auto r = _queryForms.emplace(key, form);
_pageLayout->addWidget(r.first->second);
- connect(r.first->second, &SnapshotForm::queryChanged, this, &This::updateSelector);
+ //connect(r.first->second, &SnapshotForm::queryChanged, this, &This::updateSelector);
}
void SnapshotSelectorWidget::hideAllForms()
diff --git a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.h b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.h
index 92db5fbb13c74b011ca0f36a64fbf82a58536717..6f6422c3cdbc7fd0e1899bce47efbaaa32589062 100644
--- a/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.h
+++ b/source/RobotAPI/libraries/armem_gui/query_widgets/SnapshotSelectorWidget.h
@@ -35,31 +35,27 @@ namespace armarx::armem::gui
armem::DataMode dataMode() const;
- client::query::SnapshotSelector& selector();
- query::data::QueryTarget queryTarget() const;
+ client::query::SnapshotSelector selector();
+ query::data::QueryTargets queryTargets() const;
+ bool queryTargetContainsLocalDisk() const;
public slots:
signals:
-
void queryChanged();
- void queryTargetChanged();
private slots:
- void updateSelector();
- void updateQueryTarget();
+ //void updateSelector();
void hideAllForms();
void showSelectedFormForQuery(QString selected);
signals:
-
void queryOutdated();
- void queryTargetOutdated();
private:
@@ -68,16 +64,14 @@ namespace armarx::armem::gui
public:
-
- client::query::SnapshotSelector _selector;
- query::data::QueryTarget _queryTarget;
-
QVBoxLayout* _pageLayout;
QComboBox* _queryComboBox;
- QComboBox* _queryTargetComboBox;
+ QCheckBox* _WMQueryTargetCheckBox;
+ QCheckBox* _LTMQueryTargetCheckBox;
+ QCheckBox* _DiskMemoryQueryTargetCheckBox;
+ QCheckBox* _LocalDiskMemoryQueryTargetCheckBox;
/// The forms for the different query types. Hidden when not selected.
std::map<QString, SnapshotForm*> _queryForms;
- std::map<QString, query::data::QueryTarget> _queryTargets;
};
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Reader.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Reader.cpp
index 944f755f4ffdac48ae204903c0047a39c45e828f..d37479515ef8b7d1d2a1397d5ae5c5d1b563cb99 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Reader.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Reader.cpp
@@ -182,6 +182,13 @@ namespace armarx::aron::xmltypereader
Data::EnforceTagName(node, Data::INCLUDE_TAG);
const std::string xmlinclude = Data::GetAttribute(node, Data::INCLUDE_ATTRIBUTE_NAME);
+ // add logic to allow relative paths:
+ std::string xml_path = xmlinclude;
+ if (simox::alg::starts_with(xmlinclude, "Package: "))
+ {
+ // TODO CMakePackageFinder:
+ }
+
// parse parent xml file and add objects to alreday known
Reader anotherReader;
anotherReader.parseFile(xmlinclude);
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReader.cpp b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReader.cpp
index 5d614b7025a52239be1ecc9933202c5a5aa3d26f..a17cc3ed151006531771e31e4639db4a972d34d5 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReader.cpp
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReader.cpp
@@ -43,7 +43,7 @@ namespace armarx::aron::dataIO::reader
{
if (!n.is_object())
{
- throw error::AronException("NlohmannJSONReader", "NlohmannJSONReader", "Allowed are only objects in reader");
+ throw error::AronException("NlohmannJSONReader", "NlohmannJSONReader", "Allowed are only objects in reader. Got as json: " + n.dump(2));
}
if (n.at(io::Data::READER_WRITER_TYPE_SLUG) != io::Data::READER_WRITER_DICT_TYPENAME_SLUG)