From f7397b5e67f4b49be2722db3a4ae2c404121e6da Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Mon, 16 Aug 2021 15:51:57 +0200
Subject: [PATCH] Fetch updates asynchronously (out of GUI thread)
---
.../ArMemMemoryViewerWidgetController.cpp | 2 +-
.../armem/client/MemoryNameSystem.cpp | 27 ++-
.../libraries/armem/mns/MemoryNameSystem.cpp | 1 -
.../libraries/armem_gui/MemoryViewer.cpp | 173 +++++++++++++++---
.../libraries/armem_gui/MemoryViewer.h | 29 ++-
.../armem_gui/PeriodicUpdateWidget.cpp | 15 +-
.../armem_gui/PeriodicUpdateWidget.h | 8 +-
7 files changed, 216 insertions(+), 39 deletions(-)
diff --git a/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidgetController.cpp b/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidgetController.cpp
index 780dec62f..ff79f501c 100644
--- a/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidgetController.cpp
@@ -54,7 +54,7 @@ namespace armarx
widget.statusLabel
);
- viewer->setLogTag(getName());
+ viewer->setLogTag("ArMem Memory Viewer");
armarx::gui::useSplitter(widget.treesLayout);
diff --git a/source/RobotAPI/libraries/armem/client/MemoryNameSystem.cpp b/source/RobotAPI/libraries/armem/client/MemoryNameSystem.cpp
index cbacda1eb..79140344e 100644
--- a/source/RobotAPI/libraries/armem/client/MemoryNameSystem.cpp
+++ b/source/RobotAPI/libraries/armem/client/MemoryNameSystem.cpp
@@ -39,7 +39,32 @@ namespace armarx::armem::client
if (result.success)
{
- this->servers = result.proxies;
+ for (const auto& [name, proxy] : result.proxies)
+ {
+ auto [it, inserted] = servers.try_emplace(name, proxy);
+ // inserted: OK
+ if (not inserted)
+ {
+ // Compare ice identities, update if it changed.
+ if (it->second->ice_getIdentity() != proxy->ice_getIdentity())
+ {
+ // Replace old proxy by new one.
+ it->second = proxy;
+ }
+ }
+ }
+ // Remove all entries which are not there anymore.
+ for (auto it = servers.begin(); it != servers.end();)
+ {
+ if (result.proxies.count(it->first) == 0)
+ {
+ it = servers.erase(it);
+ }
+ else
+ {
+ ++it;
+ }
+ }
}
else
{
diff --git a/source/RobotAPI/libraries/armem/mns/MemoryNameSystem.cpp b/source/RobotAPI/libraries/armem/mns/MemoryNameSystem.cpp
index ece0fa743..6e001784b 100644
--- a/source/RobotAPI/libraries/armem/mns/MemoryNameSystem.cpp
+++ b/source/RobotAPI/libraries/armem/mns/MemoryNameSystem.cpp
@@ -98,7 +98,6 @@ namespace armarx::armem::mns
}
catch (const Ice::Exception&)
{
- ;
}
}
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
index d52b8c8fd..0eab722cc 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
+++ b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
@@ -23,6 +23,7 @@
#include <QLabel>
#include <QLayout>
#include <QSettings>
+#include <QTimer>
#include <iomanip>
@@ -63,6 +64,11 @@ namespace armarx::armem::gui
updateWidget = new armem::gui::PeriodicUpdateWidget(2.0, 60);
updateWidgetLayout->insertWidget(0, updateWidget);
+ processQueryResultTimer = new QTimer(this);
+ processQueryResultTimer->setInterval(1000 / 60); // Keep this stable.
+ processQueryResultTimer->start();
+
+
// Memory View
memoryGroup = new armem::gui::MemoryGroupBox();
armarx::gui::replaceWidget(memoryGroupBox, memoryGroup, memoryGroupBoxParentLayout);
@@ -88,8 +94,9 @@ namespace armarx::armem::gui
connect(diskControl, &armem::gui::disk::ControlWidget::requestedStoreOnDisk, this, &This::storeOnDisk);
connect(diskControl, &armem::gui::disk::ControlWidget::requestedLoadFromDisk, this, &This::loadFromDisk);
- connect(this, &This::connected, this, &This::updateMemories);
- connect(updateWidget, &armem::gui::PeriodicUpdateWidget::update, this, &This::updateMemories);
+ connect(this, &This::connected, this, &This::startQueries);
+ connect(updateWidget, &armem::gui::PeriodicUpdateWidget::update, this, &This::startQueries);
+ connect(processQueryResultTimer, &QTimer::timeout, this, &This::processQueryResults);
connect(memoryGroup->queryWidget(), &armem::gui::QueryWidget::storeInLTM, this, &This::storeInLTM);
@@ -101,11 +108,13 @@ namespace armarx::armem::gui
connect(instanceGroup->view, &armem::gui::InstanceView::memoryIdResolutionRequested, this, &This::resolveMemoryID);
}
+
void MemoryViewer::setLogTag(const std::string& _tag) // Leading _ silences a warning
{
Logging::setTag(_tag);
}
+
void MemoryViewer::onInit(ManagedIceObject& component)
{
if (mnsName.size() > 0)
@@ -120,6 +129,7 @@ namespace armarx::armem::gui
emit initialized();
}
+
void MemoryViewer::onConnect(ManagedIceObject& component)
{
if (!mnsName.empty())
@@ -141,6 +151,7 @@ namespace armarx::armem::gui
emit connected();
}
+
void MemoryViewer::onDisconnect(ManagedIceObject&)
{
updateWidget->stopTimer();
@@ -148,6 +159,7 @@ namespace armarx::armem::gui
emit disconnected();
}
+
const armem::wm::Memory* MemoryViewer::getSingleMemoryData(const std::string& memoryName)
{
auto it = memoryData.find(memoryName);
@@ -170,6 +182,7 @@ namespace armarx::armem::gui
}
}
+
void MemoryViewer::storeInLTM()
{
TIMING_START(MemoryStore)
@@ -184,6 +197,7 @@ namespace armarx::armem::gui
TIMING_END_STREAM(MemoryStore, ARMARX_VERBOSE)
}
+
void MemoryViewer::storeOnDisk(QString directory)
{
TIMING_START(MemoryExport)
@@ -212,43 +226,25 @@ namespace armarx::armem::gui
}
- void MemoryViewer::updateMemories()
+ void MemoryViewer::startQueries()
{
- int errorCount = 0;
-
- memoryData.clear();
memoryReaders = mns.getAllReaders(true);
+ startDueQueries(runningQueries, memoryReaders);
+ }
- armem::client::QueryInput input = memoryGroup->queryWidget()->queryInput();
- for (auto& [name, reader] : memoryReaders)
- {
- TIMING_START(MemoryQuery)
- {
- armem::client::QueryResult result = reader.query(input);
- if (result.success)
- {
- memoryData[name] = result.memory;
- }
- else
- {
- ARMARX_WARNING << "A query for memory '" << name << "' produced an error: " << result.errorMessage;
- errorCount++;
- }
- }
- TIMING_END_STREAM(MemoryQuery, ARMARX_VERBOSE)
+ void MemoryViewer::processQueryResults()
+ {
+ const std::map<std::string, client::QueryResult> results = collectQueryResults(runningQueries, memoryReaders);
- if (debugObserver)
- {
- debugObserver->setDebugDatafield(Logging::tag.tagName, "Memory Query [ms]", new Variant(MemoryQuery.toMilliSecondsDouble()));
- }
- }
+ int errorCount = 0;
+ applyQueryResults(results, &errorCount);
emit memoryDataChanged();
-
updateStatusLabel(errorCount);
}
+
void MemoryViewer::updateStatusLabel(int errorCount)
{
// Code to output status label information
@@ -266,6 +262,119 @@ namespace armarx::armem::gui
}
+ void MemoryViewer::startDueQueries(
+ std::map<std::string, Ice::AsyncResultPtr>& queries,
+ const std::map<std::string, armem::client::Reader>& readers)
+ {
+ armem::client::QueryInput input = memoryGroup->queryWidget()->queryInput();
+
+ for (auto& [name, reader] : readers)
+ {
+ if (queries.count(name) == 0)
+ {
+ queries[name] = reader.memoryPrx->begin_query(input.toIce());
+ }
+ }
+ }
+
+
+ std::map<std::string, client::QueryResult>
+ MemoryViewer::collectQueryResults(
+ std::map<std::string, Ice::AsyncResultPtr>& queries,
+ const std::map<std::string, client::Reader>& readers)
+ {
+ TIMING_START(tCollectQueryResults)
+
+ std::map<std::string, client::QueryResult> results;
+ for (auto it = queries.begin(); it != queries.end();)
+ {
+ const std::string& name = it->first;
+ Ice::AsyncResultPtr& queryPromise = it->second;
+
+ if (queryPromise->isCompleted())
+ {
+ if (auto jt = memoryReaders.find(name); jt != readers.end())
+ {
+ try
+ {
+ results[name] = client::QueryResult::fromIce(jt->second.memoryPrx->end_query(queryPromise));
+ }
+ catch (const Ice::ConnectionRefusedException&)
+ {
+ // Server is gone (MNS did not now about it yet) => Skip result.
+ }
+ }
+ // else: Server is gone (MNS new about it) => Skip result.
+
+ // Promise is completed => Clean up in any case.
+ it = runningQueries.erase(it);
+ }
+ else
+ {
+ ++it; // Uncompleted => Keep.
+ }
+ }
+
+ TIMING_END_STREAM(tCollectQueryResults, ARMARX_VERBOSE)
+ if (debugObserver)
+ {
+ debugObserver->begin_setDebugChannel(Logging::tag.tagName,
+ {
+ { "t Collect Query Results [ms]", new Variant(tCollectQueryResults.toMilliSecondsDouble()) },
+ { "# Collected Query Results", new Variant(static_cast<int>(results.size())) },
+ });
+ }
+
+ return results;
+ }
+
+
+ void MemoryViewer::applyQueryResults(
+ const std::map<std::string, client::QueryResult>& results,
+ int* outErrorCount)
+ {
+ TIMING_START(tProcessQueryResults)
+ for (const auto& [name, result] : results)
+ {
+ if (result.success)
+ {
+ memoryData[name] = std::move(result.memory);
+ }
+ else
+ {
+ ARMARX_WARNING << "Querying memory server '" << name << "' produced an error: \n" << result.errorMessage;
+ if (outErrorCount)
+ {
+ outErrorCount++;
+ }
+ }
+ }
+
+ // Drop all entries in memoryData which are not in memoryReaders anymore.
+ for (auto it = memoryData.begin(); it != memoryData.end();)
+ {
+ if (memoryReaders.count(it->first) == 0)
+ {
+ it = memoryData.erase(it);
+ }
+ else
+ {
+ ++it;
+ }
+ }
+
+ TIMING_END_STREAM(tProcessQueryResults, ARMARX_VERBOSE)
+ if (debugObserver)
+ {
+ debugObserver->begin_setDebugChannel(Logging::tag.tagName,
+ {
+ { "t Process Query Results [ms]", new Variant(tProcessQueryResults.toMilliSecondsDouble()) },
+ { "# Processed Query Results", new Variant(static_cast<int>(results.size())) },
+ });
+ }
+ }
+
+
void MemoryViewer::updateInstanceTree(const armem::MemoryID& selectedID)
{
const armem::wm::Memory* data = getSingleMemoryData(selectedID.memoryName);
@@ -315,6 +424,7 @@ namespace armarx::armem::gui
}
}
+
void MemoryViewer::resolveMemoryID(const MemoryID& id)
{
// ARMARX_IMPORTANT << "Resolving memory ID: " << id;
@@ -381,6 +491,7 @@ namespace armarx::armem::gui
}
}
+
void MemoryViewer::updateMemoryTree()
{
std::map<std::string, const armem::wm::Memory*> convMap;
@@ -401,9 +512,11 @@ namespace armarx::armem::gui
}
}
+
const static std::string CONFIG_KEY_MEMORY = "MemoryViewer.MemoryNameSystem";
const static std::string CONFIG_KEY_DEBUG_OBSERVER = "MemoryViewer.DebugObserverName";
+
void MemoryViewer::loadSettings(QSettings* settings)
{
mnsName = settings->value(QString::fromStdString(CONFIG_KEY_MEMORY), "MemoryNameSystem").toString().toStdString();
@@ -415,12 +528,12 @@ namespace armarx::armem::gui
settings->setValue(QString::fromStdString(CONFIG_KEY_DEBUG_OBSERVER), QString::fromStdString(debugObserverName));
}
+
void MemoryViewer::writeConfigDialog(SimpleConfigDialog* dialog)
{
dialog->addProxyFinder<armarx::armem::mns::MemoryNameSystemInterfacePrx>({CONFIG_KEY_MEMORY, "MemoryNameSystem", "MemoryNameSystem"});
dialog->addProxyFinder<armarx::DebugObserverInterfacePrx>({CONFIG_KEY_DEBUG_OBSERVER, "Debug Observer", "DebugObserver"});
}
-
void MemoryViewer::readConfigDialog(SimpleConfigDialog* dialog)
{
mnsName = dialog->getProxyName(CONFIG_KEY_MEMORY);
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryViewer.h b/source/RobotAPI/libraries/armem_gui/MemoryViewer.h
index f2fba3438..e29a23520 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryViewer.h
+++ b/source/RobotAPI/libraries/armem_gui/MemoryViewer.h
@@ -23,6 +23,7 @@ class QGroupBox;
class QLabel;
class QLayout;
class QSettings;
+class QTimer;
namespace armarx
@@ -65,7 +66,6 @@ namespace armarx::armem::gui
public slots:
- void updateMemories();
void updateInstanceTree(const armem::MemoryID& selectedID);
void resolveMemoryID(const MemoryID& id);
@@ -90,8 +90,13 @@ namespace armarx::armem::gui
private slots:
+ void startQueries();
+ void processQueryResults();
+
void updateMemoryTree();
+
+
signals:
void memoryDataChanged();
@@ -107,6 +112,23 @@ namespace armarx::armem::gui
void updateStatusLabel(int errorCount);
+
+ /// Start a query for each entry in `memoryReaders` which is not in `runningQueries`.
+ void startDueQueries(
+ std::map<std::string, Ice::AsyncResultPtr>& queries,
+ const std::map<std::string, armem::client::Reader>& readers);
+
+ std::map<std::string, client::QueryResult>
+ collectQueryResults(
+ std::map<std::string, Ice::AsyncResultPtr>& queries,
+ const std::map<std::string, armem::client::Reader>& readers);
+
+ void applyQueryResults(
+ const std::map<std::string, client::QueryResult>& results,
+ int* outErrorCount = nullptr);
+
+
+
public:
std::string mnsName;
@@ -115,6 +137,11 @@ namespace armarx::armem::gui
std::map<std::string, armem::client::Reader> memoryReaders;
std::map<std::string, armem::wm::Memory> memoryData;
+ std::map<std::string, Ice::AsyncResultPtr> runningQueries;
+ /// Periodically triggers query result collection.
+ QTimer* processQueryResultTimer;
+
+
QLayout* updateWidgetLayout = nullptr;
armem::gui::PeriodicUpdateWidget* updateWidget = nullptr;
diff --git a/source/RobotAPI/libraries/armem_gui/PeriodicUpdateWidget.cpp b/source/RobotAPI/libraries/armem_gui/PeriodicUpdateWidget.cpp
index dd51a5e7f..2e315e6f0 100644
--- a/source/RobotAPI/libraries/armem_gui/PeriodicUpdateWidget.cpp
+++ b/source/RobotAPI/libraries/armem_gui/PeriodicUpdateWidget.cpp
@@ -46,8 +46,11 @@ namespace armarx::armem::gui
connect(_frequencySpinBox, &QDoubleSpinBox::editingFinished, this, &This::_updateTimerFrequency);
// Public connections.
- connect(_updateButton, &QPushButton::pressed, this, &This::update);
- connect(_timer, &QTimer::timeout, this, &This::update);
+ connect(_updateButton, &QPushButton::pressed, this, &This::updateSingle);
+ connect(_timer, &QTimer::timeout, this, &This::updatePeriodic);
+
+ connect(this, &This::updateSingle, this, &This::update);
+ connect(this, &This::updatePeriodic, this, &This::update);
}
QPushButton* PeriodicUpdateWidget::updateButton()
@@ -55,6 +58,12 @@ namespace armarx::armem::gui
return _updateButton;
}
+
+ int PeriodicUpdateWidget::getUpdateIntervalMs() const
+ {
+ return static_cast<int>(std::round(1000 / _frequencySpinBox->value()));
+ }
+
void PeriodicUpdateWidget::startTimerIfEnabled()
{
if (_autoCheckBox->isChecked())
@@ -77,7 +86,7 @@ namespace armarx::armem::gui
void PeriodicUpdateWidget::_updateTimerFrequency()
{
- _timer->setInterval(static_cast<int>(std::round(1000 / _frequencySpinBox->value())));
+ _timer->setInterval(getUpdateIntervalMs());
}
void PeriodicUpdateWidget::_toggleAutoUpdates(bool enabled)
diff --git a/source/RobotAPI/libraries/armem_gui/PeriodicUpdateWidget.h b/source/RobotAPI/libraries/armem_gui/PeriodicUpdateWidget.h
index 41b725220..db8d9d5a3 100644
--- a/source/RobotAPI/libraries/armem_gui/PeriodicUpdateWidget.h
+++ b/source/RobotAPI/libraries/armem_gui/PeriodicUpdateWidget.h
@@ -27,8 +27,9 @@ namespace armarx::armem::gui
QDoubleSpinBox* frequencySpinBox();
QPushButton* updateButton();
- bool autoEnabled() const;
- double updateFrequency() const;
+ bool isAutoEnabled() const;
+ double getUpdateFrequency() const;
+ int getUpdateIntervalMs() const;
void startTimerIfEnabled();
void stopTimer();
@@ -40,6 +41,9 @@ namespace armarx::armem::gui
void update();
+ void updateSingle();
+ void updatePeriodic();
+
private slots:
--
GitLab