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  • sw/armarx/robot-api
  • uwkce_singer/robot-api
  • untcg_hofmann/robot-api
  • ulqba_korosakov/RobotAPI
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.gitignore
View file @ 60dfb712
......@@ -76,3 +76,5 @@ etc/python/dist/*
data/RobotAPI/ArVizStorage/
.vscode/
.clang-format
.clang-tidy
source/RobotAPI/components/ArViz/ArVizStorage.cpp
View file @ 60dfb712
......@@ -22,6 +22,7 @@
#include "ArVizStorage.h"
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/util/IceBlobToObject.h>
#include <ArmarXCore/core/util/ObjectToIceBlob.h>
#include <ArmarXCore/core/system/ArmarXDataPath.h>
......@@ -138,6 +139,15 @@ namespace armarx
for (auto& update : updates)
{
if (update.component.empty())
{
ARMARX_INFO << deactivateSpam(120)
<< "Discarding ArViz update with empty component name. Check whether "
<< "you correctly create your ArViz client (`armarx::viz::Client`) "
<< "in your code.";
continue;
}
auto& historyEntry = history.emplace_back();
historyEntry.revision = revision;
historyEntry.timestampInMicroseconds = nowInMicroSeconds;
......
source/RobotAPI/components/ArViz/Client/Client.cpp
View file @ 60dfb712
......@@ -28,6 +28,7 @@ Client::Client(ManagedIceObject& obj,
std::string const& storageName)
{
componentName = obj.getName();
ARMARX_CHECK_NOT_EMPTY(componentName) << "ArViz client must be created with non-empty component name.";
obj.getTopic(topic, topicName);
obj.getProxy(storage, storageName);
}
......@@ -35,6 +36,7 @@ Client::Client(ManagedIceObject& obj,
Client Client::createFromTopic(std::string const& componentName, Topic::ProxyType const& topic)
{
Client client;
ARMARX_CHECK_NOT_EMPTY(componentName);
client.componentName = componentName;
client.topic = topic;
return client;
......@@ -68,6 +70,13 @@ Client Client::createForGuiPlugin(Component& component,
return client;
}
Layer Client::layer(const std::string &name) const
{
ARMARX_CHECK_NOT_EMPTY(componentName) << "Layers must be created with non-empty component name.";
ARMARX_CHECK_NOT_EMPTY(name) << "Layers must be created with non-empty layer name.";
return Layer(componentName, name);
}
CommitResult Client::commit(const StagedCommit& commit)
{
CommitResult result;
......
source/RobotAPI/components/ArViz/Client/Client.h
View file @ 60dfb712
......@@ -130,10 +130,7 @@ namespace viz
std::string const& topicName = "ArVizTopic",
std::string const& storageName = "ArVizStorage");
Layer layer(std::string const& name) const
{
return Layer(componentName, name);
}
Layer layer(std::string const& name) const;
StagedCommit stage()
{
......
source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp
View file @ 60dfb712
......@@ -2,19 +2,19 @@
#include "SkillProviderExample.h"
#include <RobotAPI/components/skills/SkillProviderExample/aron/HelloWorldAcceptedType.aron.generated.h>
#include <RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h>
#include <RobotAPI/libraries/aron/core/type/variant/container/Object.h>
#include <RobotAPI/libraries/aron/core/type/variant/primitive/String.h>
#include <RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h>
#include <RobotAPI/components/skills/SkillProviderExample/aron/HelloWorldAcceptedType.aron.generated.h>
namespace armarx::skills::provider
{
HelloWorldSkill::HelloWorldSkill() :
Skill(GetSkillDescription())
{}
HelloWorldSkill::HelloWorldSkill() : Skill(GetSkillDescription())
{
}
SkillDescription HelloWorldSkill::GetSkillDescription()
SkillDescription
HelloWorldSkill::GetSkillDescription()
{
armarx::skills::Example::HelloWorldAcceptedType default_params;
default_params.some_float = 5;
......@@ -23,41 +23,43 @@ namespace armarx::skills::provider
default_params.some_list_of_matrices.push_back(Eigen::Matrix3f::Zero());
//default_params.some_matrix = Eigen::Matrix3f::Zero();
return SkillDescription{
"HelloWorld",
"This skill logs a message on ARMARX_IMPORTANT",
{},
armarx::core::time::Duration::MilliSeconds(1000),
armarx::skills::Example::HelloWorldAcceptedType::ToAronType(),
default_params.toAron()
};
return SkillDescription{"HelloWorld",
"This skill logs a message on ARMARX_IMPORTANT",
{},
armarx::core::time::Duration::MilliSeconds(1000),
armarx::skills::Example::HelloWorldAcceptedType::ToAronType(),
default_params.toAron()};
}
Skill::MainResult HelloWorldSkill::main(const MainInput& in)
Skill::MainResult
HelloWorldSkill::main(const MainInput& in)
{
ARMARX_IMPORTANT << "Hi, from the Hello World Skill.\n" <<
"I received the following data: \n" <<
aron::converter::AronNlohmannJSONConverter::ConvertToNlohmannJSON(in.params).dump(2) << "\n" <<
"(executed at: " << IceUtil::Time::now() << ")";
ARMARX_IMPORTANT << "Hi, from the Hello World Skill.\n"
<< "I received the following data: \n"
<< aron::data::converter::AronNlohmannJSONConverter::ConvertToNlohmannJSON(
in.params)
.dump(2)
<< "\n"
<< "(executed at: " << IceUtil::Time::now() << ")";
return {TerminatedSkillStatus::Succeeded, nullptr};
}
ChainingSkill::ChainingSkill() :
Skill(GetSkillDescription())
{}
ChainingSkill::ChainingSkill() : Skill(GetSkillDescription())
{
}
SkillDescription ChainingSkill::GetSkillDescription()
SkillDescription
ChainingSkill::GetSkillDescription()
{
return SkillDescription{
"ChainingSkill",
"This skill calls the HelloWorld skill three times.",
{},
armarx::core::time::Duration::MilliSeconds(3000),
nullptr
};
return SkillDescription{"ChainingSkill",
"This skill calls the HelloWorld skill three times.",
{},
armarx::core::time::Duration::MilliSeconds(3000),
nullptr};
}
Skill::MainResult ChainingSkill::main(const MainInput& in)
Skill::MainResult
ChainingSkill::main(const MainInput& in)
{
armarx::skills::Example::HelloWorldAcceptedType exec1;
armarx::skills::Example::HelloWorldAcceptedType exec2;
......@@ -78,20 +80,21 @@ namespace armarx::skills::provider
TimeoutSkill::TimeoutSkill() :
PeriodicSkill(GetSkillDescription(), armarx::core::time::Frequency::Hertz(5))
{}
{
}
SkillDescription TimeoutSkill::GetSkillDescription()
SkillDescription
TimeoutSkill::GetSkillDescription()
{
return SkillDescription{
"Timeout",
"This fails with timeout reached",
{},
armarx::core::time::Duration::MilliSeconds(1000),
nullptr
};
return SkillDescription{"Timeout",
"This fails with timeout reached",
{},
armarx::core::time::Duration::MilliSeconds(1000),
nullptr};
}
PeriodicSkill::StepResult TimeoutSkill::step(const MainInput& in)
PeriodicSkill::StepResult
TimeoutSkill::step(const MainInput& in)
{
// do heavy work
std::this_thread::sleep_for(std::chrono::milliseconds(200));
......@@ -99,22 +102,22 @@ namespace armarx::skills::provider
return {ActiveOrTerminatedSkillStatus::Running, nullptr};
}
CallbackSkill::CallbackSkill() :
Skill(GetSkillDescription())
{}
CallbackSkill::CallbackSkill() : Skill(GetSkillDescription())
{
}
SkillDescription CallbackSkill::GetSkillDescription()
SkillDescription
CallbackSkill::GetSkillDescription()
{
return SkillDescription{
"ShowMeCallbacks",
"This skill does shows callbacks",
{},
armarx::core::time::Duration::MilliSeconds(1000),
nullptr
};
return SkillDescription{"ShowMeCallbacks",
"This skill does shows callbacks",
{},
armarx::core::time::Duration::MilliSeconds(1000),
nullptr};
}
Skill::MainResult CallbackSkill::main(const MainInput& in)
Skill::MainResult
CallbackSkill::main(const MainInput& in)
{
ARMARX_IMPORTANT << "Logging three updates via the callback";
auto up1 = std::make_shared<aron::data::Dict>();
......@@ -132,23 +135,26 @@ namespace armarx::skills::provider
return {TerminatedSkillStatus::Succeeded, nullptr};
}
SkillProviderExample::SkillProviderExample() : SkillProviderComponentPluginUser()
{
}
SkillProviderExample::SkillProviderExample() :
SkillProviderComponentPluginUser()
{}
armarx::PropertyDefinitionsPtr SkillProviderExample::createPropertyDefinitions()
armarx::PropertyDefinitionsPtr
SkillProviderExample::createPropertyDefinitions()
{
armarx::PropertyDefinitionsPtr defs = new ComponentPropertyDefinitions(getConfigIdentifier());
armarx::PropertyDefinitionsPtr defs =
new ComponentPropertyDefinitions(getConfigIdentifier());
return defs;
}
std::string SkillProviderExample::getDefaultName() const
std::string
SkillProviderExample::getDefaultName() const
{
return "SkillProviderExample";
}
void SkillProviderExample::onInitComponent()
void
SkillProviderExample::onInitComponent()
{
// Add example skill
addSkill(std::make_unique<HelloWorldSkill>());
......@@ -160,10 +166,14 @@ namespace armarx::skills::provider
fooDesc.description = "This skill does exactly nothing.";
fooDesc.skillName = "Foo";
fooDesc.timeout = armarx::core::time::Duration::MilliSeconds(1000);
addSkill([](const std::string& clientId, const aron::data::DictPtr&){
std::cout << "Hello from Foo. The skill was called from " << clientId << "." << std::endl;
return TerminatedSkillStatus::Succeeded;
}, fooDesc);
addSkill(
[](const std::string& clientId, const aron::data::DictPtr&)
{
std::cout << "Hello from Foo. The skill was called from " << clientId << "."
<< std::endl;
return TerminatedSkillStatus::Succeeded;
},
fooDesc);
}
// Add another example skill
......@@ -176,18 +186,18 @@ namespace armarx::skills::provider
addSkill(std::make_unique<ChainingSkill>());
}
void SkillProviderExample::onConnectComponent()
void
SkillProviderExample::onConnectComponent()
{
}
void SkillProviderExample::onDisconnectComponent()
void
SkillProviderExample::onDisconnectComponent()
{
}
void SkillProviderExample::onExitComponent()
void
SkillProviderExample::onExitComponent()
{
}
}
} // namespace armarx::skills::provider
source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
View file @ 60dfb712
......@@ -55,16 +55,19 @@ namespace armarx
}
return qobject_cast<SimpleConfigDialog*>(dialog);
}
void
SkillManagerMonitorWidgetController::configured()
{
observerName = dialog->getProxyName("SkillManager");
}
void
SkillManagerMonitorWidgetController::loadSettings(QSettings* settings)
{
observerName = settings->value("SkillManager", "SkillManager").toString().toStdString();
}
void
SkillManagerMonitorWidgetController::saveSettings(QSettings* settings)
{
......@@ -124,10 +127,9 @@ namespace armarx
SkillManagerMonitorWidgetController::~SkillManagerMonitorWidgetController()
{
}
void
void
SkillManagerMonitorWidgetController::reconnectToSkillManager()
{
if (connected)
......@@ -136,13 +138,12 @@ namespace armarx
}
}
void
void
SkillManagerMonitorWidgetController::onInitComponent()
{
usingProxy(observerName);
}
void
SkillManagerMonitorWidgetController::onConnectComponent()
{
......@@ -479,7 +480,7 @@ namespace armarx
return;
}
auto json = aron::converter::AronNlohmannJSONConverter::ConvertToNlohmannJSON(data);
auto json = aron::data::converter::AronNlohmannJSONConverter::ConvertToNlohmannJSON(data);
QClipboard* clipboard = QApplication::clipboard();
clipboard->setText(QString::fromStdString(json.dump(2)));
}
......@@ -490,7 +491,8 @@ namespace armarx
QClipboard* clipboard = QApplication::clipboard();
std::string s = clipboard->text().toStdString();
nlohmann::json json = nlohmann::json::parse(s);
auto data = aron::converter::AronNlohmannJSONConverter::ConvertFromNlohmannJSONObject(json);
auto data =
aron::data::converter::AronNlohmannJSONConverter::ConvertFromNlohmannJSONObject(json);
if (!aronTreeWidgetController)
{
......
source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetConverter.cpp
View file @ 60dfb712
......@@ -39,7 +39,6 @@
#include "../widgets/IntEnumWidget.h"
#include "../widgets/QuaternionWidget.h"
namespace armarx
{
bool
......@@ -83,7 +82,6 @@ namespace armarx
aronItem->setValueErrorState(isDirectError, false);
}
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::ObjectPtr& i)
{
......@@ -152,7 +150,6 @@ namespace armarx
}
}
void
AronTreeWidgetConverterVisitor::visitAronVariant(const aron::type::PairPtr& i)
{
......@@ -221,8 +218,28 @@ namespace armarx
dataSize = 8;
break;
};
// UGLY HACK: FIX ME!!!
switch (i->getElementType())
{
case armarx::aron::type::matrix::INT16:
createdMatrix->setType("short");
break;
case armarx::aron::type::matrix::INT32:
createdMatrix->setType("int");
break;
case armarx::aron::type::matrix::FLOAT32:
createdMatrix->setType("float");
break;
case armarx::aron::type::matrix::FLOAT64:
createdMatrix->setType("double");
break;
case armarx::aron::type::matrix::INT64:
createdMatrix->setType("long");
break;
};
createdMatrix->setShape({i->getRows(), i->getCols(), dataSize});
createdMatrix->setType(i->getFullName());
int totalByteSize = i->getRows() * i->getCols() * dataSize;
createdAron = createdMatrix;
......
source/RobotAPI/libraries/armem/CMakeLists.txt
View file @ 60dfb712
......@@ -43,6 +43,7 @@ set(LIB_FILES
core/wm/memory_definitions.cpp
core/wm/aron_conversions.cpp
core/wm/ice_conversions.cpp
core/wm/memory_conversions.cpp
core/wm/detail/data_lookup_mixins.cpp
core/wm/visitor/Visitor.cpp
core/wm/visitor/FunctionalVisitor.cpp
......@@ -126,6 +127,7 @@ set(LIB_HEADERS
core/wm/memory_definitions.h
core/wm/aron_conversions.h
core/wm/ice_conversions.h
core/wm/memory_conversions.h
core/wm/detail/data_lookup_mixins.h
core/wm/visitor/Visitor.h
core/wm/visitor/FunctionalVisitor.h
......
source/RobotAPI/libraries/armem/client/MemoryNameSystem.cpp
View file @ 60dfb712
......@@ -127,9 +127,11 @@ namespace armarx::armem::client
input.name = memoryID.memoryName;
ARMARX_CHECK_NOT_NULL(mns);
ARMARX_INFO << "Waiting for memory server for " << memoryID << " ...";
mns::dto::WaitForServerResult result = mns->waitForServer(input);
if (result.success)
{
ARMARX_INFO << "Resolved memory for " << memoryID << ".";
return result.server;
}
else
......
source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h
View file @ 60dfb712
......@@ -3,14 +3,14 @@
#include <map>
#include <string>
#include <ArmarXCore/core/logging/Logging.h>
#include "ProviderSegmentBase.h"
#include "detail/AronTyped.h"
#include "detail/MemoryContainerBase.h"
#include "detail/Predictive.h"
#include "detail/iteration_mixins.h"
#include "detail/lookup_mixins.h"
#include "detail/Predictive.h"
#include <ArmarXCore/core/logging/Logging.h>
namespace armarx::armem::base
{
......@@ -20,22 +20,22 @@ namespace armarx::armem::base
*/
template <class _ProviderSegmentT, class _Derived>
class CoreSegmentBase :
public detail::MemoryContainerBase<std::map<std::string, _ProviderSegmentT>, _Derived>
, public detail::AronTyped
, public detail::PredictiveContainer<_Derived>
, public detail::ForEachEntityInstanceMixin<_Derived>
, public detail::ForEachEntitySnapshotMixin<_Derived>
, public detail::ForEachEntityMixin<_Derived>
, public detail::GetFindInstanceMixin<_Derived>
, public detail::GetFindSnapshotMixin<_Derived>
, public detail::GetFindEntityMixin<_Derived>
public detail::MemoryContainerBase<std::map<std::string, _ProviderSegmentT>, _Derived>,
public detail::AronTyped,
public detail::PredictiveContainer<_Derived>,
public detail::ForEachEntityInstanceMixin<_Derived>,
public detail::ForEachEntitySnapshotMixin<_Derived>,
public detail::ForEachEntityMixin<_Derived>,
public detail::GetFindInstanceMixin<_Derived>,
public detail::GetFindSnapshotMixin<_Derived>,
public detail::GetFindEntityMixin<_Derived>
{
using Base = detail::MemoryContainerBase<std::map<std::string, _ProviderSegmentT>, _Derived>;
using Base =
detail::MemoryContainerBase<std::map<std::string, _ProviderSegmentT>, _Derived>;
public:
using typename Base::DerivedT;
using typename Base::ContainerT;
using typename Base::DerivedT;
using ProviderSegmentT = _ProviderSegmentT;
using EntityT = typename ProviderSegmentT::EntityT;
......@@ -44,7 +44,6 @@ namespace armarx::armem::base
using ChildT = ProviderSegmentT;
struct UpdateResult
{
armarx::armem::UpdateType coreSegmentUpdateType;
......@@ -54,26 +53,29 @@ namespace armarx::armem::base
std::vector<EntitySnapshotT> removedSnapshots;
UpdateResult() = default;
UpdateResult(const typename ProviderSegmentT::UpdateResult& c) :
providerSegmentUpdateType(c.providerSegmentUpdateType),
entityUpdateType(c.entityUpdateType),
id(c.id),
removedSnapshots(c.removedSnapshots)
{}
{
}
};
public:
CoreSegmentBase()
{
}
explicit CoreSegmentBase(const std::string& name,
aron::type::ObjectPtr aronType = nullptr,
const std::vector<PredictionEngine>& predictionEngines = {}) :
CoreSegmentBase(name, MemoryID(), aronType, predictionEngines)
{
}
explicit CoreSegmentBase(const std::string& name,
const MemoryID& parentID,
aron::type::ObjectPtr aronType = nullptr,
......@@ -81,6 +83,7 @@ namespace armarx::armem::base
CoreSegmentBase(parentID.withCoreSegmentName(name), aronType, predictionEngines)
{
}
explicit CoreSegmentBase(const MemoryID& id,
aron::type::ObjectPtr aronType = nullptr,
const std::vector<PredictionEngine>& predictionEngines = {}) :
......@@ -93,71 +96,86 @@ namespace armarx::armem::base
CoreSegmentBase& operator=(const CoreSegmentBase& other) = default;
CoreSegmentBase& operator=(CoreSegmentBase&& other) = default;
// READ ACCESS
// Get key
inline std::string& name()
inline std::string&
name()
{
return this->id().coreSegmentName;
}
inline const std::string& name() const
inline const std::string&
name() const
{
return this->id().coreSegmentName;
}
// Has child by key
bool hasProviderSegment(const std::string& name) const
bool
hasProviderSegment(const std::string& name) const
{
return this->findProviderSegment(name) != nullptr;
}
// Has child by memory ID
bool hasProviderSegment(const MemoryID& providerSegmentID) const
bool
hasProviderSegment(const MemoryID& providerSegmentID) const
{
return this->findProviderSegment(providerSegmentID) != nullptr;
}
// Find child by key
ProviderSegmentT* findProviderSegment(const std::string& name)
ProviderSegmentT*
findProviderSegment(const std::string& name)
{
return detail::findChildByKey(name, this->_container);
}
const ProviderSegmentT* findProviderSegment(const std::string& name) const
const ProviderSegmentT*
findProviderSegment(const std::string& name) const
{
return detail::findChildByKey(name, this->_container);
}
// Get child by key
ProviderSegmentT& getProviderSegment(const std::string& name)
ProviderSegmentT&
getProviderSegment(const std::string& name)
{
return detail::getChildByKey(name, this->_container, *this);
}
const ProviderSegmentT& getProviderSegment(const std::string& name) const
const ProviderSegmentT&
getProviderSegment(const std::string& name) const
{
return detail::getChildByKey(name, this->_container, *this);
}
// Find child by MemoryID
ProviderSegmentT* findProviderSegment(const MemoryID& providerSegmentID)
ProviderSegmentT*
findProviderSegment(const MemoryID& providerSegmentID)
{
detail::checkHasProviderSegmentName(providerSegmentID);
return this->findProviderSegment(providerSegmentID.providerSegmentName);
}
const ProviderSegmentT* findProviderSegment(const MemoryID& providerSegmentID) const
const ProviderSegmentT*
findProviderSegment(const MemoryID& providerSegmentID) const
{
detail::checkHasProviderSegmentName(providerSegmentID);
return this->findProviderSegment(providerSegmentID.providerSegmentName);
}
// Get child by MemoryID
ProviderSegmentT& getProviderSegment(const MemoryID& providerSegmentID)
ProviderSegmentT&
getProviderSegment(const MemoryID& providerSegmentID)
{
detail::checkHasProviderSegmentName(providerSegmentID);
return this->getProviderSegment(providerSegmentID.providerSegmentName);
}
const ProviderSegmentT& getProviderSegment(const MemoryID& providerSegmentID) const
const ProviderSegmentT&
getProviderSegment(const MemoryID& providerSegmentID) const
{
detail::checkHasProviderSegmentName(providerSegmentID);
return this->getProviderSegment(providerSegmentID.providerSegmentName);
......@@ -171,35 +189,42 @@ namespace armarx::armem::base
// Search all provider segments for the first matching entity.
bool hasEntity(const std::string& entityName) const
bool
hasEntity(const std::string& entityName) const
{
return this->findEntity(entityName) != nullptr;
}
EntityT* findEntity(const std::string& entityName)
EntityT*
findEntity(const std::string& entityName)
{
return _findEntity(*this, entityName);
}
const EntityT* findEntity(const std::string& entityName) const
const EntityT*
findEntity(const std::string& entityName) const
{
return _findEntity(*this, entityName);
}
// ITERATION
/**
* @param func Function like: bool process(ProviderSegmentT& provSeg)
*/
template <class ProviderSegmentFunctionT>
bool forEachProviderSegment(ProviderSegmentFunctionT&& func)
bool
forEachProviderSegment(ProviderSegmentFunctionT&& func)
{
return this->forEachChild(func);
}
/**
* @param func Function like: bool process(const ProviderSegmentT& provSeg)
*/
template <class ProviderSegmentFunctionT>
bool forEachProviderSegment(ProviderSegmentFunctionT&& func) const
bool
forEachProviderSegment(ProviderSegmentFunctionT&& func) const
{
return this->forEachChild(func);
}
......@@ -213,33 +238,41 @@ namespace armarx::armem::base
* @param func Function like void process(EntityInstanceT& instance)>
*/
template <class InstanceFunctionT>
bool forEachInstanceIn(const MemoryID& id, InstanceFunctionT&& func)
bool
forEachInstanceIn(const MemoryID& id, InstanceFunctionT&& func)
{
return detail::forEachInstanceIn(
id, func, *this,
id.hasProviderSegmentName(),
id.hasProviderSegmentName() ? this->findProviderSegment(id.providerSegmentName) : nullptr);
return detail::forEachInstanceIn(id,
func,
*this,
id.hasProviderSegmentName(),
id.hasProviderSegmentName()
? this->findProviderSegment(id.providerSegmentName)
: nullptr);
}
/**
* @param func Function like void process(EntityInstanceT& instance)>
*/
template <class InstanceFunctionT>
bool forEachInstanceIn(const MemoryID& id, InstanceFunctionT&& func) const
bool
forEachInstanceIn(const MemoryID& id, InstanceFunctionT&& func) const
{
return detail::forEachInstanceIn(
id, func, *this,
id.hasProviderSegmentName(),
id.hasProviderSegmentName() ? this->findProviderSegment(id.providerSegmentName) : nullptr);
return detail::forEachInstanceIn(id,
func,
*this,
id.hasProviderSegmentName(),
id.hasProviderSegmentName()
? this->findProviderSegment(id.providerSegmentName)
: nullptr);
}
// Get child keys
std::vector<std::string> getProviderSegmentNames() const
std::vector<std::string>
getProviderSegmentNames() const
{
return simox::alg::get_keys(this->_container);
}
// MODIFICATION
/**
......@@ -247,11 +280,13 @@ namespace armarx::armem::base
*
* Missing entity entries are added before updating.
*/
UpdateResult update(const EntityUpdate& update)
UpdateResult
update(const EntityUpdate& update)
{
this->_checkContainerName(update.entityID.coreSegmentName, this->name());
auto [inserted, provSeg] = _addProviderSegmentIfMissing(update.entityID.providerSegmentName);
auto [inserted, provSeg] =
_addProviderSegmentIfMissing(update.entityID.providerSegmentName);
// Update entry.
......@@ -267,20 +302,34 @@ namespace armarx::armem::base
return ret;
}
template <class OtherDerivedT>
void append(const OtherDerivedT& other)
void
append(const OtherDerivedT& other)
{
other.forEachProviderSegment([this](const auto& provSeg)
{
auto it = this->_container.find(provSeg.name());
if (it == this->_container.end())
other.forEachProviderSegment(
[this](const auto& provSeg)
{
it = this->_container.emplace(provSeg.name(), this->id().withProviderSegmentName(provSeg.name())).first;
}
it->second.append(provSeg);
return true;
});
auto it = this->_container.find(provSeg.name());
if (it == this->_container.end())
{
it = this->_container
.emplace(provSeg.name(),
this->id().withProviderSegmentName(provSeg.name()))
.first;
it->second.aronType() = provSeg.aronType();
}
/*TODO: if (it->second.aronType() != provSeg.aronType())
{
ARMARX_WARNING
<< "When appending a coreseg to another coreseg type conflicts have "
"been found. Setting the type to NULL...";
it->second.aronType() = nullptr;
}*/
it->second.append(provSeg);
return true;
});
}
/**
......@@ -296,36 +345,41 @@ namespace armarx::armem::base
aron::type::ObjectPtr providerSegmentType = nullptr,
const std::vector<PredictionEngine>& predictionEngines = {})
{
aron::type::ObjectPtr type = providerSegmentType ? providerSegmentType : this->aronType();
aron::type::ObjectPtr type =
providerSegmentType ? providerSegmentType : this->aronType();
return this->_derived().addProviderSegment(name, name, type, predictionEngines);
}
/// Copy and insert a provider segment.
ProviderSegmentT& addProviderSegment(const ProviderSegmentT& providerSegment)
ProviderSegmentT&
addProviderSegment(const ProviderSegmentT& providerSegment)
{
return this->_derived().addProviderSegment(providerSegment.name(), ProviderSegmentT(providerSegment));
return this->_derived().addProviderSegment(providerSegment.name(),
ProviderSegmentT(providerSegment));
}
/// Move and insert a provider segment.
ProviderSegmentT& addProviderSegment(ProviderSegmentT&& providerSegment)
ProviderSegmentT&
addProviderSegment(ProviderSegmentT&& providerSegment)
{
const std::string name = providerSegment.name(); // Copy before move.
const std::string name = providerSegment.name(); // Copy before move.
return this->_derived().addProviderSegment(name, std::move(providerSegment));
}
/// Insert a provider segment in-place.
template <class ...Args>
ProviderSegmentT& addProviderSegment(const std::string& name, Args... args)
template <class... Args>
ProviderSegmentT&
addProviderSegment(const std::string& name, Args... args)
{
ChildT& child = this->template _addChild<ChildT>(name, args...);
child.id() = this->id().withProviderSegmentName(name);
return child;
}
// MISC
bool equalsDeep(const DerivedT& other) const
bool
equalsDeep(const DerivedT& other) const
{
//std::cout << "CoreSegment::equalsDeep" << std::endl;
if (this->size() != other.size())
......@@ -346,34 +400,34 @@ namespace armarx::armem::base
return true;
}
static std::string getLevelName()
static std::string
getLevelName()
{
return "core segment";
}
std::string getKeyString() const
std::string
getKeyString() const
{
return this->name();
}
protected:
template <class ParentT>
static
auto*
static auto*
_findEntity(ParentT&& parent, const std::string& entityName)
{
decltype(parent.findEntity(entityName)) result = nullptr;
parent.forEachProviderSegment([&result, &entityName](auto & provSeg)
{
result = provSeg.findEntity(entityName);
return result == nullptr; // Keep going if null, break if not null.
});
parent.forEachProviderSegment(
[&result, &entityName](auto& provSeg)
{
result = provSeg.findEntity(entityName);
return result == nullptr; // Keep going if null, break if not null.
});
return result;
}
std::pair<bool, ProviderSegmentT*>
_addProviderSegmentIfMissing(const std::string& providerSegmentName)
{
......@@ -402,9 +456,7 @@ namespace armarx::armem::base
private:
bool _addMissingProviderSegmentDuringUpdate = true;
};
}
} // namespace armarx::armem::base
source/RobotAPI/libraries/armem/core/base/EntityInstanceBase.h
View file @ 60dfb712
......@@ -132,6 +132,16 @@ namespace armarx::armem::base
return _data;
}
void setData(DataT& d)
{
_data = d;
}
void setMetadata(MetadataT& m)
{
_metadata = m;
}
/**
* @brief Get the data converted to a generated Aron DTO class.
*/
......
source/RobotAPI/libraries/armem/core/base/MemoryBase.h
View file @ 60dfb712
......@@ -5,10 +5,9 @@
#include "CoreSegmentBase.h"
#include "detail/MemoryContainerBase.h"
#include "detail/Predictive.h"
#include "detail/iteration_mixins.h"
#include "detail/lookup_mixins.h"
#include "detail/Predictive.h"
namespace armarx::armem::base
{
......@@ -18,23 +17,22 @@ namespace armarx::armem::base
*/
template <class _CoreSegmentT, class _Derived>
class MemoryBase :
public detail::MemoryContainerBase<std::map<std::string, _CoreSegmentT>, _Derived>
, public detail::PredictiveContainer<_Derived>
, public detail::ForEachEntityInstanceMixin<_Derived>
, public detail::ForEachEntitySnapshotMixin<_Derived>
, public detail::ForEachEntityMixin<_Derived>
, public detail::ForEachProviderSegmentMixin<_Derived>
, public detail::GetFindInstanceMixin<_Derived>
, public detail::GetFindSnapshotMixin<_Derived>
, public detail::GetFindEntityMixin<_Derived>
, public detail::GetFindProviderSegmentMixin<_Derived>
public detail::MemoryContainerBase<std::map<std::string, _CoreSegmentT>, _Derived>,
public detail::PredictiveContainer<_Derived>,
public detail::ForEachEntityInstanceMixin<_Derived>,
public detail::ForEachEntitySnapshotMixin<_Derived>,
public detail::ForEachEntityMixin<_Derived>,
public detail::ForEachProviderSegmentMixin<_Derived>,
public detail::GetFindInstanceMixin<_Derived>,
public detail::GetFindSnapshotMixin<_Derived>,
public detail::GetFindEntityMixin<_Derived>,
public detail::GetFindProviderSegmentMixin<_Derived>
{
using Base = detail::MemoryContainerBase<std::map<std::string, _CoreSegmentT>, _Derived>;
public:
using typename Base::DerivedT;
using typename Base::ContainerT;
using typename Base::DerivedT;
using CoreSegmentT = _CoreSegmentT;
using ProviderSegmentT = typename CoreSegmentT::ProviderSegmentT;
......@@ -44,7 +42,6 @@ namespace armarx::armem::base
using ChildT = CoreSegmentT;
struct UpdateResult
{
armarx::armem::UpdateType memoryUpdateType;
......@@ -55,25 +52,28 @@ namespace armarx::armem::base
std::vector<EntitySnapshotT> removedSnapshots;
UpdateResult() = default;
UpdateResult(const typename CoreSegmentT::UpdateResult& c) :
coreSegmentUpdateType(c.coreSegmentUpdateType),
providerSegmentUpdateType(c.providerSegmentUpdateType),
entityUpdateType(c.entityUpdateType),
id(c.id),
removedSnapshots(c.removedSnapshots)
{}
{
}
};
public:
MemoryBase()
{
}
explicit MemoryBase(const std::string& name,
const std::vector<PredictionEngine>& predictionEngines = {}) :
MemoryBase(MemoryID().withMemoryName(name), predictionEngines)
{
}
explicit MemoryBase(const MemoryID& id,
const std::vector<PredictionEngine>& predictionEngines = {}) :
Base(id), detail::PredictiveContainer<_Derived>(predictionEngines)
......@@ -85,70 +85,86 @@ namespace armarx::armem::base
MemoryBase& operator=(const MemoryBase& other) = default;
MemoryBase& operator=(MemoryBase&& other) = default;
// READ ACCESS
// Get key
inline std::string& name()
inline std::string&
name()
{
return this->id().memoryName;
}
inline const std::string& name() const
inline const std::string&
name() const
{
return this->id().memoryName;
}
// Has child by key
bool hasCoreSegment(const std::string& name) const
bool
hasCoreSegment(const std::string& name) const
{
return this->findCoreSegment(name) != nullptr;
}
// Has child by MemoryID
bool hasCoreSegment(const MemoryID& coreSegmentID) const
bool
hasCoreSegment(const MemoryID& coreSegmentID) const
{
return this->findCoreSegment(coreSegmentID) != nullptr;
}
// Find child by key
CoreSegmentT* findCoreSegment(const std::string& name)
CoreSegmentT*
findCoreSegment(const std::string& name)
{
return detail::findChildByKey(name, this->_container);
}
const CoreSegmentT* findCoreSegment(const std::string& name) const
const CoreSegmentT*
findCoreSegment(const std::string& name) const
{
return detail::findChildByKey(name, this->_container);
}
// Get child by key
CoreSegmentT& getCoreSegment(const std::string& name)
CoreSegmentT&
getCoreSegment(const std::string& name)
{
return detail::getChildByKey(name, this->_container, *this);
}
const CoreSegmentT& getCoreSegment(const std::string& name) const
const CoreSegmentT&
getCoreSegment(const std::string& name) const
{
return detail::getChildByKey(name, this->_container, *this);
}
// Find child by MemoryID
CoreSegmentT* findCoreSegment(const MemoryID& coreSegmentID)
CoreSegmentT*
findCoreSegment(const MemoryID& coreSegmentID)
{
detail::checkHasCoreSegmentName(coreSegmentID);
return this->findCoreSegment(coreSegmentID.coreSegmentName);
}
const CoreSegmentT* findCoreSegment(const MemoryID& coreSegmentID) const
const CoreSegmentT*
findCoreSegment(const MemoryID& coreSegmentID) const
{
detail::checkHasCoreSegmentName(coreSegmentID);
return this->findCoreSegment(coreSegmentID.coreSegmentName);
}
// Get child by MemoryID
CoreSegmentT& getCoreSegment(const MemoryID& coreSegmentID)
CoreSegmentT&
getCoreSegment(const MemoryID& coreSegmentID)
{
detail::checkHasCoreSegmentName(coreSegmentID);
return this->getCoreSegment(coreSegmentID.coreSegmentName);
}
const CoreSegmentT& getCoreSegment(const MemoryID& coreSegmentID) const
const CoreSegmentT&
getCoreSegment(const MemoryID& coreSegmentID) const
{
detail::checkHasCoreSegmentName(coreSegmentID);
return this->getCoreSegment(coreSegmentID.coreSegmentName);
......@@ -160,22 +176,24 @@ namespace armarx::armem::base
// get/findProviderSegment are provided by GetFindProviderSegmentMixin
// ITERATION
/**
* @param func Function like: bool process(CoreSegmentT& coreSeg)
*/
template <class CoreSegmentFunctionT>
bool forEachCoreSegment(CoreSegmentFunctionT&& func)
bool
forEachCoreSegment(CoreSegmentFunctionT&& func)
{
return this->forEachChild(func);
}
/**
* @param func Function like: bool process(const CoreSegmentT& coreSeg)
*/
template <class CoreSegmentFunctionT>
bool forEachCoreSegment(CoreSegmentFunctionT&& func) const
bool
forEachCoreSegment(CoreSegmentFunctionT&& func) const
{
return this->forEachChild(func);
}
......@@ -190,34 +208,46 @@ namespace armarx::armem::base
* @param func Function like void process(EntityInstanceT& instance)>
*/
template <class InstanceFunctionT>
bool forEachInstanceIn(const MemoryID& id, InstanceFunctionT&& func)
bool
forEachInstanceIn(const MemoryID& id, InstanceFunctionT&& func)
{
return detail::forEachInstanceIn(
id, func, *this,
id.hasCoreSegmentName(),
id.hasCoreSegmentName() ? this->findCoreSegment(id.coreSegmentName) : nullptr);
id,
func,
*this,
id.hasCoreSegmentName(),
id.hasCoreSegmentName() ? this->findCoreSegment(id.coreSegmentName) : nullptr);
}
/**
* @param func Function like void process(EntityInstanceT& instance)>
*/
template <class InstanceFunctionT>
bool forEachInstanceIn(const MemoryID& id, InstanceFunctionT&& func) const
bool
forEachInstanceIn(const MemoryID& id, InstanceFunctionT&& func) const
{
return detail::forEachInstanceIn(
id, func, *this,
id.hasCoreSegmentName(),
id.hasCoreSegmentName() ? this->findCoreSegment(id.coreSegmentName) : nullptr);
id,
func,
*this,
id.hasCoreSegmentName(),
id.hasCoreSegmentName() ? this->findCoreSegment(id.coreSegmentName) : nullptr);
}
std::vector<std::string> getCoreSegmentNames() const
std::vector<std::string>
getCoreSegmentNames() const
{
return simox::alg::get_keys(this->_container);
}
// MODIFICATION
void
setName(const std::string& name)
{
this->id().memoryName = name;
}
/**
* @brief Add an empty core segment with the given name, type and prediction engines.
* @param name The core segment name.
......@@ -234,39 +264,45 @@ namespace armarx::armem::base
}
/// Copy and insert a core segment.
CoreSegmentT& addCoreSegment(const CoreSegmentT& coreSegment)
CoreSegmentT&
addCoreSegment(const CoreSegmentT& coreSegment)
{
return this->_derived().addCoreSegment(coreSegment.name(), CoreSegmentT(coreSegment));
}
/// Move and insert a core segment.
CoreSegmentT& addCoreSegment(CoreSegmentT&& coreSegment)
CoreSegmentT&
addCoreSegment(CoreSegmentT&& coreSegment)
{
const std::string name = coreSegment.name(); // Copy before move.
const std::string name = coreSegment.name(); // Copy before move.
return this->_derived().addCoreSegment(name, std::move(coreSegment));
}
/// Move and insert a core segment.
template <class ...Args>
CoreSegmentT& addCoreSegment(const std::string& name, Args... args)
template <class... Args>
CoreSegmentT&
addCoreSegment(const std::string& name, Args... args)
{
CoreSegmentT& child = this->template _addChild<ChildT>(name, args...);
child.id() = this->id().withCoreSegmentName(name);
return child;
}
/**
* @brief Store all updates in `commit`.
* @param commit The commit.
* @return The resulting memory IDs.
*/
std::vector<UpdateResult> update(const Commit& commit, const bool addMissingCoreSegmentDuringUpdate = false, const bool checkMemoryName = true)
std::vector<UpdateResult>
update(const Commit& commit,
const bool addMissingCoreSegmentDuringUpdate = false,
const bool checkMemoryName = true)
{
std::vector<UpdateResult> results;
for (const EntityUpdate& update : commit.updates)
{
results.push_back(this->update(update, addMissingCoreSegmentDuringUpdate, checkMemoryName));
results.push_back(
this->update(update, addMissingCoreSegmentDuringUpdate, checkMemoryName));
}
return results;
}
......@@ -276,14 +312,18 @@ namespace armarx::armem::base
* @param update The update.
* @return The resulting entity snapshot's ID.
*/
UpdateResult update(const EntityUpdate& update, const bool addMissingCoreSegmentDuringUpdate = false, const bool checkMemoryName = true)
UpdateResult
update(const EntityUpdate& update,
const bool addMissingCoreSegmentDuringUpdate = false,
const bool checkMemoryName = true)
{
if (checkMemoryName)
{
this->_checkContainerName(update.entityID.memoryName, this->name());
}
auto [inserted, coreSeg] = _addCoreSegmentIfMissing(update.entityID.coreSegmentName, addMissingCoreSegmentDuringUpdate);
auto [inserted, coreSeg] = _addCoreSegmentIfMissing(update.entityID.coreSegmentName,
addMissingCoreSegmentDuringUpdate);
// Update entry.
UpdateResult ret(coreSeg->update(update));
......@@ -298,27 +338,42 @@ namespace armarx::armem::base
return ret;
}
/**
* @brief Merge another memory into this one. Append all data
* @brief Merge another memory into this one. Append all data and types if possible
* @param m The other memory
*/
template <class OtherDerivedT>
void append(const OtherDerivedT& other)
void
append(const OtherDerivedT& other)
{
other.forEachCoreSegment([this](const auto& coreSeg)
{
auto it = this->_container.find(coreSeg.name());
if (it == this->_container.end())
other.forEachCoreSegment(
[this](const auto& coreSeg)
{
it = this->_container.emplace(coreSeg.name(), this->id().withCoreSegmentName(coreSeg.name())).first;
}
it->second.append(coreSeg);
return true;
});
auto it = this->_container.find(coreSeg.name());
if (it == this->_container.end())
{
it = this->_container
.emplace(coreSeg.name(),
this->id().withCoreSegmentName(coreSeg.name()))
.first;
it->second.aronType() = coreSeg.aronType();
}
/*TODO: if (it->second.aronType() != coreSeg.aronType())
{
ARMARX_WARNING << "When appending a wm to another wm type conflicts have "
"been found. Setting the type to NULL...";
it->second.aronType() = nullptr;
}*/
it->second.append(coreSeg);
return true;
});
}
bool equalsDeep(const MemoryBase& other) const
bool
equalsDeep(const MemoryBase& other) const
{
//std::cout << "Memory::equalsDeep" << std::endl;
if (this->size() != other.size())
......@@ -339,20 +394,23 @@ namespace armarx::armem::base
return true;
}
static std::string getLevelName()
static std::string
getLevelName()
{
return "memory";
}
std::string getKeyString() const
std::string
getKeyString() const
{
return this->name();
}
protected:
std::pair<bool, CoreSegmentT*> _addCoreSegmentIfMissing(const std::string& coreSegmentName, const bool addMissingCoreSegmentDuringUpdate)
std::pair<bool, CoreSegmentT*>
_addCoreSegmentIfMissing(const std::string& coreSegmentName,
const bool addMissingCoreSegmentDuringUpdate)
{
CoreSegmentT* coreSeg = nullptr;
......@@ -377,4 +435,4 @@ namespace armarx::armem::base
}
}
};
}
} // namespace armarx::armem::base
source/RobotAPI/libraries/armem/core/base/detail/lookup_mixins.h
View file @ 60dfb712
#pragma once
#include "derived.h"
#include <RobotAPI/libraries/armem/core/MemoryID.h>
#include <RobotAPI/libraries/armem/core/error/ArMemError.h>
#include "derived.h"
namespace armarx::armem::base::detail
{
......@@ -16,9 +15,9 @@ namespace armarx::armem::base::detail
void checkHasCoreSegmentName(const MemoryID& coreSegmentID);
void checkHasMemoryName(const MemoryID& memory);
template <class KeyT, class ContainerT>
auto* findChildByKey(const KeyT& key, ContainerT&& container)
auto*
findChildByKey(const KeyT& key, ContainerT&& container)
{
auto it = container.find(key);
return it != container.end() ? &it->second : nullptr;
......@@ -26,11 +25,10 @@ namespace armarx::armem::base::detail
template <class KeyT, class ContainerT, class ParentT, class KeyStringFn>
auto&
getChildByKey(
const KeyT& key,
ContainerT&& container,
const ParentT& parent,
KeyStringFn&& keyStringFn)
getChildByKey(const KeyT& key,
ContainerT&& container,
const ParentT& parent,
KeyStringFn&& keyStringFn)
{
if (auto* child = findChildByKey(key, container))
{
......@@ -38,29 +36,25 @@ namespace armarx::armem::base::detail
}
else
{
throw armem::error::MissingEntry::create<typename ParentT::ChildT>(keyStringFn(key), parent);
throw armem::error::MissingEntry::create<typename ParentT::ChildT>(keyStringFn(key),
parent);
}
}
template <class KeyT, class ContainerT, class ParentT>
auto&
getChildByKey(
const KeyT& key,
ContainerT&& container,
const ParentT& parent)
getChildByKey(const KeyT& key, ContainerT&& container, const ParentT& parent)
{
return getChildByKey(key, container, parent, [](const KeyT & key)
{
return key;
});
return getChildByKey(key, container, parent, [](const KeyT& key) { return key; });
}
template <class DerivedT>
struct GetFindInstanceMixin
{
// Relies on this->find/getSnapshot()
bool hasInstance(const MemoryID& instanceID) const
bool
hasInstance(const MemoryID& instanceID) const
{
return derived<DerivedT>(this).findInstance(instanceID) != nullptr;
}
......@@ -76,6 +70,7 @@ namespace armarx::armem::base::detail
auto* snapshot = derived<DerivedT>(this).findSnapshot(instanceID);
return snapshot ? snapshot->findInstance(instanceID) : nullptr;
}
const auto*
findInstance(const MemoryID& instanceID) const
{
......@@ -94,6 +89,7 @@ namespace armarx::armem::base::detail
{
return derived<DerivedT>(this).getSnapshot(instanceID).getInstance(instanceID);
}
const auto&
getInstance(const MemoryID& instanceID) const
{
......@@ -101,13 +97,13 @@ namespace armarx::armem::base::detail
}
};
template <class DerivedT>
struct GetFindSnapshotMixin
{
// Relies on this->find/getEntity()
bool hasSnapshot(const MemoryID& snapshotID) const
bool
hasSnapshot(const MemoryID& snapshotID) const
{
return derived<DerivedT>(this).findSnapshot(snapshotID) != nullptr;
}
......@@ -123,6 +119,7 @@ namespace armarx::armem::base::detail
auto* entity = derived<DerivedT>(this).findEntity(snapshotID);
return entity ? entity->findSnapshot(snapshotID) : nullptr;
}
const auto*
findSnapshot(const MemoryID& snapshotID) const
{
......@@ -141,47 +138,51 @@ namespace armarx::armem::base::detail
{
return derived<DerivedT>(this).getEntity(snapshotID).getSnapshot(snapshotID);
}
const auto&
getSnapshot(const MemoryID& snapshotID) const
{
return derived<DerivedT>(this).getEntity(snapshotID).getSnapshot(snapshotID);
}
// More elaborate cases
auto* findLatestSnapshot(const MemoryID& entityID)
auto*
findLatestSnapshot(const MemoryID& entityID)
{
auto* entity = derived<DerivedT>(this).findEntity(entityID);
return entity ? entity->findLatestSnapshot() : nullptr;
}
const auto* findLatestSnapshot(const MemoryID& entityID) const
const auto*
findLatestSnapshot(const MemoryID& entityID) const
{
auto* entity = derived<DerivedT>(this).findEntity(entityID);
return entity ? entity->findLatestSnapshot() : nullptr;
}
auto* findLatestInstance(const MemoryID& entityID, int instanceIndex = 0)
auto*
findLatestInstance(const MemoryID& entityID, int instanceIndex = 0)
{
auto* snapshot = derived<DerivedT>(this).findLatestSnapshot(entityID);
return snapshot ? snapshot->findInstance(instanceIndex) : nullptr;
}
const auto* findLatestInstance(const MemoryID& entityID, int instanceIndex = 0) const
const auto*
findLatestInstance(const MemoryID& entityID, int instanceIndex = 0) const
{
auto* snapshot = derived<DerivedT>(this).findLatestSnapshot(entityID);
return snapshot ? snapshot->findInstance(instanceIndex) : nullptr;
}
};
template <class DerivedT>
struct GetFindEntityMixin
{
// Relies on this->find/getProviderSegment()
bool hasEntity(const MemoryID& entityID) const
bool
hasEntity(const MemoryID& entityID) const
{
return derived<DerivedT>(this).findEntity(entityID) != nullptr;
}
......@@ -197,6 +198,7 @@ namespace armarx::armem::base::detail
auto* provSeg = derived<DerivedT>(this).findProviderSegment(entityID);
return provSeg ? provSeg->findEntity(entityID) : nullptr;
}
const auto*
findEntity(const MemoryID& entityID) const
{
......@@ -215,6 +217,7 @@ namespace armarx::armem::base::detail
{
return derived<DerivedT>(this).getProviderSegment(entityID).getEntity(entityID);
}
const auto&
getEntity(const MemoryID& entityID) const
{
......@@ -222,14 +225,13 @@ namespace armarx::armem::base::detail
}
};
template <class DerivedT>
struct GetFindProviderSegmentMixin
{
// Relies on this->find/getCoreSegment()
bool hasProviderSegment(const MemoryID& providerSegmentID) const
bool
hasProviderSegment(const MemoryID& providerSegmentID) const
{
return derived<DerivedT>(this).findProviderSegment(providerSegmentID) != nullptr;
}
......@@ -245,6 +247,7 @@ namespace armarx::armem::base::detail
auto* provSeg = derived<DerivedT>(this).findCoreSegment(providerSegmentID);
return provSeg ? provSeg->findProviderSegment(providerSegmentID) : nullptr;
}
const auto*
findProviderSegment(const MemoryID& providerSegmentID) const
{
......@@ -261,14 +264,18 @@ namespace armarx::armem::base::detail
auto&
getProviderSegment(const MemoryID& providerSegmentID)
{
return derived<DerivedT>(this).getCoreSegment(providerSegmentID).getProviderSegment(providerSegmentID);
return derived<DerivedT>(this)
.getCoreSegment(providerSegmentID)
.getProviderSegment(providerSegmentID);
}
const auto&
getProviderSegment(const MemoryID& providerSegmentID) const
{
return derived<DerivedT>(this).getCoreSegment(providerSegmentID).getProviderSegment(providerSegmentID);
return derived<DerivedT>(this)
.getCoreSegment(providerSegmentID)
.getProviderSegment(providerSegmentID);
}
};
}
} // namespace armarx::armem::base::detail
source/RobotAPI/libraries/armem/core/wm/memory_conversions.cpp 0 → 100644
View file @ 60dfb712
#include "memory_conversions.h"
namespace armarx::armem::wm
{
void
toMemory(Memory& m, const std::vector<CoreSegment>& e)
{
m.clear();
for (const auto& s : e)
{
m.addCoreSegment(s);
}
}
void
toMemory(Memory& m, const std::vector<ProviderSegment>& e)
{
m.clear();
for (const auto& s : e)
{
if (!m.hasCoreSegment(s.id().coreSegmentName))
{
m.addCoreSegment(s.id().coreSegmentName);
}
auto* c = m.findCoreSegment(s.id().coreSegmentName);
c->addProviderSegment(s);
}
}
void
toMemory(Memory& m, const std::vector<Entity>& e)
{
m.clear();
for (const auto& s : e)
{
if (!m.hasCoreSegment(s.id().coreSegmentName))
{
m.addCoreSegment(s.id().coreSegmentName);
}
auto* c = m.findCoreSegment(s.id().coreSegmentName);
if (!c->hasProviderSegment(s.id().providerSegmentName))
{
c->addProviderSegment(s.id().providerSegmentName);
}
auto* p = c->findProviderSegment(s.id().providerSegmentName);
p->addEntity(s);
}
}
void
toMemory(Memory& m, const std::vector<EntitySnapshot>& e)
{
m.clear();
for (const auto& s : e)
{
if (!m.hasCoreSegment(s.id().coreSegmentName))
{
m.addCoreSegment(s.id().coreSegmentName);
}
auto* c = m.findCoreSegment(s.id().coreSegmentName);
if (!c->hasProviderSegment(s.id().providerSegmentName))
{
c->addProviderSegment(s.id().providerSegmentName);
}
auto* p = c->findProviderSegment(s.id().providerSegmentName);
if (!p->hasEntity(s.id().entityName))
{
p->addEntity(s.id().entityName);
}
auto* en = p->findEntity(s.id().entityName);
en->addSnapshot(s);
}
}
void
toMemory(Memory& m, const std::vector<EntityInstance>& e)
{
m.clear();
for (const auto& s : e)
{
if (!m.hasCoreSegment(s.id().coreSegmentName))
{
m.addCoreSegment(s.id().coreSegmentName);
}
auto* c = m.findCoreSegment(s.id().coreSegmentName);
if (!c->hasProviderSegment(s.id().providerSegmentName))
{
c->addProviderSegment(s.id().providerSegmentName);
}
auto* p = c->findProviderSegment(s.id().providerSegmentName);
if (!p->hasEntity(s.id().entityName))
{
p->addEntity(s.id().entityName);
}
auto* en = p->findEntity(s.id().entityName);
if (!en->hasSnapshot(s.id().timestamp))
{
en->addSnapshot(s.id().timestamp);
}
auto* sn = p->findSnapshot(s.id());
sn->addInstance(s);
}
}
} // namespace armarx::armem::wm
source/RobotAPI/libraries/armem/core/wm/memory_conversions.h 0 → 100644
View file @ 60dfb712
#pragma once
#include <vector>
#include "memory_definitions.h"
namespace armarx::armem::wm
{
void toMemory(Memory& m, const std::vector<CoreSegment>& e);
void toMemory(Memory& m, const std::vector<ProviderSegment>& e);
void toMemory(Memory& m, const std::vector<Entity>& e);
void toMemory(Memory& m, const std::vector<EntitySnapshot>& e);
void toMemory(Memory& m, const std::vector<EntityInstance>& e);
} // namespace armarx::armem::wm
source/RobotAPI/libraries/armem/server/CMakeLists.txt
View file @ 60dfb712
......@@ -7,18 +7,9 @@ SET(INSTALL_SCRIPT_MSG
"Please use the installation script in RobotAPI/etc/mongocxx to install libmongocxx and libbsoncxx."
)
# MongoLTM
#find_package(libmongocxx QUIET)
#armarx_build_if(libmongocxx_FOUND "libmongocxx not available. ${INSTALL_SCRIPT_MSG}")
# DiskLTM TODO: switch to FindMinizip file?
INCLUDE (FindPkgConfig)
if (PKG_CONFIG_FOUND)
PKG_CHECK_MODULES(UNZIP minizip)
endif (PKG_CONFIG_FOUND)
armarx_build_if(UNZIP_FOUND "MiniZip not available.")
find_package(libmongocxx QUIET)
armarx_build_if(libmongocxx_FOUND "libmongocxx not available. ${INSTALL_SCRIPT_MSG}")
# LTM Encoding stuff
find_package(libbsoncxx QUIET)
......@@ -35,9 +26,8 @@ set(LIBS
# LTM
RobotAPI::aron::converter::json
RobotAPI::aron::converter::opencv
#${LIBMONGOCXX_LIBRARIES}
${LIBMONGOCXX_LIBRARIES}
${LIBBSONCXX_LIBRARIES}
${UNZIP_LIBRARIES}
)
set(LIB_FILES
......@@ -45,50 +35,57 @@ set(LIB_FILES
MemoryRemoteGui.cpp
RemoteGuiAronDataVisitor.cpp
# LTM
ltm/io/Recording.cpp
ltm/io/Replaying.cpp
ltm/base/detail/Processors.cpp
ltm/base/detail/MemoryItem.cpp
ltm/base/detail/MemoryBase.cpp
ltm/base/detail/BufferedMemoryBase.cpp
ltm/base/detail/LUTMemoryBase.cpp
ltm/base/detail/CoreSegmentBase.cpp
ltm/base/detail/ProviderSegmentBase.cpp
ltm/base/detail/EntityBase.cpp
ltm/base/detail/EntitySnapshotBase.cpp
ltm/base/filter/Filter.cpp
ltm/base/filter/frequencyFilter/FrequencyFilter.cpp
ltm/base/filter/equalityFilter/EqualityFilter.cpp
ltm/base/extractor/Extractor.cpp
ltm/base/extractor/imageExtractor/ImageExtractor.cpp
ltm/base/extractor/imageExtractor/DepthImageExtractor.cpp
ltm/base/converter/Converter.cpp
ltm/base/typeConverter/Converter.cpp
ltm/base/typeConverter/json/JsonConverter.cpp
ltm/base/converter/object/Converter.cpp
ltm/base/converter/object/json/JsonConverter.cpp
ltm/base/converter/object/bson/BsonConverter.cpp
ltm/base/converter/image/Converter.cpp
ltm/base/converter/image/png/PngConverter.cpp
ltm/base/converter/image/exr/ExrConverter.cpp
ltm/base/forgetter/Forgetter.cpp
ltm/base/forgetter/LRUForgetter/LRUForgetter.cpp
ltm/disk/detail/util/util.cpp
ltm/disk/detail/util/filesystem_util.cpp
ltm/disk/detail/util/minizip_util.cpp
ltm/disk/detail/DiskStorage.cpp
ltm/disk/Memory.cpp
ltm/disk/CoreSegment.cpp
ltm/disk/ProviderSegment.cpp
ltm/disk/Entity.cpp
ltm/disk/EntitySnapshot.cpp
ltm/detail/mixins/util/filesystem.cpp
ltm/detail/mixins/util/mongodb.cpp
ltm/detail/mixins/CachedMemoryMixin.cpp
ltm/detail/mixins/BufferedMemoryMixin.cpp
ltm/detail/mixins/DiskStorageMixin.cpp
ltm/detail/mixins/MongoDBStorageMixin.cpp
ltm/detail/MemoryItem.cpp
ltm/detail/MemoryBase.cpp
ltm/detail/CoreSegmentBase.cpp
ltm/detail/ProviderSegmentBase.cpp
ltm/detail/EntityBase.cpp
ltm/detail/EntitySnapshotBase.cpp
ltm/detail/EntityInstanceBase.cpp
ltm/processors/Processors.cpp
ltm/processors/filter/Filter.cpp
ltm/processors/filter/frequencyFilter/FrequencyFilter.cpp
ltm/processors/filter/equalityFilter/EqualityFilter.cpp
ltm/processors/extractor/Extractor.cpp
ltm/processors/extractor/imageExtractor/ImageExtractor.cpp
ltm/processors/extractor/imageExtractor/DepthImageExtractor.cpp
ltm/processors/converter/type/Converter.cpp
ltm/processors/converter/type/object/Converter.cpp
ltm/processors/converter/type/object/json/JsonConverter.cpp
ltm/processors/converter/data/Converter.cpp
ltm/processors/converter/data/object/Converter.cpp
ltm/processors/converter/data/object/json/JsonConverter.cpp
ltm/processors/converter/data/object/bson/BsonConverter.cpp
ltm/processors/converter/data/image/Converter.cpp
ltm/processors/converter/data/image/png/PngConverter.cpp
ltm/processors/converter/data/image/exr/ExrConverter.cpp
ltm/Memory.cpp
ltm/CoreSegment.cpp
ltm/ProviderSegment.cpp
ltm/Entity.cpp
ltm/EntitySnapshot.cpp
ltm/EntityInstance.cpp
ltm/disk/Memory.h
# WM
wm/memory_definitions.cpp
wm/ice_conversions.cpp
wm/detail/MaxHistorySize.cpp
......@@ -128,51 +125,54 @@ set(LIB_HEADERS
MemoryRemoteGui.h
RemoteGuiAronDataVisitor.h
# LTM
ltm/io/Recording.h
ltm/io/Replaying.h
ltm/base/detail/Processors.h
ltm/base/detail/MemoryItem.h
ltm/base/detail/MemoryBase.h
ltm/base/detail/BufferedMemoryBase.h
ltm/base/detail/LUTMemoryBase.h
ltm/base/detail/CoreSegmentBase.h
ltm/base/detail/ProviderSegmentBase.h
ltm/base/detail/EntityBase.h
ltm/base/detail/EntitySnapshotBase.h
ltm/base/filter/Filter.h
ltm/base/filter/frequencyFilter/FrequencyFilter.h
ltm/base/filter/equalityFilter/EqualityFilter.h
ltm/base/extractor/Extractor.h
ltm/base/extractor/imageExtractor/ImageExtractor.h
ltm/base/extractor/imageExtractor/DepthImageExtractor.h
ltm/base/converter/Converter.h
ltm/base/typeConverter/Converter.h
ltm/base/typeConverter/json/JsonConverter.h
ltm/base/converter/object/Converter.h
ltm/base/converter/object/json/JsonConverter.h
ltm/base/converter/object/bson/BsonConverter.h
ltm/base/converter/image/Converter.h
ltm/base/converter/image/png/PngConverter.h
ltm/base/converter/image/exr/ExrConverter.h
ltm/base/forgetter/Forgetter.h
ltm/base/forgetter/LRUForgetter/LRUForgetter.h
ltm/disk/detail/util/util.h
ltm/disk/detail/util/filesystem_util.h
ltm/disk/detail/util/minizip_util.h
ltm/disk/detail/DiskStorage.h
ltm/disk/Memory.h
ltm/disk/CoreSegment.h
ltm/disk/ProviderSegment.h
ltm/disk/Entity.h
ltm/disk/EntitySnapshot.h
ltm/detail/mixins/util/filesystem.h
ltm/detail/mixins/util/mongodb.h
ltm/detail/mixins/CachedMemoryMixin.h
ltm/detail/mixins/BufferedMemoryMixin.h
ltm/detail/mixins/DiskStorageMixin.h
ltm/detail/mixins/MongoDBStorageMixin.h
ltm/detail/MemoryItem.h
ltm/detail/MemoryBase.h
ltm/detail/CoreSegmentBase.h
ltm/detail/ProviderSegmentBase.h
ltm/detail/EntityBase.h
ltm/detail/EntitySnapshotBase.h
ltm/detail/EntityInstanceBase.h
ltm/processors/Processors.h
ltm/processors/filter/Filter.h
ltm/processors/filter/frequencyFilter/FrequencyFilter.h
ltm/processors/filter/equalityFilter/EqualityFilter.h
ltm/processors/extractor/Extractor.h
ltm/processors/extractor/imageExtractor/ImageExtractor.h
ltm/processors/extractor/imageExtractor/DepthImageExtractor.h
ltm/processors/converter/type/Converter.h
ltm/processors/converter/type/object/Converter.h
ltm/processors/converter/type/object/json/JsonConverter.h
ltm/processors/converter/data/Converter.h
ltm/processors/converter/data/object/Converter.h
ltm/processors/converter/data/object/json/JsonConverter.h
ltm/processors/converter/data/object/bson/BsonConverter.h
ltm/processors/converter/data/image/Converter.h
ltm/processors/converter/data/image/png/PngConverter.h
ltm/processors/converter/data/image/exr/ExrConverter.h
ltm/Memory.h
ltm/CoreSegment.h
ltm/ProviderSegment.h
ltm/Entity.h
ltm/EntitySnapshot.h
ltm/EntityInstance.h
# WM
wm/memory_definitions.h
wm/ice_conversions.h
wm/detail/MaxHistorySize.h
......
source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
View file @ 60dfb712
#include "MemoryToIceAdapter.h"
#include "query_proc/wm/wm.h"
#include "query_proc/ltm/disk/ltm.h"
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <ArmarXCore/core/ice_conversions/ice_conversions_templates.h>
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/time/ice_conversions.h>
#include <RobotAPI/libraries/aron/core/Exception.h>
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/core/error.h>
#include <RobotAPI/libraries/armem/core/ice_conversions.h>
#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/core/wm/memory_conversions.h>
#include <RobotAPI/libraries/armem/server/wm/ice_conversions.h>
#include <RobotAPI/libraries/aron/core/Exception.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <ArmarXCore/core/ice_conversions/ice_conversions_templates.h>
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/time/ice_conversions.h>
#include "query_proc/ltm/disk/ltm.h"
#include "query_proc/wm/wm.h"
namespace armarx::armem::server
{
MemoryToIceAdapter::MemoryToIceAdapter(wm::Memory* workingMemory, server::ltm::disk::Memory* longtermMemory) :
MemoryToIceAdapter::MemoryToIceAdapter(wm::Memory* workingMemory,
server::ltm::Memory* longtermMemory) :
workingMemory(workingMemory), longtermMemory(longtermMemory)
{
}
void
MemoryToIceAdapter::setMemoryListener(client::MemoryListenerInterfacePrx memoryListener)
{
this->memoryListenerTopic = memoryListener;
}
// WRITING
data::AddSegmentResult
MemoryToIceAdapter::addSegment(const data::AddSegmentInput& input, bool addCoreSegments)
......@@ -64,22 +62,24 @@ namespace armarx::armem::server
if (input.providerSegmentName.size() > 0)
{
coreSegment->doLocked([&coreSegment, &input]()
{
try
{
coreSegment->addProviderSegment(input.providerSegmentName);
}
catch (const armem::error::ContainerEntryAlreadyExists&)
coreSegment->doLocked(
[&coreSegment, &input]()
{
// This is ok.
if (input.clearWhenExists)
try
{
server::wm::ProviderSegment& provider = coreSegment->getProviderSegment(input.providerSegmentName);
provider.clear();
coreSegment->addProviderSegment(input.providerSegmentName);
}
}
});
catch (const armem::error::ContainerEntryAlreadyExists&)
{
// This is ok.
if (input.clearWhenExists)
{
server::wm::ProviderSegment& provider =
coreSegment->getProviderSegment(input.providerSegmentName);
provider.clear();
}
}
});
}
armem::MemoryID segmentID;
......@@ -92,7 +92,6 @@ namespace armarx::armem::server
return output;
}
data::AddSegmentsResult
MemoryToIceAdapter::addSegments(const data::AddSegmentsInput& input, bool addCoreSegments)
{
......@@ -107,13 +106,12 @@ namespace armarx::armem::server
return output;
}
data::CommitResult
MemoryToIceAdapter::commit(const data::Commit& commitIce, Time timeArrived)
{
ARMARX_TRACE;
ARMARX_CHECK_NOT_NULL(workingMemory);
auto handleException = [](const std::string & what)
auto handleException = [](const std::string& what)
{
data::CommitResult result;
data::EntityUpdateResult& r = result.results.emplace_back();
......@@ -145,7 +143,6 @@ namespace armarx::armem::server
return resultIce;
}
data::CommitResult
MemoryToIceAdapter::commit(const data::Commit& commitIce)
{
......@@ -153,7 +150,6 @@ namespace armarx::armem::server
return commit(commitIce, armem::Time::Now());
}
armem::CommitResult
MemoryToIceAdapter::commit(const armem::Commit& commit)
{
......@@ -161,15 +157,15 @@ namespace armarx::armem::server
return this->_commit(commit, false);
}
armem::CommitResult MemoryToIceAdapter::commitLocking(const armem::Commit& commit)
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)
armem::CommitResult
MemoryToIceAdapter::_commit(const armem::Commit& commit, bool locking)
{
ARMARX_TRACE;
std::vector<data::MemoryID> updatedIDs;
......@@ -181,9 +177,8 @@ namespace armarx::armem::server
EntityUpdateResult& result = commitResult.results.emplace_back();
try
{
auto updateResult = locking
? workingMemory->updateLocking(update)
: workingMemory->update(update);
auto updateResult =
locking ? workingMemory->updateLocking(update) : workingMemory->update(update);
result.success = true;
result.snapshotID = updateResult.id;
......@@ -200,30 +195,10 @@ namespace armarx::armem::server
//ARMARX_IMPORTANT << longtermMemory->id().str();
//ARMARX_IMPORTANT << longtermMemory->getPath();
// Create Memory out of list TODO: make nicer
// convert removedSnapshots to Memory
armem::wm::Memory m(longtermMemory->name());
for (const auto& snapshot : updateResult.removedSnapshots)
{
if (!m.hasCoreSegment(snapshot.id().coreSegmentName))
{
m.addCoreSegment(snapshot.id().coreSegmentName);
}
auto* c = m.findCoreSegment(snapshot.id().coreSegmentName);
if (!c->hasProviderSegment(snapshot.id().providerSegmentName))
{
c->addProviderSegment(snapshot.id().providerSegmentName);
}
auto* p = c->findProviderSegment(snapshot.id().providerSegmentName);
if (!p->hasEntity(snapshot.id().entityName))
{
p->addEntity(snapshot.id().entityName);
}
auto* e = p->findEntity(snapshot.id().entityName);
armem::wm::toMemory(m, updateResult.removedSnapshots);
e->addSnapshot(snapshot);
}
// store memory
longtermMemory->store(m);
}
......@@ -259,7 +234,6 @@ namespace armarx::armem::server
return commitResult;
}
// READING
armem::query::data::Result
MemoryToIceAdapter::query(const armem::query::data::Input& input)
......@@ -269,12 +243,13 @@ namespace armarx::armem::server
ARMARX_CHECK_NOT_NULL(longtermMemory);
// Core segment processors will aquire the core segment locks.
query_proc::wm_server::MemoryQueryProcessor wmServerProcessor(armem::query::boolToDataMode(input.withData));
query_proc::wm_server::MemoryQueryProcessor wmServerProcessor(
armem::query::boolToDataMode(input.withData));
armem::wm::Memory wmResult = wmServerProcessor.process(input, *workingMemory);
armem::query::data::Result result;
query_proc::ltm_server::disk::MemoryQueryProcessor ltmProcessor;
/*query_proc::ltm_server::MemoryQueryProcessor ltmProcessor;
armem::wm::Memory ltmResult = ltmProcessor.process(input, *longtermMemory);
if (not ltmResult.empty())
......@@ -306,7 +281,7 @@ namespace armarx::armem::server
// mark removed entries of wm in viewer
// TODO
}
}
}*/
result.memory = armarx::toIce<data::MemoryPtr>(wmResult);
......@@ -319,14 +294,15 @@ namespace armarx::armem::server
return result;
}
client::QueryResult MemoryToIceAdapter::query(const client::QueryInput& input)
client::QueryResult
MemoryToIceAdapter::query(const client::QueryInput& input)
{
ARMARX_TRACE;
return client::QueryResult::fromIce(query(input.toIce()));
}
armem::structure::data::GetServerStructureResult MemoryToIceAdapter::getServerStructure()
armem::structure::data::GetServerStructureResult
MemoryToIceAdapter::getServerStructure()
{
ARMARX_TRACE;
ARMARX_CHECK_NOT_NULL(workingMemory);
......@@ -355,11 +331,11 @@ namespace armarx::armem::server
return ret;
}
// LTM LOADING FROM LTM
// LTM STORING AND RECORDING
dto::DirectlyStoreResult MemoryToIceAdapter::directlyStore(const dto::DirectlyStoreInput& directlStoreInput)
dto::DirectlyStoreResult
MemoryToIceAdapter::directlyStore(const dto::DirectlyStoreInput& directlStoreInput)
{
ARMARX_TRACE;
ARMARX_CHECK_NOT_NULL(longtermMemory);
......@@ -373,7 +349,8 @@ namespace armarx::armem::server
return output;
}
dto::StartRecordResult MemoryToIceAdapter::startRecord(const dto::StartRecordInput& startRecordInput)
dto::StartRecordResult
MemoryToIceAdapter::startRecord(const dto::StartRecordInput& startRecordInput)
{
ARMARX_TRACE;
ARMARX_CHECK_NOT_NULL(longtermMemory);
......@@ -386,7 +363,8 @@ namespace armarx::armem::server
return ret;
}
dto::StopRecordResult MemoryToIceAdapter::stopRecord()
dto::StopRecordResult
MemoryToIceAdapter::stopRecord()
{
ARMARX_TRACE;
ARMARX_CHECK_NOT_NULL(longtermMemory);
......@@ -399,24 +377,30 @@ namespace armarx::armem::server
return ret;
}
dto::RecordStatusResult MemoryToIceAdapter::getRecordStatus()
dto::RecordStatusResult
MemoryToIceAdapter::getRecordStatus()
{
dto::RecordStatusResult ret;
ret.success = true;
long savedSnapshots;
long totalSnapshots;
longtermMemory->forEachCoreSegment([&savedSnapshots, &totalSnapshots](const auto& c){
c.forEachProviderSegment([&savedSnapshots, &totalSnapshots](const auto& p){
p.forEachEntity([&savedSnapshots, &totalSnapshots](const auto& e){
savedSnapshots += e.getStatistics().recordedSnapshots;
e.forEachSnapshot([&totalSnapshots](const auto&){
totalSnapshots++;
longtermMemory->forEachCoreSegment(
[&savedSnapshots, &totalSnapshots](const auto& c)
{
c.forEachProviderSegment(
[&savedSnapshots, &totalSnapshots](const auto& p)
{
p.forEachEntity(
[&savedSnapshots, &totalSnapshots](const auto& e)
{
savedSnapshots += e.getStatistics().recordedSnapshots;
e.forEachSnapshot([&totalSnapshots](const auto&)
{ totalSnapshots++; });
});
});
});
});
});
ret.status.savedSnapshots = savedSnapshots;
ret.status.totalSnapshots = totalSnapshots;
......@@ -433,7 +417,8 @@ namespace armarx::armem::server
return armarx::toIce<prediction::data::PredictionResultSeq>(res);
}
prediction::data::EngineSupportMap MemoryToIceAdapter::getAvailableEngines()
prediction::data::EngineSupportMap
MemoryToIceAdapter::getAvailableEngines()
{
prediction::data::EngineSupportMap result;
armarx::toIce(result, workingMemory->getAllPredictionEngines());
......@@ -462,4 +447,4 @@ namespace armarx::armem::server
return result;
}
}
} // namespace armarx::armem::server
source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h
View file @ 60dfb712
#pragma once
#include <RobotAPI/interface/armem/server/MemoryInterface.h>
#include <RobotAPI/interface/armem/client/MemoryListenerInterface.h>
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/server/ltm/disk/Memory.h>
#include <RobotAPI/interface/armem/server/MemoryInterface.h>
#include <RobotAPI/libraries/armem/client/Query.h>
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/server/ltm/Memory.h>
#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
namespace armarx::armem::server
{
......@@ -21,20 +19,19 @@ namespace armarx::armem::server
class MemoryToIceAdapter
{
public:
/// Construct an MemoryToIceAdapter from an existing Memory.
MemoryToIceAdapter(server::wm::Memory* workingMemory = nullptr,
server::ltm::disk::Memory* longtermMemory = nullptr);
server::ltm::Memory* longtermMemory = nullptr);
void setMemoryListener(client::MemoryListenerInterfacePrx memoryListenerTopic);
// WRITING
data::AddSegmentResult addSegment(
const data::AddSegmentInput& input, bool addCoreSegments = false);
data::AddSegmentResult addSegment(const data::AddSegmentInput& input,
bool addCoreSegments = false);
data::AddSegmentsResult addSegments(
const data::AddSegmentsInput& input, bool addCoreSegments = false);
data::AddSegmentsResult addSegments(const data::AddSegmentsInput& input,
bool addCoreSegments = false);
data::CommitResult commit(const data::Commit& commitIce, Time timeArrived);
......@@ -63,18 +60,15 @@ namespace armarx::armem::server
prediction::data::EngineSupportMap getAvailableEngines();
public:
server::wm::Memory* workingMemory;
server::ltm::disk::Memory* longtermMemory;
server::ltm::Memory* longtermMemory;
client::MemoryListenerInterfacePrx memoryListenerTopic;
private:
armem::CommitResult _commit(const armem::Commit& commit, bool locking);
};
}
} // namespace armarx::armem::server
source/RobotAPI/libraries/armem/server/forward_declarations.h
View file @ 60dfb712
......@@ -2,11 +2,11 @@
#include <RobotAPI/libraries/armem/core/forward_declarations.h>
namespace armarx::armem::server
{
class MemoryToIceAdapter;
}
namespace armarx::armem::server::wm
{
using EntityInstance = armem::wm::EntityInstance;
......@@ -15,12 +15,9 @@ namespace armarx::armem::server::wm
class ProviderSegment;
class CoreSegment;
class Memory;
}
namespace armarx::armem::server::ltm::mongodb
{
class Memory;
}
namespace armarx::armem::server::ltm::disk
} // namespace armarx::armem::server::wm
namespace armarx::armem::server::ltm
{
class Memory;
}