Feature/forgetting in wm and em

Branch for PdF Student @uhfpm_plewnia

ToDos:

• Master mergen
  • Conflicts lösen
• Wieder nur 1 LTM aufzeichnen
• Sinnvollere Error messages
• Speichere Memories in MemoryExportPath/MemoryExportName/MemoryName
  • Prefix mit Datum
  • evtl. in GUI Namen angeben können
• Statistiken mit in memory ordner
• In GUI, separater thread übernimmt speicherung, damit GUI nicht einfriert
  • In GUI anzeigen, wie viele Snapshots noch gespeichert werden müssen (Fortschrittsanzeige)
• Aron-Typen mit exportieren (Falls nicht eh schon (speichere core-seg,ent typen mit im core segment ordner als type.aron.json, provider-seg typen im prov-seg ordner))
• Stresstesten (Ziel: Was sollte default filter sein)

source/RobotAPI/libraries/armem/server/ltm/detail/MemoryBase.h

@@ -2,11 +2,11 @@
 
 #include <functional>
 
+
 // BaseClass
 #include "MemoryItem.h"
 
 // ChildType
-#include "CoreSegmentBase.h"
 
 // ArmarX
 #include <ArmarXCore/core/Component.h>
@@ -18,6 +18,7 @@
 #include <RobotAPI/libraries/armem/core/wm/aron_conversions.h>
 #include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
 #include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
+#include <RobotAPI/libraries/armem/server/test/ForgettingExperiments.h>
 
 namespace armarx::armem::server::ltm::detail
 {
@@ -136,12 +137,13 @@ namespace armarx::armem::server::ltm::detail
         void
         store(const armem::wm::Memory& memory)
         {
+            ARMARX_INFO << deactivateSpam() << "Memory stored";
             TIMING_START(LTM_Memory_Append);
             for (auto& f : processors->memFilters)
             {
                 if (!f->accept(memory))
                 {
-                    ARMARX_INFO << deactivateSpam()
+                    ARMARX_INFO
                                 << "Ignoring to put a Memory into the LTM because it got filtered.";
                     return;
                 }
@@ -188,6 +190,8 @@ namespace armarx::armem::server::ltm::detail
         stopRecording()
         {
             disable();
+            //This can hold information abut the filter statistics, if the LTM recording is properly ended
+            getFilterStatistics();
         }
 
         bool
@@ -211,6 +215,13 @@ namespace armarx::armem::server::ltm::detail
             return statistics;
         }
 
+        std::map<std::string, processor::SnapshotFilter::FilterStatistics>
+        getFilterStatistics(){
+            auto stats = processors->getSnapshotFilterStatistics();
+            test::save_statistics(stats);
+            return stats;
+        }
+
         /// get level name
         static std::string
         getLevelName()
@@ -248,9 +259,12 @@ namespace armarx::armem::server::ltm::detail
         // stuff for scenario parameters
         struct Properties
         {
-            bool enabled_on_startup = false;
+            bool enabled_on_startup = true;
             std::string configuration_on_startup =
-                "{\"SnapshotFrequencyFilter\": { \"WaitingTimeInMs\": 1000}, \"PngConverter\": {}}";
+                "{"
+                "\"SnapshotSimilarityFilter\": { \"Threshold\": 20},"
+                " \"PngConverter\": {}"
+                "}";
         } p;
 
     protected: