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/mixins/BufferedMemoryMixin.h

 #pragma once
 
+#include <atomic>
+#include <chrono>
+#include <thread>
+
 #include <SimoxUtility/json.h>
 
 #include <ArmarXCore/core/services/tasks/PeriodicTask.h>
@@ -31,6 +35,12 @@ namespace armarx::armem::server::ltm::detail::mixin
             TIMING_END_STREAM(LTM_Memory_DirectlyStore, ARMARX_DEBUG);
         }
 
+        void
+        bufferFinished()
+        {
+            //use this to count how much work is still left
+        }
+
     protected:
         void
         setMixinMemoryID(const MemoryID& id)
@@ -51,6 +61,8 @@ namespace armarx::armem::server::ltm::detail::mixin
                 task = new armarx::PeriodicTask<BufferedMemoryMixin>(
                     this, &BufferedMemoryMixin::storeBuffer, waitingTimeMs);
                 task->start();
+                task->setDelayWarningTolerance(
+                    waitingTimeMs); //a warning will be issued if the task takes longer than the waitingTime
             }
         }
 
@@ -62,6 +74,7 @@ namespace armarx::armem::server::ltm::detail::mixin
                 task->stop();
                 task = nullptr;
             }
+
         }
 
         armem::wm::Memory
@@ -87,7 +100,12 @@ namespace armarx::armem::server::ltm::detail::mixin
                 return;
             }
 
+            while (storeFlag.test_and_set(std::memory_order_acquire))
+            {
+                std::this_thread::yield();
+            }
             this->directlyStore(*to_store);
+            storeFlag.clear(std::memory_order_release);
         }
 
         /// configuration
@@ -97,9 +115,17 @@ namespace armarx::armem::server::ltm::detail::mixin
             if (json.find("BufferedMemory.storeFrequency") != json.end())
             {
                 storeFrequency = json.at("BufferedMemory.storeFrequency");
+                ARMARX_INFO << "Setting store frequency from configuration json to "
+                            << storeFrequency;
             }
         }
 
+        void
+        createPropertyDefinitions(PropertyDefinitionsPtr& defs, const std::string& prefix)
+        {
+            defs->optional(storeFrequency, prefix + "storeFrequency");
+        }
+
         virtual void _directlyStore(const armem::wm::Memory& memory) = 0;
 
         void
@@ -109,6 +135,7 @@ namespace armarx::armem::server::ltm::detail::mixin
             buffer->append(memory);
         }
 
+
     protected:
         /// Internal memory for data consolidated from wm to ltm (double-buffer)
         /// The to-put-to-ltm buffer (contains data in plain text)
@@ -116,6 +143,7 @@ namespace armarx::armem::server::ltm::detail::mixin
         /// This means that it is not guaranteed that all data in the buffer will be stored in the ltm
         std::unique_ptr<armem::wm::Memory> buffer;
         std::unique_ptr<armem::wm::Memory> to_store;
+        std::atomic_flag storeFlag = ATOMIC_FLAG_INIT;
 
         /// The frequency (Hz) to store data to the ltm
         float storeFrequency = 10;