From 04bce89fb74fb29c6e00f0fc49589cbd4b85dd00 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Thu, 19 Aug 2021 11:35:44 +0200
Subject: [PATCH] Use MemoryIDs instead of strings
---
.../GraphImportExport/GraphImportExport.cpp | 66 +++++++++----------
.../GraphImportExport/GraphImportExport.h | 19 +++---
source/armarx/navigation/graph/CMakeLists.txt | 1 +
source/armarx/navigation/graph/constants.cpp | 4 +-
source/armarx/navigation/graph/constants.h | 4 +-
.../armarx/navigation/location/CMakeLists.txt | 3 +
.../armarx/navigation/location/constants.cpp | 4 +-
source/armarx/navigation/location/constants.h | 4 +-
8 files changed, 56 insertions(+), 49 deletions(-)
diff --git a/source/armarx/navigation/components/GraphImportExport/GraphImportExport.cpp b/source/armarx/navigation/components/GraphImportExport/GraphImportExport.cpp
index 14b6704b..96a69c23 100644
--- a/source/armarx/navigation/components/GraphImportExport/GraphImportExport.cpp
+++ b/source/armarx/navigation/components/GraphImportExport/GraphImportExport.cpp
@@ -26,6 +26,7 @@
#include <armarx/navigation/location/aron/Location.aron.generated.h>
#include <armarx/navigation/location/constants.h>
+#include <armarx/navigation/graph/Writer.h>
#include <armarx/navigation/graph/aron/Graph.aron.generated.h>
#include <armarx/navigation/graph/constants.h>
@@ -50,9 +51,8 @@ namespace armarx::nav
GraphImportExport::GraphImportExport()
{
- properties.memoryName = "Navigation";
- properties.locationCoreSegmentName = loc::coreSegmentName;
- properties.graphCoreSegmentName = graph::coreSegmentName;
+ properties.locationCoreSegmentID = loc::coreSegmentID;
+ properties.graphCoreSegmentID = graph::coreSegmentID;
}
@@ -83,7 +83,9 @@ namespace armarx::nav
{
proxies.graphSegment = proxies.priorKnowledge->getGraphSegment();
}
- proxies.navigationWriter = memoryNameSystem.useWriter(armem::MemoryID(properties.memoryName));
+ proxies.locationWriter = memoryNameSystem.useWriter(properties.locationCoreSegmentID);
+ proxies.graphWriter = memoryNameSystem.useWriter(properties.graphCoreSegmentID);
+
// Setup and start the remote GUI.
refreshScenes();
@@ -183,11 +185,11 @@ namespace armarx::nav
if (tab.locationsClearArMemButton.wasClicked())
{
- clearArMemProviderSegment(getLocationProviderSegmentID());
+ clearArMemProviderSegment(proxies.locationWriter, getLocationProviderSegmentID());
}
if (tab.graphClearArMemButton.wasClicked())
{
- clearArMemProviderSegment(getGraphProviderSegmentID());
+ clearArMemProviderSegment(proxies.graphWriter, getGraphProviderSegmentID());
}
}
@@ -199,21 +201,6 @@ namespace armarx::nav
}
- void GraphImportExport::clearArMemProviderSegment(const armem::MemoryID& providerSegmentID)
- {
- const bool clearWhenExists = true;
- auto result = proxies.navigationWriter.addSegment(providerSegmentID, clearWhenExists);
- if (result.success)
- {
- ARMARX_IMPORTANT << "Cleared ArMem provider segment " << providerSegmentID << ".";
- }
- else
- {
- ARMARX_WARNING << result.errorMessage;
- }
- }
-
-
void GraphImportExport::locationsMemoryxToArmem(const std::string& sceneName)
{
const armem::Time time = armem::Time::now();
@@ -260,7 +247,7 @@ namespace armarx::nav
if (not tab.dryRun.getValue())
{
- armem::CommitResult result = proxies.navigationWriter.commit(commit);
+ armem::CommitResult result = proxies.locationWriter.commit(commit);
if (result.allSuccess())
{
ARMARX_IMPORTANT << "Successfully exported " << result.results.size() << " locations from MemoryX to ArMem.";
@@ -289,11 +276,6 @@ namespace armarx::nav
memoryx::GraphNodeBaseList graphNodes = proxies.graphSegment->getNodesByScene(sceneName);
nav::graph::Graph graph = toArmemGraph(graphNodes);
- // Build ARON Graph
- nav::graph::arondto::Graph aron;
- toAron(aron, graph);
-
-
if (tab.visuEnabled.getValue())
{
nav::graph::GraphVisu visu;
@@ -304,6 +286,9 @@ namespace armarx::nav
arviz.commit(layer);
}
+ // Build ARON Graph
+ nav::graph::arondto::Graph aron;
+ toAron(aron, graph);
// Build commit
const armem::Time time = armem::Time::now();
@@ -314,7 +299,7 @@ namespace armarx::nav
if (not tab.dryRun.getValue())
{
- armem::EntityUpdateResult result = proxies.navigationWriter.commit(update);
+ armem::EntityUpdateResult result = proxies.graphWriter.commit(update);
if (result.success)
{
ARMARX_IMPORTANT << "Successfully exported graph '" << sceneName << "' from MemoryX to ArMem.";
@@ -338,20 +323,33 @@ namespace armarx::nav
}
+ void GraphImportExport::clearArMemProviderSegment(armem::client::Writer& writer, const armem::MemoryID& providerSegmentID)
+ {
+ const bool clearWhenExists = true;
+ auto result = writer.addSegment(providerSegmentID, clearWhenExists);
+ if (result.success)
+ {
+ ARMARX_IMPORTANT << "Cleared ArMem provider segment " << providerSegmentID << ".";
+ }
+ else
+ {
+ ARMARX_WARNING << result.errorMessage;
+ }
+ }
+
+
armem::MemoryID GraphImportExport::getLocationProviderSegmentID()
{
- return armem::MemoryID(properties.memoryName,
- properties.locationCoreSegmentName,
- tab.providerSegmentLine.getValue());
+ return properties.locationCoreSegmentID.withProviderSegmentName(tab.providerSegmentLine.getValue());
}
+
armem::MemoryID GraphImportExport::getGraphProviderSegmentID()
{
- return armem::MemoryID(properties.memoryName,
- properties.graphCoreSegmentName,
- tab.providerSegmentLine.getValue());
+ return properties.graphCoreSegmentID.withProviderSegmentName(tab.providerSegmentLine.getValue());
}
+
nav::graph::Graph GraphImportExport::toArmemGraph(const memoryx::GraphNodeBaseList& graphNodes)
{
nav::graph::Graph graph;
diff --git a/source/armarx/navigation/components/GraphImportExport/GraphImportExport.h b/source/armarx/navigation/components/GraphImportExport/GraphImportExport.h
index efd4aed1..949ad673 100644
--- a/source/armarx/navigation/components/GraphImportExport/GraphImportExport.h
+++ b/source/armarx/navigation/components/GraphImportExport/GraphImportExport.h
@@ -24,12 +24,13 @@
#include <armarx/navigation/graph/forward_declarations.h>
-#include <MemoryX/interface/components/PriorKnowledgeInterface.h>
+#include <MemoryX/interface/memorytypes/MemoryEntities.h>
#include <MemoryX/interface/memorytypes/MemorySegments.h>
+#include <MemoryX/interface/components/PriorKnowledgeInterface.h>
#include <MemoryX/interface/components/GraphNodePoseResolverInterface.h>
-#include <MemoryX/interface/memorytypes/MemoryEntities.h>
-#include <RobotAPI/libraries/armem/client/ComponentPlugin.h>
+#include <RobotAPI/libraries/armem/client/MemoryNameSystemComponentPlugin.h>
+#include <RobotAPI/libraries/armem/client/Writer.h>
#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
#include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
@@ -57,7 +58,7 @@ namespace armarx::nav
, virtual public armarx::DebugObserverComponentPluginUser
, virtual public armarx::LightweightRemoteGuiComponentPluginUser
, virtual public armarx::ArVizComponentPluginUser
- , virtual public armarx::armem::client::ComponentPluginUser
+ , virtual public armarx::armem::client::MemoryNameSystemComponentPluginUser
{
public:
@@ -105,7 +106,7 @@ namespace armarx::nav
void graphMemoryxToArmem(const std::string& sceneName);
void graphArmemToMemoryx(const std::string& sceneName);
- void clearArMemProviderSegment(const armem::MemoryID& providerSegmentID);
+ void clearArMemProviderSegment(armem::client::Writer& writer, const armem::MemoryID& providerSegmentID);
armem::MemoryID getLocationProviderSegmentID();
armem::MemoryID getGraphProviderSegmentID();
@@ -121,7 +122,8 @@ namespace armarx::nav
memoryx::GraphNodePoseResolverInterfacePrx graphNodePoseResolver;
memoryx::GraphMemorySegmentBasePrx graphSegment;
- armem::client::Writer navigationWriter;
+ armem::client::Writer locationWriter;
+ armem::client::Writer graphWriter;
};
Proxies proxies;
@@ -129,9 +131,8 @@ namespace armarx::nav
/// Properties shown in the Scenario GUI.
struct Properties
{
- std::string memoryName;
- std::string locationCoreSegmentName;
- std::string graphCoreSegmentName;
+ armem::MemoryID locationCoreSegmentID;
+ armem::MemoryID graphCoreSegmentID;
};
Properties properties;
diff --git a/source/armarx/navigation/graph/CMakeLists.txt b/source/armarx/navigation/graph/CMakeLists.txt
index 530fe93e..a53eb52b 100644
--- a/source/armarx/navigation/graph/CMakeLists.txt
+++ b/source/armarx/navigation/graph/CMakeLists.txt
@@ -12,6 +12,7 @@ armarx_add_library(
# RobotAPI
aron
+ armem
SOURCES
constants.cpp
diff --git a/source/armarx/navigation/graph/constants.cpp b/source/armarx/navigation/graph/constants.cpp
index 543952ee..f862be9c 100644
--- a/source/armarx/navigation/graph/constants.cpp
+++ b/source/armarx/navigation/graph/constants.cpp
@@ -1,9 +1,11 @@
#include "constants.h"
+#include <RobotAPI/libraries/armem/core/MemoryID.h>
+
namespace armarx::nav
{
- const std::string graph::coreSegmentName = "Graph";
+ const armem::MemoryID graph::coreSegmentID { "Navigation", "Graph" };
}
diff --git a/source/armarx/navigation/graph/constants.h b/source/armarx/navigation/graph/constants.h
index 7e518c7e..ccb1cc7e 100644
--- a/source/armarx/navigation/graph/constants.h
+++ b/source/armarx/navigation/graph/constants.h
@@ -21,12 +21,12 @@
#pragma once
-#include <string>
+#include <RobotAPI/libraries/armem/core/forward_declarations.h>
namespace armarx::nav::graph
{
- extern const std::string coreSegmentName;
+ extern const armem::MemoryID coreSegmentID;
}
diff --git a/source/armarx/navigation/location/CMakeLists.txt b/source/armarx/navigation/location/CMakeLists.txt
index a23eb4a2..675377bd 100644
--- a/source/armarx/navigation/location/CMakeLists.txt
+++ b/source/armarx/navigation/location/CMakeLists.txt
@@ -9,6 +9,9 @@ armarx_add_library(
ArmarXCoreInterfaces
ArmarXCore
# ${ProjectName}Libraries
+
+ armem
+
SOURCES
constants.cpp
HEADERS
diff --git a/source/armarx/navigation/location/constants.cpp b/source/armarx/navigation/location/constants.cpp
index 4a9a4ca4..33b2bc98 100644
--- a/source/armarx/navigation/location/constants.cpp
+++ b/source/armarx/navigation/location/constants.cpp
@@ -1,9 +1,11 @@
#include "constants.h"
+#include <RobotAPI/libraries/armem/core/MemoryID.h>
+
namespace armarx::nav
{
- const std::string loc::coreSegmentName = "Location";
+ const armem::MemoryID loc::coreSegmentID { "Navigation", "Location" };
}
diff --git a/source/armarx/navigation/location/constants.h b/source/armarx/navigation/location/constants.h
index 31d558d0..ac5f34ef 100644
--- a/source/armarx/navigation/location/constants.h
+++ b/source/armarx/navigation/location/constants.h
@@ -21,12 +21,12 @@
#pragma once
-#include <string>
+#include <RobotAPI/libraries/armem/core/forward_declarations.h>
namespace armarx::nav::loc
{
- extern const std::string coreSegmentName;
+ extern const armem::MemoryID coreSegmentID;
}
--
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