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Commit 9bb36301 authored by Joana Plewnia's avatar Joana Plewnia
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removed legacy code

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source/armarx/speech/skills/object_last_seen_at/core/ObjectLastSeenAt.cpp
+ 2
− 121
View file @ 9bb36301
......@@ -115,7 +115,8 @@ namespace armarx::speech::object_last_seen_at::core
auto object_descriptions = remote.symbolicSceneReader->getLatestObjectDescriptions();
ARMARX_DEBUG << "Got description of objects";
//change the output of the object name (dont have any _ in it, dont have any numbers in it, in case of YCB)
//change the output of the object name (dont have any _ in it, dont have any numbers in it, in case of YCB);
//this is needed because in case of LTM we do not have the object id currently
const auto spokenObjectNameFromStringName = [](const std::string& objectName) -> std::string
{
std::string spokenName = objectName;
......@@ -243,126 +244,6 @@ namespace armarx::speech::object_last_seen_at::core
}
}
/** Legacy(only newest snapshot queried)
for (auto object_description : object_descriptions)
{
auto object_description_name = object_description.second.id;
std::transform(object_description_name.begin(),
object_description_name.end(),
object_description_name.begin(),
[](unsigned char c)
{ return std::tolower(c); }); //convert description name to lowercase
ARMARX_DEBUG << object_description_name;
if (object_description_name.find(object_name) != std::string::npos)
{ // object is in symbolic scene memory at the moment
if (object_description.second.objectAt != "(unknown)")
{ // this means a location for the object could be found
const std::string spokenName = getObjectSpokenNames(object_description.second.id)[0];
const std::string preposition = getPreposition(object_description.second.objectAt);
const std::string spokenLocationName =
getObjectSpokenNames(object_description.second.objectAt)[0];
const std::string answer = "I have last seen the " + spokenName + " " + preposition +
" the " + spokenLocationName;
this->subskills.say(answer);
try
{
//obtain the object pose from the object memory:
const armem::MemoryID sourceId = armem::MemoryID::fromString(object_description.second.source);
const armem::MemoryID coreSegmentID("Object", "Instance");
armem::client::Reader reader = this->remote.memoryNameSystem.getReader(coreSegmentID);
armem::client::QueryBuilder builder;
builder.coreSegments().withName(coreSegmentID.coreSegmentName)
.providerSegments().withName(sourceId.providerSegmentName)
.entities().withName(sourceId.entityName)
.snapshots().atTime(sourceId.timestamp);
armem::client::QueryResult result = reader.query(builder.buildQueryInput());
if (result.success)
{
armem::wm::Memory& memory = result.memory;
memory.forEachInstance([this, &sourceId](const armem::wm::EntityInstance& instance)
{
const armarx::armem::arondto::ObjectInstance i = armarx::armem::arondto::ObjectInstance::FromAron(instance.data());
objpose::ObjectPose pose;
armarx::armem::fromAron(i, pose);
// objpose::ObjectPose pose =
// armarx::aron::fromAron<objpose::ObjectPose>(
// armarx::armem::arondto::ObjectInstance::FromAron(instance.data())
// );
auto currentTime = armarx::armem::Time::Now();
//auto ageOfObjectInformation = currentTime.toSecondsSinceEpoch() - instance.metadata().sentTime.toSecondsSinceEpoch();
armarx::armem::arondto::ObjectInstance objectInstance;
armarx::objpose::toAron(objectInstance.pose, pose);
armem::MemoryID newObjectPoseClassID = armem::MemoryID("Object", "Class", "PriorKnowledgeData", sourceId.entityName);
armarx::armem::toAron(objectInstance.classID, newObjectPoseClassID);//objectClassId;
objectInstance.pose.confidence = 1.0; // we are sure about the location
objectInstance.pose.timestamp =
armarx::Clock::Now(); // we must update the timestamp
// store the object in the object memory
ARMARX_CHECK_NOT_NULL(this->remote.objectInstanceWriter);
ARMARX_CHECK(this->remote.objectInstanceWriter->commitObject(
objectInstance, properties.objectProviderName, armarx::Clock::Now()));
});
}
return true; // for now return here, later put this below
}
catch (const std::exception& e)
{
ARMARX_ERROR << "Error while updating object instance in object memory: " << e.what();
}
}
{ // if the location is unkown, we need to query the LTM
try{
const auto queryResult = queryLTM(object_description.second.id);
ARMARX_INFO << VAROUT(queryResult.locationName);
if (queryResult.locationName == "(unknown)")
{
std::string answer = "I cannot remember having seen the " +
spokenObjectNameFromStringName(object_name);
this->subskills.say(answer);
return true;
} else if (queryResult.locationName == "(aborted)")
{
ARMARX_INFO << "Aborted query";
return true;
}
std::string answer = "I have last seen the " +
spokenObjectNameFromStringName(object_name) + " " +
queryResult.locationName;
this->subskills.say(answer);
return true;
} catch (const std::exception& e)
{
ARMARX_ERROR << "Error while querying LTM: " << e.what();
return false;
}
}
}
}
*/
// object is not in symbolic scene memory (-> currently not visible) and we need to leverage the LTM
ARMARX_INFO << "Information not in WM, searching LTM";
const auto queryResult = queryLTM(object_name);
......
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