diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/detail/EntitySnapshotBase.h b/source/RobotAPI/libraries/armem/server/ltm/base/detail/EntitySnapshotBase.h
index a94255064a95ade2886b3f1ff2787254fc539861..f7cd75f6801d7dfef1c397e8d9f81881c654c294 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/detail/EntitySnapshotBase.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/detail/EntitySnapshotBase.h
@@ -9,10 +9,6 @@
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/core/wm/aron_conversions.h>
-#include "../extractor/Extractor.h"
-#include "../converter/dict/Converter.h"
-#include "../converter/image/Converter.h"
-
namespace armarx::armem::server::ltm
{
/// @brief Interface functions for the longterm memory classes
@@ -50,9 +46,5 @@ namespace armarx::armem::server::ltm
protected:
mutable std::recursive_mutex ltm_mutex;
-
- DictConverterPtr dictConverter;
- ImageConverterPtr imgConverter;
- ExtractorPtr extractor;
};
} // namespace armarx::armem::server::ltm
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/detail/MemoryItem.cpp b/source/RobotAPI/libraries/armem/server/ltm/base/detail/MemoryItem.cpp
index 0187962b34aee1e796a6c4f757a958063fdeeec2..c932b5690f1ef5cd2f33dea87cf13b9381bfeed3 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/detail/MemoryItem.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/detail/MemoryItem.cpp
@@ -7,7 +7,14 @@
namespace armarx::armem::server::ltm
{
- MemoryItem::MemoryItem(const MemoryID& id) : _id(id)
+ MemoryItem::MemoryItem(const MemoryID& id) :
+ _id(id)
+ {
+ }
+
+ MemoryItem::MemoryItem(const MemoryID& id, const LongTermMemoryPipeline& p) :
+ pipeline(p),
+ _id(id)
{
}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/detail/MemoryItem.h b/source/RobotAPI/libraries/armem/server/ltm/base/detail/MemoryItem.h
index 0fb9b0274935fe4725e763190610dcd94ba85595..e654dc887446b82a5d34dd7b08ff86c7ef874c04 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/detail/MemoryItem.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/detail/MemoryItem.h
@@ -5,16 +5,31 @@
#include <optional>
#include <string>
+#include "../filter/Filter.h"
+#include "../extractor/Extractor.h"
+#include "../converter/dict/Converter.h"
+#include "../converter/image/Converter.h"
+
#include <RobotAPI/libraries/armem/core/MemoryID.h>
namespace armarx::armem::server::ltm
{
+ struct LongTermMemoryPipeline
+ {
+ MemoryFilterPtr memFilter;
+ SnapshotFilterPtr snapFilter;
+ DictConverterPtr dictConverter;
+ ImageConverterPtr imgConverter;
+ ExtractorPtr extractor;
+ };
+
/// @brief Interface functions for the longterm memory classes
class MemoryItem
{
public:
MemoryItem() = default;
MemoryItem(const MemoryID&);
+ MemoryItem(const MemoryID&, const LongTermMemoryPipeline&);
virtual ~MemoryItem() = default;
MemoryID id() const;
@@ -22,6 +37,9 @@ namespace armarx::armem::server::ltm
virtual void setMemoryID(const MemoryID&);
+ protected:
+ LongTermMemoryPipeline pipeline;
+
private:
MemoryID _id;
};
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/filter/Filter.h b/source/RobotAPI/libraries/armem/server/ltm/base/filter/Filter.h
index c4b5871c83a22c9b29cab975261b2d1902e3d163..f5b068600ac0bb1a89215d81861c2a7a0e10bc6f 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/filter/Filter.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/filter/Filter.h
@@ -9,15 +9,27 @@
namespace armarx::armem::server::ltm
{
- class Filter;
- typedef std::shared_ptr<Filter> FilterPtr;
+ class SnapshotFilter;
+ typedef std::shared_ptr<SnapshotFilter> SnapshotFilterPtr;
- class Filter
+ class MemoryFilter;
+ typedef std::shared_ptr<MemoryFilter> MemoryFilterPtr;
+
+ class MemoryFilter
+ {
+ public:
+ MemoryFilter() = default;
+ virtual ~MemoryFilter() = default;
+
+ virtual bool accept(const armem::wm::Memory& e) = 0;
+ };
+
+ class SnapshotFilter
{
public:
- Filter() = default;
- virtual ~Filter() = default;
+ SnapshotFilter() = default;
+ virtual ~SnapshotFilter() = default;
- virtual bool accept(const armem::wm::Memory& memory) = 0;
+ virtual bool accept(const armem::wm::EntitySnapshot& e) = 0;
};
}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/filter/frequencyFilter/FrequencyFilter.cpp b/source/RobotAPI/libraries/armem/server/ltm/base/filter/frequencyFilter/FrequencyFilter.cpp
index 15802afb6b662d48d547417bef13478771afb35b..5650c836523a90c48d5cfb50b9b9e6ef8b307af9 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/filter/frequencyFilter/FrequencyFilter.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/filter/frequencyFilter/FrequencyFilter.cpp
@@ -4,9 +4,9 @@
namespace armarx::armem::server::ltm::filter
{
- bool FrequencyFilter::accept(const armem::wm::Memory&)
+ bool MemoryFrequencyFilter::accept(const armem::wm::Memory& e)
{
- auto now = IceUtil::Time::now().toMilliSeconds();
+ auto now = armem::Time::now().toMilliSeconds();
if (waitingTimeInMs < 0 || (now - timestampLastCommitInMs) > waitingTimeInMs)
{
timestampLastCommitInMs = now;
@@ -14,4 +14,26 @@ namespace armarx::armem::server::ltm::filter
}
return false;
}
+
+ bool SnapshotFrequencyFilter::accept(const armem::wm::EntitySnapshot& e)
+ {
+ auto entityID = e.id().getEntityID();
+ auto genMs = e.time().toMilliSeconds();
+
+ long lastMs = 0;
+ if (timestampLastCommitInMs.count(entityID) > 0)
+ {
+ lastMs = timestampLastCommitInMs.at(entityID);
+ }
+
+ if (waitingTimeInMs < 0 || (genMs - lastMs) > waitingTimeInMs)
+ {
+ /*std::cout << "diff: " << (dataGeneratedInMs - timestampLastCommitInMs) << std::endl;
+ std::cout << "gen: " << (dataGeneratedInMs) << std::endl;
+ std::cout << "last: " << (timestampLastCommitInMs) << std::endl;*/
+ timestampLastCommitInMs[entityID] = genMs;
+ return true;
+ }
+ return false;
+ }
}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/filter/frequencyFilter/FrequencyFilter.h b/source/RobotAPI/libraries/armem/server/ltm/base/filter/frequencyFilter/FrequencyFilter.h
index ab6b036a029dc40420305916fab1d4dd0664161d..a791f862abed1b14e9bf75eb3046a635a8d77c36 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/filter/frequencyFilter/FrequencyFilter.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/filter/frequencyFilter/FrequencyFilter.h
@@ -5,19 +5,35 @@
namespace armarx::armem::server::ltm::filter
{
- class FrequencyFilter;
- typedef std::shared_ptr<FrequencyFilter> FrequencyFilterPtr;
+ class SnapshotFrequencyFilter;
+ typedef std::shared_ptr<SnapshotFrequencyFilter> SnapshotFrequencyFilterPtr;
- class FrequencyFilter :
- public Filter
+ class MemoryFrequencyFilter;
+ typedef std::shared_ptr<MemoryFrequencyFilter> MemoryFrequencyFilterPtr;
+
+ class MemoryFrequencyFilter :
+ public MemoryFilter
{
public:
- FrequencyFilter() = default;
+ MemoryFrequencyFilter() = default;
- virtual bool accept(const armem::wm::Memory& memory) override;
+ virtual bool accept(const armem::wm::Memory& e) override;
private:
- int waitingTimeInMs = 10;
+ int waitingTimeInMs = -1;
long timestampLastCommitInMs = 0;
};
+
+ class SnapshotFrequencyFilter :
+ public SnapshotFilter
+ {
+ public:
+ SnapshotFrequencyFilter() = default;
+
+ virtual bool accept(const armem::wm::EntitySnapshot& e) override;
+
+ private:
+ int waitingTimeInMs = 1000;
+ std::unordered_map<MemoryID, long> timestampLastCommitInMs;
+ };
}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/CoreSegment.cpp b/source/RobotAPI/libraries/armem/server/ltm/disk/CoreSegment.cpp
index 256634a83b296cb45843aaad3a5f56cee4c17447..c78baf87f70dbc88c8ab8e00c4174a5b9e019c2f 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/CoreSegment.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/CoreSegment.cpp
@@ -21,9 +21,9 @@ namespace armarx::armem::server::ltm::disk
}
}
- CoreSegment::CoreSegment(const std::filesystem::path& p) :
- CoreSegmentBase(getMemoryIDFromPath(p)),
- DiskStorage(p)
+ CoreSegment::CoreSegment(const std::filesystem::path& p, const LongTermMemoryPipeline& pipe) :
+ CoreSegmentBase(getMemoryIDFromPath(p), pipe),
+ DiskMemoryItem(p)
{
}
@@ -40,7 +40,7 @@ namespace armarx::armem::server::ltm::disk
for (const auto& subdir : std::filesystem::directory_iterator(p))
{
std::filesystem::path subdirPath = subdir.path();
- ProviderSegment c(subdirPath);
+ ProviderSegment c(subdirPath, pipeline);
func(c);
}
return true;
@@ -58,7 +58,7 @@ namespace armarx::armem::server::ltm::disk
std::filesystem::path subpath = p / n;
util::ensureFolderExists(subpath, false);
- auto c = std::make_shared<ProviderSegment>(subpath);
+ auto c = std::make_shared<ProviderSegment>(subpath, pipeline);
return c;
}
@@ -83,7 +83,7 @@ namespace armarx::armem::server::ltm::disk
c.forEachProviderSegment([this](armem::wm::ProviderSegment& e)
{
util::ensureFolderExists(std::filesystem::path(path) / e.id().providerSegmentName, false);
- ProviderSegment c(std::filesystem::path(path) / e.id().providerSegmentName);
+ ProviderSegment c((std::filesystem::path(path) / e.id().providerSegmentName), pipeline);
c.load(e);
});
}
@@ -93,7 +93,7 @@ namespace armarx::armem::server::ltm::disk
c.forEachProviderSegment([this](const auto& provSegment)
{
util::ensureFolderExists(std::filesystem::path(path) / provSegment.id().providerSegmentName);
- ProviderSegment c(std::filesystem::path(path) / provSegment.id().providerSegmentName);
+ ProviderSegment c((std::filesystem::path(path) / provSegment.id().providerSegmentName), pipeline);
c.store(provSegment);
});
}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/CoreSegment.h b/source/RobotAPI/libraries/armem/server/ltm/disk/CoreSegment.h
index 19241fe11afd4b4810b306790c865c4857cfb427..b5d5d6c59a89482f7ebc5b779826737a062542d1 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/CoreSegment.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/CoreSegment.h
@@ -12,11 +12,11 @@ namespace armarx::armem::server::ltm::disk
{
class CoreSegment :
public CoreSegmentBase<ProviderSegment>,
- public DiskStorage
+ public DiskMemoryItem
{
public:
- CoreSegment(const std::filesystem::path&);
+ CoreSegment(const std::filesystem::path&, const LongTermMemoryPipeline& p);
bool forEachProviderSegment(std::function<void(ProviderSegment&)>&& func) const override;
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.cpp b/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.cpp
index 3722970f32accc2698a57ff39ea8b61562e01225..4beead8cacdd373bb40268d0f9919d042aa40339 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.cpp
@@ -7,6 +7,8 @@
#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
+#include "../base/filter/frequencyFilter/FrequencyFilter.h"
+
namespace armarx::armem::server::ltm::disk
{
@@ -26,9 +28,9 @@ namespace armarx::armem::server::ltm::disk
}
}
- Entity::Entity(const std::filesystem::path& p) :
- EntityBase(getMemoryIDFromPath(p)),
- DiskStorage(p)
+ Entity::Entity(const std::filesystem::path& p, const LongTermMemoryPipeline& pipe) :
+ EntityBase(getMemoryIDFromPath(p), pipe),
+ DiskMemoryItem(p)
{
}
@@ -50,7 +52,7 @@ namespace armarx::armem::server::ltm::disk
for (const auto& subdir : std::filesystem::directory_iterator(p))
{
std::filesystem::path subdirPath = subdir.path();
- EntitySnapshot c(subdirPath);
+ EntitySnapshot c(subdirPath, pipeline);
func(c);
}
return true;
@@ -88,7 +90,7 @@ namespace armarx::armem::server::ltm::disk
std::filesystem::path subpath = p / std::to_string(n.toMicroSeconds());
util::ensureFolderExists(subpath, false);
- auto c = std::make_shared<EntitySnapshot>(subpath);
+ auto c = std::make_shared<EntitySnapshot>(subpath, pipeline);
return c;
}
@@ -133,7 +135,7 @@ namespace armarx::armem::server::ltm::disk
p.forEachSnapshot([this](armem::wm::EntitySnapshot& e)
{
util::ensureFolderExists(std::filesystem::path(path) / std::to_string(e.id().timestamp.toMicroSeconds()), false);
- EntitySnapshot c(std::filesystem::path(path) / std::to_string(e.id().timestamp.toMicroSeconds()));
+ EntitySnapshot c((std::filesystem::path(path) / std::to_string(e.id().timestamp.toMicroSeconds())), pipeline);
c.load(e);
});
}
@@ -142,8 +144,14 @@ namespace armarx::armem::server::ltm::disk
{
entity.forEachSnapshot([this](armem::wm::EntitySnapshot& e)
{
+ if (!pipeline.snapFilter->accept(e))
+ {
+ ARMARX_WARNING << deactivateSpam() << "Ignoring to put an EntitiySnapshot into the LTM because it got filtered.";
+ return;
+ }
+
util::ensureFolderExists(std::filesystem::path(path) / std::to_string(e.id().timestamp.toMicroSeconds()));
- EntitySnapshot c(std::filesystem::path(path) / std::to_string(e.id().timestamp.toMicroSeconds()));
+ EntitySnapshot c((std::filesystem::path(path) / std::to_string(e.id().timestamp.toMicroSeconds())), pipeline);
c.store(e);
});
}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.h b/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.h
index 41ad0be16ee87d81580c5cf1b6829bf358963197..3e0414339218e4d58173597004fecb36c899f059 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.h
@@ -13,10 +13,10 @@ namespace armarx::armem::server::ltm::disk
/// @brief A memory storing data in mongodb (needs 'armarx memory start' to start the mongod instance)
class Entity :
public EntityBase<EntitySnapshot>,
- public DiskStorage
+ public DiskMemoryItem
{
public:
- Entity(const std::filesystem::path&);
+ Entity(const std::filesystem::path&, const LongTermMemoryPipeline& p);
bool forEachSnapshot(std::function<void(EntitySnapshot&)>&& func) const override;
bool forEachSnapshotInIndexRange(long first, long last, std::function<void(EntitySnapshot&)>&& func) const override;
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.cpp b/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.cpp
index c3f31b9f26534807fcadc7dd0bc3de889cef6855..94cbec5482e924f32cf34490e66f1d037badf351 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.cpp
@@ -10,13 +10,6 @@
#include <ArmarXCore/core/logging/Logging.h>
#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
-// ArmarX
-#include "../base/extractor/noExtractor/NoExtractor.h"
-#include "../base/extractor/imageExtractor/ImageExtractor.h"
-#include "../base/converter/dict/json/JsonConverter.h"
-#include "../base/converter/dict/bson/BsonConverter.h"
-#include "../base/converter/image/png/PngConverter.h"
-
namespace armarx::armem::server::ltm::disk
{
@@ -44,13 +37,11 @@ namespace armarx::armem::server::ltm::disk
}
}
- EntitySnapshot::EntitySnapshot(const std::filesystem::path& p) :
- EntitySnapshotBase(getMemoryIDFromPath(p)),
- DiskStorage(p)
+ EntitySnapshot::EntitySnapshot(const std::filesystem::path& p, const LongTermMemoryPipeline& pipe) :
+ EntitySnapshotBase(getMemoryIDFromPath(p), pipe),
+ DiskMemoryItem(p)
{
- extractor = std::make_shared<extractor::ImageExtractor>();
- dictConverter = std::make_shared<converter::dict::JsonConverter>();
- imgConverter = std::make_shared<converter::image::PngConverter>();
+
}
std::string EntitySnapshot::getExpectedFolderName() const
@@ -87,8 +78,8 @@ namespace armarx::armem::server::ltm::disk
{
util::ensureFolderExists(p / std::to_string(i), false);
- std::filesystem::path data = p / std::to_string(i) / (constantes::DATA_FILENAME + dictConverter->suffix);
- std::filesystem::path metadata = p / std::to_string(i) / (constantes::METADATA_FILENAME + dictConverter->suffix);
+ std::filesystem::path data = p / std::to_string(i) / (constantes::DATA_FILENAME + pipeline.dictConverter->suffix);
+ std::filesystem::path metadata = p / std::to_string(i) / (constantes::METADATA_FILENAME + pipeline.dictConverter->suffix);
util::ensureFileExists(data);
@@ -96,11 +87,11 @@ namespace armarx::armem::server::ltm::disk
std::ifstream dataifs(data);
std::vector<unsigned char> datafilecontent((std::istreambuf_iterator<char>(dataifs)), (std::istreambuf_iterator<char>()));
- auto dataaron = dictConverter->convert(datafilecontent);
+ auto dataaron = pipeline.dictConverter->convert(datafilecontent);
std::ifstream metadataifs(metadata);
std::vector<unsigned char> metadatafilecontent((std::istreambuf_iterator<char>(metadataifs)), (std::istreambuf_iterator<char>()));
- auto metadataaron = dictConverter->convert(metadatafilecontent);
+ auto metadataaron = pipeline.dictConverter->convert(metadatafilecontent);
from_aron(metadataaron, dataaron, ins);
}
@@ -116,8 +107,8 @@ namespace armarx::armem::server::ltm::disk
std::filesystem::path instancePath = p / std::to_string(i);
util::ensureFolderExists(instancePath);
- std::filesystem::path dataPath = instancePath / (constantes::DATA_FILENAME + dictConverter->suffix);
- std::filesystem::path metadataPath = instancePath / (constantes::METADATA_FILENAME + dictConverter->suffix);
+ std::filesystem::path dataPath = instancePath / (constantes::DATA_FILENAME + pipeline.dictConverter->suffix);
+ std::filesystem::path metadataPath = instancePath / (constantes::METADATA_FILENAME + pipeline.dictConverter->suffix);
if (util::checkIfFileExists(dataPath) or util::checkIfFileExists(metadataPath))
{
@@ -132,21 +123,21 @@ namespace armarx::armem::server::ltm::disk
to_aron(metadataAron, dataAron, ins);
// extract
- auto dataExt = extractor->extract(dataAron);
- auto metadataExt = extractor->extract(metadataAron);
+ auto dataExt = pipeline.extractor->extract(dataAron);
+ auto metadataExt = pipeline.extractor->extract(metadataAron);
// convert images
for (const auto& [memberName, img] : dataExt.images)
{
ARMARX_CHECK_NOT_NULL(img);
- std::filesystem::path imgPath = instancePath / (memberName + imgConverter->suffix);
- auto imgVec = imgConverter->convert(img);
+ std::filesystem::path imgPath = instancePath / (memberName + pipeline.imgConverter->suffix);
+ auto imgVec = pipeline.imgConverter->convert(img);
writeDataToFile(imgPath, imgVec);
}
// convert dict and metadata
- auto dataVec = dictConverter->convert(dataExt.data);
- auto metadataVec = dictConverter->convert(metadataExt.data);
+ auto dataVec = pipeline.dictConverter->convert(dataExt.data);
+ auto metadataVec = pipeline.dictConverter->convert(metadataExt.data);
writeDataToFile(dataPath, dataVec);
writeDataToFile(metadataPath, metadataVec);
}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.h b/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.h
index 087c1b3e388688f4580da18b280265f58f4c8507..690d948251099033b453d37f0d72a89cc3df5e80 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.h
@@ -11,10 +11,10 @@ namespace armarx::armem::server::ltm::disk
class EntitySnapshot :
public EntitySnapshotBase,
- public DiskStorage
+ public DiskMemoryItem
{
public:
- EntitySnapshot(const std::filesystem::path&);
+ EntitySnapshot(const std::filesystem::path&, const LongTermMemoryPipeline& p);
protected:
void _loadAll(armem::wm::EntitySnapshot&) const override;
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/ProviderSegment.cpp b/source/RobotAPI/libraries/armem/server/ltm/disk/ProviderSegment.cpp
index 6d6c7361cd5ff9340bd8791d3c6f0a5bd31f4ecb..5eeb70355107afee9d8979c2d11b872839c9f4cd 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/ProviderSegment.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/ProviderSegment.cpp
@@ -24,9 +24,9 @@ namespace armarx::armem::server::ltm::disk
}
}
- ProviderSegment::ProviderSegment(const std::filesystem::path& p) :
- ProviderSegmentBase(getMemoryIDFromPath(p)),
- DiskStorage(p)
+ ProviderSegment::ProviderSegment(const std::filesystem::path& p, const LongTermMemoryPipeline& pipe) :
+ ProviderSegmentBase(getMemoryIDFromPath(p), pipe),
+ DiskMemoryItem(p)
{
}
@@ -43,7 +43,7 @@ namespace armarx::armem::server::ltm::disk
for (const auto& subdir : std::filesystem::directory_iterator(p))
{
std::filesystem::path subdirPath = subdir.path();
- Entity c(subdirPath);
+ Entity c(subdirPath, pipeline);
func(c);
}
return true;
@@ -61,7 +61,7 @@ namespace armarx::armem::server::ltm::disk
std::filesystem::path subpath = p / n;
util::ensureFolderExists(subpath, false);
- auto c = std::make_shared<Entity>(subpath);
+ auto c = std::make_shared<Entity>(subpath, pipeline);
return c;
}
@@ -86,7 +86,7 @@ namespace armarx::armem::server::ltm::disk
p.forEachEntity([this](armem::wm::Entity& e)
{
util::ensureFolderExists(std::filesystem::path(path) / e.id().entityName, false);
- Entity c(std::filesystem::path(path) / e.id().entityName);
+ Entity c((std::filesystem::path(path) / e.id().entityName), pipeline);
c.load(e);
});
}
@@ -96,9 +96,8 @@ namespace armarx::armem::server::ltm::disk
providerSegment.forEachEntity([this](const auto& entity)
{
util::ensureFolderExists(std::filesystem::path(path) / entity.id().entityName);
- Entity c(std::filesystem::path(path) / entity.id().entityName);
+ Entity c((std::filesystem::path(path) / entity.id().entityName), pipeline);
c.store(entity);
});
}
-
}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/ProviderSegment.h b/source/RobotAPI/libraries/armem/server/ltm/disk/ProviderSegment.h
index 708d00122047a39ea04f2af8ce1baa0d02364dfe..9683715ef66b94d46a95e6e7c102fad7621561b5 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/ProviderSegment.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/ProviderSegment.h
@@ -12,10 +12,10 @@ namespace armarx::armem::server::ltm::disk
{
class ProviderSegment :
public ProviderSegmentBase<Entity>,
- public DiskStorage
+ public DiskMemoryItem
{
public:
- ProviderSegment(const std::filesystem::path&);
+ ProviderSegment(const std::filesystem::path&, const LongTermMemoryPipeline& p);
bool forEachEntity(std::function<void(Entity&)>&& func) const override;