From 03ea41901bc8795a1c30e732c7fd16567e30bbb8 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Thu, 24 Jun 2021 15:43:54 +0200
Subject: [PATCH] Add reloading to Object/Class segment
---
.../server/ObjectMemory/ObjectMemory.cpp | 23 ++++++++++++-------
.../armem/server/ObjectMemory/ObjectMemory.h | 2 +-
.../armem_objects/server/class/Segment.cpp | 15 +++++++++++-
.../armem_objects/server/class/Segment.h | 3 +++
4 files changed, 33 insertions(+), 10 deletions(-)
diff --git a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
index b6d997f68..8eed518e4 100644
--- a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
+++ b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
@@ -185,28 +185,35 @@ namespace armarx::armem::server::obj
{
using namespace armarx::RemoteGui::Client;
- tab.instance.setup(*this);
- tab.clazz.setup(classSegment);
+ tab.reset(new RemoteGuiTab);
+
+ tab->instance.setup(*this);
+ tab->clazz.setup(classSegment);
HBoxLayout segments =
{
- tab.instance.group,
- tab.clazz.group
+ tab->instance.group,
+ tab->clazz.group
};
VBoxLayout root =
{
segments,
VSpacer()
};
- RemoteGui_createTab(Component::getName(), root, &tab);
+ RemoteGui_createTab(Component::getName(), root, tab.get());
}
+
void ObjectMemory::RemoteGui_update()
{
// Non-atomic variables need to be guarded by a mutex if accessed by multiple threads
- tab.instance.update(*this);
- tab.clazz.update(classSegment);
+ tab->instance.update(*this);
+ tab->clazz.update(classSegment);
+
+ if (tab->clazz.data.rebuild)
+ {
+ createRemoteGuiTab();
+ }
}
}
-
diff --git a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
index 2dfd668d1..a513016a3 100644
--- a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
+++ b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
@@ -122,7 +122,7 @@ namespace armarx::armem::server::obj
instance::SegmentAdapter::RemoteGui instance;
clazz::Segment::RemoteGui clazz;
};
- RemoteGuiTab tab;
+ std::unique_ptr<RemoteGuiTab> tab;
};
diff --git a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
index 93989e18d..323a4df0d 100644
--- a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
@@ -79,7 +79,10 @@ namespace armarx::armem::server::obj::clazz
std::vector<ObjectInfo> infos = objectFinder.findAllObjects(checkPaths);
const MemoryID providerID = coreSegment->id().withProviderSegmentName(objectFinder.getPackageName());
- coreSegment->addProviderSegment(providerID.providerSegmentName);
+ if (not coreSegment->hasProviderSegment(providerID.providerSegmentName))
+ {
+ coreSegment->addProviderSegment(providerID.providerSegmentName);
+ }
ARMARX_INFO << "Loading up to " << infos.size() << " object classes from '"
<< objectFinder.getPackageName() << "' ...";
@@ -225,12 +228,16 @@ namespace armarx::armem::server::obj::clazz
{
using namespace armarx::RemoteGui::Client;
+ reloadButton.setLabel("Reload");
+
maxHistorySize.setValue(std::max(1, int(segment.p.maxHistorySize)));
maxHistorySize.setRange(1, 1e6);
infiniteHistory.setValue(segment.p.maxHistorySize == -1);
GridLayout grid;
int row = 0;
+ grid.add(reloadButton, {row, 0}, {1, 2});
+ row++;
grid.add(Label("Max History Size"), {row, 0}).add(maxHistorySize, {row, 1});
row++;
grid.add(Label("Infinite History Size"), {row, 0}).add(infiniteHistory, {row, 1});
@@ -243,6 +250,12 @@ namespace armarx::armem::server::obj::clazz
void Segment::RemoteGui::Data::update(Segment& segment)
{
+ if (reloadButton.wasClicked())
+ {
+ std::scoped_lock lock(segment.memoryMutex);
+ segment.loadByObjectFinder();
+ rebuild = true;
+ }
if (infiniteHistory.hasValueChanged() || maxHistorySize.hasValueChanged())
{
std::scoped_lock lock(segment.memoryMutex);
diff --git a/source/RobotAPI/libraries/armem_objects/server/class/Segment.h b/source/RobotAPI/libraries/armem_objects/server/class/Segment.h
index 7356e6a1d..88eaedbef 100644
--- a/source/RobotAPI/libraries/armem_objects/server/class/Segment.h
+++ b/source/RobotAPI/libraries/armem_objects/server/class/Segment.h
@@ -76,11 +76,14 @@ namespace armarx::armem::server::obj::clazz
{
armarx::RemoteGui::Client::GroupBox group;
+ armarx::RemoteGui::Client::Button reloadButton;
armarx::RemoteGui::Client::IntSpinBox maxHistorySize;
armarx::RemoteGui::Client::CheckBox infiniteHistory;
void setup(const Segment& segment);
void update(Segment& segment);
+
+ bool rebuild = false;
};
Data data;
--
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