From 5ff47dd1b539eaf279587419295f1d085bf6cf16 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Fri, 16 Jul 2021 11:10:49 +0200
Subject: [PATCH] Use core segment mutex in object memory segments
---
.../server/ObjectMemory/ObjectMemory.cpp | 24 +++++---
.../armem/server/ObjectMemory/ObjectMemory.h | 1 +
.../server/attachments/Segment.cpp | 61 +++----------------
.../server/attachments/Segment.h | 28 ++-------
.../armem_objects/server/class/Segment.cpp | 34 ++++++++---
.../armem_objects/server/class/Segment.h | 6 +-
.../armem_objects/server/instance/Segment.cpp | 18 ++++--
.../armem_objects/server/instance/Segment.h | 8 +--
.../server/instance/SegmentAdapter.cpp | 48 +++++++++------
.../server/instance/SegmentAdapter.h | 3 +-
10 files changed, 105 insertions(+), 126 deletions(-)
diff --git a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
index 91ea5b234..c624379b8 100644
--- a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
+++ b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
@@ -59,22 +59,27 @@ namespace armarx::armem::server::obj
return defs;
}
+
ObjectMemory::ObjectMemory() :
server::ComponentPluginUser(),
- instance::SegmentAdapter(server::ComponentPluginUser::iceMemory,
- server::ComponentPluginUser::workingMemoryMutex),
- classSegment(server::ComponentPluginUser::iceMemory,
- server::ComponentPluginUser::workingMemoryMutex),
- attachmentSegment(server::ComponentPluginUser::iceMemory,
- server::ComponentPluginUser::workingMemoryMutex)
+ instance::SegmentAdapter(server::ComponentPluginUser::iceMemory),
+ classSegment(server::ComponentPluginUser::iceMemory),
+ attachmentSegment(server::ComponentPluginUser::iceMemory)
+ {
+ }
+
+
+ ObjectMemory::~ObjectMemory()
{
}
+
std::string ObjectMemory::getDefaultName() const
{
return "ObjectMemory";
}
+
void ObjectMemory::onInitComponent()
{
workingMemory.name() = defaultMemoryName;
@@ -114,6 +119,7 @@ namespace armarx::armem::server::obj
});
}
+
void ObjectMemory::onConnectComponent()
{
// onConnect can be called multiple times, but addRobot will fail if called more than once with the same ID
@@ -141,17 +147,17 @@ namespace armarx::armem::server::obj
ArVizComponentPluginUser::getArvizClient()
);
- attachmentSegment.connect(
- ArVizComponentPluginUser::getArvizClient()
- );
+ attachmentSegment.connect();
RemoteGui_startRunningTask();
}
+
void ObjectMemory::onDisconnectComponent()
{
}
+
void ObjectMemory::onExitComponent()
{
}
diff --git a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
index f29b2cef9..5ef38a94b 100644
--- a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
+++ b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
@@ -81,6 +81,7 @@ namespace armarx::armem::server::obj
public:
ObjectMemory();
+ virtual ~ObjectMemory();
/// @see armarx::ManagedIceObject::getDefaultName()
diff --git a/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.cpp
index f2490c841..bb5d930da 100644
--- a/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.cpp
@@ -4,6 +4,7 @@
#include <ArmarXCore/core/time/TimeUtil.h>
#include "ArmarXCore/core/logging/Logging.h"
+#include <ArmarXCore/core/application/properties/forward_declarations.h>
#include "RobotAPI/libraries/armem/util/util.h"
#include "RobotAPI/libraries/aron/common/aron_conversions.h"
@@ -23,9 +24,8 @@
namespace armarx::armem::server::obj::attachments
{
- Segment::Segment(armem::server::MemoryToIceAdapter& memoryToIceAdapter, std::mutex& memoryMutex) :
- iceMemory(memoryToIceAdapter),
- memoryMutex(memoryMutex)
+ Segment::Segment(armem::server::MemoryToIceAdapter& memoryToIceAdapter) :
+ iceMemory(memoryToIceAdapter)
{
Logging::setTag("Attachments");
}
@@ -34,7 +34,7 @@ namespace armarx::armem::server::obj::attachments
void Segment::defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix)
{
- defs->optional(p.coreClassSegmentName, prefix + "CoreSegmentName", "Name of the object instance core segment.");
+ defs->optional(p.coreSegmentName, prefix + "CoreSegmentName", "Name of the object instance core segment.");
defs->optional(p.maxHistorySize, prefix + "MaxHistorySize", "Maximal size of object poses history (-1 for infinite).");
}
@@ -42,20 +42,22 @@ namespace armarx::armem::server::obj::attachments
{
ARMARX_CHECK_NOT_NULL(iceMemory.workingMemory);
- coreSegment = &iceMemory.workingMemory->addCoreSegment(p.coreClassSegmentName, arondto::Robot::toAronType());
+ coreSegment = &iceMemory.workingMemory->addCoreSegment(p.coreSegmentName, arondto::Robot::toAronType());
coreSegment->setMaxHistorySize(p.maxHistorySize);
}
- void Segment::connect(viz::Client arviz)
+ void Segment::connect()
{
- // this->visu = std::make_unique<Visu>(arviz, *this);
}
std::vector<armarx::armem::attachment::ObjectAttachment> Segment::getAttachments(const armem::Time& timestamp) const
{
+ ARMARX_CHECK_NOT_NULL(coreSegment);
+ std::scoped_lock(coreSegment->mutex());
+
std::vector<armarx::armem::attachment::ObjectAttachment> attachments;
- for (const auto& [_, provSeg] : iceMemory.workingMemory->getCoreSegment(p.coreClassSegmentName))
+ for (const auto& [_, provSeg] : *coreSegment)
{
for (const auto& [name, entity] : provSeg.entities())
{
@@ -80,47 +82,4 @@ namespace armarx::armem::server::obj::attachments
return attachments;
}
-
- // void Segment::RemoteGui::setup(const Segment& data)
- // {
- // using namespace armarx::RemoteGui::Client;
-
- // maxHistorySize.setValue(std::max(1, int(data.p.maxHistorySize)));
- // maxHistorySize.setRange(1, 1e6);
- // infiniteHistory.setValue(data.p.maxHistorySize == -1);
- // discardSnapshotsWhileAttached.setValue(data.p.discardSnapshotsWhileAttached);
-
- // GridLayout grid;
- // int row = 0;
- // 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});
- // row++;
- // grid.add(Label("Discard Snapshots while Attached"), {row, 0}).add(discardSnapshotsWhileAttached, {row, 1});
- // row++;
-
- // group.setLabel("Data");
- // group.addChild(grid);
- // }
-
- // void Segment::RemoteGui::update(Segment& data)
- // {
- // if (infiniteHistory.hasValueChanged() || maxHistorySize.hasValueChanged()
- // || discardSnapshotsWhileAttached.hasValueChanged())
- // {
- // std::scoped_lock lock(data.memoryMutex);
-
- // if (infiniteHistory.hasValueChanged() || maxHistorySize.hasValueChanged())
- // {
- // data.p.maxHistorySize = infiniteHistory.getValue() ? -1 : maxHistorySize.getValue();
- // if (data.coreSegment)
- // {
- // data.coreSegment->setMaxHistorySize(long(data.p.maxHistorySize));
- // }
- // }
-
- // data.p.discardSnapshotsWhileAttached = discardSnapshotsWhileAttached.getValue();
- // }
- // }
-
} // namespace armarx::armem::server::obj::attachments
diff --git a/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.h b/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.h
index 3817bc22a..0b9302d93 100644
--- a/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.h
+++ b/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.h
@@ -27,7 +27,7 @@
#include <unordered_map>
#include <ArmarXCore/core/logging/Logging.h>
-#include "ArmarXCore/core/application/properties/PropertyDefinitionContainer.h"
+#include <ArmarXCore/core/application/properties/forward_declarations.h>
// #include "ArmarXGui/libraries/RemoteGui/Client/Widgets.h"
@@ -37,6 +37,7 @@
#include "RobotAPI/libraries/armem/core/Time.h"
#include "RobotAPI/libraries/armem_objects/types.h"
+
namespace armarx::armem
{
namespace server
@@ -59,16 +60,14 @@ namespace armarx::armem::server::obj::attachments
class Segment : public armarx::Logging
{
public:
- Segment(server::MemoryToIceAdapter& iceMemory,
- std::mutex& memoryMutex);
+ Segment(server::MemoryToIceAdapter& iceMemory);
virtual ~Segment();
- void connect(viz::Client arviz);
-
void defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix = "");
void init();
+ void connect();
std::vector<armarx::armem::attachment::ObjectAttachment> getAttachments(const armem::Time& timestamp) const;
@@ -77,31 +76,14 @@ namespace armarx::armem::server::obj::attachments
server::MemoryToIceAdapter& iceMemory;
wm::CoreSegment* coreSegment = nullptr;
- std::mutex& memoryMutex;
struct Properties
{
- std::string coreClassSegmentName = "Attachments";
+ std::string coreSegmentName = "Attachments";
int64_t maxHistorySize = -1;
};
Properties p;
- // std::unique_ptr<Visu> visu;
-
- public:
-
- // struct RemoteGui
- // {
- // armarx::RemoteGui::Client::GroupBox group;
-
- // armarx::RemoteGui::Client::IntSpinBox maxHistorySize;
- // armarx::RemoteGui::Client::CheckBox infiniteHistory;
- // armarx::RemoteGui::Client::CheckBox discardSnapshotsWhileAttached;
-
- // void setup(const Segment& data);
- // void update(Segment& data);
- // };
-
};
} // namespace armarx::armem::server::obj::attachments
diff --git a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
index 3e6ecfed3..49c9b6dd8 100644
--- a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
@@ -19,13 +19,13 @@
namespace armarx::armem::server::obj::clazz
{
- Segment::Segment(armem::server::MemoryToIceAdapter& memoryToIceAdapter, std::mutex& memoryMutex) :
- iceMemory(memoryToIceAdapter),
- memoryMutex(memoryMutex)
+ Segment::Segment(armem::server::MemoryToIceAdapter& memoryToIceAdapter) :
+ iceMemory(memoryToIceAdapter)
{
Logging::setTag("ClassSegment");
}
+
void Segment::defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix)
{
defs->optional(p.coreSegmentName, prefix + "CoreSegmentName", "Name of the object clazz core segment.");
@@ -38,6 +38,7 @@ namespace armarx::armem::server::obj::clazz
floorVis.defineProperties(defs, prefix + "Floor.");
}
+
void Segment::init()
{
ARMARX_CHECK_NOT_NULL(iceMemory.workingMemory);
@@ -51,6 +52,7 @@ namespace armarx::armem::server::obj::clazz
}
}
+
void Segment::connect(viz::Client arviz)
{
this->arviz = arviz;
@@ -60,17 +62,26 @@ namespace armarx::armem::server::obj::clazz
}
+ std::mutex& Segment::mutex() const
+ {
+ ARMARX_CHECK_NOT_NULL(coreSegment);
+ return coreSegment->mutex();
+ }
+
+
void Segment::loadByObjectFinder(const std::string& objectsPackage)
{
loadByObjectFinder(ObjectFinder(objectsPackage));
}
+
void Segment::loadByObjectFinder(const ObjectFinder& finder)
{
this->objectFinder = finder;
loadByObjectFinder();
}
+
void Segment::loadByObjectFinder()
{
const Time now = TimeUtil::GetTime();
@@ -106,6 +117,7 @@ namespace armarx::armem::server::obj::clazz
iceMemory.commit(commit);
}
+
void Segment::visualizeClass(const MemoryID& entityID, bool showAABB, bool showOOBB)
{
const Eigen::Matrix4f pose = Eigen::Matrix4f::Identity();
@@ -164,6 +176,7 @@ namespace armarx::armem::server::obj::clazz
arviz.commit(layerObject, layerOrigin, layerAABB, layerOOBB);
}
+
arondto::ObjectClass Segment::objectClassFromInfo(const ObjectInfo& info)
{
namespace fs = std::filesystem;
@@ -173,8 +186,8 @@ namespace armarx::armem::server::obj::clazz
toAron(data.id, info.id());
auto setPathIfExists = [](
- armarx::arondto::PackagePath & aron,
- const PackageFileLocation & location)
+ armarx::arondto::PackagePath & aron,
+ const PackageFileLocation & location)
{
if (fs::is_regular_file(location.absolutePath))
{
@@ -223,12 +236,14 @@ namespace armarx::armem::server::obj::clazz
group.addChildren({layout, VSpacer()});
}
+
void Segment::RemoteGui::update(Segment& segment)
{
data.update(segment);
visu.update(segment);
}
+
void Segment::RemoteGui::Data::setup(const Segment& segment)
{
using namespace armarx::RemoteGui::Client;
@@ -253,17 +268,18 @@ namespace armarx::armem::server::obj::clazz
group.addChild(grid);
}
+
void Segment::RemoteGui::Data::update(Segment& segment)
{
if (reloadButton.wasClicked())
{
- std::scoped_lock lock(segment.memoryMutex);
+ std::scoped_lock lock(segment.mutex());
segment.loadByObjectFinder();
rebuild = true;
}
if (infiniteHistory.hasValueChanged() || maxHistorySize.hasValueChanged())
{
- std::scoped_lock lock(segment.memoryMutex);
+ std::scoped_lock lock(segment.mutex());
segment.p.maxHistorySize = infiniteHistory.getValue() ? -1 : maxHistorySize.getValue();
if (segment.coreSegment)
{
@@ -273,7 +289,6 @@ namespace armarx::armem::server::obj::clazz
}
-
void Segment::RemoteGui::Visu::setup(const Segment& segment)
{
using namespace armarx::RemoteGui::Client;
@@ -308,6 +323,7 @@ namespace armarx::armem::server::obj::clazz
group.addChild(grid);
}
+
void Segment::RemoteGui::Visu::update(Segment& segment)
{
if (showButton.wasClicked())
@@ -315,7 +331,7 @@ namespace armarx::armem::server::obj::clazz
const size_t index = static_cast<size_t>(showComboBox.getIndex());
if (/*index >= 0 &&*/ index < showOptionsIndex.size())
{
- std::scoped_lock lock(segment.memoryMutex);
+ std::scoped_lock lock(segment.mutex());
segment.visualizeClass(showOptionsIndex.at(index));
}
}
diff --git a/source/RobotAPI/libraries/armem_objects/server/class/Segment.h b/source/RobotAPI/libraries/armem_objects/server/class/Segment.h
index 88eaedbef..03dce0e9a 100644
--- a/source/RobotAPI/libraries/armem_objects/server/class/Segment.h
+++ b/source/RobotAPI/libraries/armem_objects/server/class/Segment.h
@@ -25,14 +25,15 @@ namespace armarx::armem::server::obj::clazz
{
public:
- Segment(armem::server::MemoryToIceAdapter& iceMemory,
- std::mutex& memoryMutex);
+ Segment(armem::server::MemoryToIceAdapter& iceMemory);
void defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix = "");
void init();
void connect(viz::Client arviz);
+ std::mutex& mutex() const;
+
void loadByObjectFinder(const std::string& objectsPackage);
void loadByObjectFinder(const ObjectFinder& finder);
void loadByObjectFinder();
@@ -47,7 +48,6 @@ namespace armarx::armem::server::obj::clazz
armem::server::MemoryToIceAdapter& iceMemory;
armem::wm::CoreSegment* coreSegment = nullptr;
- std::mutex& memoryMutex;
ObjectFinder objectFinder;
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
index db706075c..95611ed7a 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
@@ -42,9 +42,8 @@
namespace armarx::armem::server::obj::instance
{
- Segment::Segment(armem::server::MemoryToIceAdapter& memoryToIceAdapter, std::mutex& memoryMutex) :
- iceMemory(memoryToIceAdapter),
- memoryMutex(memoryMutex)
+ Segment::Segment(armem::server::MemoryToIceAdapter& memoryToIceAdapter) :
+ iceMemory(memoryToIceAdapter)
{
Logging::setTag("InstanceSegment");
@@ -123,6 +122,13 @@ namespace armarx::armem::server::obj::instance
}
+ std::mutex& Segment::mutex() const
+ {
+ ARMARX_CHECK_NOT_NULL(coreSegment);
+ return coreSegment->mutex();
+ }
+
+
Segment::CommitStats Segment::commitObjectPoses(
const std::string& providerName,
const objpose::data::ProvidedObjectPoseSeq& providedPoses,
@@ -973,7 +979,7 @@ namespace armarx::armem::server::obj::instance
if (lockMemory)
{
- std::scoped_lock lock(memoryMutex);
+ std::scoped_lock lock(mutex());
commitSceneSnapshot(snapshot.value(), filename.string());
}
else
@@ -1038,7 +1044,7 @@ namespace armarx::armem::server::obj::instance
{
armem::obj::SceneSnapshot scene;
{
- std::scoped_lock lock(data.memoryMutex);
+ std::scoped_lock lock(data.mutex());
scene = data.getSceneSnapshot();
}
data.storeScene(storeLoadLine.getValue(), scene);
@@ -1047,7 +1053,7 @@ namespace armarx::armem::server::obj::instance
if (infiniteHistory.hasValueChanged() || maxHistorySize.hasValueChanged()
|| discardSnapshotsWhileAttached.hasValueChanged())
{
- std::scoped_lock lock(data.memoryMutex);
+ std::scoped_lock lock(data.mutex());
if (infiniteHistory.hasValueChanged() || maxHistorySize.hasValueChanged())
{
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
index 3ec6a2f22..378cf02da 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
@@ -50,16 +50,15 @@ namespace armarx::armem::server::obj::instance
public:
- Segment(server::MemoryToIceAdapter& iceMemory,
- std::mutex& memoryMutex);
+ Segment(server::MemoryToIceAdapter& iceMemory);
void defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix = "");
-
void init();
-
void connect(viz::Client arviz);
+ std::mutex& mutex() const;
+
CommitStats commitObjectPoses(
@@ -181,7 +180,6 @@ namespace armarx::armem::server::obj::instance
server::MemoryToIceAdapter& iceMemory;
wm::CoreSegment* coreSegment = nullptr;
- std::mutex& memoryMutex;
struct Properties
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp
index e0577877f..7cd8b1202 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp
@@ -37,17 +37,18 @@
namespace armarx::armem::server::obj::instance
{
- SegmentAdapter::SegmentAdapter(MemoryToIceAdapter& iceMemory, std::mutex& memoryMutex) :
- segment(iceMemory, memoryMutex),
- memoryMutex(memoryMutex)
+ SegmentAdapter::SegmentAdapter(MemoryToIceAdapter& iceMemory) :
+ segment(iceMemory)
{
}
+
std::string SegmentAdapter::getName() const
{
return Logging::tag.tagName;
}
+
void SegmentAdapter::defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix)
{
calibration.defineProperties(defs, prefix + "calibration.");
@@ -56,6 +57,7 @@ namespace armarx::armem::server::obj::instance
visu.defineProperties(defs, prefix + "visu.");
}
+
void SegmentAdapter::init()
{
segment.setTag(getName());
@@ -66,6 +68,7 @@ namespace armarx::armem::server::obj::instance
segment.init();
}
+
void SegmentAdapter::connect(
RobotStateComponentInterfacePrx robotStateComponent,
VirtualRobot::RobotPtr robot,
@@ -97,6 +100,7 @@ namespace armarx::armem::server::obj::instance
segment.connect(arviz);
}
+
void SegmentAdapter::reportProviderAvailable(const std::string& providerName, const objpose::ProviderInfo& info, const Ice::Current&)
{
updateProviderInfo(providerName, info);
@@ -120,7 +124,7 @@ namespace armarx::armem::server::obj::instance
return;
}
{
- std::scoped_lock lock(memoryMutex);
+ std::scoped_lock lock(segment.mutex());
std::stringstream ss;
for (const auto& id : info.supportedObjects)
{
@@ -161,7 +165,7 @@ namespace armarx::armem::server::obj::instance
}
{
- std::scoped_lock lock(memoryMutex);
+ std::scoped_lock lock(segment.mutex());
RemoteRobot::synchronizeLocalClone(segment.robot, segment.robotStateComponent);
if (segment.robot->hasRobotNode(calibration.robotNode))
@@ -215,7 +219,7 @@ namespace armarx::armem::server::obj::instance
TIMING_START(tGetObjectPoses);
TIMING_START(tGetObjectPosesLock);
- std::scoped_lock lock(memoryMutex);
+ std::scoped_lock lock(segment.mutex());
TIMING_END_STREAM(tGetObjectPosesLock, ARMARX_VERBOSE);
const IceUtil::Time now = TimeUtil::GetTime();
@@ -240,7 +244,7 @@ namespace armarx::armem::server::obj::instance
TIMING_START(GetObjectPoses);
TIMING_START(GetObjectPosesLock);
- std::scoped_lock lock(memoryMutex);
+ std::scoped_lock lock(segment.mutex());
TIMING_END_STREAM(GetObjectPosesLock, ARMARX_VERBOSE);
const IceUtil::Time now = TimeUtil::GetTime();
@@ -292,7 +296,7 @@ namespace armarx::armem::server::obj::instance
}
else
{
- std::scoped_lock lock(memoryMutex);
+ std::scoped_lock lock(segment.mutex());
for (const auto& objectID : input.request.objectIDs)
{
bool found = true;
@@ -336,27 +340,31 @@ namespace armarx::armem::server::obj::instance
return output;
}
+
objpose::ProviderInfoMap SegmentAdapter::getAvailableProvidersInfo(const Ice::Current&)
{
- std::scoped_lock lock(memoryMutex);
+ std::scoped_lock lock(segment.mutex());
return segment.providers;
}
+
Ice::StringSeq SegmentAdapter::getAvailableProviderNames(const Ice::Current&)
{
- std::scoped_lock lock(memoryMutex);
+ std::scoped_lock lock(segment.mutex());
return simox::alg::get_keys(segment.providers);
}
+
objpose::ProviderInfo SegmentAdapter::getProviderInfo(const std::string& providerName, const Ice::Current&)
{
- std::scoped_lock lock(memoryMutex);
+ std::scoped_lock lock(segment.mutex());
return segment.getProviderInfo(providerName);
}
+
bool SegmentAdapter::hasProvider(const std::string& providerName, const Ice::Current&)
{
- std::scoped_lock lock(memoryMutex);
+ std::scoped_lock lock(segment.mutex());
return segment.providers.count(providerName) > 0;
}
@@ -364,28 +372,30 @@ namespace armarx::armem::server::obj::instance
objpose::AttachObjectToRobotNodeOutput SegmentAdapter::attachObjectToRobotNode(
const objpose::AttachObjectToRobotNodeInput& input, const Ice::Current&)
{
- std::scoped_lock lock(memoryMutex);
+ std::scoped_lock lock(segment.mutex());
return segment.attachObjectToRobotNode(input);
}
+
objpose::DetachObjectFromRobotNodeOutput SegmentAdapter::detachObjectFromRobotNode(
const objpose::DetachObjectFromRobotNodeInput& input, const Ice::Current&)
{
- std::scoped_lock lock(memoryMutex);
+ std::scoped_lock lock(segment.mutex());
return segment.detachObjectFromRobotNode(input);
}
+
objpose::DetachAllObjectsFromRobotNodesOutput SegmentAdapter::detachAllObjectsFromRobotNodes(
const objpose::DetachAllObjectsFromRobotNodesInput& input, const Ice::Current&)
{
- std::scoped_lock lock(memoryMutex);
+ std::scoped_lock lock(segment.mutex());
return segment.detachAllObjectsFromRobotNodes(input);
}
objpose::AgentFramesSeq SegmentAdapter::getAttachableFrames(const Ice::Current&)
{
- std::scoped_lock lock(memoryMutex);
+ std::scoped_lock lock(segment.mutex());
objpose::AgentFramesSeq output;
std::vector<VirtualRobot::RobotPtr> agents = { segment.robot };
@@ -398,6 +408,7 @@ namespace armarx::armem::server::obj::instance
return output;
}
+
objpose::SignalHeadMovementOutput
SegmentAdapter::signalHeadMovement(const objpose::SignalHeadMovementInput& input, const Ice::Current&)
{
@@ -423,7 +434,7 @@ namespace armarx::armem::server::obj::instance
objpose::ObjectPoseMap objectPoses;
visu.minConfidence = -1;
{
- std::scoped_lock lock(memoryMutex);
+ std::scoped_lock lock(segment.mutex());
const IceUtil::Time now = TimeUtil::GetTime();
@@ -493,6 +504,7 @@ namespace armarx::armem::server::obj::instance
group.addChild(layout);
}
+
void SegmentAdapter::RemoteGui::update(SegmentAdapter& adapter)
{
// Non-atomic variables need to be guarded by a mutex if accessed by multiple threads
@@ -502,7 +514,7 @@ namespace armarx::armem::server::obj::instance
}
this->segment.update(adapter.segment);
{
- std::scoped_lock lock(adapter.memoryMutex);
+ std::scoped_lock lock(adapter.segment.mutex());
this->decay.update(adapter.segment.decay);
}
{
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.h b/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.h
index a1e356e53..353f2e064 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.h
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.h
@@ -55,7 +55,7 @@ namespace armarx::armem::server::obj::instance
{
public:
- SegmentAdapter(MemoryToIceAdapter& iceMemory, std::mutex& memoryMutex);
+ SegmentAdapter(MemoryToIceAdapter& iceMemory);
std::string getName() const;
void defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix = "");
@@ -127,7 +127,6 @@ namespace armarx::armem::server::obj::instance
DebugObserverInterfacePrx debugObserver;
instance::Segment segment;
- std::mutex& memoryMutex;
instance::RobotHeadMovement robotHead;
std::mutex robotHeadMutex;
--
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