From 6ace92812771d9dd0715304f82183a0df8c65df9 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Mon, 30 Jan 2023 14:59:43 +0100
Subject: [PATCH] Allow specifying scenes as normal ArmarX data path in
ObjectMemory
---
.../armem_objects/server/instance/Segment.cpp | 86 +++++++++++++------
.../armem_objects/server/instance/Segment.h | 4 +-
2 files changed, 64 insertions(+), 26 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
index a55ed9167..4f9ab4cf1 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
@@ -119,10 +119,20 @@ namespace armarx::armem::server::obj::instance
"Scene snapshots are expected to be located in Package/data/Package/Scenes/*.json.");
defs->optional(p.sceneSnapshotsDirectory, prefix + "scene.11_Directory",
"Directory in Package/data/Package/ containing the scene snapshots.");
- defs->optional(p.sceneSnapshotToLoad, prefix + "scene.12_SnapshotToLoad",
- "Scene to load on startup (e.g. 'Scene_2021-06-24_20-20-03').\n"
- "You can also specify paths relative to 'Package/scenes/'. \n"
- "You can also specify a ; separated list of scenes.");
+
+ std::vector<std::string> sceneSnapshotToLoadDescription =
+ {
+ "Scene(s) to load on startup.",
+ "Specify multiple scenes in a ; separated list.",
+ "Each entry must be one of the following:",
+ "(1) A scene file in 'Package/scenes/' (with or without '.json' extension), "
+ "e.g. 'MyScene', 'MyScene.json'",
+ "(2) A path to a scene file relative to 'Package/scenes/' (with or without '.json' extension), "
+ "e.g. 'path/to/MyScene', 'path/to/MyScene.json'",
+ "(3) An ArmarX data path to a scene file, e.g. 'Package/scenes/path/to/MyScene.json'",
+ };
+ defs->optional(p.sceneSnapshotsToLoad, prefix + "scene.12_SnapshotToLoad",
+ simox::alg::join(sceneSnapshotToLoadDescription, " \n"));
decay.defineProperties(defs, prefix + "decay.");
}
@@ -132,10 +142,10 @@ namespace armarx::armem::server::obj::instance
{
SpecializedCoreSegment::init();
- if (not p.sceneSnapshotToLoad.empty())
+ if (not p.sceneSnapshotsToLoad.empty())
{
bool trim = true;
- const std::vector<std::string> scenes = simox::alg::split(p.sceneSnapshotToLoad, ";", trim);
+ const std::vector<std::string> scenes = simox::alg::split(p.sceneSnapshotsToLoad, ";", trim);
for (const std::string& scene : scenes)
{
const bool lockMemory = false;
@@ -934,7 +944,7 @@ namespace armarx::armem::server::obj::instance
void Segment::storeScene(const std::string& filename, const armarx::objects::Scene& scene)
{
- if (const std::optional<std::filesystem::path> path = resolveSceneFilename(filename))
+ if (const std::optional<std::filesystem::path> path = resolveSceneFilepath(filename))
{
ARMARX_INFO << "Storing scene snapshot at: \n" << path.value();
@@ -953,7 +963,7 @@ namespace armarx::armem::server::obj::instance
std::optional<armarx::objects::Scene>
Segment::loadScene(const std::string& filename)
{
- if (const std::optional<std::filesystem::path> path = resolveSceneFilename(filename))
+ if (const std::optional<std::filesystem::path> path = resolveSceneFilepath(filename))
{
return loadScene(path.value());
}
@@ -983,17 +993,18 @@ namespace armarx::armem::server::obj::instance
std::optional<std::filesystem::path>
- Segment::resolveSceneFilename(const std::string& _filename)
+ Segment::resolveSceneFilepath(const std::string& _filename)
{
- std::string filename = _filename;
+ std::string filepath = _filename;
- filename = simox::alg::replace_all(filename, timestampPlaceholder,
+ filepath = simox::alg::replace_all(filepath, timestampPlaceholder,
Time::Now().toString("%Y-%m-%d_%H-%M-%S"));
- if (not simox::alg::ends_with(filename, ".json"))
+ if (not simox::alg::ends_with(filepath, ".json"))
{
- filename += ".json";
+ filepath += ".json";
}
+ // Try to interprete it as relative to 'Package/scenes/'.
if (!finder)
{
finder.reset(new CMakePackageFinder(p.sceneSnapshotsPackage));
@@ -1004,14 +1015,26 @@ namespace armarx::armem::server::obj::instance
}
if (finder->packageFound())
{
- std::filesystem::path dataDir = finder->getDataDir();
- std::filesystem::path path = dataDir / p.sceneSnapshotsPackage / p.sceneSnapshotsDirectory / filename;
- return path;
+ std::filesystem::path absDataDir = finder->getDataDir();
+ std::filesystem::path absPath = absDataDir / p.sceneSnapshotsPackage
+ / p.sceneSnapshotsDirectory / filepath;
+ if (std::filesystem::is_regular_file(absPath))
+ {
+ return absPath;
+ }
}
- else
+
+ // Try to interprete it as ArmarXDataPath.
{
- return std::nullopt;
+ std::string resolved = ArmarXDataPath::resolvePath(filepath);
+ if (resolved != filepath)
+ {
+ return resolved;
+ }
}
+
+ // Else: Fail
+ return std::nullopt;
}
@@ -1114,25 +1137,40 @@ namespace armarx::armem::server::obj::instance
void Segment::commitSceneSnapshotFromFilename(const std::string& filename, bool lockMemory)
{
- ARMARX_INFO << "Loading scene snapshot '" << filename << "' ...";
- if (auto path = resolveSceneFilename(filename))
+ std::stringstream ss;
+ ss << "Loading scene '" << filename << "' ...";
+ if (std::optional<std::filesystem::path> path = resolveSceneFilepath(filename))
{
+ ARMARX_INFO << ss.str() << "\nfrom " << path.value();
+
if (const auto snapshot = loadScene(path.value()))
{
- std::filesystem::path filename = path->filename();
- filename.replace_extension(); // Removes extension
+ auto makeSceneName = [](const std::filesystem::path& path)
+ {
+ std::filesystem::path filename = path.filename();
+ filename.replace_extension(); // Removes extension
+ return filename.string();
+ };
+ std::string sceneName = makeSceneName(path.value());
// The check seems useless?
if (lockMemory)
{
- commitSceneSnapshot(snapshot.value(), filename.string());
+ segmentPtr->doLocked([this,&snapshot, &sceneName]()
+ {
+ commitSceneSnapshot(snapshot.value(), sceneName);
+ });
}
else
{
- commitSceneSnapshot(snapshot.value(), filename.string());
+ commitSceneSnapshot(snapshot.value(), sceneName);
}
}
}
+ else
+ {
+ ARMARX_INFO << ss.str() << " failed: Could not resolve scene name or path.";
+ }
}
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
index b9c5a6d37..c5e62d975 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
@@ -160,7 +160,7 @@ namespace armarx::armem::server::obj::instance
void storeScene(const std::string& filename, const armarx::objects::Scene& scene);
std::optional<armarx::objects::Scene> loadScene(const std::string& filename);
std::optional<armarx::objects::Scene> loadScene(const std::filesystem::path& path);
- std::optional<std::filesystem::path> resolveSceneFilename(const std::string& filename);
+ std::optional<std::filesystem::path> resolveSceneFilepath(const std::string& filename);
armarx::objects::Scene getSceneSnapshot() const;
void commitSceneSnapshot(const armarx::objects::Scene& scene, const std::string& sceneName);
@@ -200,7 +200,7 @@ namespace armarx::armem::server::obj::instance
/// Package containing the scene snapshots
std::string sceneSnapshotsPackage = armarx::ObjectFinder::DefaultObjectsPackageName;
std::string sceneSnapshotsDirectory = "scenes";
- std::string sceneSnapshotToLoad = "";
+ std::string sceneSnapshotsToLoad = "";
};
Properties p;
--
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