From 7bd94748e50b16e1b4debdf3f46514e02dec4696 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Fri, 16 Jul 2021 12:18:48 +0200
Subject: [PATCH] Change wm::Memory::commit() to run updates and lock per core
segment
---
.../libraries/armem/core/base/MemoryBase.h | 2 +-
.../armem/core/workingmemory/Memory.cpp | 52 +++++++++++++++++++
.../armem/core/workingmemory/Memory.h | 10 ++++
3 files changed, 63 insertions(+), 1 deletion(-)
diff --git a/source/RobotAPI/libraries/armem/core/base/MemoryBase.h b/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
index 5fe6f875a..fc29ce6f5 100644
--- a/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
@@ -223,7 +223,7 @@ namespace armarx::armem::base
* @param commit The commit.
* @return The resulting memory IDs.
*/
- std::vector<UpdateResult> update(const Commit& commit)
+ virtual std::vector<UpdateResult> update(const Commit& commit)
{
std::vector<UpdateResult> results;
for (const auto& update : commit.updates)
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/Memory.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/Memory.cpp
index 623858a44..d0895a53a 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/Memory.cpp
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/Memory.cpp
@@ -1,9 +1,58 @@
#include "Memory.h"
+#include <map>
+#include <vector>
+
namespace armarx::armem::wm
{
+ std::vector<Memory::Base::UpdateResult>
+ Memory::update(const Commit& commit)
+ {
+ // Group updates by core segment, then update each core segment in a batch to only lock it once.
+ std::map<std::string, std::vector<const EntityUpdate*>> updatesPerCoreSegment;
+ for (const EntityUpdate& update : commit.updates)
+ {
+ updatesPerCoreSegment[update.entityID.coreSegmentName].push_back(&update);
+ }
+
+ std::vector<Memory::Base::UpdateResult> result;
+ // To throw an exception after the commit if a core segment is missing.
+ std::vector<std::string> missingCoreSegmentNames;
+ for (const auto& [coreSegmentName, updates] : updatesPerCoreSegment)
+ {
+ auto it = this->_container.find(coreSegmentName);
+ if (it != this->_container.end())
+ {
+ CoreSegment& coreSegment = it->second;
+ // Lock the core segment for the whole batch.
+ std::scoped_lock lock(coreSegment.mutex());
+
+ for (const EntityUpdate* update : updates)
+ {
+ auto r = coreSegment.update(*update);
+ Base::UpdateResult ret { r };
+ ret.memoryUpdateType = UpdateType::UpdatedExisting;
+ result.push_back(ret);
+ }
+ }
+ else
+ {
+ // Perform the other updates first, then throw afterwards.
+ missingCoreSegmentNames.push_back(coreSegmentName);
+ }
+ }
+ // Throw an exception if something went wrong.
+ if (not missingCoreSegmentNames.empty())
+ {
+ // Just throw an exception for the first entry. We can extend this exception in the future.
+ throw armem::error::MissingEntry::create<CoreSegment>(missingCoreSegmentNames.front(), *this);
+ }
+ return result;
+ }
+
+
Memory::Base::UpdateResult Memory::update(const EntityUpdate& update)
{
this->_checkContainerName(update.entityID.memoryName, this->name());
@@ -25,6 +74,7 @@ namespace armarx::armem::wm
}
}
+
Commit Memory::toCommit() const
{
Commit c;
@@ -35,6 +85,7 @@ namespace armarx::armem::wm
return c;
}
+
void Memory::_copySelfWithoutData(Memory& other) const
{
other.id() = _id;
@@ -43,4 +94,5 @@ namespace armarx::armem::wm
other.addCoreSegment(s.copyWithoutData());
}
}
+
}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/Memory.h b/source/RobotAPI/libraries/armem/core/workingmemory/Memory.h
index b2db9f7bc..368b36bec 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/Memory.h
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/Memory.h
@@ -28,6 +28,16 @@ namespace armarx::armem::wm
Memory& operator=(Memory&& other) = default;
+ /**
+ * @brief Perform the commit, locking the core segments.
+ *
+ * Groups the commits by core segment, and updates each core segment
+ * in a batch, locking the core segment.
+ */
+ virtual std::vector<Base::UpdateResult> update(const Commit& commit) override;
+ /**
+ * @brief Update the memory, locking the updated core segment.
+ */
virtual Base::UpdateResult update(const EntityUpdate& update) override;
--
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