From 7cd7a211383f63ff22ad245ea65619f9c1d94dab Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Tue, 20 Jul 2021 13:21:44 +0200
Subject: [PATCH] Add locking and non-locking commit
---
.../armem/core/workingmemory/Memory.cpp | 47 +++++++++++++------
.../armem/core/workingmemory/Memory.h | 10 ++--
.../armem/server/MemoryToIceAdapter.cpp | 19 +++++++-
.../armem/server/MemoryToIceAdapter.h | 7 +++
4 files changed, 64 insertions(+), 19 deletions(-)
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/Memory.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/Memory.cpp
index d0895a53a..cd6c9cc58 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/Memory.cpp
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/Memory.cpp
@@ -9,6 +9,18 @@ namespace armarx::armem::wm
std::vector<Memory::Base::UpdateResult>
Memory::update(const Commit& commit)
+ {
+ std::vector<Memory::Base::UpdateResult> result;
+ for (const EntityUpdate& update : commit.updates)
+ {
+ result.push_back(this->update(update));
+ }
+ return result;
+ }
+
+
+ std::vector<Memory::Base::UpdateResult>
+ Memory::updateLocking(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;
@@ -26,6 +38,7 @@ namespace armarx::armem::wm
if (it != this->_container.end())
{
CoreSegment& coreSegment = it->second;
+
// Lock the core segment for the whole batch.
std::scoped_lock lock(coreSegment.mutex());
@@ -53,25 +66,31 @@ namespace armarx::armem::wm
}
- Memory::Base::UpdateResult Memory::update(const EntityUpdate& update)
+ Memory::Base::UpdateResult
+ Memory::update(const EntityUpdate& update)
{
this->_checkContainerName(update.entityID.memoryName, this->name());
- auto it = this->_container.find(update.entityID.coreSegmentName);
- if (it != this->_container.end())
- {
- Base::UpdateResult ret;
- {
- std::scoped_lock lock(it->second.mutex());
- ret = it->second.update(update);
- }
- ret.memoryUpdateType = UpdateType::UpdatedExisting;
- return ret;
- }
- else
+ CoreSegment& segment = getCoreSegment(update.entityID.coreSegmentName);
+ Base::UpdateResult result = segment.update(update);
+ result.memoryUpdateType = UpdateType::UpdatedExisting;
+ return result;
+ }
+
+
+ Memory::Base::UpdateResult
+ Memory::updateLocking(const EntityUpdate& update)
+ {
+ this->_checkContainerName(update.entityID.memoryName, this->name());
+
+ CoreSegment& segment = getCoreSegment(update.entityID.coreSegmentName);
+ Base::UpdateResult result;
{
- throw armem::error::MissingEntry::create<CoreSegment>(update.entityID.coreSegmentName, *this);
+ std::scoped_lock lock(segment.mutex());
+ result = segment.update(update);
}
+ result.memoryUpdateType = UpdateType::UpdatedExisting;
+ return result;
}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/Memory.h b/source/RobotAPI/libraries/armem/core/workingmemory/Memory.h
index 368b36bec..99a14dbdd 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/Memory.h
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/Memory.h
@@ -1,6 +1,6 @@
#pragma once
-#include "../base/MemoryBase.h"
+#include <RobotAPI/libraries/armem/core/base/MemoryBase.h>
#include "CoreSegment.h"
#include "detail/CopyWithoutData.h"
@@ -28,17 +28,20 @@ namespace armarx::armem::wm
Memory& operator=(Memory&& other) = default;
+ virtual std::vector<Base::UpdateResult> update(const Commit& commit) override;
/**
* @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;
+ std::vector<Base::UpdateResult> updateLocking(const Commit& commit);
+
+ virtual Base::UpdateResult update(const EntityUpdate& update) override;
/**
* @brief Update the memory, locking the updated core segment.
*/
- virtual Base::UpdateResult update(const EntityUpdate& update) override;
+ Base::UpdateResult updateLocking(const EntityUpdate& update);
/**
@@ -47,6 +50,7 @@ namespace armarx::armem::wm
*/
Commit toCommit() const;
+
protected:
virtual void _copySelfWithoutData(Memory& other) const override;
diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
index f4b2551ae..c40805a0f 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
@@ -142,6 +142,18 @@ namespace armarx::armem::server
armem::CommitResult
MemoryToIceAdapter::commit(const armem::Commit& commit)
+ {
+ return this->_commit(commit, false);
+ }
+
+
+ armem::CommitResult MemoryToIceAdapter::commitLocking(const armem::Commit& commit)
+ {
+ return this->_commit(commit, true);
+ }
+
+
+ armem::CommitResult MemoryToIceAdapter::_commit(const armem::Commit& commit, bool locking)
{
std::vector<data::MemoryID> updatedIDs;
const bool publishUpdates = bool(memoryListenerTopic);
@@ -152,8 +164,9 @@ namespace armarx::armem::server
EntityUpdateResult& result = commitResult.results.emplace_back();
try
{
- // update() will lock core segment mutexes
- auto updateResult = workingMemory->update(update);
+ auto updateResult = locking
+ ? workingMemory->updateLocking(update)
+ : workingMemory->update(update);
result.success = true;
result.snapshotID = updateResult.id;
@@ -293,4 +306,6 @@ namespace armarx::armem::server
+
+
}
diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h
index 919c5fc8d..f4b4b4c94 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h
@@ -39,6 +39,8 @@ namespace armarx::armem::server
data::CommitResult commit(const data::Commit& commitIce, Time timeArrived);
data::CommitResult commit(const data::Commit& commitIce);
armem::CommitResult commit(const armem::Commit& commit);
+ armem::CommitResult commitLocking(const armem::Commit& commit);
+
// READING
query::data::Result query(const armem::query::data::Input& input);
@@ -57,6 +59,11 @@ namespace armarx::armem::server
client::MemoryListenerInterfacePrx memoryListenerTopic;
+
+ private:
+
+ armem::CommitResult _commit(const armem::Commit& commit, bool locking);
+
};
--
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