From 8e2f1f5ef1175d95e9c526e95552a1821618c7cb Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Wed, 23 Jun 2021 08:21:46 +0200
Subject: [PATCH] Reduce includes in Reader.h, add special queries
---
.../RobotAPI/libraries/armem/client/Query.h | 8 +
.../libraries/armem/client/Reader.cpp | 144 +++++++++++++++---
.../RobotAPI/libraries/armem/client/Reader.h | 61 +++++++-
3 files changed, 187 insertions(+), 26 deletions(-)
diff --git a/source/RobotAPI/libraries/armem/client/Query.h b/source/RobotAPI/libraries/armem/client/Query.h
index b22c88001..4f5a87bdc 100644
--- a/source/RobotAPI/libraries/armem/client/Query.h
+++ b/source/RobotAPI/libraries/armem/client/Query.h
@@ -9,8 +9,16 @@
#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
+namespace armarx::armem::client::query
+{
+ // #include <RobotAPI/libraries/armem/client/query/Builder.h>
+ class Builder;
+}
+
namespace armarx::armem::client
{
+ using QueryBuilder = query::Builder;
+
/**
* @brief An update of an entity for a specific point in time.
diff --git a/source/RobotAPI/libraries/armem/client/Reader.cpp b/source/RobotAPI/libraries/armem/client/Reader.cpp
index b548e7aab..a589512f1 100644
--- a/source/RobotAPI/libraries/armem/client/Reader.cpp
+++ b/source/RobotAPI/libraries/armem/client/Reader.cpp
@@ -4,6 +4,13 @@
#include <ArmarXCore/core/logging/Logging.h>
+#include <RobotAPI/libraries/armem/core/MemoryID_operators.h>
+#include <RobotAPI/libraries/armem/core/longtermmemory/Memory.h>
+#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
+#include <RobotAPI/libraries/armem/core/workingmemory/visitor.h>
+#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
+#include <RobotAPI/libraries/armem/util/util.h>
+
#include "query/Builder.h"
#include "query/query_fns.h"
@@ -22,6 +29,7 @@ namespace armarx::armem::client
return QueryResult::fromIce(query(input.toIce()));
}
+
armem::query::data::Result
Reader::query(const armem::query::data::Input& input) const
{
@@ -52,11 +60,13 @@ namespace armarx::armem::client
return result;
}
+
QueryResult Reader::query(armem::query::data::MemoryQueryPtr query, DataMode dataMode) const
{
return this->query(armem::query::data::MemoryQuerySeq{query}, dataMode);
}
+
QueryResult Reader::query(const armem::query::data::MemoryQuerySeq& queries, DataMode dataMode) const
{
QueryInput input;
@@ -65,24 +75,10 @@ namespace armarx::armem::client
return this->query(input);
}
- QueryResult Reader::getAll(DataMode dataMode) const
- {
- using namespace client::query_fns;
-
- query::Builder qb(dataMode);
- qb.coreSegments(all()).providerSegments(all()).entities(all()).snapshots(all());
- return this->query(qb.buildQueryInput());
- }
-
- QueryResult Reader::getLatestSnapshots(DataMode dataMode) const
+ QueryResult Reader::query(const QueryBuilder& queryBuilder) const
{
- using namespace client::query_fns;
-
- query::Builder qb(dataMode);
- qb.coreSegments(all()).providerSegments(all()).entities(all()).snapshots(latest());
-
- return this->query(qb.buildQueryInput());
+ return this->query(queryBuilder.buildQueryInput());
}
@@ -104,7 +100,120 @@ namespace armarx::armem::client
entity.snapshots(latest());
}
}
- return query(qb.buildQueryInput());
+ return query(qb);
+ }
+
+
+
+ std::optional<wm::EntitySnapshot> Reader::getLatestSnapshotOf(const std::vector<MemoryID>& _snapshotIDs) const
+ {
+ std::vector<MemoryID> snapshotIDs = _snapshotIDs;
+
+ client::QueryResult result = this->queryMemoryIDs(snapshotIDs);
+ if (result.success)
+ {
+ std::sort(snapshotIDs.begin(), snapshotIDs.end(), compareTimestampDecreasing);
+ for (const MemoryID& snapshotID : snapshotIDs)
+ {
+ try
+ {
+ wm::EntitySnapshot& snapshot = result.memory.getEntitySnapshot(snapshotID);
+ return snapshot;
+ }
+ catch (const armem::error::ArMemError&)
+ {
+ }
+ }
+ return std::nullopt;
+ }
+ else
+ {
+ ARMARX_INFO << "Error querying " << snapshotIDs.size() << " STT snapshots:\n"
+ << result.errorMessage;
+ return std::nullopt;
+ }
+ }
+
+
+ QueryResult Reader::getLatestSnapshotsIn(const MemoryID& id, DataMode dataMode) const
+ {
+ using namespace client::query_fns;
+ if (!id.isWellDefined())
+ {
+ throw armem::error::InvalidMemoryID(id, "ID must be well defined, but was not.");
+ }
+
+ query::Builder qb(dataMode);
+ query::CoreSegmentSelector& core =
+ id.hasCoreSegmentName()
+ ? qb.coreSegments(withID(id))
+ : qb.coreSegments(all());
+ query::ProviderSegmentSelector& prov =
+ id.hasProviderSegmentName()
+ ? core.providerSegments(withID(id))
+ : core.providerSegments(all());
+ query::EntitySelector& entity =
+ id.hasEntityName()
+ ? prov.entities(withID(id))
+ : prov.entities(all());
+ entity.snapshots(latest());
+
+ return query(qb);
+ }
+
+
+ struct FindLatestSnapshotVisitor : public wm::Visitor
+ {
+ std::optional<wm::EntitySnapshot> latest = std::nullopt;
+
+ bool visitEnter(const wm::EntitySnapshot& snapshot) override;
+ };
+ bool FindLatestSnapshotVisitor::visitEnter(const wm::EntitySnapshot& snapshot)
+ {
+ if (not latest.has_value() or snapshot.time() < latest->time())
+ {
+ latest = snapshot;
+ }
+ return true;
+ }
+
+
+ std::optional<wm::EntitySnapshot> Reader::getLatestSnapshotIn(const MemoryID& id, DataMode dataMode) const
+ {
+ client::QueryResult result = getLatestSnapshotsIn(id, dataMode);
+ if (result.success)
+ {
+ FindLatestSnapshotVisitor visitor;
+ visitor.applyTo(result.memory);
+ return visitor.latest;
+ }
+ else
+ {
+ ARMARX_INFO << "Error querying latest snapshot in " << id;
+ return std::nullopt;
+ }
+ }
+
+
+ QueryResult Reader::getAllLatestSnapshots(DataMode dataMode) const
+ {
+ using namespace client::query_fns;
+
+ query::Builder qb(dataMode);
+ qb.coreSegments(all()).providerSegments(all()).entities(all()).snapshots(latest());
+
+ return this->query(qb);
+ }
+
+
+ QueryResult Reader::getAll(DataMode dataMode) const
+ {
+ using namespace client::query_fns;
+
+ query::Builder qb(dataMode);
+ qb.coreSegments(all()).providerSegments(all()).entities(all()).snapshots(all());
+
+ return this->query(qb);
}
@@ -129,5 +238,4 @@ namespace armarx::armem::client
{
this->memoryPrx = memory;
}
-
}
diff --git a/source/RobotAPI/libraries/armem/client/Reader.h b/source/RobotAPI/libraries/armem/client/Reader.h
index f2bb1a883..1d69491d2 100644
--- a/source/RobotAPI/libraries/armem/client/Reader.h
+++ b/source/RobotAPI/libraries/armem/client/Reader.h
@@ -2,15 +2,14 @@
// STD/STL
+#include <optional>
#include <vector>
// RobotAPI
#include <RobotAPI/interface/armem/server/ReadingMemoryInterface.h>
#include <RobotAPI/interface/armem/server/StoringMemoryInterface.h>
-#include <RobotAPI/interface/armem/client/MemoryListenerInterface.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
-#include <RobotAPI/libraries/armem/core/longtermmemory/Memory.h>
+#include <RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.h>
+// #include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
#include "Query.h"
@@ -34,15 +33,14 @@ namespace armarx::armem::client
void setReadingMemory(server::ReadingMemoryInterfacePrx memory);
+ /// Perform a query.
QueryResult query(const QueryInput& input) const;
armem::query::data::Result query(const armem::query::data::Input& input) const;
QueryResult query(armem::query::data::MemoryQueryPtr query, DataMode dataMode = DataMode::WithData) const;
QueryResult query(const armem::query::data::MemoryQuerySeq& queries, DataMode dataMode = DataMode::WithData) const;
-
- QueryResult getAll(DataMode dataMode = DataMode::WithData) const;
- QueryResult getLatestSnapshots(DataMode dataMode = DataMode::WithData) const;
+ QueryResult query(const QueryBuilder& queryBuilder) const;
/**
@@ -60,7 +58,54 @@ namespace armarx::armem::client
* @param dataMode Whether to include instance data or just meta data.
* @return The query result.
*/
- QueryResult queryMemoryIDs(const std::vector<MemoryID>& ids, DataMode dataMode = DataMode::WithData) const;
+ QueryResult
+ queryMemoryIDs(const std::vector<MemoryID>& ids, DataMode dataMode = DataMode::WithData) const;
+
+
+ /**
+ * @brief Query the given snapshot and return the latest existing snapshot.
+ * @param snapshotIDs The snapshot (or entity) IDs.
+ * @return The latest snapshot contained in the query result, if any.
+ */
+ std::optional<wm::EntitySnapshot>
+ getLatestSnapshotOf(const std::vector<MemoryID>& snapshotIDs) const;
+
+
+ /**
+ * @brief Get the latest snapshots under the given memory ID.
+ * @param id A memory, core segment, provider segment or entity ID.
+ * @param dataMode With or without data.
+ * @return The query result.
+ */
+ QueryResult
+ getLatestSnapshotsIn(const MemoryID& id, DataMode dataMode = DataMode::WithData) const;
+
+ /**
+ * @brief Get the latest snapshot under the given memory ID.
+ * @param id A memory, core segment, provider segment or entity ID.
+ * @param dataMode With or without data.
+ * @return The latest contained snapshot, if any.
+ */
+ std::optional<wm::EntitySnapshot>
+ getLatestSnapshotIn(const MemoryID& id, DataMode dataMode = DataMode::WithData) const;
+
+
+ /**
+ * @brief Get all latest snapshots in the memory.
+ * @param dataMode With or without data.
+ * @return The query result.
+ */
+ QueryResult
+ getAllLatestSnapshots(DataMode dataMode = DataMode::WithData) const;
+
+
+ /**
+ * @brief Get the whole memory content.
+ * @param dataMode With or without data.
+ * @return The query result.
+ */
+ QueryResult
+ getAll(DataMode dataMode = DataMode::WithData) const;
//data::StoreResult readAndStore(data::StoreInputSeq& input);
--
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