From bb3c5a825743f51dcf8a586404d6bd7853cd9a31 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Tue, 20 Jul 2021 13:28:36 +0200
Subject: [PATCH] Update locking scheme
---
.../armem_objects/server/class/Segment.cpp | 41 ++++++++-----------
.../armem_objects/server/instance/Segment.cpp | 29 +++++++------
2 files changed, 31 insertions(+), 39 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
index 49c9b6dd8..a1f678d52 100644
--- a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
@@ -90,11 +90,6 @@ namespace armarx::armem::server::obj::clazz
std::vector<ObjectInfo> infos = objectFinder.findAllObjects(checkPaths);
const MemoryID providerID = coreSegment->id().withProviderSegmentName(objectFinder.getPackageName());
- if (not coreSegment->hasProviderSegment(providerID.providerSegmentName))
- {
- coreSegment->addProviderSegment(providerID.providerSegmentName);
- }
-
ARMARX_INFO << "Loading up to " << infos.size() << " object classes from '"
<< objectFinder.getPackageName() << "' ...";
Commit commit;
@@ -102,7 +97,7 @@ namespace armarx::armem::server::obj::clazz
{
info.setLogError(false);
- EntityUpdate& update = commit.updates.emplace_back();
+ EntityUpdate& update = commit.add();
update.entityID = providerID.withEntityName(info.id().str());
update.timeArrived = update.timeCreated = update.timeSent = now;
@@ -114,7 +109,7 @@ namespace armarx::armem::server::obj::clazz
}
ARMARX_INFO << "Loaded " << commit.updates.size() << " object classes from '"
<< objectFinder.getPackageName() << "'.";
- iceMemory.commit(commit);
+ iceMemory.commitLocking(commit);
}
@@ -133,31 +128,32 @@ namespace armarx::armem::server::obj::clazz
{
try
{
- const armem::wm::Entity& entity = coreSegment->getEntity(entityID);
- const armem::wm::EntityInstance& instance = entity.getLatestSnapshot().getInstance(0);
-
- arondto::ObjectClass aron;
- aron.fromAron(instance.data());
+ std::optional<arondto::ObjectClass> aron =
+ coreSegment->getLatestEntityInstanceDataLockingAs<arondto::ObjectClass>(entityID, 0);
+ if (not aron.has_value())
+ {
+ return;
+ }
- if (!aron.simoxXmlPath.package.empty())
+ if (not aron->simoxXmlPath.package.empty())
{
layerObject.add(viz::Object(entityID.str())
- .file(aron.simoxXmlPath.package, aron.simoxXmlPath.path)
+ .file(aron->simoxXmlPath.package, aron->simoxXmlPath.path)
.pose(pose));
}
if (showAABB)
{
layerAABB.add(viz::Box("AABB")
- .pose(pose * simox::math::pose(aron.aabb.center))
- .size(aron.aabb.extents)
+ .pose(pose * simox::math::pose(aron->aabb.center))
+ .size(aron->aabb.extents)
.color(simox::Color::cyan(255, 64)));
}
if (showOOBB)
{
layerOOBB.add(viz::Box("OOBB")
- .pose(pose * simox::math::pose(aron.oobb.center, aron.oobb.orientation))
- .size(aron.oobb.extents)
+ .pose(pose * simox::math::pose(aron->oobb.center, aron->oobb.orientation))
+ .size(aron->oobb.extents)
.color(simox::Color::lime(255, 64)));
}
}
@@ -182,12 +178,10 @@ namespace armarx::armem::server::obj::clazz
namespace fs = std::filesystem;
arondto::ObjectClass data;
-
toAron(data.id, info.id());
- auto setPathIfExists = [](
- armarx::arondto::PackagePath & aron,
- const PackageFileLocation & location)
+ auto setPathIfExists = [](armarx::arondto::PackagePath & aron,
+ const PackageFileLocation & location)
{
if (fs::is_regular_file(location.absolutePath))
{
@@ -273,7 +267,7 @@ namespace armarx::armem::server::obj::clazz
{
if (reloadButton.wasClicked())
{
- std::scoped_lock lock(segment.mutex());
+ // Core segment mutex will be locked on commit.
segment.loadByObjectFinder();
rebuild = true;
}
@@ -331,7 +325,6 @@ 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.mutex());
segment.visualizeClass(showOptionsIndex.at(index));
}
}
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
index 95611ed7a..1a18f84a1 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
@@ -106,7 +106,6 @@ namespace armarx::armem::server::obj::instance
coreSegment = &iceMemory.workingMemory->addCoreSegment(p.coreSegmentName, arondto::ObjectInstance::toAronType());
coreSegment->setMaxHistorySize(p.maxHistorySize);
-
if (not p.sceneSnapshotToLoad.empty())
{
bool lockMemory = false;
@@ -116,6 +115,7 @@ namespace armarx::armem::server::obj::instance
void Segment::connect(viz::Client arviz)
{
+ (void) arviz;
// ARMARX_INFO << "ArticulatedObjectVisu";
// this->visu = std::make_unique<ArticulatedObjectVisu>(arviz, *this);
// visu->init();
@@ -141,7 +141,7 @@ namespace armarx::armem::server::obj::instance
stats.numUpdated = 0;
for (const objpose::data::ProvidedObjectPose& provided : providedPoses)
{
- const IceUtil::Time timestamp = IceUtil::Time::microSeconds(provided.timestampMicroSeconds);
+ const Time timestamp = Time::microSeconds(provided.timestampMicroSeconds);
// Check whether we have an old snapshot for this object.
std::optional<objpose::ObjectPose> previousPose;
@@ -214,9 +214,9 @@ namespace armarx::armem::server::obj::instance
void Segment::commitObjectPoses(const ObjectPoseSeq& objectPoses, const std::string& providerName)
{
- ARMARX_CHECK_NOT_NULL(coreSegment);
Time now = TimeUtil::GetTime();
+ ARMARX_CHECK_NOT_NULL(coreSegment);
const MemoryID coreSegmentID = coreSegment->id();
Commit commit;
@@ -247,6 +247,7 @@ namespace armarx::armem::server::obj::instance
update.instancesData.push_back(dto.toAron());
}
+ // Commit non-locking.
iceMemory.commit(commit);
}
@@ -674,7 +675,6 @@ namespace armarx::armem::server::obj::instance
// Store non-attached pose in new snapshot.
storeDetachedSnapshot(*entity, data, now, input.commitAttachedPose);
}
-
if (providerName.empty())
{
providerName = data.pose.providerName;
@@ -979,7 +979,6 @@ namespace armarx::armem::server::obj::instance
if (lockMemory)
{
- std::scoped_lock lock(mutex());
commitSceneSnapshot(snapshot.value(), filename.string());
}
else
@@ -1032,39 +1031,39 @@ namespace armarx::armem::server::obj::instance
}
- void Segment::RemoteGui::update(Segment& data)
+ void Segment::RemoteGui::update(Segment& segment)
{
if (loadButton.wasClicked())
{
bool lockMemory = true;
- data.commitSceneSnapshotFromFilename(storeLoadLine.getValue(), lockMemory);
+ segment.commitSceneSnapshotFromFilename(storeLoadLine.getValue(), lockMemory);
}
if (storeButton.wasClicked())
{
armem::obj::SceneSnapshot scene;
{
- std::scoped_lock lock(data.mutex());
- scene = data.getSceneSnapshot();
+ std::scoped_lock lock(segment.mutex());
+ scene = segment.getSceneSnapshot();
}
- data.storeScene(storeLoadLine.getValue(), scene);
+ segment.storeScene(storeLoadLine.getValue(), scene);
}
if (infiniteHistory.hasValueChanged() || maxHistorySize.hasValueChanged()
|| discardSnapshotsWhileAttached.hasValueChanged())
{
- std::scoped_lock lock(data.mutex());
+ std::scoped_lock lock(segment.mutex());
if (infiniteHistory.hasValueChanged() || maxHistorySize.hasValueChanged())
{
- data.p.maxHistorySize = infiniteHistory.getValue() ? -1 : maxHistorySize.getValue();
- if (data.coreSegment)
+ segment.p.maxHistorySize = infiniteHistory.getValue() ? -1 : maxHistorySize.getValue();
+ if (segment.coreSegment)
{
- data.coreSegment->setMaxHistorySize(long(data.p.maxHistorySize));
+ segment.coreSegment->setMaxHistorySize(long(segment.p.maxHistorySize));
}
}
- data.p.discardSnapshotsWhileAttached = discardSnapshotsWhileAttached.getValue();
+ segment.p.discardSnapshotsWhileAttached = discardSnapshotsWhileAttached.getValue();
}
}
--
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