From f927794e2843c311b2d64b1f957b26cbd700a630 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Thu, 24 Jun 2021 21:27:09 +0200
Subject: [PATCH] Add loading from scene snapshot by properties
---
.../armem_objects/server/instance/Segment.cpp | 60 ++++++++++++++-----
.../armem_objects/server/instance/Segment.h | 7 ++-
2 files changed, 49 insertions(+), 18 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
index 8d876520b..63d449148 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
@@ -79,6 +79,13 @@ namespace armarx::armem::server::obj::instance
"If true, no new snapshots are stored while an object is attached to a robot node.\n"
"If false, new snapshots are stored, but the attachment is kept in the new snapshots.");
+ defs->optional(p.sceneSnapshotsPackage, prefix + "scene.Package",
+ "ArmarX package containing the scene snapshots.\n"
+ "Scene snapshots are expected to be located in Package/data/Package/Scenes/*.json.");
+ defs->optional(p.sceneSnapshotToLoad, prefix + "scene.SnapshotToLoad",
+ "Scene snapshot to load on startup (e.g. 'Scene_2021-06-24_20-20-03').\n"
+ "You can also specify paths relative to 'Package/Scenes/'.");
+
decay.defineProperties(defs, prefix + "decay.");
}
@@ -89,6 +96,13 @@ namespace armarx::armem::server::obj::instance
coreSegment = &iceMemory.workingMemory->addCoreSegment(p.coreSegmentName, arondto::ObjectInstance::toInitialAronType());
coreSegment->setMaxHistorySize(p.maxHistorySize);
+
+
+ if (not p.sceneSnapshotToLoad.empty())
+ {
+ bool lockMemory = false;
+ commitSceneSnapshotFromFilename(p.sceneSnapshotToLoad, lockMemory);
+ }
}
@@ -747,7 +761,6 @@ namespace armarx::armem::server::obj::instance
const std::string Segment::timestampPlaceholder = "%TIMESTAMP";
- const std::string Segment::targetPackage = "ArmarXObjects";
std::optional<std::filesystem::path> Segment::resolveSceneFilename(const std::string& _filename)
@@ -763,16 +776,16 @@ namespace armarx::armem::server::obj::instance
if (!finder)
{
- finder.reset(new CMakePackageFinder(targetPackage));
+ finder.reset(new CMakePackageFinder(p.sceneSnapshotsPackage));
if (not finder->packageFound())
{
- ARMARX_WARNING << "Could not find CMake package " << targetPackage << ".";
+ ARMARX_WARNING << "Could not find CMake package " << p.sceneSnapshotsPackage << ".";
}
}
if (finder->packageFound())
{
std::filesystem::path dataDir = finder->getDataDir();
- std::filesystem::path path = dataDir / targetPackage / "Scenes" / filename;
+ std::filesystem::path path = dataDir / p.sceneSnapshotsPackage / "Scenes" / filename;
return path;
}
else
@@ -847,6 +860,30 @@ 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))
+ {
+ if (const auto snapshot = loadScene(path.value()))
+ {
+ std::filesystem::path filename = path->filename();
+ filename.replace_extension(); // Removes extension
+
+ if (lockMemory)
+ {
+ std::scoped_lock lock(memoryMutex);
+ commitSceneSnapshot(snapshot.value(), filename.string());
+ }
+ else
+ {
+ commitSceneSnapshot(snapshot.value(), filename.string());
+ }
+ }
+ }
+ }
+
+
void Segment::RemoteGui::setup(const Segment& data)
{
using namespace armarx::RemoteGui::Client;
@@ -860,7 +897,7 @@ namespace armarx::armem::server::obj::instance
loadButton.setLabel("Load Scene");
storeButton.setLabel("Store Scene");
- HBoxLayout storeLoadLineLayout({Label(targetPackage + "/Scenes/"), storeLoadLine, Label(".json")});
+ HBoxLayout storeLoadLineLayout({Label(data.p.sceneSnapshotsPackage + "/Scenes/"), storeLoadLine, Label(".json")});
HBoxLayout storeLoadButtonsLayout({loadButton, storeButton});
GridLayout grid;
@@ -887,17 +924,8 @@ namespace armarx::armem::server::obj::instance
{
if (loadButton.wasClicked())
{
- if (auto path = data.resolveSceneFilename(storeLoadLine.getValue()))
- {
- if (const auto snapshot = data.loadScene(path.value()))
- {
- std::filesystem::path filename = path->filename();
- filename.replace_extension(); // Removes extension
-
- std::scoped_lock lock(data.memoryMutex);
- data.commitSceneSnapshot(snapshot.value(), filename.string());
- }
- }
+ bool lockMemory = true;
+ data.commitSceneSnapshotFromFilename(storeLoadLine.getValue(), lockMemory);
}
if (storeButton.wasClicked())
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
index 57e918dd0..0ac63b410 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
@@ -150,6 +150,7 @@ namespace armarx::armem::server::obj::instance
armem::obj::SceneSnapshot getSceneSnapshot() const;
void commitSceneSnapshot(const armem::obj::SceneSnapshot& scene, const std::string& sceneName);
+ void commitSceneSnapshotFromFilename(const std::string& filename, bool lockMemory);
public:
@@ -179,6 +180,10 @@ namespace armarx::armem::server::obj::instance
// -1 would be infinite, but this can let the RAM grow quickly.
long maxHistorySize = 25;
bool discardSnapshotsWhileAttached = true;
+
+ /// Package containing the scene snapshots
+ std::string sceneSnapshotsPackage = "ArmarXObjects";
+ std::string sceneSnapshotToLoad = "";
};
Properties p;
@@ -192,8 +197,6 @@ namespace armarx::armem::server::obj::instance
std::unique_ptr<CMakePackageFinder> finder;
static const std::string timestampPlaceholder;
- static const std::string targetPackage;
-
public:
--
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