From 0f7973bc0410ad88c9392a636da6c20ea9a8ac55 Mon Sep 17 00:00:00 2001
From: armar-user <armar-user@h2t.kit.edu>
Date: Fri, 12 Nov 2021 09:09:11 +0100
Subject: [PATCH] bool flag to enbale/disable ltm. Fix plugin issue
---
.../armem/server/MemoryToIceAdapter.cpp | 65 ++++++++++---------
.../armem/server/ltm/base/detail/MemoryBase.h | 3 +
.../libraries/armem/server/plugins/Plugin.cpp | 6 +-
.../libraries/armem/server/plugins/Plugin.h | 5 +-
.../server/plugins/ReadWritePluginUser.cpp | 6 --
.../server/plugins/ReadWritePluginUser.h | 1 -
6 files changed, 40 insertions(+), 46 deletions(-)
diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
index 3cc3879df..a42d4305d 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
@@ -192,7 +192,7 @@ namespace armarx::armem::server
}
// Consollidate to ltm
- if (longtermMemory)
+ if (longtermMemory->enabled)
{
//ARMARX_IMPORTANT << longtermMemory->id().str();
//ARMARX_IMPORTANT << longtermMemory->getPath();
@@ -263,54 +263,54 @@ namespace armarx::armem::server
{
ARMARX_TRACE;
ARMARX_CHECK_NOT_NULL(workingMemory);
+ ARMARX_CHECK_NOT_NULL(longtermMemory);
// Core segment processors will aquire the core segment locks.
query_proc::wm_server::MemoryQueryProcessor wmServerProcessor(
input.withData ? armem::DataMode::WithData : armem::DataMode::NoData);
armem::wm::Memory wmResult = wmServerProcessor.process(input.memoryQueries, *workingMemory);
- query_proc::ltm_server::disk::MemoryQueryProcessor ltmProcessor;
- armem::wm::Memory ltmResult = ltmProcessor.process(input, *longtermMemory);
-
armem::query::data::Result result;
- if (not ltmResult.empty())
- {
- ARMARX_INFO << "The LTM returned data after query";
- longtermMemory->load(ltmResult); // convert memory ==> meaning resolving references
+ if (longtermMemory->enabled)
+ {
+ query_proc::ltm_server::disk::MemoryQueryProcessor ltmProcessor;
+ armem::wm::Memory ltmResult = ltmProcessor.process(input, *longtermMemory);
- wmResult.append(ltmResult);
- if (wmResult.empty())
+ if (not ltmResult.empty())
{
- ARMARX_ERROR << "A merged Memory has no data although at least the LTM result contains data. This indicates that something is wrong.";
- }
+ ARMARX_INFO << "The LTM returned data after query";
- // query again to limit output size (TODO: Skip if querytype is all)
- auto queryInput = armem::client::QueryInput::fromIce(input);
- queryInput.replaceQueryTarget(query::data::QueryTarget::LTM, query::data::QueryTarget::WM);
+ longtermMemory->load(ltmResult); // convert memory ==> meaning resolving references
- query_proc::wm::MemoryQueryProcessor wm2wmProcessor(
- input.withData ? armem::DataMode::WithData : armem::DataMode::NoData);
- armem::wm::Memory mergedResult = wm2wmProcessor.process(queryInput.toIce(), wmResult);
- if (mergedResult.empty())
- {
- ARMARX_ERROR << "A merged and postprocessed Memory has no data although at least the LTM result contains data. This indicates that something is wrong.";
- }
+ wmResult.append(ltmResult);
+ if (wmResult.empty())
+ {
+ ARMARX_ERROR << "A merged Memory has no data although at least the LTM result contains data. This indicates that something is wrong.";
+ }
- result.memory = toIce<data::MemoryPtr>(mergedResult);
+ // query again to limit output size (TODO: Skip if querytype is all)
+ auto queryInput = armem::client::QueryInput::fromIce(input);
+ queryInput.replaceQueryTarget(query::data::QueryTarget::LTM, query::data::QueryTarget::WM);
- // also move results of ltm to wm
- //this->commit(toCommit(ltm_converted));
+ query_proc::wm::MemoryQueryProcessor wm2wmProcessor(
+ input.withData ? armem::DataMode::WithData : armem::DataMode::NoData);
+ wmResult = wm2wmProcessor.process(queryInput.toIce(), wmResult);
+ if (wmResult.empty())
+ {
+ ARMARX_ERROR << "A merged and postprocessed Memory has no data although at least the LTM result contains data. This indicates that something is wrong.";
+ }
- // mark removed entries of wm in viewer
- // TODO
- }
- else
- {
- ARMARX_VERBOSE << "The LTM did not return data after query";
- result.memory = toIce<data::MemoryPtr>(wmResult);
+ // also move results of ltm to wm
+ //this->commit(toCommit(ltm_converted));
+
+ // mark removed entries of wm in viewer
+ // TODO
+ }
}
+ result.memory = toIce<data::MemoryPtr>(wmResult);
+
result.success = true;
if (result.memory->coreSegments.size() == 0)
{
@@ -336,6 +336,7 @@ namespace armarx::armem::server
ARMARX_TRACE;
ARMARX_CHECK_NOT_NULL(workingMemory);
ARMARX_CHECK_NOT_NULL(longtermMemory);
+
data::StoreResult output;
for (const auto& query : input.query.memoryQueries)
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/detail/MemoryBase.h b/source/RobotAPI/libraries/armem/server/ltm/base/detail/MemoryBase.h
index 4f79c2cd4..8203fa4cd 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/detail/MemoryBase.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/detail/MemoryBase.h
@@ -92,6 +92,9 @@ namespace armarx::armem::server::ltm
virtual void _load(armem::wm::Memory& memory) = 0;
virtual void _store(const armem::wm::Memory& memory) = 0;
+ public:
+ bool enabled = true;
+
protected:
mutable std::recursive_mutex ltm_mutex;
};
diff --git a/source/RobotAPI/libraries/armem/server/plugins/Plugin.cpp b/source/RobotAPI/libraries/armem/server/plugins/Plugin.cpp
index faaedbe42..327a83223 100644
--- a/source/RobotAPI/libraries/armem/server/plugins/Plugin.cpp
+++ b/source/RobotAPI/libraries/armem/server/plugins/Plugin.cpp
@@ -32,13 +32,13 @@ namespace armarx::armem::server::plugins
}
// stuff for ltm
- if (longtermMemoryEnabled) // if not explicitly set to false in constructor of component (then we dont need the params)
+ if (longtermMemory.enabled) // if not explicitly set to false in constructor of component (then we dont need the params)
{
if (not properties->hasDefinition(prefix + "ltm.enabled"))
{
- properties->optional(longtermMemoryEnabled, prefix + "ltm.enabled");
+ properties->optional(longtermMemory.enabled, prefix + "ltm.enabled");
}
- longtermMemory.createPropertyDefinitions(properties, "ltm.");
+ //longtermMemory.createPropertyDefinitions(properties, "ltm.");
}
// Publish memory updates topic
diff --git a/source/RobotAPI/libraries/armem/server/plugins/Plugin.h b/source/RobotAPI/libraries/armem/server/plugins/Plugin.h
index d5c7c0534..8a5a68934 100644
--- a/source/RobotAPI/libraries/armem/server/plugins/Plugin.h
+++ b/source/RobotAPI/libraries/armem/server/plugins/Plugin.h
@@ -80,16 +80,13 @@ namespace armarx::armem::server::plugins
// Long-Term Memory
- /// Indicates whether to use or not to use the ltm feature.
- bool longtermMemoryEnabled = true;
-
/// A manager class for the ltm. It internally holds a normal wm instance as a cache.
server::ltm::disk::Memory longtermMemory;
private:
- client::plugins::Plugin* clientPlugin;
+ client::plugins::Plugin* clientPlugin = nullptr;
};
}
diff --git a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp
index 7570470f5..285c65e0b 100644
--- a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp
+++ b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp
@@ -86,12 +86,6 @@ namespace armarx::armem::server::plugins
}
- bool ReadWritePluginUser::isLongtermMemoryEnabled()
- {
- return plugin->longtermMemoryEnabled;
- }
-
-
ltm::disk::Memory& ReadWritePluginUser::longtermMemory()
{
return plugin->longtermMemory;
diff --git a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h
index f0f891151..8d3dad4c9 100644
--- a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h
+++ b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h
@@ -55,7 +55,6 @@ namespace armarx::armem::server::plugins
server::wm::Memory& workingMemory();
MemoryToIceAdapter& iceAdapter();
- bool isLongtermMemoryEnabled();
server::ltm::disk::Memory& longtermMemory();
--
GitLab