From 1513281d4ab613130073ca40a0deaf0c3843226b Mon Sep 17 00:00:00 2001
From: armar-user <armar6@kit>
Date: Wed, 28 Jul 2021 20:58:03 +0200
Subject: [PATCH] (RK,FR): fixing query processors: if no modality is
specified, assuming working memory query
---
.../armem/server/MemoryToIceAdapter.cpp | 6 +-
.../query_proc/base/BaseQueryProcessorBase.h | 67 +++++++++----------
.../base/MemoryQueryProcessorBase.h | 4 +-
.../diskmemory/BaseQueryProcessor.h | 6 ++
.../diskmemory/CoreSegmentQueryProcessor.h | 2 +-
.../diskmemory/MemoryQueryProcessor.h | 2 +-
.../ProviderSegmentQueryProcessor.h | 2 +-
.../longtermmemory/BaseQueryProcessor.h | 6 ++
.../CoreSegmentQueryProcessor.h | 2 +-
.../longtermmemory/MemoryQueryProcessor.h | 2 +-
.../ProviderSegmentQueryProcessor.h | 2 +-
.../workingmemory/BaseQueryProcessor.h | 5 ++
.../CoreSegmentQueryProcessor.cpp | 2 +-
.../workingmemory/EntityQueryProcessor.cpp | 2 +-
.../workingmemory/MemoryQueryProcessor.cpp | 2 +-
.../ProviderSegmentQueryProcessor.cpp | 2 +-
.../libraries/armem_gui/MemoryViewer.cpp | 6 +-
17 files changed, 67 insertions(+), 53 deletions(-)
diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
index 2a33e54c1..354eec9ce 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
@@ -236,10 +236,10 @@ namespace armarx::armem::server
// Core segment processors will aquire the core segment locks.
armem::wm::query_proc::MemoryQueryProcessor wmProcessor(
input.withData ? armem::DataMode::WithData : armem::DataMode::NoData);
- wm::Memory wmResult = wmProcessor.process(input, *workingMemory, /* execute if: */ { query::data::QueryTarget::WM });
+ wm::Memory wmResult = wmProcessor.process(input, *workingMemory);
armem::ltm::query_proc::MemoryQueryProcessor ltmProcessor;
- ltm::Memory ltmResult = ltmProcessor.process(input, *longtermMemory, /* execute if: */ { query::data::QueryTarget::LTM });
+ ltm::Memory ltmResult = ltmProcessor.process(input, *longtermMemory);
armem::query::data::Result result;
if (ltmResult.hasData())
@@ -267,7 +267,7 @@ namespace armarx::armem::server
auto queryInput = armem::client::QueryInput::fromIce(input);
queryInput.replaceQueryTarget(query::data::QueryTarget::LTM, query::data::QueryTarget::WM);
- wm::Memory merged_result = wmProcessor.process(queryInput.toIce(), wmResult, /* execute if: */ { query::data::QueryTarget::WM });
+ wm::Memory merged_result = wmProcessor.process(queryInput.toIce(), wmResult);
if (!merged_result.hasData())
{
ARMARX_ERROR << "A merged and postprocessed Memory has no data although at least the LTM result contains data. This indicates that something is wrong.";
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.h
index 95943dd2f..2af924503 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/BaseQueryProcessorBase.h
@@ -22,34 +22,29 @@ namespace armarx::armem::base::query_proc
virtual ~BaseQueryProcessorBase() = default;
- DataT process(const QueryT& query, const DataT& data, const query::data::QueryTargets& executeIf = {}) const
+ DataT process(const QueryT& query, const DataT& data) const
{
DataT result = data.copyEmpty();
-
- for (const auto queryTarget : query.targets)
+ if (getTargets(query.targets).count(getTargetType()))
{
- if (std::find(executeIf.begin(), executeIf.end(), queryTarget) != executeIf.end())
- {
- this->process(result, query, data);
- break;
- }
+ this->process(result, query, data);
}
return result;
}
- DataT process(const QueryPtrT& query, const DataT& data, const query::data::QueryTargets& executeIf = {}) const
+ DataT process(const QueryPtrT& query, const DataT& data) const
{
- return this->process(*query, *data, executeIf);
+ return this->process(*query, *data);
}
- DataT process(const QuerySeqT& queries, const DataT& data, const query::data::QueryTargets& executeIf = {}) const
+ DataT process(const QuerySeqT& queries, const DataT& data) const
{
DataT result = data.copyEmpty();
- this->process(result, queries, data, executeIf);
+ this->process(result, queries, data);
return result;
}
- void process(DataT& result, const QuerySeqT& queries, const DataT& data, const query::data::QueryTargets& executeIf = {}) const
+ void process(DataT& result, const QuerySeqT& queries, const DataT& data) const
{
if (queries.empty())
{
@@ -57,35 +52,37 @@ namespace armarx::armem::base::query_proc
return;
}
- if (executeIf.empty())
- {
- ARMARX_DEBUG << "Could not execute query. ExecuteIf s empty.";
- return;
- }
-
for (const auto& query : queries)
{
- if (query->targets.empty())
+ if (getTargets(query->targets).count(getTargetType()))
{
- ARMARX_DEBUG << "The targets of a query are empty";
- continue;
- }
-
- for (const auto queryTarget : query->targets)
- {
- if (std::find(executeIf.begin(), executeIf.end(), queryTarget) != executeIf.end())
- {
- this->process(result, *query, data);
- break;
- }
- else
- {
- ARMARX_DEBUG << "The query target " << queryTarget << " was not found in executeIf: " << executeIf;
- }
+ this->process(result, *query, data);
}
}
}
virtual void process(DataT& result, const QueryT& query, const DataT& data) const = 0;
+
+
+ protected:
+
+ virtual query::data::QueryTarget getTargetType() const = 0;
+
+
+ private:
+
+ /// If empty, e.g. when receiving queries from python, we use WM as default.
+ /// We do it here as (Sl)ice does not support default values for vectors.
+ static std::set<query::data::QueryTarget> getTargets(const std::vector<query::data::QueryTarget>& _targets)
+ {
+ std::set<query::data::QueryTarget> targets(_targets.begin(), _targets.end());
+ if (targets.empty())
+ {
+ ARMARX_DEBUG << "Query has no targets - using WM as default.";
+ targets.insert(query::data::QueryTarget::WM);
+ }
+ return targets;
+ }
+
};
}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/MemoryQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/base/MemoryQueryProcessorBase.h
index cc06defc9..55c5e5112 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/MemoryQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/MemoryQueryProcessorBase.h
@@ -34,9 +34,9 @@ namespace armarx::armem::base::query_proc
using Base::process;
- _MemoryT process(const armem::query::data::Input& input, const _MemoryT& memory, const std::vector<query::data::QueryTarget>& executeIf = {}) const
+ _MemoryT process(const armem::query::data::Input& input, const _MemoryT& memory) const
{
- return this->process(input.memoryQueries, memory, executeIf);
+ return this->process(input.memoryQueries, memory);
}
void process(_MemoryT& result,
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/BaseQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/BaseQueryProcessor.h
index 84f967795..469b5f907 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/BaseQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/BaseQueryProcessor.h
@@ -22,5 +22,11 @@ namespace armarx::armem::d_ltm::query_proc
{}
protected:
+
+ query::data::QueryTarget getTargetType() const override
+ {
+ return query::data::QueryTarget::Disk;
+ }
+
};
}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/CoreSegmentQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/CoreSegmentQueryProcessor.h
index 1c40f7fc6..5c043a2d1 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/CoreSegmentQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/CoreSegmentQueryProcessor.h
@@ -27,7 +27,7 @@ namespace armarx::armem::d_ltm::query_proc
protected:
virtual ProviderSegmentT providerSegmentProcessorProcess(const armem::query::data::ProviderSegmentQuerySeq& q, const ProviderSegmentT& s) const override
{
- return providerSegmentProcessor.process(q, s, {armem::query::data::QueryTarget::Disk});
+ return providerSegmentProcessor.process(q, s);
}
private:
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/MemoryQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/MemoryQueryProcessor.h
index 2abdcc1cc..038523950 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/MemoryQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/MemoryQueryProcessor.h
@@ -26,7 +26,7 @@ namespace armarx::armem::d_ltm::query_proc
protected:
virtual CoreSegmentT coreSegmentProcessorProcess(const armem::query::data::CoreSegmentQuerySeq& q, const CoreSegmentT& s) const override
{
- return coreSegmentProcessor.process(q, s, {armem::query::data::QueryTarget::Disk});
+ return coreSegmentProcessor.process(q, s);
}
private:
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/ProviderSegmentQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/ProviderSegmentQueryProcessor.h
index 94c2e7568..2043273ec 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/ProviderSegmentQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/diskmemory/ProviderSegmentQueryProcessor.h
@@ -26,7 +26,7 @@ namespace armarx::armem::d_ltm::query_proc
protected:
virtual EntityT entityProcessorProcess(const armem::query::data::EntityQuerySeq& q, const EntityT& s) const override
{
- return entityProcessor.process(q, s, {armem::query::data::QueryTarget::Disk});
+ return entityProcessor.process(q, s);
}
private:
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/BaseQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/BaseQueryProcessor.h
index 458128e53..64f560aff 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/BaseQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/BaseQueryProcessor.h
@@ -22,5 +22,11 @@ namespace armarx::armem::ltm::query_proc
{}
protected:
+
+ query::data::QueryTarget getTargetType() const override
+ {
+ return query::data::QueryTarget::LTM;
+ }
+
};
}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/CoreSegmentQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/CoreSegmentQueryProcessor.h
index e333dd816..dc379f1d8 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/CoreSegmentQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/CoreSegmentQueryProcessor.h
@@ -27,7 +27,7 @@ namespace armarx::armem::ltm::query_proc
protected:
virtual ProviderSegmentT providerSegmentProcessorProcess(const armem::query::data::ProviderSegmentQuerySeq& q, const ProviderSegmentT& s) const override
{
- return providerSegmentProcessor.process(q, s, {armem::query::data::QueryTarget::LTM});
+ return providerSegmentProcessor.process(q, s);
}
private:
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/MemoryQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/MemoryQueryProcessor.h
index 569014d65..a51294172 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/MemoryQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/MemoryQueryProcessor.h
@@ -26,7 +26,7 @@ namespace armarx::armem::ltm::query_proc
protected:
virtual CoreSegmentT coreSegmentProcessorProcess(const armem::query::data::CoreSegmentQuerySeq& q, const CoreSegmentT& s) const override
{
- return coreSegmentProcessor.process(q, s, {armem::query::data::QueryTarget::LTM});
+ return coreSegmentProcessor.process(q, s);
}
private:
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/ProviderSegmentQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/ProviderSegmentQueryProcessor.h
index 5443acfd6..e0c6db9e3 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/ProviderSegmentQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/longtermmemory/ProviderSegmentQueryProcessor.h
@@ -26,7 +26,7 @@ namespace armarx::armem::ltm::query_proc
protected:
virtual EntityT entityProcessorProcess(const armem::query::data::EntityQuerySeq& q, const EntityT& s) const override
{
- return entityProcessor.process(q, s, {armem::query::data::QueryTarget::LTM});
+ return entityProcessor.process(q, s);
}
private:
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/BaseQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/BaseQueryProcessor.h
index 933f9a6fd..d4875053c 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/BaseQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/BaseQueryProcessor.h
@@ -26,6 +26,11 @@ namespace armarx::armem::wm::query_proc
protected:
+ query::data::QueryTarget getTargetType() const override
+ {
+ return query::data::QueryTarget::WM;
+ }
+
DataMode dataMode;
};
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/CoreSegmentQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/CoreSegmentQueryProcessor.cpp
index bda9ad04d..4c41f1666 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/CoreSegmentQueryProcessor.cpp
+++ b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/CoreSegmentQueryProcessor.cpp
@@ -32,7 +32,7 @@ namespace armarx::armem::wm::query_proc
ProviderSegment CoreSegmentQueryProcessor::providerSegmentProcessorProcess(const armem::query::data::ProviderSegmentQuerySeq& q, const ProviderSegment& s) const
{
- return providerSegmentProcessor.process(q, s, {armem::query::data::QueryTarget::WM});
+ return providerSegmentProcessor.process(q, s);
}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/EntityQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/EntityQueryProcessor.cpp
index 7ef31f2ba..005649b8f 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/EntityQueryProcessor.cpp
+++ b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/EntityQueryProcessor.cpp
@@ -6,7 +6,7 @@
namespace armarx::armem::wm::query_proc
{
EntityQueryProcessor::EntityQueryProcessor(DataMode dataMode) :
- Base(dataMode)
+ BaseQueryProcessor<wm::Entity, armem::query::data::EntityQuery>(dataMode)
{}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/MemoryQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/MemoryQueryProcessor.cpp
index dd249b61c..7aa868af1 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/MemoryQueryProcessor.cpp
+++ b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/MemoryQueryProcessor.cpp
@@ -16,7 +16,7 @@ namespace armarx::armem::wm::query_proc
CoreSegment MemoryQueryProcessor::coreSegmentProcessorProcess(const armem::query::data::CoreSegmentQuerySeq& q, const CoreSegment& s) const
{
- return coreSegmentProcessor.process(q, s, {armem::query::data::QueryTarget::WM});
+ return coreSegmentProcessor.process(q, s);
}
}
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/ProviderSegmentQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/ProviderSegmentQueryProcessor.cpp
index a5e23184f..eb2524631 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/ProviderSegmentQueryProcessor.cpp
+++ b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/ProviderSegmentQueryProcessor.cpp
@@ -24,7 +24,7 @@ namespace armarx::armem::wm::query_proc
Entity ProviderSegmentQueryProcessor::entityProcessorProcess(const armem::query::data::EntityQuerySeq& q, const Entity& s) const
{
- return entityProcessor.process(q, s, {armem::query::data::QueryTarget::WM});
+ return entityProcessor.process(q, s);
}
}
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
index 5037bad39..f88a2e173 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
+++ b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
@@ -245,7 +245,7 @@ namespace armarx::armem::gui
input.addQueryTargetToAll(armem::query::data::QueryTarget::Disk);
armem::d_ltm::query_proc::MemoryQueryProcessor d_ltm_processor;
- dMem = d_ltm_processor.process(input.toIce(), dMem, /* execute if: */ { query::data::QueryTarget::Disk });
+ dMem = d_ltm_processor.process(input.toIce(), dMem);
wm::Memory converted = dMem.convert();
memoryData[k] = std::move(converted);
@@ -275,7 +275,7 @@ namespace armarx::armem::gui
// requery (e.g. to get only the last n values instead of the last n from disk and the last n from wm)
armem::wm::query_proc::MemoryQueryProcessor wm_processor;
- result.memory = wm_processor.process(input.toIce(), result.memory, /* execute if: */ { query::data::QueryTarget::WM });
+ result.memory = wm_processor.process(input.toIce(), result.memory);
if (!result.memory.hasData())
{
@@ -293,7 +293,7 @@ namespace armarx::armem::gui
}
else
{
- ARMARX_WARNING << "A query for memory '" + name + "' produced an error: " << result.errorMessage;
+ ARMARX_WARNING << "A query for memory '" << name << "' produced an error: " << result.errorMessage;
if (statusLabel)
{
statusLabel->setText(QString::fromStdString(result.errorMessage));
--
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