From 1b02efe63b00d1f74e98da76bca412a620535358 Mon Sep 17 00:00:00 2001
From: phesch <ulila@student.kit.edu>
Date: Tue, 24 May 2022 21:41:55 +0200
Subject: [PATCH] Migrate existing prediction engines to new impl
---
.../armem/server/ExampleMemory/ExampleMemory.cpp | 9 +++------
.../armem/server/ExampleMemory/ExampleMemory.h | 2 --
.../armem/server/ObjectMemory/ObjectMemory.cpp | 8 --------
.../armem/server/ObjectMemory/ObjectMemory.h | 1 -
.../libraries/armem/core/base/CoreSegmentBase.h | 11 ++++++++---
.../RobotAPI/libraries/armem/core/base/MemoryBase.h | 11 +++++++----
.../armem/server/plugins/ReadWritePluginUser.h | 4 ++++
.../armem_objects/server/instance/Segment.cpp | 7 +++++--
.../armem_objects/server/instance/Segment.h | 1 -
.../armem_objects/server/instance/SegmentAdapter.cpp | 12 ++++++------
.../armem_objects/server/instance/SegmentAdapter.h | 3 +++
11 files changed, 36 insertions(+), 33 deletions(-)
diff --git a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
index c7d941aa5..13a4deeed 100644
--- a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
+++ b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
@@ -72,6 +72,9 @@ namespace armarx
workingMemory().addCoreSegment("ExampleData", armem::example::ExampleData::ToAronType());
workingMemory().addCoreSegment("LinkedData", armem::example::LinkedData::ToAronType());
+ // We support the "Latest" prediction engine for the entire memory.
+ workingMemory().predictionEngines().push_back({"Latest"});
+
// For illustration purposes, we add more segments (without types).
bool trim = true;
p.core.defaultCoreSegments = simox::alg::split(p.core._defaultSegmentsStr, ",", trim);
@@ -275,12 +278,6 @@ namespace armarx
return result.toIce();
}
- armem::prediction::data::EngineSupportMap
- ExampleMemory::getAvailableEngines()
- {
- return {{armarx::toIce<armem::data::MemoryID>(workingMemory().id()), {{"Latest"}}}};
- }
-
// REMOTE GUI
void ExampleMemory::createRemoteGuiTab()
diff --git a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.h b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.h
index fa9c2b1ea..76e437bcb 100644
--- a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.h
+++ b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.h
@@ -76,8 +76,6 @@ namespace armarx
armem::prediction::data::PredictionResultSeq
predict(const armem::prediction::data::PredictionRequestSeq& requests) override;
- armem::prediction::data::EngineSupportMap getAvailableEngines() override;
-
protected:
diff --git a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
index 71eba7787..fe2a74715 100644
--- a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
+++ b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
@@ -295,14 +295,6 @@ namespace armarx::armem::server::obj
return results;
}
- armem::prediction::data::EngineSupportMap ObjectMemory::getAvailableEngines()
- {
- // TODO(phesch): Replace with generic code in Memory implementation
- return {{armarx::toIce<armem::data::MemoryID>(
- workingMemory().id().withCoreSegmentName("Instance")),
- {{"Linear Position Regression"}}}};
- }
-
void ObjectMemory::createRemoteGuiTab()
{
using namespace armarx::RemoteGui::Client;
diff --git a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
index 7067f42da..1a939eebf 100644
--- a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
+++ b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
@@ -110,7 +110,6 @@ namespace armarx::armem::server::obj
// Predictions
armem::prediction::data::PredictionResultSeq
predict(const armem::prediction::data::PredictionRequestSeq& requests) override;
- armem::prediction::data::EngineSupportMap getAvailableEngines() override;
// Remote GUI
void createRemoteGuiTab();
diff --git a/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h b/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h
index a0139d9f4..36334fd3e 100644
--- a/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h
@@ -284,15 +284,20 @@ namespace armarx::armem::base
}
/**
- * @brief Add an empty provider segment with the given name and optional provider segment type.
+ * @brief Add an empty provider segment with the given name,
+ * optional provider segment type and prediction engines.
* @param name The segment name.
* @param providerSegmentType The provider type. If nullptr, the core segment type is used.
+ * @param predictionEngines The prediction engines supported by the provider segment (optional).
* @return The added provider segment.
*/
- ProviderSegmentT& addProviderSegment(const std::string& name, aron::type::ObjectPtr providerSegmentType = nullptr)
+ ProviderSegmentT&
+ addProviderSegment(const std::string& name,
+ aron::type::ObjectPtr providerSegmentType = nullptr,
+ const std::vector<PredictionEngine>& predictionEngines = {})
{
aron::type::ObjectPtr type = providerSegmentType ? providerSegmentType : this->aronType();
- return this->_derived().addProviderSegment(name, name, type);
+ return this->_derived().addProviderSegment(name, name, type, predictionEngines);
}
/// Copy and insert a provider segment.
diff --git a/source/RobotAPI/libraries/armem/core/base/MemoryBase.h b/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
index 947b459af..7f9ce5a18 100644
--- a/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
@@ -219,15 +219,18 @@ namespace armarx::armem::base
// MODIFICATION
/**
- * @brief Add an empty core segment with the given name.
+ * @brief Add an empty core segment with the given name, type and prediction engines.
* @param name The core segment name.
* @param coreSegmentType The core segment type (optional).
+ * @param predictionEngines The prediction engines supported by the core segment (optional).
* @return The added core segment.
*/
- CoreSegmentT& addCoreSegment(
- const std::string& name, aron::type::ObjectPtr coreSegmentType = nullptr)
+ CoreSegmentT&
+ addCoreSegment(const std::string& name,
+ aron::type::ObjectPtr coreSegmentType = nullptr,
+ const std::vector<PredictionEngine>& predictionEngines = {})
{
- return this->_derived().addCoreSegment(name, name, coreSegmentType);
+ return this->_derived().addCoreSegment(name, name, coreSegmentType, predictionEngines);
}
/// Copy and insert a core segment.
diff --git a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h
index 37f25fd8f..8ddf174b1 100644
--- a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h
+++ b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h
@@ -57,6 +57,10 @@ namespace armarx::armem::server::plugins
// PredictingInterface interface
virtual armem::prediction::data::PredictionResultSeq predict(const armem::prediction::data::PredictionRequestSeq& requests);
+
+ // Unless you need very unusual behavior from this method for your memory server,
+ // it is better to set the available prediction engines in the memory itself
+ // and let it handle the requests than to override this.
virtual armem::prediction::data::EngineSupportMap getAvailableEngines();
virtual armem::prediction::data::PredictionResultSeq predict(const armem::prediction::data::PredictionRequestSeq& requests, const ::Ice::Current&) override;
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
index 6bad86c0f..aaf23c20e 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
@@ -49,8 +49,11 @@ namespace armarx::armem::server::obj::instance
{
Segment::Segment(armem::server::MemoryToIceAdapter& memoryToIceAdapter) :
- SpecializedCoreSegment(memoryToIceAdapter, "Instance",
- arondto::ObjectInstance::ToAronType(), 64)
+ SpecializedCoreSegment(memoryToIceAdapter,
+ "Instance",
+ arondto::ObjectInstance::ToAronType(),
+ 64,
+ predictionEngines)
{
oobbCache.setFetchFn([this](const ObjectID & id) -> std::optional<simox::OrientedBoxf>
{
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
index da1426a6f..ba7c5539d 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
@@ -194,7 +194,6 @@ namespace armarx::armem::server::obj::instance
static const std::string timestampPlaceholder;
-
public:
struct RemoteGui
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp
index 959d3b5fa..228b96f1e 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp
@@ -68,6 +68,7 @@ namespace armarx::armem::server::obj::instance
{
segment.setTag(getName());
segment.decay.setTag(getName());
+ segment.setPredictionEngines(predictionEngines);
robotHead.setTag(getName());
visu.setTag(getName());
@@ -498,7 +499,7 @@ namespace armarx::armem::server::obj::instance
armem::PredictionSettings::fromIce(request.settings);
if (settings.predictionEngineID.empty()
- or settings.predictionEngineID == "Linear Position Regression")
+ or settings.predictionEngineID == linearPredictionEngineID)
{
result = objpose::predictObjectPoseLinear(
poses.at(i),
@@ -519,10 +520,7 @@ namespace armarx::armem::server::obj::instance
armem::prediction::data::PredictionEngineSeq
SegmentAdapter::getAvailableObjectPoseEngines(const Ice::Current&)
{
- armem::prediction::data::PredictionEngine engine;
- // TODO(phesch): Make this a constant somewhere
- engine.engineID = "Linear Position Regression";
- return { engine };
+ return armarx::toIce<armem::prediction::data::PredictionEngineSeq>(predictionEngines);
}
void
@@ -600,7 +598,9 @@ namespace armarx::armem::server::obj::instance
cycle.waitForCycleDuration();
}
}
-
+
+ const std::string SegmentAdapter::linearPredictionEngineID = "Linear Position Regression";
+ const std::vector<PredictionEngine> SegmentAdapter::predictionEngines{{linearPredictionEngineID}};
void SegmentAdapter::Calibration::defineProperties(PropertyDefinitionsPtr defs, const std::string& prefix)
{
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.h b/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.h
index 69595f7b6..1000f237a 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.h
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.h
@@ -127,6 +127,9 @@ namespace armarx::armem::server::obj::instance
void visualizeRun();
+ public:
+ static const std::string linearPredictionEngineID;
+ static const std::vector<PredictionEngine> predictionEngines;
private:
--
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