From 515753f9088f8441e0516faedf454a10d1386187 Mon Sep 17 00:00:00 2001
From: Fabian Peller <fabian.peller-konrad@kit.edu>
Date: Fri, 24 Nov 2023 09:03:33 +0100
Subject: [PATCH] Allow the query processor to lock the core segment when
querying data from the memory
---
.../base/MemoryQueryProcessorBase.h | 82 +++++++++----------
.../libraries/armem/server/query_proc/wm/wm.h | 10 +++
2 files changed, 51 insertions(+), 41 deletions(-)
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 ae8e1ddb8..49445070a 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/MemoryQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/MemoryQueryProcessorBase.h
@@ -1,12 +1,11 @@
#pragma once
-#include "BaseQueryProcessorBase.h"
+#include <regex>
-#include <RobotAPI/libraries/armem/core/error.h>
#include <RobotAPI/interface/armem/query.h>
+#include <RobotAPI/libraries/armem/core/error.h>
-#include <regex>
-
+#include "BaseQueryProcessorBase.h"
namespace armarx::armem::server::query_proc::base
{
@@ -16,11 +15,10 @@ namespace armarx::armem::server::query_proc::base
public BaseQueryProcessorBase<_MemoryT, _ResultMemoryT, armem::query::data::MemoryQuery>
{
protected:
-
- using Base = BaseQueryProcessorBase<_MemoryT, _ResultMemoryT, armem::query::data::MemoryQuery>;
+ using Base =
+ BaseQueryProcessorBase<_MemoryT, _ResultMemoryT, armem::query::data::MemoryQuery>;
public:
-
using MemoryT = _MemoryT;
using CoreSegmentT = typename MemoryT::CoreSegmentT;
@@ -31,25 +29,26 @@ namespace armarx::armem::server::query_proc::base
public:
-
MemoryQueryProcessorBase()
{
}
- MemoryQueryProcessorBase(ChildProcessorT&& childProcessor) :
- childProcessor(childProcessor)
+
+ MemoryQueryProcessorBase(ChildProcessorT&& childProcessor) : childProcessor(childProcessor)
{
}
-
using Base::process;
- ResultMemoryT process(const armem::query::data::Input& input, const MemoryT& memory) const
+
+ ResultMemoryT
+ process(const armem::query::data::Input& input, const MemoryT& memory) const
{
return this->process(input.memoryQueries, memory);
}
- virtual void process(ResultMemoryT& result,
- const armem::query::data::MemoryQuery& query,
- const MemoryT& memory) const override
+ virtual void
+ process(ResultMemoryT& result,
+ const armem::query::data::MemoryQuery& query,
+ const MemoryT& memory) const override
{
if (auto q = dynamic_cast<const armem::query::data::memory::All*>(&query))
{
@@ -69,19 +68,19 @@ namespace armarx::armem::server::query_proc::base
}
}
- virtual void process(ResultMemoryT& result,
- const armem::query::data::memory::All& query,
- const MemoryT& memory) const
+ virtual void
+ process(ResultMemoryT& result,
+ const armem::query::data::memory::All& query,
+ const MemoryT& memory) const
{
memory.forEachCoreSegment([this, &result, &query](const CoreSegmentT& coreSegment)
- {
- this->_processResult(result, coreSegment, query);
- });
+ { this->_processResult(result, coreSegment, query); });
}
- virtual void process(ResultMemoryT& result,
- const armem::query::data::memory::Single& query,
- const MemoryT& memory) const
+ virtual void
+ process(ResultMemoryT& result,
+ const armem::query::data::memory::Single& query,
+ const MemoryT& memory) const
{
if (auto coreSegment = memory.findCoreSegment(query.coreSegmentName))
{
@@ -89,32 +88,35 @@ namespace armarx::armem::server::query_proc::base
}
}
- virtual void process(ResultMemoryT& result,
- const armem::query::data::memory::Regex& query,
- const MemoryT& memory) const
+ virtual void
+ process(ResultMemoryT& result,
+ const armem::query::data::memory::Regex& query,
+ const MemoryT& memory) const
{
const std::regex regex(query.coreSegmentNameRegex);
- memory.forEachCoreSegment([this, &result, &query, ®ex](const CoreSegmentT& coreSegment)
- {
- if (std::regex_search(coreSegment.name(), regex))
+ memory.forEachCoreSegment(
+ [this, &result, &query, ®ex](const CoreSegmentT& coreSegment)
{
- this->_processResult(result, coreSegment, query);
- }
- });
+ if (std::regex_search(coreSegment.name(), regex))
+ {
+ this->_processResult(result, coreSegment, query);
+ }
+ });
}
protected:
-
- virtual bool _processAllowed(const armem::query::data::MemoryQuery& query) const
+ virtual bool
+ _processAllowed(const armem::query::data::MemoryQuery& query) const
{
// always execute query. Override if you want to execute the quey only if a special condition is fulfilled (e.g. querytargets)
return true;
}
- void _processResult(ResultMemoryT& result,
- const CoreSegmentT& coreSegment,
- const armem::query::data::MemoryQuery& query) const
+ virtual void
+ _processResult(ResultMemoryT& result,
+ const CoreSegmentT& coreSegment,
+ const armem::query::data::MemoryQuery& query) const
{
ResultCoreSegmentT* child = result.findCoreSegment(coreSegment.name());
if (child == nullptr)
@@ -126,8 +128,6 @@ namespace armarx::armem::server::query_proc::base
protected:
-
ChildProcessorT childProcessor;
-
};
-}
+} // namespace armarx::armem::server::query_proc::base
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/wm/wm.h b/source/RobotAPI/libraries/armem/server/query_proc/wm/wm.h
index 312a39896..e5b6c3da8 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/wm/wm.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/wm/wm.h
@@ -208,6 +208,16 @@ namespace armarx::armem::server::query_proc::wm_server
using Base::process;
+ void
+ _processResult(ResultMemoryT& result,
+ const CoreSegmentT& coreSegment,
+ const armem::query::data::MemoryQuery& query) const final
+ {
+ coreSegment.doLocked([&](){
+ Base::_processResult(result, coreSegment, query);
+ });
+ }
+
};
}
--
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