From 6e6aa233f6aff110dce733a5911505a83bd9c753 Mon Sep 17 00:00:00 2001
From: phesch <ulila@student.kit.edu>
Date: Tue, 26 Apr 2022 19:26:17 +0200
Subject: [PATCH] Add PredictingMemoryInterface to armem
---
source/RobotAPI/interface/CMakeLists.txt | 3 ++-
.../RobotAPI/interface/armem/predictions.ice | 20 ++++++++++++++++
source/RobotAPI/interface/armem/server.ice | 1 +
.../armem/server/MemoryInterface.ice | 3 +++
.../armem/server/MemoryPredictorInterface.ice | 16 -------------
.../server/PredictingMemoryInterface.ice | 23 +++++++++++++++++++
.../server/plugins/ReadWritePluginUser.cpp | 15 ++++++++++++
.../server/plugins/ReadWritePluginUser.h | 4 ++++
8 files changed, 68 insertions(+), 17 deletions(-)
create mode 100644 source/RobotAPI/interface/armem/predictions.ice
delete mode 100644 source/RobotAPI/interface/armem/server/MemoryPredictorInterface.ice
create mode 100644 source/RobotAPI/interface/armem/server/PredictingMemoryInterface.ice
diff --git a/source/RobotAPI/interface/CMakeLists.txt b/source/RobotAPI/interface/CMakeLists.txt
index be1193d66..2913cd662 100644
--- a/source/RobotAPI/interface/CMakeLists.txt
+++ b/source/RobotAPI/interface/CMakeLists.txt
@@ -110,6 +110,7 @@ set(SLICE_FILES
armem/io.ice
armem/commit.ice
armem/memory.ice
+ armem/predictions.ice
armem/query.ice
armem/client.ice
@@ -120,7 +121,7 @@ set(SLICE_FILES
armem/server/StoringMemoryInterface.ice
armem/server/LoadingMemoryInterface.ice
armem/server/MemoryInterface.ice
- armem/server/MemoryPredictorInterface.ice
+ armem/server/PredictingMemoryInterface.ice
armem/server/ReadingMemoryInterface.ice
armem/server/WritingMemoryInterface.ice
diff --git a/source/RobotAPI/interface/armem/predictions.ice b/source/RobotAPI/interface/armem/predictions.ice
new file mode 100644
index 000000000..5748a11cf
--- /dev/null
+++ b/source/RobotAPI/interface/armem/predictions.ice
@@ -0,0 +1,20 @@
+#pragma once
+
+module armarx
+{
+ module armem
+ {
+ module predictions
+ {
+ module data
+ {
+ struct PredictionSettings
+ {
+ string predictionEngine = "";
+ };
+
+ sequence<string> PredictionEngineSeq;
+ };
+ };
+ };
+};
diff --git a/source/RobotAPI/interface/armem/server.ice b/source/RobotAPI/interface/armem/server.ice
index 4d9b0bce8..5c7a32c47 100644
--- a/source/RobotAPI/interface/armem/server.ice
+++ b/source/RobotAPI/interface/armem/server.ice
@@ -3,3 +3,4 @@
#include <RobotAPI/interface/armem/server/MemoryInterface.ice>
#include <RobotAPI/interface/armem/server/ReadingMemoryInterface.ice>
#include <RobotAPI/interface/armem/server/WritingMemoryInterface.ice>
+#include <RobotAPI/interface/armem/server/PredictingMemoryInterface.ice>
diff --git a/source/RobotAPI/interface/armem/server/MemoryInterface.ice b/source/RobotAPI/interface/armem/server/MemoryInterface.ice
index 05b2ea8c5..2c6c1e14c 100644
--- a/source/RobotAPI/interface/armem/server/MemoryInterface.ice
+++ b/source/RobotAPI/interface/armem/server/MemoryInterface.ice
@@ -5,6 +5,8 @@
#include <RobotAPI/interface/armem/server/ReadingMemoryInterface.ice>
#include <RobotAPI/interface/armem/server/WritingMemoryInterface.ice>
+#include <RobotAPI/interface/armem/server/PredictingMemoryInterface.ice>
+
#include <RobotAPI/interface/armem/server/ActionsInterface.ice>
#include <RobotAPI/interface/armem/client/MemoryListenerInterface.ice>
@@ -27,6 +29,7 @@ module armarx
interface MemoryInterface extends
WorkingMemoryInterface,
LongTermMemoryInterface,
+ PredictingMemoryInterface,
actions::ActionsInterface,
client::MemoryListenerInterface
{
diff --git a/source/RobotAPI/interface/armem/server/MemoryPredictorInterface.ice b/source/RobotAPI/interface/armem/server/MemoryPredictorInterface.ice
deleted file mode 100644
index 42920804f..000000000
--- a/source/RobotAPI/interface/armem/server/MemoryPredictorInterface.ice
+++ /dev/null
@@ -1,16 +0,0 @@
-#pragma once
-
-#include <RobotAPI/interface/armem/server/ReadingMemoryInterface.ice>
-#include <RobotAPI/interface/armem/server/WritingMemoryInterface.ice>
-
-module armarx {
- module armem {
- module server {
- interface MemoryPredictorInterface
- {
- // TODO
- void predict();
- }
- };
- };
-};
diff --git a/source/RobotAPI/interface/armem/server/PredictingMemoryInterface.ice b/source/RobotAPI/interface/armem/server/PredictingMemoryInterface.ice
new file mode 100644
index 000000000..2a805895d
--- /dev/null
+++ b/source/RobotAPI/interface/armem/server/PredictingMemoryInterface.ice
@@ -0,0 +1,23 @@
+#pragma once
+
+#include <RobotAPI/interface/armem/memory.ice>
+#include <RobotAPI/interface/armem/predictions.ice>
+#include <RobotAPI/interface/armem/query.ice>
+
+module armarx
+{
+ module armem
+ {
+ module server
+ {
+ interface PredictingMemoryInterface
+ {
+ armem::query::data::Result
+ predict(armem::data::MemoryID memoryID,
+ predictions::data::PredictionSettings predictionSettings);
+
+ predictions::data::PredictionEngineSeq getAvailableEngines();
+ }
+ };
+ };
+};
diff --git a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp
index 41e09c13b..4ce314f5a 100644
--- a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp
+++ b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp
@@ -117,4 +117,19 @@ namespace armarx::armem::server::plugins
return {};
}
+ // PREDICTIONS
+ armem::query::data::Result ReadWritePluginUser::predict(const data::MemoryID& /*memoryID*/, const armem::predictions::data::PredictionSettings& /*predictionSettings*/, const ::Ice::Current& /*unused*/)
+ {
+ armem::query::data::Result result;
+ result.success = false;
+ result.errorMessage = "This memory does not implement predictions.";
+ result.memory = nullptr;
+ return result;
+ }
+
+ armem::predictions::data::PredictionEngineSeq ReadWritePluginUser::getAvailableEngines(const ::Ice::Current& /*unused*/)
+ {
+ return {};
+ }
+
} // namespace armarx::armem::server::plugins
diff --git a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h
index 83e761281..3ecd8915f 100644
--- a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h
+++ b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h
@@ -55,6 +55,10 @@ namespace armarx::armem::server::plugins
virtual armem::actions::GetActionsOutputSeq getActions(const armem::actions::GetActionsInputSeq& inputs, const ::Ice::Current&) override;
virtual armem::actions::ExecuteActionOutputSeq executeActions(const armem::actions::ExecuteActionInputSeq& inputs, const ::Ice::Current&) override;
+ // PredictingInterface interface
+ virtual armem::query::data::Result predict(const data::MemoryID& memoryID, const armem::predictions::data::PredictionSettings& predictionSettings, const ::Ice::Current& = Ice::emptyCurrent) override;
+ virtual armem::predictions::data::PredictionEngineSeq getAvailableEngines(const ::Ice::Current& = Ice::emptyCurrent) override;
+
public:
Plugin& memoryServerPlugin();
--
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