diff --git a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
index e48c16e1247278de3cf1a171009351504b000150..15efc34f03a50b46b457956de91eb97e3ca23d60 100644
--- a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
+++ b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
@@ -212,10 +212,10 @@ namespace armarx
// PREDICTING
- armem::predictions::data::PredictionResultSeq
- ExampleMemory::predict(const armem::predictions::data::PredictionRequestSeq& requests)
+ armem::prediction::data::PredictionResultSeq
+ ExampleMemory::predict(const armem::prediction::data::PredictionRequestSeq& requests)
{
- armem::predictions::data::PredictionResultSeq result;
+ armem::prediction::data::PredictionResultSeq result;
for (auto request : requests)
{
result.push_back(predictSingle(request));
@@ -223,10 +223,10 @@ namespace armarx
return result;
}
- armem::predictions::data::PredictionResult
- ExampleMemory::predictSingle(const armem::predictions::data::PredictionRequest& request)
+ armem::prediction::data::PredictionResult
+ ExampleMemory::predictSingle(const armem::prediction::data::PredictionRequest& request)
{
- armem::predictions::data::PredictionResult result;
+ armem::prediction::data::PredictionResult result;
std::string engine = request.settings.predictionEngine;
if (engine.empty() || engine == "Latest")
@@ -270,7 +270,7 @@ namespace armarx
return result;
}
- armem::predictions::data::PredictionEngineSeq
+ armem::prediction::data::PredictionEngineSeq
ExampleMemory::getAvailableEngines()
{
return {"Latest"};
diff --git a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.h b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.h
index b1bbee2381ff363ca4d057f82040a591a34c4659..de89914ba8ed44517ce40639849afa826d022ef1 100644
--- a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.h
+++ b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.h
@@ -73,10 +73,10 @@ namespace armarx
// PredictingMemoryInterface interface
public:
- armem::predictions::data::PredictionResultSeq
- predict(const armem::predictions::data::PredictionRequestSeq& requests) override;
+ armem::prediction::data::PredictionResultSeq
+ predict(const armem::prediction::data::PredictionRequestSeq& requests) override;
- armem::predictions::data::PredictionEngineSeq getAvailableEngines() override;
+ armem::prediction::data::PredictionEngineSeq getAvailableEngines() override;
protected:
@@ -91,8 +91,8 @@ namespace armarx
private:
- armem::predictions::data::PredictionResult
- predictSingle(const armem::predictions::data::PredictionRequest& request);
+ armem::prediction::data::PredictionResult
+ predictSingle(const armem::prediction::data::PredictionRequest& request);
armarx::DebugObserverInterfacePrx debugObserver;
diff --git a/source/RobotAPI/interface/CMakeLists.txt b/source/RobotAPI/interface/CMakeLists.txt
index 2913cd662cf51c48ef7315c930f5c48434eb7618..41a52f9f8a0a2d981583ae1a5c4e85a07f0ff750 100644
--- a/source/RobotAPI/interface/CMakeLists.txt
+++ b/source/RobotAPI/interface/CMakeLists.txt
@@ -110,7 +110,7 @@ set(SLICE_FILES
armem/io.ice
armem/commit.ice
armem/memory.ice
- armem/predictions.ice
+ armem/prediction.ice
armem/query.ice
armem/client.ice
diff --git a/source/RobotAPI/interface/armem/predictions.ice b/source/RobotAPI/interface/armem/prediction.ice
similarity index 97%
rename from source/RobotAPI/interface/armem/predictions.ice
rename to source/RobotAPI/interface/armem/prediction.ice
index c7d4230d551004a33126d1ce6d9648a131a72633..b4f0efabe1df20ed3ca1ad4d5c3893b7d618e739 100644
--- a/source/RobotAPI/interface/armem/predictions.ice
+++ b/source/RobotAPI/interface/armem/prediction.ice
@@ -7,7 +7,7 @@ module armarx
{
module armem
{
- module predictions
+ module prediction
{
module data
{
diff --git a/source/RobotAPI/interface/armem/server/PredictingMemoryInterface.ice b/source/RobotAPI/interface/armem/server/PredictingMemoryInterface.ice
index 38389367977470bee202e0a49f4ffdab36510e04..5b8b668ab72a3c4aef15720e450813891b140124 100644
--- a/source/RobotAPI/interface/armem/server/PredictingMemoryInterface.ice
+++ b/source/RobotAPI/interface/armem/server/PredictingMemoryInterface.ice
@@ -1,6 +1,6 @@
#pragma once
-#include <RobotAPI/interface/armem/predictions.ice>
+#include <RobotAPI/interface/armem/prediction.ice>
#include <RobotAPI/interface/armem/query.ice>
module armarx
@@ -15,12 +15,12 @@ module armarx
* The timestamp to requst a prediction for is encoded in the MemoryIDs.
* The results are all packed into one QueryResult.
*/
- predictions::data::PredictionResultSeq
- predict(predictions::data::PredictionRequestSeq requests);
+ prediction::data::PredictionResultSeq
+ predict(prediction::data::PredictionRequestSeq requests);
/* Get the list of engines the memory offers for use in predictions.
*/
- predictions::data::PredictionEngineSeq getAvailableEngines();
+ prediction::data::PredictionEngineSeq getAvailableEngines();
}
};
};
diff --git a/source/RobotAPI/libraries/armem/CMakeLists.txt b/source/RobotAPI/libraries/armem/CMakeLists.txt
index 6b105d8f67ed0ba87bfd5ae17a2fcf54fea79b70..237d90fa5c71d2ad987102a443c6438691079e9f 100644
--- a/source/RobotAPI/libraries/armem/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem/CMakeLists.txt
@@ -51,6 +51,7 @@ set(LIB_FILES
client/MemoryNameSystem.cpp
+ client/Prediction.cpp
client/Reader.cpp
client/Writer.cpp
@@ -125,6 +126,7 @@ set(LIB_HEADERS
client.h
client/forward_declarations.h
client/MemoryNameSystem.h
+ client/Prediction.h
client/Reader.h
client/Writer.h
diff --git a/source/RobotAPI/libraries/armem/client/Prediction.cpp b/source/RobotAPI/libraries/armem/client/Prediction.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..fa7429f2c9a7b2e0100e56688f396bf358bcb09a
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/client/Prediction.cpp
@@ -0,0 +1,110 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package RobotAPI::armem::client
+ * @author phesch ( ulila at student dot kit dot edu )
+ * @date 2022
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "Prediction.h"
+
+#include <ArmarXCore/core/ice_conversions/ice_conversions_templates.h>
+
+#include <RobotAPI/libraries/armem/core/ice_conversions.h>
+
+namespace armarx::armem::client
+{
+
+ PredictionSettings
+ PredictionSettings::fromIce(const armem::prediction::data::PredictionSettings& ice)
+ {
+ return armarx::fromIce<PredictionSettings>(ice);
+ }
+
+ armem::prediction::data::PredictionSettings
+ PredictionSettings::toIce() const
+ {
+ return armarx::toIce<armem::prediction::data::PredictionSettings>(*this);
+ }
+
+ PredictionRequest
+ PredictionRequest::fromIce(const armem::prediction::data::PredictionRequest& ice)
+ {
+ return armarx::fromIce<PredictionRequest>(ice);
+ }
+
+ armem::prediction::data::PredictionRequest
+ PredictionRequest::toIce() const
+ {
+ return armarx::toIce<armem::prediction::data::PredictionRequest>(*this);
+ }
+
+ PredictionResult
+ PredictionResult::fromIce(const armem::prediction::data::PredictionResult& ice)
+ {
+ return armarx::fromIce<PredictionResult>(ice);
+ }
+
+ armem::prediction::data::PredictionResult
+ PredictionResult::toIce() const
+ {
+ return armarx::toIce<armem::prediction::data::PredictionResult>(*this);
+ }
+
+ void
+ toIce(armem::prediction::data::PredictionSettings& ice, const PredictionSettings& settings)
+ {
+ ice.predictionEngine = settings.predictionEngine;
+ }
+
+ void
+ fromIce(const armem::prediction::data::PredictionSettings& ice, PredictionSettings& settings)
+ {
+ settings.predictionEngine = ice.predictionEngine;
+ }
+
+ void
+ toIce(armem::prediction::data::PredictionRequest& ice, const PredictionRequest& request)
+ {
+ toIce(ice.memoryID, request.memoryID);
+ toIce(ice.settings, request.predictionSettings);
+ }
+
+ void
+ fromIce(const armem::prediction::data::PredictionRequest& ice, PredictionRequest& request)
+ {
+ fromIce(ice.memoryID, request.memoryID);
+ fromIce(ice.settings, request.predictionSettings);
+ }
+
+ void
+ toIce(armem::prediction::data::PredictionResult& ice, const PredictionResult& result)
+ {
+ ice.success = result.success;
+ ice.errorMessage = result.errorMessage;
+ ice.prediction = result.prediction->toAronDictDTO();
+ }
+
+ void
+ fromIce(const armem::prediction::data::PredictionResult& ice, PredictionResult& result)
+ {
+ result.success = ice.success;
+ result.errorMessage = ice.errorMessage;
+ result.prediction = aron::data::Dict::FromAronDictDTO(ice.prediction);
+ }
+
+} // namespace armarx::armem::client
diff --git a/source/RobotAPI/libraries/armem/client/Prediction.h b/source/RobotAPI/libraries/armem/client/Prediction.h
new file mode 100644
index 0000000000000000000000000000000000000000..8408911415af7725ed3fff6e176f1f42b688f2bb
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/client/Prediction.h
@@ -0,0 +1,71 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package RobotAPI::armem::client
+ * @author phesch ( ulila at student dot kit dot edu )
+ * @date 2022
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <RobotAPI/interface/armem/prediction.h>
+#include <RobotAPI/libraries/armem/core/MemoryID.h>
+#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
+
+namespace armarx::armem::client
+{
+ struct PredictionSettings
+ {
+ std::string predictionEngine;
+
+ static PredictionSettings fromIce(const armem::prediction::data::PredictionSettings& ice);
+ armem::prediction::data::PredictionSettings toIce() const;
+ };
+
+ struct PredictionRequest
+ {
+ armem::MemoryID memoryID;
+ PredictionSettings predictionSettings;
+
+ static PredictionRequest fromIce(const armem::prediction::data::PredictionRequest& ice);
+ armem::prediction::data::PredictionRequest toIce() const;
+ };
+
+ struct PredictionResult
+ {
+ bool success;
+ std::string errorMessage;
+
+ aron::data::DictPtr prediction;
+
+ static PredictionResult fromIce(const armem::prediction::data::PredictionResult& ice);
+ armem::prediction::data::PredictionResult toIce() const;
+ };
+
+ void toIce(armem::prediction::data::PredictionSettings& ice,
+ const PredictionSettings& settings);
+ void fromIce(const armem::prediction::data::PredictionSettings& ice,
+ PredictionSettings& settings);
+
+ void toIce(armem::prediction::data::PredictionRequest& ice, const PredictionRequest& request);
+ void fromIce(const armem::prediction::data::PredictionRequest& ice,
+ PredictionRequest& request);
+
+ void toIce(armem::prediction::data::PredictionResult& ice, const PredictionResult& result);
+ void fromIce(const armem::prediction::data::PredictionResult& ice, PredictionResult& result);
+
+} // namespace armarx::armem::client
diff --git a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp
index 85ebe639a208d0b3bb54aa06005424ff1248665d..45b08dfd35c50a75b1579f58af02ecb0855d3a83 100644
--- a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp
+++ b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp
@@ -117,13 +117,14 @@ namespace armarx::armem::server::plugins
return {};
}
- armem::predictions::data::PredictionResultSeq
- ReadWritePluginUser::predict(const armem::predictions::data::PredictionRequestSeq& requests)
+ // PREDICTIONS
+ armem::prediction::data::PredictionResultSeq
+ ReadWritePluginUser::predict(const armem::prediction::data::PredictionRequestSeq& requests)
{
- armem::predictions::data::PredictionResultSeq result;
+ armem::prediction::data::PredictionResultSeq result;
for (auto request : requests)
{
- armem::predictions::data::PredictionResult singleResult;
+ armem::prediction::data::PredictionResult singleResult;
singleResult.success = false;
singleResult.errorMessage = "This memory does not implement predictions.";
singleResult.prediction = nullptr;
@@ -132,21 +133,20 @@ namespace armarx::armem::server::plugins
return result;
}
- armem::predictions::data::PredictionEngineSeq
+ armem::prediction::data::PredictionEngineSeq
ReadWritePluginUser::getAvailableEngines()
{
return {};
}
- // PREDICTIONS
- armem::predictions::data::PredictionResultSeq
- ReadWritePluginUser::predict(const armem::predictions::data::PredictionRequestSeq& requests,
+ armem::prediction::data::PredictionResultSeq
+ ReadWritePluginUser::predict(const armem::prediction::data::PredictionRequestSeq& requests,
const ::Ice::Current& /*unused*/)
{
return predict(requests);
}
- armem::predictions::data::PredictionEngineSeq
+ armem::prediction::data::PredictionEngineSeq
ReadWritePluginUser::getAvailableEngines(const ::Ice::Current& /*unused*/)
{
return getAvailableEngines();
diff --git a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h
index 5b590e2b0593379aee3540f5c413c92445979342..1e0b4bc82568382ead82cbf7b337529db4f46251 100644
--- a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h
+++ b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h
@@ -56,11 +56,11 @@ namespace armarx::armem::server::plugins
virtual armem::actions::ExecuteActionOutputSeq executeActions(const armem::actions::ExecuteActionInputSeq& inputs, const ::Ice::Current&) override;
// PredictingInterface interface
- virtual armem::predictions::data::PredictionResultSeq predict(const armem::predictions::data::PredictionRequestSeq& requests);
- virtual armem::predictions::data::PredictionEngineSeq getAvailableEngines();
+ virtual armem::prediction::data::PredictionResultSeq predict(const armem::prediction::data::PredictionRequestSeq& requests);
+ virtual armem::prediction::data::PredictionEngineSeq getAvailableEngines();
- virtual armem::predictions::data::PredictionResultSeq predict(const armem::predictions::data::PredictionRequestSeq& requests, const ::Ice::Current&) override;
- virtual armem::predictions::data::PredictionEngineSeq getAvailableEngines(const ::Ice::Current&) override;
+ virtual armem::prediction::data::PredictionResultSeq predict(const armem::prediction::data::PredictionRequestSeq& requests, const ::Ice::Current&) override;
+ virtual armem::prediction::data::PredictionEngineSeq getAvailableEngines(const ::Ice::Current&) override;
public: