From 97cff91e936c49f6c472e34b4bc312c7412d9afd Mon Sep 17 00:00:00 2001
From: Fabian Peller-Konrad <fabian.peller-konrad@kit.edu>
Date: Fri, 12 Aug 2022 12:57:27 +0200
Subject: [PATCH] added utility for memories to handle empty memory names
---
.../armem/server/ltm/disk/Memory.cpp | 23 ++++++++++++++-----
.../libraries/armem/server/ltm/disk/Memory.h | 1 +
.../libraries/armem/server/plugins/Plugin.cpp | 22 ++++++++++++++----
3 files changed, 35 insertions(+), 11 deletions(-)
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.cpp b/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.cpp
index bc71c50fc..6d0b4e1fa 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.cpp
@@ -32,6 +32,23 @@ namespace armarx::armem::server::ltm::disk
{
}
+ void Memory::setMemoryID(const MemoryID &id)
+ {
+ Base::setMemoryID(id);
+ escapedMemoryName = EscapeSegmentName(id.memoryName);
+ }
+ void Memory::setMemoryID(const MemoryID& id, const std::string& componentNameFallback)
+ {
+ MemoryID _id = id;
+ if (id.memoryName.empty())
+ {
+ ARMARX_WARNING << "ATTENTION: A memory id passed to some LTM is empty. Either you used the wrong setter (always use setMemoryName(..) before onInitComponent()) or you emptied the scenario parameter. Using a the component name as fallback.";
+ _id.memoryName = componentNameFallback;
+ }
+
+ setMemoryID(_id);
+ }
+
void Memory::init()
{
Base::init();
@@ -47,12 +64,6 @@ namespace armarx::armem::server::ltm::disk
maxExportIndex = i;
}
}
- void Memory::setMemoryID(const MemoryID& id)
- {
- Base::setMemoryID(id);
-
- escapedMemoryName = EscapeSegmentName(id.memoryName);
- }
bool Memory::forEachCoreSegment(std::function<void(CoreSegment&)>&& func) const
{
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.h b/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.h
index e2f8d4f14..c9f1e95b2 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.h
@@ -25,6 +25,7 @@ namespace armarx::armem::server::ltm::disk
void init() final;
void setMemoryID(const MemoryID& id) final;
+ void setMemoryID(const MemoryID& id, const std::string& fallback);
void configure(const nlohmann::json& config) final;
diff --git a/source/RobotAPI/libraries/armem/server/plugins/Plugin.cpp b/source/RobotAPI/libraries/armem/server/plugins/Plugin.cpp
index a0e13eddb..b8b422bff 100644
--- a/source/RobotAPI/libraries/armem/server/plugins/Plugin.cpp
+++ b/source/RobotAPI/libraries/armem/server/plugins/Plugin.cpp
@@ -28,7 +28,16 @@ namespace armarx::armem::server::plugins
void Plugin::postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties)
{
const std::string prefix = "mem.";
- if (not workingMemory.name().empty() and not properties->hasDefinition(prefix + "MemoryName"))
+
+ // set Memory name if not already set
+ if (workingMemory.name().empty())
+ {
+ Component& parent = this->parent<Component>();
+ workingMemory.name() = parent.getName();
+ }
+
+ // also add scenario param to overwrite the chosen name
+ if (not properties->hasDefinition(prefix + "MemoryName"))
{
properties->optional(workingMemory.name(), prefix + "MemoryName", "Name of this memory server.");
}
@@ -43,15 +52,18 @@ namespace armarx::armem::server::plugins
ARMARX_TRACE;
memoryTopicName = client::util::MemoryListener::MakeMemoryTopicName(MemoryID(workingMemory.name()));
parent().offeringTopic(memoryTopicName);
-
- ARMARX_TRACE;
- longtermMemory.setMemoryID(workingMemory.id());
- longtermMemory.init();
}
void Plugin::postOnInitComponent()
{
+ Component& parent = this->parent<Component>();
+
+ // activate LTM
+ ARMARX_TRACE;
+ longtermMemory.setMemoryID(workingMemory.id(), parent.getName());
+ longtermMemory.init();
+
initialized = true;
}
--
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