From d91445c9cd68045f42a7cf4cd8bc80507cf78ad6 Mon Sep 17 00:00:00 2001
From: Fabian PK <fabian.peller-konrad@kit.edu>
Date: Tue, 27 Jul 2021 15:48:34 +0200
Subject: [PATCH] different consollidation modes
---
.../armem/core/longtermmemory/Memory.cpp | 12 ++++++
.../armem/core/longtermmemory/Memory.h | 42 +++++++++++++------
.../armem/server/ComponentPlugin.cpp | 8 +---
.../armem/server/MemoryToIceAdapter.cpp | 17 +++++++-
4 files changed, 59 insertions(+), 20 deletions(-)
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.cpp
index fbea444e9..ab894ea64 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.cpp
@@ -26,6 +26,18 @@ namespace armarx::armem::ltm
return true;
}
+ void Memory::defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix)
+ {
+ defs->optional(dbsettings.host, prefix + ".ltm.10_host");
+ defs->optional(dbsettings.port, prefix + "ltm.11_port");
+ defs->optional(dbsettings.user, prefix + "ltm.20_user");
+ defs->optional(dbsettings.password, prefix + "ltm.21_password");
+ defs->optional(dbsettings.database, prefix + "ltm.22_database");
+ defs->optional(alwaysTransferSettings.enabled, prefix + "ltm.30_enableAlwaysTransfer", "Enable transfer whenever new data is committed (This disables the other transfer modes!).");
+ defs->optional(periodicTransferSettings.enabled, prefix + "ltm.31_enablePeriodicTransfer", "Enable transfer based on periodic interval.");
+ defs->optional(onFullTransferSettings.enabled, prefix + "ltm.32_enableOnFullTransfer", "Enable transfer whenever the wm is full (see maxHistorySize).");
+ }
+
wm::Memory Memory::convert() const
{
if (!checkConnection())
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.h b/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.h
index 86c00cc61..a11404eca 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.h
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.h
@@ -1,11 +1,18 @@
#pragma once
+// BaseClass
#include "../base/MemoryBase.h"
+// CoreSegment
#include "CoreSegment.h"
+// WM
#include "../workingmemory/Memory.h"
+// Properties
+#include <ArmarXCore/core/application/properties/PluginAll.h>
+#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
+
namespace armarx::armem::ltm
{
/**
@@ -21,29 +28,35 @@ namespace armarx::armem::ltm
using Base::MemoryBase;
using Base::operator=;
- enum class PeriodicTransferMode
+ struct TransferSettings
{
- MANUAL,
- TRANSFER_PERIODIC_KEEP,
- TRANSFER_PERIODIC_DELETE,
+ bool enabled = false;
};
- enum class FilledTransferMode
+ struct AlwaysTransferSettings : public TransferSettings
{
- TRANSFER_LATEST,
- TRANSFER_LEAST_USED
+
};
- struct PeriodicTransfer
+ struct PeriodicTransferSettings : public TransferSettings
{
- PeriodicTransferMode mode = PeriodicTransferMode::MANUAL;
+ bool deleteFromWMOnTransfer = false;
+ int frequencyHz = 1;
};
- struct FilledTransfer
+ struct OnFullTransferSettings : public TransferSettings
{
- FilledTransferMode mode = FilledTransferMode::TRANSFER_LATEST;
+ enum class Mode
+ {
+ TRANSFER_LATEST,
+ TRANSFER_LEAST_USED
+ };
+
+ Mode mode;
};
+ // PropertyDefinitions related to LTM
+ void defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix = "");
// Conversion
wm::Memory convert() const;
@@ -71,7 +84,10 @@ namespace armarx::armem::ltm
public:
MongoDBConnectionManager::MongoDBSettings dbsettings;
- PeriodicTransfer periodic_transfer;
- FilledTransferMode filled_transfer;
+ AlwaysTransferSettings alwaysTransferSettings;
+ PeriodicTransferSettings periodicTransferSettings;
+ OnFullTransferSettings onFullTransferSettings;
+
+
};
}
diff --git a/source/RobotAPI/libraries/armem/server/ComponentPlugin.cpp b/source/RobotAPI/libraries/armem/server/ComponentPlugin.cpp
index ddb1a96a7..8c814a160 100644
--- a/source/RobotAPI/libraries/armem/server/ComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/armem/server/ComponentPlugin.cpp
@@ -22,12 +22,8 @@ namespace armarx::armem::server::plugins
ComponentPluginUser& parent = this->parent<ComponentPluginUser>();
properties->topic(memoryListener, parent.memoryListenerDefaultName);
- properties->optional(parent.longtermMemoryEnabled, "ltm.00_enabled");
- properties->optional(parent.longtermMemory.dbsettings.host, "ltm.10_host");
- properties->optional(parent.longtermMemory.dbsettings.port, "ltm.11_port");
- properties->optional(parent.longtermMemory.dbsettings.user, "ltm.20_user");
- properties->optional(parent.longtermMemory.dbsettings.password, "ltm.21_password");
- properties->optional(parent.longtermMemory.dbsettings.database, "ltm.22_database");
+ properties->optional(parent.longtermMemoryEnabled, "memory.ltm.00_enabled");
+ parent.longtermMemory.defineProperties(properties, "memory");
}
diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
index c40805a0f..b8634f385 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
@@ -172,7 +172,22 @@ namespace armarx::armem::server
result.snapshotID = updateResult.id;
result.timeArrived = update.timeArrived;
- // TODO: Add if and param here (fabian.peller)
+ // also store in ltm if transfermode is set to always
+ if (longtermMemory)
+ {
+ if (longtermMemory->alwaysTransferSettings.enabled)
+ {
+ wm::Memory tmp("tmp");
+ tmp.update(update);
+ longtermMemory->append(tmp);
+ }
+ else
+ {
+ // TODO: see below
+ }
+ }
+
+ // TODO: Consollidate to ltm if onFilledTransfer is enabled (fabian.peller)
for (const auto& snapshot : updateResult.removedSnapshots)
{
ARMARX_DEBUG << "The id " << snapshot.id() << " was removed from wm";
--
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