diff --git a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
index c1ebb7ba455032cf3d48fa32b40081a6a2fcdb3d..48be5ead78768c516c63004c0fd0bd24494b5f8f 100644
--- a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
+++ b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
@@ -136,7 +136,7 @@ namespace armarx
queryExampleData();
}
- CycleUtil c(100);
+ CycleUtil c(1000);
int i = 0;
while (!task->isStopped())
{
@@ -379,6 +379,7 @@ namespace armarx
{ "three", 3 },
};
{
+ data.the_ivt_image = std::make_shared<CByteImage>();
CByteImage& image = *data.the_ivt_image;
image.Set(20, 10, CByteImage::ImageType::eRGB24);
simox::ColorMap cmap = simox::color::cmaps::plasma();
diff --git a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
index a868149874e6f4d354c03f1cfc4847fa7fa1024f..3ed4b4612c5dd3f6e0afbd71630dba7a4753f460 100644
--- a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
+++ b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
@@ -61,6 +61,7 @@ namespace armarx
void ExampleMemory::onInitComponent()
{
workingMemory.name() = p.memoryName;
+ longtermMemory.name() = p.memoryName;
// Usually, the memory server will specify a number of core segments with a specific aron type.
workingMemory.addCoreSegment("ExampleData", armem::example::ExampleData::toAronType());
diff --git a/source/RobotAPI/components/armem/server/ExampleMemory/aron/ExampleData.xml b/source/RobotAPI/components/armem/server/ExampleMemory/aron/ExampleData.xml
index dd0bdb30189442e796b5a778f6855959ad7d5b6f..e2127dedac1fab56502a1d95d535c0454f725a87 100644
--- a/source/RobotAPI/components/armem/server/ExampleMemory/aron/ExampleData.xml
+++ b/source/RobotAPI/components/armem/server/ExampleMemory/aron/ExampleData.xml
@@ -33,7 +33,7 @@
<EigenMatrix rows="4" cols="4" type="float" />
</ObjectChild>
<ObjectChild key='the_ivt_image'>
- <IVTCByteImage type="GrayScale" raw_ptr="true"/>
+ <IVTCByteImage type="GrayScale" shared_ptr="true"/>
</ObjectChild>
<ObjectChild key='the_float_list'>
diff --git a/source/RobotAPI/libraries/armem/CMakeLists.txt b/source/RobotAPI/libraries/armem/CMakeLists.txt
index eb83670b3cf4633d3fe2ce6bf52e61256a8d7931..5801958db476bb4f7c5c6ae34685fe6db551429b 100644
--- a/source/RobotAPI/libraries/armem/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem/CMakeLists.txt
@@ -3,6 +3,15 @@ set(LIB_NAME armem)
armarx_component_set_name("${LIB_NAME}")
armarx_set_target("Library: ${LIB_NAME}")
+find_package(libmongocxx REQUIRED)
+find_package(libbsoncxx REQUIRED)
+
+#message("LIBMONGOCXX:")
+#message("${LIBMONGOCXX_FOUND}")
+#message("${LIBMONGOCXX_INCLUDE_DIRS}")
+#message("${LIBMONGOCXX_LIBRARIES}")
+
+
set(LIBS
ArmarXCoreInterfaces ArmarXCore
RemoteGui
@@ -42,6 +51,8 @@ set(LIB_FILES
core/workingmemory/ProviderSegment.cpp
core/workingmemory/Visitor.cpp
core/workingmemory/ice_conversions.cpp
+ core/workingmemory/json_conversions.cpp
+ core/workingmemory/entityInstance_conversions.cpp
core/longtermmemory/CoreSegment.cpp
core/longtermmemory/Entity.cpp
@@ -49,6 +60,7 @@ set(LIB_FILES
core/longtermmemory/EntitySnapshot.cpp
core/longtermmemory/Memory.cpp
core/longtermmemory/ProviderSegment.cpp
+ core/longtermmemory/mongodb/MongoDBConnectionManager.cpp
core/diskmemory/TypeIO.cpp
core/diskmemory/CoreSegment.cpp
@@ -136,6 +148,8 @@ set(LIB_HEADERS
core/workingmemory/ProviderSegment.h
core/workingmemory/Visitor.h
core/workingmemory/ice_conversions.h
+ core/workingmemory/json_conversions.h
+ core/workingmemory/entityInstance_conversions.h
core/longtermmemory/CoreSegment.h
core/longtermmemory/Entity.h
@@ -217,6 +231,8 @@ armarx_enable_aron_file_generation_for_target(
add_library(RobotAPI::armem ALIAS "${LIB_NAME}")
+target_include_directories("${LIB_NAME}" PUBLIC ${LIBMONGOCXX_INCLUDE_DIRS})
+target_include_directories("${LIB_NAME}" PUBLIC ${LIBBSONCXX_INCLUDE_DIRS})
# add unit tests
add_subdirectory(test)
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.cpp
index 49bfe419d8a8cf1052fad7e47a0ecba9e355c529..dac6b538299c93fe954a9678ccc20df1f18629bf 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.cpp
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.cpp
@@ -6,10 +6,6 @@
#include "../../core/error.h"
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-#include <RobotAPI/libraries/aron/core/io/dataIO/converter/Converter.h>
-#include <RobotAPI/libraries/aron/core/io/dataIO/visitor/Visitor.h>
-#include <RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReader.h>
-#include <RobotAPI/libraries/aron/core/io/dataIO/writer/nlohmannJSON/NlohmannJSONWriter.h>
namespace armarx::armem::d_ltm
{
@@ -69,13 +65,13 @@ namespace armarx::armem::d_ltm
{
std::ifstream ifs(d);
std::string file_content((std::istreambuf_iterator<char>(ifs)), (std::istreambuf_iterator<char>()));
- aron::dataIO::reader::NlohmannJSONReader dataReader(file_content);
- aron::dataIO::writer::NavigatorWriter navWriter;
- aron::dataIO::Converter::ReadAndConvert(dataReader, navWriter, expectedStructure);
-
- aron::datanavigator::DictNavigatorPtr aron = aron::datanavigator::DictNavigator::DynamicCastAndCheck(navWriter.getResult());
- return unwrapData(aron);
+ nlohmann::json j(file_content);
+ auto aron = std::make_shared<aron::datanavigator::DictNavigator>();
+ to_aron(aron, j, expectedStructure);
+ wm::EntityInstance e(id());
+ from_aron(aron, e);
+ return e;
}
else
{
@@ -115,71 +111,12 @@ namespace armarx::armem::d_ltm
std::ofstream ofs;
ofs.open(d);
- aron::datanavigator::DictNavigatorPtr aron = wrapData(m);
- aron::dataIO::writer::NlohmannJSONWriter dataWriter;
- aron::dataIO::Visitor::VisitAndSetup(dataWriter, aron);
- std::string new_file_full_content = dataWriter.getResult().dump(2);
+ auto aron = std::make_shared<aron::datanavigator::DictNavigator>();
+ to_aron(aron, m);
+ nlohmann::json j;
+ from_aron(aron, j);
- ofs << new_file_full_content;
+ ofs << j.dump(2);
ofs.close();
}
-
-
- wm::EntityInstance EntityInstance::unwrapData(const aron::datanavigator::DictNavigatorPtr& dataWrapped) const
- {
- wm::EntityInstance e(id());
- wm::EntityInstanceMetadata& metadata = e.metadata();
-
- if (dataWrapped->hasElement(DATA_WRAPPER_DATA_FIELD))
- {
- aron::datanavigator::DictNavigatorPtr data = aron::datanavigator::DictNavigator::DynamicCastAndCheck(dataWrapped->getElement(DATA_WRAPPER_DATA_FIELD));
- e.setData(data);
- }
-
- auto timeCreated = aron::datanavigator::LongNavigator::DynamicCastAndCheck(dataWrapped->getElement(DATA_WRAPPER_TIME_CREATED_FIELD));
- metadata.timeCreated = Time::microSeconds(timeCreated->toAronLongPtr()->value);
-
- auto timeSent = aron::datanavigator::LongNavigator::DynamicCastAndCheck(dataWrapped->getElement(DATA_WRAPPER_TIME_SENT_FIELD));
- metadata.timeSent = Time::microSeconds(timeSent->toAronLongPtr()->value);
-
- auto timeArrived = aron::datanavigator::LongNavigator::DynamicCastAndCheck(dataWrapped->getElement(DATA_WRAPPER_TIME_ARRIVED_FIELD));
- metadata.timeArrived = Time::microSeconds(timeArrived->toAronLongPtr()->value);
-
- auto confidence = aron::datanavigator::DoubleNavigator::DynamicCastAndCheck(dataWrapped->getElement(DATA_WRAPPER_CONFIDENCE_FIELD));
- metadata.confidence = static_cast<float>(confidence->toAronDoublePtr()->value);
-
- return e;
- }
-
- aron::datanavigator::DictNavigatorPtr EntityInstance::wrapData(const wm::EntityInstance& e) const
- {
- auto dataWrapped = std::make_shared<aron::datanavigator::DictNavigator>();
- if (e.data())
- {
- dataWrapped->addElement(DATA_WRAPPER_DATA_FIELD, e.data());
- }
-
- auto timeWrapped = std::make_shared<aron::datanavigator::LongNavigator>();
- timeWrapped->setValue(Time::now().toMicroSeconds());
- dataWrapped->addElement(DATA_WRAPPER_TIME_STORED_FIELD, timeWrapped);
-
- const wm::EntityInstanceMetadata& metadata = e.metadata();
- auto timeCreated = std::make_shared<aron::datanavigator::LongNavigator>();
- timeCreated->setValue(metadata.timeCreated.toMicroSeconds());
- dataWrapped->addElement(DATA_WRAPPER_TIME_CREATED_FIELD, timeCreated);
-
- auto timeSent = std::make_shared<aron::datanavigator::LongNavigator>();
- timeSent->setValue(metadata.timeSent.toMicroSeconds());
- dataWrapped->addElement(DATA_WRAPPER_TIME_SENT_FIELD, timeSent);
-
- auto timeArrived = std::make_shared<aron::datanavigator::LongNavigator>();
- timeArrived->setValue(metadata.timeArrived.toMicroSeconds());
- dataWrapped->addElement(DATA_WRAPPER_TIME_ARRIVED_FIELD, timeArrived);
-
- auto confidence = std::make_shared<aron::datanavigator::DoubleNavigator>();
- confidence->setValue(static_cast<double>(metadata.confidence));
- dataWrapped->addElement(DATA_WRAPPER_CONFIDENCE_FIELD, confidence);
-
- return dataWrapped;
- }
}
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.h b/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.h
index 9ee48c55b33dca02c88f57de1ac30426f8d5ae37..89b96c011fcccb6bfc5471850185b0cea49f77b0 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.h
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.h
@@ -5,6 +5,9 @@
#include "../base/EntityInstanceBase.h"
#include "../workingmemory/EntityInstance.h"
+#include "../workingmemory/entityInstance_conversions.h"
+#include "../workingmemory/json_conversions.h"
+
namespace armarx::armem::d_ltm
{
@@ -51,19 +54,10 @@ namespace armarx::armem::d_ltm
std::filesystem::path _fullPath() const;
std::filesystem::path _fullPath(const std::filesystem::path&) const;
- wm::EntityInstance unwrapData(const aron::datanavigator::DictNavigatorPtr&) const;
- aron::datanavigator::DictNavigatorPtr wrapData(const wm::EntityInstance&) const;
-
public:
std::shared_ptr<std::filesystem::path> path;
private:
static const constexpr char* DATA_FILENAME = "data";
- static constexpr const char* DATA_WRAPPER_DATA_FIELD = "__ARON_DATA";
- static constexpr const char* DATA_WRAPPER_TIME_STORED_FIELD = "__WRITER_METADATA__TIME_STORED";
- static constexpr const char* DATA_WRAPPER_TIME_CREATED_FIELD = "__ENTITY_METADATA__TIME_CREATED";
- static constexpr const char* DATA_WRAPPER_TIME_SENT_FIELD = "__ENTITY_METADATA__TIME_SENT";
- static constexpr const char* DATA_WRAPPER_TIME_ARRIVED_FIELD = "__ENTITY_METADATA__TIME_ARRIVED";
- static constexpr const char* DATA_WRAPPER_CONFIDENCE_FIELD = "__ENTITY_METADATA__CONFIDENCE";
};
}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.cpp
index 78f275fe1a8b1285b852431acaa67dc13963874d..a99518db24ed00819be69f8085670272281daf58 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.cpp
@@ -8,28 +8,73 @@
namespace armarx::armem::ltm
{
- wm::CoreSegment CoreSegment::convert() const
+ wm::CoreSegment CoreSegment::convert(const MongoDBConnectionManager::MongoDBSettings& dbsettings) const
{
- wm::CoreSegment m;
+ wm::CoreSegment m(id());
for (const auto& [_, s] : _container)
{
- m.addProviderSegment(s.convert());
+ m.addProviderSegment(s.convert(dbsettings));
}
return m;
}
- void CoreSegment::append(const wm::CoreSegment& m)
+ void CoreSegment::reload(const MongoDBConnectionManager::MongoDBSettings& dbsettings)
{
+ _container.clear();
+
+ mongocxx::client& client = MongoDBConnectionManager::EstablishConnection(dbsettings);
+ mongocxx::database db = client[dbsettings.database];
+ mongocxx::collection coll = db[MONGO_DB_COLLECTION_PREFIX + id().coreSegmentName];
+
+
+ mongocxx::cursor cursor = coll.find({});
+ for (auto doc : cursor)
+ {
+ nlohmann::json json = nlohmann::json::parse(bsoncxx::to_json(doc));
+ ARMARX_INFO << "CoreSegment: Found foreign key: " << json.at("foreign_key");
+
+ MemoryID i((std::string) json.at("foreign_key"));
+ if (i.coreSegmentName != id().coreSegmentName)
+ {
+ throw error::InvalidMemoryID(i, "A MemoryID in mongodb was invalid. Found the wrong coreSegment name. Expected " + id().coreSegmentName);
+ }
+
+ std::string k = i.providerSegmentName;
+
+ if (const auto& it = _container.find(k); it != _container.end())
+ {
+ throw error::ArMemError("Somehow after clearing the container a key k = " + k + " was found. Do you have double entries in mongodb?");
+ }
+ else
+ {
+ auto wms = _container.emplace(std::make_pair(k, id().withProviderSegmentName(k)));
+ wms.first->second.reload(dbsettings);
+ }
+ }
+ }
+
+ void CoreSegment::append(const wm::CoreSegment& m, const MongoDBConnectionManager::MongoDBSettings& dbsettings)
+ {
+ mongocxx::client& client = MongoDBConnectionManager::EstablishConnection(dbsettings);
+ mongocxx::database db = client[dbsettings.database];
+ mongocxx::collection coll = db[MONGO_DB_COLLECTION_PREFIX + id().coreSegmentName];
+
for (const auto& [k, s] : m.container())
{
if (const auto& it = _container.find(k); it != _container.end())
{
- it->second.append(s);
+ it->second.append(s, dbsettings);
}
else
{
- auto wms = _container.emplace(std::make_pair(k, id().withCoreSegmentName(k)));
- wms.first->second.append(s);
+ auto builder = bsoncxx::builder::stream::document{};
+ bsoncxx::document::value foreign_key = builder
+ << "foreign_key" << s.id().withProviderSegmentName(k).str()
+ << bsoncxx::builder::stream::finalize;
+ coll.insert_one(foreign_key.view());
+
+ auto wms = _container.emplace(std::make_pair(k, id().withProviderSegmentName(k)));
+ wms.first->second.append(s, dbsettings);
}
}
}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.h b/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.h
index 67f9da6f465820534a4214cbb423e14916819daf..1bbcd26b7a056907498c8b78607f1d77ebc0f5a4 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.h
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.h
@@ -25,10 +25,14 @@ namespace armarx::armem::ltm
// Conversion
- wm::CoreSegment convert() const;
+ wm::CoreSegment convert(const MongoDBConnectionManager::MongoDBSettings&) const;
// MongoDB connection
- void append(const wm::CoreSegment&);
+ void reload(const MongoDBConnectionManager::MongoDBSettings&);
+ void append(const wm::CoreSegment&, const MongoDBConnectionManager::MongoDBSettings&);
+
+ private:
+ static const constexpr char* MONGO_DB_COLLECTION_PREFIX = "CoreSegment__";
};
}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.cpp
index 15e232c01fb0edb2ce6e0bffec0f2f0b2c0a3110..00dbd2ae85c2d8fac7ab2ff73131c17da41eb7fe 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.cpp
@@ -3,28 +3,63 @@
namespace armarx::armem::ltm
{
- wm::Entity Entity::convert() const
+ wm::Entity Entity::convert(const MongoDBConnectionManager::MongoDBSettings& dbsettings) const
{
- wm::Entity m;
+ wm::Entity m(id());
for (const auto& [_, s] : _container)
{
- m.addSnapshot(s.convert());
+ m.addSnapshot(s.convert(dbsettings));
}
return m;
}
- void Entity::append(const wm::Entity& m)
+ void Entity::reload(const MongoDBConnectionManager::MongoDBSettings& dbsettings)
{
+ _container.clear();
+
+ ARMARX_INFO << "Reloading entity: " << id().entityName;
+
+ mongocxx::client& client = MongoDBConnectionManager::EstablishConnection(dbsettings);
+ mongocxx::database db = client[dbsettings.database];
+ mongocxx::collection coll = db[MONGO_DB_COLLECTION_PREFIX + id().entityName];
+
+ mongocxx::cursor cursor = coll.find({});
+ for (auto doc : cursor)
+ {
+ nlohmann::json json = nlohmann::json::parse(bsoncxx::to_json(doc));
+
+ auto k = armem::Time::microSeconds(json.at("timestamp"));
+ ARMARX_INFO << "Entity: Found timestamp: " << std::to_string(k.toMicroSeconds());
+
+ if (const auto& it = _container.find(k); it != _container.end())
+ {
+ throw error::ArMemError("Somehow after clearing the container a key k = " + std::to_string(k.toMicroSeconds()) + " was found. Do you have double entries in mongodb?");
+ }
+ else
+ {
+ auto wms = _container.emplace(std::make_pair(k, id().withTimestamp(k)));
+ wms.first->second.reload(dbsettings);
+ }
+ }
+ }
+
+ void Entity::append(const wm::Entity& m, const MongoDBConnectionManager::MongoDBSettings& dbsettings)
+ {
+ mongocxx::client& client = MongoDBConnectionManager::EstablishConnection(dbsettings);
+ mongocxx::database db = client[dbsettings.database];
+ mongocxx::collection coll = db[MONGO_DB_COLLECTION_PREFIX + id().entityName];
+ coll.drop();
+
for (const auto& [k, s] : m.container())
{
if (const auto& it = _container.find(k); it != _container.end())
{
- it->second.setTo(s);
+ it->second.setTo(s, k, dbsettings);
}
else
{
auto wms = _container.emplace(std::make_pair(k, id().withTimestamp(k)));
- wms.first->second.setTo(s);
+ wms.first->second.setTo(s, k, dbsettings);
}
}
}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.h b/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.h
index ecdf297c13fae4d24b070f2af13fd6c84ed93392..0dfe62f51c92011cf8587c0bdb06655948b3c378 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.h
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.h
@@ -40,10 +40,14 @@ namespace armarx::armem::ltm
// Conversion
- wm::Entity convert() const;
+ wm::Entity convert(const MongoDBConnectionManager::MongoDBSettings&) const;
// MongoDB connection
- void append(const wm::Entity&);
+ void reload(const MongoDBConnectionManager::MongoDBSettings&);
+ void append(const wm::Entity&, const MongoDBConnectionManager::MongoDBSettings&);
+
+ private:
+ static const constexpr char* MONGO_DB_COLLECTION_PREFIX = "Entity__";
};
}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.cpp
index 6332be7ea52f3c547101ae3ee196a524a36aab17..5e44714904efe74f920b891b665e13497b749508 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.cpp
@@ -1,5 +1,7 @@
#include "EntityInstance.h"
+#include "../../core/error.h"
+
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
namespace armarx::armem::ltm
@@ -42,15 +44,4 @@ namespace armarx::armem::ltm
Base::_copySelf(other);
other._metadata = _metadata;
}
-
- wm::EntityInstance EntityInstance::convert() const
- {
- wm::EntityInstance m;
- return m;
- }
-
- void EntityInstance::setTo(const wm::EntityInstance& m)
- {
- ARMARX_IMPORTANT << "Longtermmemory received an entity instance: " << m.id().str();
- }
}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.h b/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.h
index f78668e5e1a4e1506c2b63c8d2721126e293d6c9..e95ae277e83b2a927172ad1e663c42a700fef849 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.h
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/EntityInstance.h
@@ -3,6 +3,10 @@
#include "../base/EntityInstanceBase.h"
#include "../workingmemory/EntityInstance.h"
+#include "mongodb/MongoDBConnectionManager.h"
+
+#include "../workingmemory/entityInstance_conversions.h"
+#include "../workingmemory/json_conversions.h"
namespace armarx::armem::ltm
{
@@ -69,12 +73,6 @@ namespace armarx::armem::ltm
virtual EntityInstance copy() const override;
- // Conversion
- wm::EntityInstance convert() const;
-
- // MongoDB connection
- void setTo(const wm::EntityInstance&);
-
protected:
virtual void _copySelf(EntityInstance& other) const override;
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.cpp
index 73d4932155562ffe213504ce3b7bccfc93690b51..412dbe1c41603f80960f9087c2a6277274f67c89 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.cpp
@@ -2,32 +2,103 @@
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include "../workingmemory/entityInstance_conversions.h"
+#include "../workingmemory/json_conversions.h"
+
#include "error.h"
namespace armarx::armem::ltm
{
- wm::EntitySnapshot EntitySnapshot::convert() const
+ wm::EntitySnapshot EntitySnapshot::convert(const MongoDBConnectionManager::MongoDBSettings& dbsettings, const aron::typenavigator::NavigatorPtr& expectedStructure) const
{
- wm::EntitySnapshot m;
- for (const auto& s : _container)
+ mongocxx::client& client = MongoDBConnectionManager::EstablishConnection(dbsettings);
+ mongocxx::database db = client[dbsettings.database];
+ mongocxx::collection coll = db[MONGO_DB_COLLECTION_PREFIX + id().coreSegmentName];
+
+ auto res = coll.find_one(document{} << "id" << id().getEntitySnapshotID().str() << finalize);
+
+ if (!res)
+ {
+ throw error::ArMemError("Could not load an instance from the memory. Tried to access: " + id().getEntitySnapshotID().str());
+ }
+
+ nlohmann::json json = bsoncxx::to_json(*res);
+ nlohmann::json instances = json["instances"];
+
+ if (instances.size() != _container.size())
{
- m.addInstance(s.convert());
+ throw error::ArMemError("The size of the mongodb entity entry at id " + id().getEntitySnapshotID().str() + " has wrong size. Expected: " + std::to_string(_container.size()) + " but got: " + std::to_string(instances.size()));
+ }
+
+ wm::EntitySnapshot m(id());
+ for (unsigned int i = 0; i < _container.size(); ++i)
+ {
+ nlohmann::json doc = instances[i++];
+
+ auto aron = std::make_shared<aron::datanavigator::DictNavigator>();
+ to_aron(aron, doc, expectedStructure);
+ wm::EntityInstance e(id());
+ from_aron(aron, e);
+ m.addInstance(e);
}
return m;
}
- void EntitySnapshot::setTo(const wm::EntitySnapshot& m)
+ void EntitySnapshot::reload(const MongoDBConnectionManager::MongoDBSettings& dbsettings)
+ {
+ _container.clear();
+
+ mongocxx::client& client = MongoDBConnectionManager::EstablishConnection(dbsettings);
+ mongocxx::database db = client[dbsettings.database];
+ mongocxx::collection coll = db[MONGO_DB_COLLECTION_PREFIX + id().coreSegmentName];
+
+ mongocxx::cursor cursor = coll.find({});
+ for (auto doc : cursor)
+ {
+ nlohmann::json json = nlohmann::json::parse(bsoncxx::to_json(doc));
+ for (unsigned int i = 0; i < json.at("instances").size(); ++i)
+ {
+ auto wms = _container.emplace_back(id().withInstanceIndex(i));
+ }
+
+ ARMARX_INFO << "Entity: Found instances: " << json.at("instances").size();
+ }
+ }
+
+ void EntitySnapshot::setTo(const wm::EntitySnapshot& m, const armem::Time& t, const MongoDBConnectionManager::MongoDBSettings& dbsettings)
{
// We remove the contente here and reset it with new values
_container.clear();
+ mongocxx::client& client = MongoDBConnectionManager::EstablishConnection(dbsettings);
+ mongocxx::database db = client[dbsettings.database];
+ mongocxx::collection coll = db[MONGO_DB_COLLECTION_PREFIX + id().entityName];
+
+ bsoncxx::builder::stream::document builder{};
+ auto in_array = builder
+ << "id" << id().getEntitySnapshotID().str()
+ << "timestamp" << t.toMicroSeconds()
+ << "instances" << bsoncxx::builder::stream::open_array;
+ auto array_builder = bsoncxx::builder::basic::array{};
+
int i = 0;
for (const auto& s : m.container())
{
auto wms = _container.emplace_back(id().withInstanceIndex(i++));
- wms.setTo(s);
+
+ auto aron = std::make_shared<aron::datanavigator::DictNavigator>();
+ to_aron(aron, s);
+ nlohmann::json j;
+ from_aron(aron, j);
+
+ auto doc_value = bsoncxx::from_json(j.dump(2));
+ array_builder.append(doc_value);
}
+
+ auto after_array = in_array << array_builder << bsoncxx::builder::stream::close_array;
+ bsoncxx::document::value doc = after_array << bsoncxx::builder::stream::finalize;
+ coll.insert_one(doc.view());
}
}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.h b/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.h
index 79c0341643c4619270e6b264454ce50dffd0a202..b81f0f8e1140eaaa6d0e916ac38d86655ab86140 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.h
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.h
@@ -25,9 +25,13 @@ namespace armarx::armem::ltm
// Conversion
- wm::EntitySnapshot convert() const;
+ wm::EntitySnapshot convert(const MongoDBConnectionManager::MongoDBSettings&, const aron::typenavigator::NavigatorPtr& = nullptr) const;
// MongoDB connection
- void setTo(const wm::EntitySnapshot&);
+ void reload(const MongoDBConnectionManager::MongoDBSettings&);
+ void setTo(const wm::EntitySnapshot&, const armem::Time& t, const MongoDBConnectionManager::MongoDBSettings&);
+
+ private:
+ static const constexpr char* MONGO_DB_COLLECTION_PREFIX = "Entity__";
};
}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.cpp
index ac204816011ee0b760fa65a9fecea330edcadf97..4079ebde68babd7d77fc01c1bea827c99e2d11a5 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.cpp
@@ -1,5 +1,6 @@
#include "Memory.h"
+#include <ArmarXCore/core/time/TimeUtil.h>
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
@@ -11,33 +12,79 @@ namespace armarx::armem::ltm
wm::Memory Memory::convert() const
{
- wm::Memory m;
+ wm::Memory m(id());
for (const auto& [_, s] : _container)
{
- m.addCoreSegment(s.convert());
+ m.addCoreSegment(s.convert(dbsettings));
}
return m;
}
- void Memory::reload(const MongoDBConnectionManager::MongoDBSettings& settings)
+ void Memory::reload()
{
- dbsettings = settings;
- std::cout << "Setting connection to: " << settings.uniqueString() << std::endl;
+ ARMARX_INFO << "(Re)Establishing connection to: " << dbsettings.toString();
+ _container.clear();
+
+ mongocxx::client& client = MongoDBConnectionManager::EstablishConnection(dbsettings);
+ mongocxx::database db = client[dbsettings.database];
+ mongocxx::collection coll = db[MONGO_DB_COLLECTION_PREFIX + id().memoryName];
+
+ mongocxx::cursor cursor = coll.find({});
+ for (auto doc : cursor)
+ {
+ nlohmann::json json = nlohmann::json::parse(bsoncxx::to_json(doc));
+ ARMARX_INFO << "Memory: Found foreign key: " << json.at("foreign_key");
+
+ MemoryID i((std::string) json.at("foreign_key"));
+ if (i.memoryName != id().memoryName)
+ {
+ throw error::InvalidMemoryID(i, "A MemoryID in mongodb was invalid. Found the wrong memory name. Expected " + id().memoryName);
+ }
+
+ std::string k = i.coreSegmentName;
+
+ if (const auto& it = _container.find(k); it != _container.end())
+ {
+ throw error::ArMemError("Somehow after clearing the container a key k = " + k + " was found. Do you have double entries in mongodb?");
+ }
+ else
+ {
+ auto wms = _container.emplace(std::make_pair(k, id().withCoreSegmentName(k)));
+ wms.first->second.reload(dbsettings);
+ }
+ }
}
void Memory::append(const wm::Memory& m)
{
+ ARMARX_INFO << "Appending Memory with name: " << m.name();
+
+ TIMING_START(LTM_Append);
+
+ mongocxx::client& client = MongoDBConnectionManager::EstablishConnection(dbsettings);
+ mongocxx::database db = client[dbsettings.database];
+ mongocxx::collection coll = db[MONGO_DB_COLLECTION_PREFIX + id().memoryName];
+
for (const auto& [k, s] : m.container())
{
if (const auto& it = _container.find(k); it != _container.end())
{
- it->second.append(s);
+ // TODO check if foreign key exists
+ it->second.append(s, dbsettings);
}
else
{
+ auto builder = bsoncxx::builder::stream::document{};
+ bsoncxx::document::value foreign_key = builder
+ << "foreign_key" << s.id().withCoreSegmentName(k).str()
+ << bsoncxx::builder::stream::finalize;
+ coll.insert_one(foreign_key.view());
+
auto wms = _container.emplace(std::make_pair(k, id().withCoreSegmentName(k)));
- wms.first->second.append(s);
+ wms.first->second.append(s, dbsettings);
}
}
+
+ TIMING_END(LTM_Append);
}
}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.h b/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.h
index a381972a8c6670f10f286b5ecee82757c1be87d1..9caa6b795732dc9b0ab82254027519c5e014ae71 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.h
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.h
@@ -5,7 +5,6 @@
#include "CoreSegment.h"
#include "../workingmemory/Memory.h"
-#include "mongodb/MongoDBConnectionManager.h"
namespace armarx::armem::ltm
{
@@ -22,16 +21,45 @@ namespace armarx::armem::ltm
using Base::MemoryBase;
using Base::operator=;
+ enum class PeriodicTransferMode
+ {
+ MANUAL,
+ TRANSFER_PERIODIC_KEEP,
+ TRANSFER_PERIODIC_DELETE,
+ };
+
+ enum class FilledTransferMode
+ {
+ TRANSFER_LATEST,
+ TRANSFER_LEAST_USED
+ };
+
+ struct PeriodicTransfer
+ {
+ PeriodicTransferMode mode = PeriodicTransferMode::MANUAL;
+ };
+
+ struct FilledTransfer
+ {
+ FilledTransferMode mode = FilledTransferMode::TRANSFER_LATEST;
+ };
+
// Conversion
wm::Memory convert() const;
// MongoDB connection
- void reload(const MongoDBConnectionManager::MongoDBSettings&);
+ void reload();
void append(const wm::Memory&);
public:
MongoDBConnectionManager::MongoDBSettings dbsettings;
+
+ PeriodicTransfer periodic_transfer;
+ FilledTransferMode filled_transfer;
+
+ private:
+ static const constexpr char* MONGO_DB_COLLECTION_PREFIX = "Memory__";
};
}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.cpp
index 38f2a142989324cab5aa9a47f2f80d7e91fa9b24..d8ca92c97755c4f26f1553d5b98479cb87b19d00 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.cpp
@@ -8,28 +8,72 @@
namespace armarx::armem::ltm
{
- wm::ProviderSegment ProviderSegment::convert() const
+ wm::ProviderSegment ProviderSegment::convert(const MongoDBConnectionManager::MongoDBSettings& dbsettings) const
{
- wm::ProviderSegment m;
+ wm::ProviderSegment m(id());
for (const auto& [_, s] : _container)
{
- m.addEntity(s.convert());
+ m.addEntity(s.convert(dbsettings));
}
return m;
}
- void ProviderSegment::append(const wm::ProviderSegment& m)
+ void ProviderSegment::reload(const MongoDBConnectionManager::MongoDBSettings& dbsettings)
{
+ _container.clear();
+
+ mongocxx::client& client = MongoDBConnectionManager::EstablishConnection(dbsettings);
+ mongocxx::database db = client[dbsettings.database];
+ mongocxx::collection coll = db[MONGO_DB_COLLECTION_PREFIX + id().providerSegmentName];
+
+ mongocxx::cursor cursor = coll.find({});
+ for (auto doc : cursor)
+ {
+ nlohmann::json json = nlohmann::json::parse(bsoncxx::to_json(doc));
+ ARMARX_INFO << "ProviderSegment: Found foreign key: " << json.at("foreign_key");
+
+ MemoryID i((std::string) json.at("foreign_key"));
+ if (i.providerSegmentName != id().providerSegmentName)
+ {
+ throw error::InvalidMemoryID(i, "A MemoryID in mongodb was invalid. Found the wrong providerSegment name. Expected " + id().providerSegmentName);
+ }
+
+ std::string k = i.entityName;
+
+ if (const auto& it = _container.find(k); it != _container.end())
+ {
+ throw error::ArMemError("Somehow after clearing the container a key k = " + k + " was found. Do you have double entries in mongodb?");
+ }
+ else
+ {
+ auto wms = _container.emplace(std::make_pair(k, id().withEntityName(k)));
+ wms.first->second.reload(dbsettings);
+ }
+ }
+ }
+
+ void ProviderSegment::append(const wm::ProviderSegment& m, const MongoDBConnectionManager::MongoDBSettings& dbsettings)
+ {
+ mongocxx::client& client = MongoDBConnectionManager::EstablishConnection(dbsettings);
+ mongocxx::database db = client[dbsettings.database];
+ mongocxx::collection coll = db[MONGO_DB_COLLECTION_PREFIX + id().providerSegmentName];
+
for (const auto& [k, s] : m.container())
{
if (const auto& it = _container.find(k); it != _container.end())
{
- it->second.append(s);
+ it->second.append(s, dbsettings);
}
else
{
+ auto builder = bsoncxx::builder::stream::document{};
+ bsoncxx::document::value foreign_key = builder
+ << "foreign_key" << s.id().withEntityName(k).str()
+ << bsoncxx::builder::stream::finalize;
+ coll.insert_one(foreign_key.view());
+
auto wms = _container.emplace(std::make_pair(k, id().withEntityName(k)));
- wms.first->second.append(s);
+ wms.first->second.append(s, dbsettings);
}
}
}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.h b/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.h
index 4e81db8a9270f58d44845d08f298b37d59424323..3c19ec5816ceb2c629a252e45d0b25d14cb8219e 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.h
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.h
@@ -25,10 +25,14 @@ namespace armarx::armem::ltm
// Conversion
- wm::ProviderSegment convert() const;
+ wm::ProviderSegment convert(const MongoDBConnectionManager::MongoDBSettings&) const;
// MongoDB connection
- void append(const wm::ProviderSegment&);
+ void reload(const MongoDBConnectionManager::MongoDBSettings&);
+ void append(const wm::ProviderSegment&, const MongoDBConnectionManager::MongoDBSettings&);
+
+ private:
+ static const constexpr char* MONGO_DB_COLLECTION_PREFIX = "ProviderSegment__";
};
}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/mongodb/MongoDBConnectionManager.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/mongodb/MongoDBConnectionManager.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..d35c7640cff283349e592dfc3e6d7e616e27516c
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/mongodb/MongoDBConnectionManager.cpp
@@ -0,0 +1,30 @@
+#include "MongoDBConnectionManager.h"
+
+namespace armarx::armem::ltm
+{
+ bool MongoDBConnectionManager::initialized = false;
+ std::map<std::string, mongocxx::client> MongoDBConnectionManager::Connections = {};
+
+ mongocxx::client& MongoDBConnectionManager::EstablishConnection(const MongoDBSettings& settings)
+ {
+ if (!initialized)
+ {
+ initialized = true;
+ mongocxx::instance instance{}; // This should be done only once.
+ }
+
+ const auto uri_str = settings.uri();
+ const auto& it = Connections.find(uri_str);
+ if (it == Connections.end())
+ {
+ mongocxx::uri uri(uri_str);
+ auto con = Connections.emplace(uri_str, mongocxx::client(uri));
+ return con.first->second;
+ }
+ else
+ {
+ // A connection already exists. We do not need to open another one.
+ return it->second;
+ }
+ }
+}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/mongodb/MongoDBConnectionManager.h b/source/RobotAPI/libraries/armem/core/longtermmemory/mongodb/MongoDBConnectionManager.h
index 02c25965f9c6ae0c12f528c9e2a5c241a10a26d3..0c04151ccd175c410cabc132e45535d624646c2e 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/mongodb/MongoDBConnectionManager.h
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/mongodb/MongoDBConnectionManager.h
@@ -5,9 +5,27 @@
#include <map>
#include <memory>
+#include <bsoncxx/json.hpp>
+#include <mongocxx/client.hpp>
+#include <mongocxx/stdx.hpp>
+#include <mongocxx/uri.hpp>
+#include <mongocxx/instance.hpp>
+#include <bsoncxx/builder/stream/helpers.hpp>
+#include <bsoncxx/builder/stream/document.hpp>
+#include <bsoncxx/builder/stream/array.hpp>
+
+
namespace armarx::armem::ltm
{
+ using bsoncxx::builder::stream::close_array;
+ using bsoncxx::builder::stream::close_document;
+ using bsoncxx::builder::stream::document;
+ using bsoncxx::builder::stream::finalize;
+ using bsoncxx::builder::stream::open_array;
+ using bsoncxx::builder::stream::open_document;
+
+
/**
* @brief Data of a memory consisting of multiple core segments.
*/
@@ -17,38 +35,35 @@ namespace armarx::armem::ltm
struct MongoDBSettings
{
std::string host = "localhost";
- std::string user = "root";
+ unsigned int port = 27017;
+ std::string user = "";
std::string password = "";
+ std::string database = "Test";
+
bool isSet() const
{
// we always need a user and a host
- return !host.empty() and !user.empty();
+ return !host.empty() and port != 0 and !user.empty();
}
- std::string uniqueString() const
+ std::string uri() const
{
- return host + "::" + user;
+ return "mongodb://" + host + ":" + std::to_string(port) + user;
}
- };
- static int EstablishConnection(const MongoDBSettings& settings)
- {
- const auto str_rep = settings.uniqueString();
- const auto& it = Connections.find(str_rep);
- if (it == Connections.end())
+ std::string toString() const
{
- auto con = Connections.emplace(str_rep, 0);
- return con.first->second;
+ return uri() + ":" + password + "/" + database;
}
- else
- {
- // A connection already exists. We do not need to open another one.
- return it->second;
- }
- }
+ };
+
+ static mongocxx::client& EstablishConnection(const MongoDBSettings& settings);
+
private:
- static std::map<std::string, int> Connections;
+ static bool initialized;
+ static std::map<std::string, mongocxx::client> Connections;
+
};
}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/entityInstance_conversions.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/entityInstance_conversions.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..31538f8d8e2f1eeaf932ed16e50b7040520f0a99
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/entityInstance_conversions.cpp
@@ -0,0 +1,64 @@
+#include "json_conversions.h"
+
+namespace armarx::armem
+{
+
+ constexpr const char* DATA_WRAPPER_DATA_FIELD = "__ARON_DATA";
+ constexpr const char* DATA_WRAPPER_TIME_STORED_FIELD = "__WRITER_METADATA__TIME_STORED";
+ constexpr const char* DATA_WRAPPER_TIME_CREATED_FIELD = "__ENTITY_METADATA__TIME_CREATED";
+ constexpr const char* DATA_WRAPPER_TIME_SENT_FIELD = "__ENTITY_METADATA__TIME_SENT";
+ constexpr const char* DATA_WRAPPER_TIME_ARRIVED_FIELD = "__ENTITY_METADATA__TIME_ARRIVED";
+ constexpr const char* DATA_WRAPPER_CONFIDENCE_FIELD = "__ENTITY_METADATA__CONFIDENCE";
+
+ void from_aron(const aron::datanavigator::DictNavigatorPtr& dataWrapped, wm::EntityInstance& e)
+ {
+ wm::EntityInstanceMetadata& metadata = e.metadata();
+
+ if (dataWrapped->hasElement(DATA_WRAPPER_DATA_FIELD))
+ {
+ aron::datanavigator::DictNavigatorPtr data = aron::datanavigator::DictNavigator::DynamicCastAndCheck(dataWrapped->getElement(DATA_WRAPPER_DATA_FIELD));
+ e.setData(data);
+ }
+
+ auto timeCreated = aron::datanavigator::LongNavigator::DynamicCastAndCheck(dataWrapped->getElement(DATA_WRAPPER_TIME_CREATED_FIELD));
+ metadata.timeCreated = Time::microSeconds(timeCreated->toAronLongPtr()->value);
+
+ auto timeSent = aron::datanavigator::LongNavigator::DynamicCastAndCheck(dataWrapped->getElement(DATA_WRAPPER_TIME_SENT_FIELD));
+ metadata.timeSent = Time::microSeconds(timeSent->toAronLongPtr()->value);
+
+ auto timeArrived = aron::datanavigator::LongNavigator::DynamicCastAndCheck(dataWrapped->getElement(DATA_WRAPPER_TIME_ARRIVED_FIELD));
+ metadata.timeArrived = Time::microSeconds(timeArrived->toAronLongPtr()->value);
+
+ auto confidence = aron::datanavigator::DoubleNavigator::DynamicCastAndCheck(dataWrapped->getElement(DATA_WRAPPER_CONFIDENCE_FIELD));
+ metadata.confidence = static_cast<float>(confidence->toAronDoublePtr()->value);
+ }
+
+ void to_aron(aron::datanavigator::DictNavigatorPtr& a, const wm::EntityInstance& e)
+ {
+ if (e.data())
+ {
+ a->addElement(DATA_WRAPPER_DATA_FIELD, e.data());
+ }
+
+ auto timeWrapped = std::make_shared<aron::datanavigator::LongNavigator>();
+ timeWrapped->setValue(Time::now().toMicroSeconds());
+ a->addElement(DATA_WRAPPER_TIME_STORED_FIELD, timeWrapped);
+
+ const wm::EntityInstanceMetadata& metadata = e.metadata();
+ auto timeCreated = std::make_shared<aron::datanavigator::LongNavigator>();
+ timeCreated->setValue(metadata.timeCreated.toMicroSeconds());
+ a->addElement(DATA_WRAPPER_TIME_CREATED_FIELD, timeCreated);
+
+ auto timeSent = std::make_shared<aron::datanavigator::LongNavigator>();
+ timeSent->setValue(metadata.timeSent.toMicroSeconds());
+ a->addElement(DATA_WRAPPER_TIME_SENT_FIELD, timeSent);
+
+ auto timeArrived = std::make_shared<aron::datanavigator::LongNavigator>();
+ timeArrived->setValue(metadata.timeArrived.toMicroSeconds());
+ a->addElement(DATA_WRAPPER_TIME_ARRIVED_FIELD, timeArrived);
+
+ auto confidence = std::make_shared<aron::datanavigator::DoubleNavigator>();
+ confidence->setValue(static_cast<double>(metadata.confidence));
+ a->addElement(DATA_WRAPPER_CONFIDENCE_FIELD, confidence);
+ }
+}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/entityInstance_conversions.h b/source/RobotAPI/libraries/armem/core/workingmemory/entityInstance_conversions.h
new file mode 100644
index 0000000000000000000000000000000000000000..f3b25566f110dca844e24dcac4c997f724c74548
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/entityInstance_conversions.h
@@ -0,0 +1,9 @@
+#pragma once
+
+#include "Memory.h"
+
+namespace armarx::armem
+{
+ void from_aron(const aron::datanavigator::DictNavigatorPtr&, wm::EntityInstance&);
+ void to_aron(aron::datanavigator::DictNavigatorPtr&, const wm::EntityInstance&);
+}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/json_conversions.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/json_conversions.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..5e01c69eff1b98b7123a0c15ad97912dfa85521a
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/json_conversions.cpp
@@ -0,0 +1,20 @@
+#include "json_conversions.h"
+
+namespace armarx::armem
+{
+
+ void from_aron(const aron::datanavigator::DictNavigatorPtr& aron, nlohmann::json& j)
+ {
+ aron::dataIO::writer::NlohmannJSONWriter dataWriter;
+ aron::dataIO::Visitor::VisitAndSetup(dataWriter, aron);
+ j = dataWriter.getResult();
+ }
+
+ void to_aron(aron::datanavigator::DictNavigatorPtr& a, const nlohmann::json& e, const aron::typenavigator::NavigatorPtr& expectedStructure)
+ {
+ aron::dataIO::reader::NlohmannJSONReader dataReader(e);
+ aron::dataIO::writer::NavigatorWriter navWriter;
+ aron::dataIO::Converter::ReadAndConvert(dataReader, navWriter, expectedStructure);
+ a = aron::datanavigator::DictNavigator::DynamicCastAndCheck(navWriter.getResult());
+ }
+}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/json_conversions.h b/source/RobotAPI/libraries/armem/core/workingmemory/json_conversions.h
new file mode 100644
index 0000000000000000000000000000000000000000..d132d88f7d7fb694be8b3dc086c87dcafa276e6a
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/json_conversions.h
@@ -0,0 +1,15 @@
+#pragma once
+
+#include "Memory.h"
+
+#include <RobotAPI/libraries/aron/core/io/dataIO/converter/Converter.h>
+#include <RobotAPI/libraries/aron/core/io/dataIO/visitor/Visitor.h>
+#include <RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReader.h>
+#include <RobotAPI/libraries/aron/core/io/dataIO/writer/nlohmannJSON/NlohmannJSONWriter.h>
+
+
+namespace armarx::armem
+{
+ void from_aron(const aron::datanavigator::DictNavigatorPtr&, nlohmann::json&);
+ void to_aron(aron::datanavigator::DictNavigatorPtr&, const nlohmann::json&, const aron::typenavigator::NavigatorPtr& expectedStructure = nullptr);
+}
diff --git a/source/RobotAPI/libraries/armem/server/ComponentPlugin.cpp b/source/RobotAPI/libraries/armem/server/ComponentPlugin.cpp
index 536c72f49d6ccb4c656f37c345dc6a4ec70b4f17..f7046b6b6a5efd30debcc2e31e1125a3e1dc831c 100644
--- a/source/RobotAPI/libraries/armem/server/ComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/armem/server/ComponentPlugin.cpp
@@ -19,9 +19,11 @@ namespace armarx::armem::server::plugins
ClientPlugin::postCreatePropertyDefinitions(properties);
properties->topic(memoryListener, this->parent<ComponentPluginUser>().memoryListenerDefaultName);
- properties->optional(longTermMemoryDatabaseHost, this->parent<ComponentPluginUser>().longTermMemoryDatabaseHostDefault);
- properties->optional(longTermMemoryDatabaseUser, this->parent<ComponentPluginUser>().longTermMemoryDatabaseUserDefault);
- properties->optional(longTermMemoryDatabasePassword, this->parent<ComponentPluginUser>().longTermMemoryDatabasePasswordDefault);
+ properties->optional(this->parent<ComponentPluginUser>().longtermMemory.dbsettings.host, "Longtermmemoryhost");
+ properties->optional(this->parent<ComponentPluginUser>().longtermMemory.dbsettings.port, "Longtermmemoryport");
+ properties->optional(this->parent<ComponentPluginUser>().longtermMemory.dbsettings.user, "Longtermmemoryuser");
+ properties->optional(this->parent<ComponentPluginUser>().longtermMemory.dbsettings.password, "Longtermmemorypassword");
+ properties->optional(this->parent<ComponentPluginUser>().longtermMemory.dbsettings.database, "Longtermmemorydatabase");
}
@@ -36,12 +38,7 @@ namespace armarx::armem::server::plugins
parent.iceMemory.setMemoryListener(memoryListener);
// establishing connection to ltm and mongodb
- ltm::MongoDBConnectionManager::MongoDBSettings settings;
- settings.host = longTermMemoryDatabaseHost;
- settings.user = longTermMemoryDatabaseUser;
- settings.password = longTermMemoryDatabasePassword;
-
- parent.longtermMemory.reload(settings);
+ parent.longtermMemory.reload();
}
diff --git a/source/RobotAPI/libraries/armem/server/ComponentPlugin.h b/source/RobotAPI/libraries/armem/server/ComponentPlugin.h
index fc2154f59a0d640a2b6d6e07f5df51465caa2812..4262ee9eba64b29519612cd57505dd9fbe2cc9d1 100644
--- a/source/RobotAPI/libraries/armem/server/ComponentPlugin.h
+++ b/source/RobotAPI/libraries/armem/server/ComponentPlugin.h
@@ -104,9 +104,6 @@ namespace armarx::armem::server
/// property defaults
std::string memoryListenerDefaultName = "MemoryUpdates";
- std::string longTermMemoryDatabaseHostDefault = "";
- std::string longTermMemoryDatabaseUserDefault = "";
- std::string longTermMemoryDatabasePasswordDefault = "";
/// Helps connecting `memory` to ice. Used to handle Ice callbacks.
MemoryToIceAdapter iceMemory { &workingMemory, &longtermMemory};
diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
index c1ae33fbe624fe2558c8f2dfb11d2ae380fb192a..75e38944378144ee47fe13cbd733445555fbe48f 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
@@ -219,16 +219,14 @@ namespace armarx::armem::server
data::StoreResult output;
armem::query::data::Result queryResult = this->query(input.query);
+ output.success = queryResult.success;
+
if (queryResult.success)
{
wm::Memory m;
fromIce(queryResult.memory, m);
longtermMemory->append(m);
}
- else
- {
- output.success = false;
- }
ARMARX_IMPORTANT << "Finsihed";
return output;
diff --git a/source/RobotAPI/libraries/armem_gui/CMakeLists.txt b/source/RobotAPI/libraries/armem_gui/CMakeLists.txt
index d90a90aa04a3fcc2c3d891bfab8727a991522f44..d381a529fb0bc17c6fc74447a46694b89512d1ef 100644
--- a/source/RobotAPI/libraries/armem_gui/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem_gui/CMakeLists.txt
@@ -17,7 +17,7 @@ set(SOURCES
MemoryViewer.cpp
PeriodicUpdateWidget.cpp
- LTMControlWidget.cpp
+ MemoryControlWidget.cpp
gui_utils.cpp
lifecycle.cpp
@@ -49,7 +49,7 @@ set(HEADERS
MemoryViewer.h
PeriodicUpdateWidget.h
- LTMControlWidget.h
+ MemoryControlWidget.h
TreeWidgetBuilder.h
gui_utils.h
lifecycle.h
diff --git a/source/RobotAPI/libraries/armem_gui/LTMControlWidget.cpp b/source/RobotAPI/libraries/armem_gui/MemoryControlWidget.cpp
similarity index 79%
rename from source/RobotAPI/libraries/armem_gui/LTMControlWidget.cpp
rename to source/RobotAPI/libraries/armem_gui/MemoryControlWidget.cpp
index 257e43d3a3f0df224b4632449c97aa4336c9f184..c68673377563e83019640755699187ebee39a418 100644
--- a/source/RobotAPI/libraries/armem_gui/LTMControlWidget.cpp
+++ b/source/RobotAPI/libraries/armem_gui/MemoryControlWidget.cpp
@@ -1,4 +1,4 @@
-#include "LTMControlWidget.h"
+#include "MemoryControlWidget.h"
#include <QPushButton>
#include <QLineEdit>
@@ -11,7 +11,7 @@
namespace armarx::armem::gui
{
- LTMControlWidget::LTMControlWidget()
+ MemoryControlWidget::MemoryControlWidget()
{
setSizePolicy(QSizePolicy::Policy::Minimum, QSizePolicy::Policy::Fixed);
@@ -27,8 +27,8 @@ namespace armarx::armem::gui
_storeButton = new QPushButton("Store in LTM", this);
layout->addWidget(_lineEdit);
- layout->addWidget(_storeButton);
layout->addWidget(_exportHereButton);
+ layout->addWidget(_storeButton);
// Private connections.
@@ -37,22 +37,22 @@ namespace armarx::armem::gui
connect(_exportHereButton, &QPushButton::pressed, this, &This::exportHere);
}
- QLineEdit* LTMControlWidget::pathInputBox()
+ QLineEdit* MemoryControlWidget::pathInputBox()
{
return _lineEdit;
}
- QString LTMControlWidget::getEnteredPath()
+ QString MemoryControlWidget::getEnteredPath()
{
return _lineEdit->text();
}
- QPushButton* LTMControlWidget::storeButton()
+ QPushButton* MemoryControlWidget::storeButton()
{
return _storeButton;
}
- QPushButton* LTMControlWidget::exportHereButton()
+ QPushButton* MemoryControlWidget::exportHereButton()
{
return _exportHereButton;
}
diff --git a/source/RobotAPI/libraries/armem_gui/LTMControlWidget.h b/source/RobotAPI/libraries/armem_gui/MemoryControlWidget.h
similarity index 71%
rename from source/RobotAPI/libraries/armem_gui/LTMControlWidget.h
rename to source/RobotAPI/libraries/armem_gui/MemoryControlWidget.h
index 9c827b01173aa7b724fcfe7e700691d5a093e36e..4f8acc62ac9c8918f887703d9188e76cfc9f8584 100644
--- a/source/RobotAPI/libraries/armem_gui/LTMControlWidget.h
+++ b/source/RobotAPI/libraries/armem_gui/MemoryControlWidget.h
@@ -8,19 +8,20 @@ class QLineEdit;
namespace armarx::armem::gui
{
- class LTMControlWidget : public QWidget
+ class MemoryControlWidget : public QWidget
{
Q_OBJECT
- using This = LTMControlWidget;
+ using This = MemoryControlWidget;
public:
- LTMControlWidget();
+ MemoryControlWidget();
QLineEdit* pathInputBox();
QString getEnteredPath();
QPushButton* storeButton();
+ QPushButton* loadButton();
QPushButton* exportHereButton();
public slots:
@@ -28,6 +29,7 @@ namespace armarx::armem::gui
signals:
void store();
+ void load();
void exportHere();
private slots:
@@ -41,6 +43,7 @@ namespace armarx::armem::gui
QLineEdit* _lineEdit;
QPushButton* _storeButton;
+ QPushButton* _loadButton;
QPushButton* _exportHereButton;
};
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
index 447b35332a60a3442b63e07a2c5e129b5b7b83d1..e66191fc6896eec1c7b23a10290285ea4b01c943 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
+++ b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
@@ -28,7 +28,7 @@ namespace armarx::armem::gui
{
MemoryViewer::MemoryViewer(
QBoxLayout* updateWidgetLayout,
- QBoxLayout* ltmControlWidgetLayout,
+ QBoxLayout* memoryControlWidgetLayout,
QGroupBox* memoryGroupBox, QLayout* memoryGroupBoxParentLayout,
QGroupBox* instanceGroupBox, QLayout* instanceGroupBoxParentLayout,
QLabel* statusLabel
@@ -45,11 +45,11 @@ namespace armarx::armem::gui
updateWidgetLayout->insertWidget(0, updateWidget);
// LTM Control
- if (ltmControlWidgetLayout)
+ if (memoryControlWidgetLayout)
{
- this->ltmControlWidgetLayout = ltmControlWidgetLayout;
- ltmControlWidget = new armem::gui::LTMControlWidget();
- ltmControlWidgetLayout->addWidget(ltmControlWidget);
+ this->memoryControlWidgetLayout = memoryControlWidgetLayout;
+ memoryControlWidget = new armem::gui::MemoryControlWidget();
+ memoryControlWidgetLayout->addWidget(memoryControlWidget);
}
// Memory View
@@ -66,8 +66,8 @@ namespace armarx::armem::gui
// Connections
//connect(this, &This::connected, this, &This::updateMemory);
- connect(ltmControlWidget, &armem::gui::LTMControlWidget::store, this, &This::store);
- connect(ltmControlWidget, &armem::gui::LTMControlWidget::exportHere, this, &This::exportHere);
+ connect(memoryControlWidget, &armem::gui::MemoryControlWidget::exportHere, this, &This::exportHere);
+ connect(memoryControlWidget, &armem::gui::MemoryControlWidget::store, this, &This::store);
connect(this, &This::connected, this, &This::updateMemories);
connect(updateWidget, &armem::gui::PeriodicUpdateWidget::update, this, &This::updateMemories);
@@ -144,7 +144,7 @@ namespace armarx::armem::gui
void MemoryViewer::exportHere()
{
TIMING_START(MemoryExport);
- QString qs = ltmControlWidget->getEnteredPath();
+ QString qs = memoryControlWidget->getEnteredPath();
std::string utf8_text = qs.toUtf8().constData();
ARMARX_IMPORTANT << "Exporting all memories at '" << utf8_text << "'.";
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryViewer.h b/source/RobotAPI/libraries/armem_gui/MemoryViewer.h
index 19ab5000d9d662080b80e621144650fd887a0bcd..9931f6e3523ec8e020a5183da8fb15319d25ae8b 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryViewer.h
+++ b/source/RobotAPI/libraries/armem_gui/MemoryViewer.h
@@ -13,7 +13,7 @@
#include <RobotAPI/libraries/armem_gui/instance/GroupBox.h>
#include <RobotAPI/libraries/armem_gui/memory/GroupBox.h>
#include <RobotAPI/libraries/armem_gui/PeriodicUpdateWidget.h>
-#include <RobotAPI/libraries/armem_gui/LTMControlWidget.h>
+#include <RobotAPI/libraries/armem_gui/MemoryControlWidget.h>
class QBoxLayout;
class QDialog;
@@ -109,8 +109,8 @@ namespace armarx::armem::gui
QLayout* updateWidgetLayout = nullptr;
armem::gui::PeriodicUpdateWidget* updateWidget = nullptr;
- QLayout* ltmControlWidgetLayout = nullptr;
- armem::gui::LTMControlWidget* ltmControlWidget = nullptr;
+ QLayout* memoryControlWidgetLayout = nullptr;
+ armem::gui::MemoryControlWidget* memoryControlWidget = nullptr;
armem::gui::MemoryGroupBox* memoryGroup = nullptr;
diff --git a/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.cpp
index 7f46c9b4509c54430eb2ddca0a10426d7ceab227..0e2d95dda06126717c383c9b71f7b1088bacd71a 100644
--- a/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.cpp
@@ -16,14 +16,13 @@
#include <RobotAPI/libraries/armem/client/query/query_fns.h>
#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
-#include <RobotAPI/libraries/armem_objects/aron/Robot.aron.generated.h>
+#include <RobotAPI/libraries/armem_robot/aron/Robot.aron.generated.h>
#include <RobotAPI/libraries/armem_objects/aron_conversions.h>
#include <RobotAPI/libraries/armem_objects/aron/Attachment.aron.generated.h>
namespace armarx::armem::server::obj::attachments
{
-
Segment::Segment(armem::server::MemoryToIceAdapter& memoryToIceAdapter, std::mutex& memoryMutex) :
iceMemory(memoryToIceAdapter),
memoryMutex(memoryMutex)
@@ -43,7 +42,7 @@ namespace armarx::armem::server::obj::attachments
{
ARMARX_CHECK_NOT_NULL(iceMemory.workingMemory);
- coreSegment = &iceMemory.workingMemory->addCoreSegment(p.coreClassSegmentName, arondto::Robot::toInitialAronType());
+ coreSegment = &iceMemory.workingMemory->addCoreSegment(p.coreClassSegmentName, arondto::Robot::toAronType());
coreSegment->setMaxHistorySize(p.maxHistorySize);
}