A memory storing data on the hard drive and in mongodb (needs 'armarx memory start' to start the mongod instance) More...

#include <RobotAPI/libraries/armem/server/ltm/Memory.h>

Inheritance diagram for Memory:

Public Types
using	BufferedBase = detail::mixin::BufferedMemoryMixin< CoreSegment >

using	CachedBase = detail::mixin::CachedMemoryMixin< CoreSegment >

using	DiskMemoryBase = detail::mixin::DiskMemoryItemMixin

using	MemoryBase = detail::MemoryBase< CoreSegment >

using	MongoDBStorageMixin = detail::mixin::MongoDBStorageMixin

Public Types inherited from MemoryBase< CoreSegment >
using	CoreSegmentT = CoreSegment

Public Member Functions
void	_configure (const nlohmann::json &config) final
	configuration More...

void	_disable () final

void	_enable () final

void	_setExportName (const std::string &n) final

void	_setMemoryID (const MemoryID &id) final

void	createPropertyDefinitions (PropertyDefinitionsPtr &defs, const std::string &prefix) override
	default parameters. Implementation should use the configuration to configure More...

std::unique_ptr< CoreSegment >	findCoreSegment (const std::string &coreSegmentName) const final
	find core segment More...

bool	forEachCoreSegment (std::function< void(CoreSegment &)> func) const final
	iterate over all core segments of this ltm More...

void	getAndSaveStatistics ()
	getAndSaveStatistics generates and saves statistics for a LTM recording More...

bool	hasCoreSegment (const std::string &name) const final
	check if core segment exists More...

	Memory ()

	Memory (const detail::mixin::Path &, const detail::mixin::MongoDBSettings &, const std::string &, const std::string &)

	Memory (const detail::mixin::Path &, const std::string &, const std::string &)

Public Member Functions inherited from MemoryBase< CoreSegment >
void	configure ()
	initialize config More...

void	disable ()
	disable this LTM More...

void	enable ()
	enable this LTM More...

std::map< std::string, processor::SnapshotFilter::FilterStatistics >	getFilterStatistics ()

Statistics	getStatistics () const

bool	isRecording () const

armem::wm::Memory	loadAllAndResolve ()
	return the full ltm as a wm::Memory and resolves the references the ltm may be huge, use with caution More...

void	loadAllAndResolve (armem::wm::Memory &memory)

armem::wm::Memory	loadAllReferences ()
	return the full ltm as a wm::Memory with only references the ltm may be huge, use with caution More...

void	loadAllReferences (armem::wm::Memory &memory)

armem::wm::Memory	loadLatestNReferences (int n)

void	loadLatestNReferences (int n, armem::wm::Memory &memory)

void	loadLatestNReferences (int n, armem::wm::Memory &memory, std::list< std::string > coreSegNames)

void	loadOnStartup ()

	MemoryBase (const std::string &exportName, const MemoryID &id)

virtual void	resetStatistics ()
	statistics More...

void	resolve (armem::wm::Memory &memory)
	convert the references of the input into a wm::Memory More...

void	startRecording ()
	enable/disable More...

void	stopRecording ()

void	store (const armem::server::wm::Memory &serverMemory)
	append a wm::Memory instance to the ltm More...

void	store (const armem::wm::Memory &memory)
	append a wm::Memory instance to the ltm More...

Public Member Functions inherited from MemoryItem
virtual std::string	getExportName () const

MemoryID	getMemoryID () const

MemoryID	id () const

	MemoryItem (const std::string &exportName, const MemoryID &)

	MemoryItem (const std::string &exportName, const MemoryID &, const std::shared_ptr< Processors > &)

std::string	name () const

void	setExportName (const std::string &n)

void	setMemoryID (const MemoryID &)

void	setMemoryName (const std::string &memoryName)

virtual	~MemoryItem ()=default

Public Member Functions inherited from BufferedMemoryMixin< CoreSegment >
	BufferedMemoryMixin (const MemoryID &id)

void	bufferFinished ()

void	directlyStore (const armem::server::wm::Memory &serverMemory)

void	directlyStore (const armem::wm::Memory &memory)

virtual	~BufferedMemoryMixin ()=default

Public Member Functions inherited from CachedMemoryMixin< CoreSegment >
	CachedMemoryMixin (const MemoryID &id)

Public Member Functions inherited from DiskMemoryItemMixin
void	createPropertyDefinitions (PropertyDefinitionsPtr &defs, const std::string &prefix)

	DiskMemoryItemMixin ()=default

	DiskMemoryItemMixin (const Path &memoryParentPath, const std::string &exportName, const armem::MemoryID &id)

void	ensureFileExists (const std::string &filename, bool createIfNotExistent=false) const

void	ensureFullPathExists (bool createIfNotExistent=false) const

void	ensureMemoryBasePathExists (bool createIfNotExistent=false) const

bool	fileExists (const std::string &filename) const

bool	fullPathExists () const

std::vector< Path >	getAllDirectories () const

std::vector< Path >	getAllFiles () const

Path	getFullPath () const

Path	getMemoryBasePath () const

bool	memoryBasePathExists () const

std::vector< unsigned char >	readDataFromFile (const std::string &filename) const

void	writeDataToFile (const std::string &filename, const std::vector< unsigned char > &data) const

virtual	~DiskMemoryItemMixin ()=default

Public Member Functions inherited from MongoDBStorageMixin
std::optional< mongocxx::collection >	collectionExists () const

std::optional< mongocxx::database >	databaseExists () const

std::optional< nlohmann::json >	documentExists () const

std::optional< nlohmann::json >	documentExists (const std::string &id) const

mongocxx::collection	ensureCollectionExists (bool createIfNotExistent=false)

mongocxx::database	ensureDatabaseExists (bool createIfNotExistent=false)

nlohmann::json	ensureDocumentExists (bool createIfNotExistent=false)

nlohmann::json	ensureDocumentExists (const std::string &id, bool createIfNotExistent=false)

mongocxx::collection	ensurePreviousCollectionExists (bool createIfNotExistent=false)

std::vector< nlohmann::json >	getAllDocuments () const

std::string	getCollectionName () const

std::string	getDatabaseName () const

std::string	getDocumentName () const

std::string	getPreviousCollectionName () const

MongoDBSettings	getSettings () const

	MongoDBStorageMixin ()=default

	MongoDBStorageMixin (const MongoDBSettings &settings, const std::string &exportName, const armem::MemoryID &id)

std::optional< mongocxx::collection >	previousCollectionExists () const

nlohmann::json	readDataFromDocument () const

nlohmann::json	readDataFromDocument (const std::string &id) const

void	writeDataToDocument (const nlohmann::json &data)

void	writeDataToDocument (const std::string &id, const nlohmann::json &data)

void	writeForeignKeyToPreviousDocument ()

void	writeForeignKeyToPreviousDocument (const nlohmann::json &type)

Protected Member Functions
void	_directlyStore (const armem::wm::Memory &) final

void	_loadAllReferences (armem::wm::Memory &) final

void	_loadLatestNReferences (int n, armem::wm::Memory &m) final

void	_loadLatestNReferences (int n, armem::wm::Memory &m, std::list< std::string > coreSegNames) final

void	_loadOnStartup () final

void	_resolve (armem::wm::Memory &) final

void	_store (const armem::wm::Memory &) final

Protected Member Functions inherited from BufferedMemoryMixin< CoreSegment >
void	addToBuffer (const armem::wm::Memory &memory)

void	configureMixin (const nlohmann::json &json)
	configuration More...

void	createPropertyDefinitions (PropertyDefinitionsPtr &defs, const std::string &prefix)

armem::wm::Memory	getBuffer () const

void	setMixinMemoryID (const MemoryID &id)

void	start ()

void	stop ()

void	storeBuffer ()

Protected Member Functions inherited from CachedMemoryMixin< CoreSegment >
void	addToCache (const armem::wm::Memory &memory)

bool	cacheHasCoreSegment (const MemoryID &n) const

bool	cacheHasCoreSegment (const std::string &n) const

bool	cacheHasEntity (const MemoryID &n) const

bool	cacheHasEntityInstance (const MemoryID &n) const

bool	cacheHasEntitySnapshot (const MemoryID &n) const

bool	cacheHasProviderSegment (const MemoryID &n) const

void	configureMixin (const nlohmann::json &json)
	configuration More...

armem::wm::Memory	getCache () const

void	setMixinMemoryID (const MemoryID &id)

Protected Member Functions inherited from DiskMemoryItemMixin
Path	addDateToMemoryBasePath (const std::filesystem::path &n) const

void	configureMixin (const nlohmann::json &json)

void	setMixinExportName (const std::string &n)

void	setMixinMemoryID (const MemoryID &n)

Protected Member Functions inherited from MongoDBStorageMixin
void	configureMixin (const nlohmann::json &json)
	configuration More...

void	connect () const

bool	connected () const

void	setHost (const std::string &)

void	setMixinExportName (const std::string &n)

void	setMixinMemoryID (const armem::MemoryID &)
	setter More...

void	setPassword (const std::string &)

void	setPort (const unsigned int)

void	setUser (const std::string &)

void	start ()
	start More...

void	stop ()

Additional Inherited Members
Static Public Member Functions inherited from MemoryBase< CoreSegment >
static std::string	getLevelName ()
	get level name1 More...

Public Attributes inherited from MemoryBase< CoreSegment >
struct armarx::armem::server::ltm::detail::MemoryBase::Properties	p

Static Public Attributes inherited from DiskMemoryItemMixin
static const int	DEPTH_TO_DATA_FILES

Protected Attributes inherited from MemoryBase< CoreSegment >
std::atomic_bool	enabled

std::recursive_mutex	ltm_mutex

Statistics	statistics

Protected Attributes inherited from MemoryItem
std::shared_ptr< Processors >	processors

Protected Attributes inherited from BufferedMemoryMixin< CoreSegment >
std::unique_ptr< armem::wm::Memory >	buffer
	Internal memory for data consolidated from wm to ltm (double-buffer) The to-put-to-ltm buffer (contains data in plain text) This buffer may still be filtered (e.g. More...

std::atomic_flag	storeFlag

float	storeFrequency
	The frequency (Hz) to store data to the ltm. More...

std::unique_ptr< armem::wm::Memory >	to_store

Protected Attributes inherited from CachedMemoryMixin< CoreSegment >
std::unique_ptr< armem::wm::Memory >	cache

Static Protected Attributes inherited from DiskMemoryItemMixin
static const constexpr char *	DATA_FILENAME = "data.aron"

static const constexpr char *	MEMORY_EXPORT_SUFFIX = "_"

static const constexpr char *	METADATA_FILENAME = "metadata.aron"

static const constexpr char *	TYPE_FILENAME = "type.aron"

Static Protected Attributes inherited from MongoDBStorageMixin
static const constexpr char *	DATA = "_data"

static const constexpr char *	FOREIGN_KEY = "_foreign_key"

static const constexpr char *	ID = "_id"

static const constexpr char *	METADATA = "_metadata"

static const constexpr char *	TYPE = "_type"

Detailed Description

A memory storing data on the hard drive and in mongodb (needs 'armarx memory start' to start the mongod instance)

Definition at line 19 of file Memory.h.

Member Typedef Documentation

◆ BufferedBase

using BufferedBase = detail::mixin::BufferedMemoryMixin<CoreSegment>

Definition at line 28 of file Memory.h.

◆ CachedBase

using CachedBase = detail::mixin::CachedMemoryMixin<CoreSegment>

Definition at line 29 of file Memory.h.

◆ DiskMemoryBase

using DiskMemoryBase = detail::mixin::DiskMemoryItemMixin

Definition at line 30 of file Memory.h.

◆ MemoryBase

using MemoryBase = detail::MemoryBase<CoreSegment>

Definition at line 27 of file Memory.h.

◆ MongoDBStorageMixin

using MongoDBStorageMixin = detail::mixin::MongoDBStorageMixin

Definition at line 31 of file Memory.h.

Constructor & Destructor Documentation

◆ Memory() [1/3]

Memory ( )

Definition at line 21 of file Memory.cpp.

◆ Memory() [2/3]

Memory	(	const detail::mixin::Path &	p,
		const std::string &	exportName,
		const std::string &	memoryName
	)

Definition at line 25 of file Memory.cpp.

◆ Memory() [3/3]

Memory	(	const detail::mixin::Path &	p,
		const detail::mixin::MongoDBSettings &	s,
		const std::string &	exportName,
		const std::string &	memoryName
	)

Definition at line 33 of file Memory.cpp.

Member Function Documentation

◆ _configure()

void _configure ( const nlohmann::json & )

finalvirtual

configuration

Reimplemented from MemoryBase< CoreSegment >.

Definition at line 11 of file Memory.cpp.

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◆ _directlyStore()

void _directlyStore ( const armem::wm::Memory & memory )

finalprotectedvirtual

Implements MemoryBase< CoreSegment >.

Definition at line 264 of file Memory.cpp.

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◆ _disable()

void _disable ( )

finalvirtual

Reimplemented from MemoryBase< CoreSegment >.

Definition at line 62 of file Memory.cpp.

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◆ _enable()

void _enable ( )

finalvirtual

Reimplemented from MemoryBase< CoreSegment >.

Definition at line 55 of file Memory.cpp.

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◆ _loadAllReferences()

void _loadAllReferences ( armem::wm::Memory & m )

finalprotectedvirtual

Implements MemoryBase< CoreSegment >.

Definition at line 178 of file Memory.cpp.

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◆ _loadLatestNReferences() [1/2]

void _loadLatestNReferences	(	int	n,
		armem::wm::Memory &	m
	)

finalprotectedvirtual

Implements MemoryBase< CoreSegment >.

Definition at line 194 of file Memory.cpp.

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◆ _loadLatestNReferences() [2/2]

void _loadLatestNReferences	(	int	n,
		armem::wm::Memory &	m,
		std::list< std::string >	coreSegNames
	)

finalprotectedvirtual

Implements MemoryBase< CoreSegment >.

Definition at line 209 of file Memory.cpp.

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◆ _loadOnStartup()

void _loadOnStartup ( )

finalprotectedvirtual

Implements MemoryBase< CoreSegment >.

Definition at line 305 of file Memory.cpp.

◆ _resolve()

void _resolve ( armem::wm::Memory & m )

finalprotectedvirtual

Implements MemoryBase< CoreSegment >.

Definition at line 232 of file Memory.cpp.

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◆ _setExportName()

void _setExportName ( const std::string & n )

finalvirtual

Reimplemented from MemoryBase< CoreSegment >.

Definition at line 48 of file Memory.cpp.

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◆ _setMemoryID()

void _setMemoryID ( const MemoryID & id )

finalvirtual

Reimplemented from MemoryItem.

Definition at line 71 of file Memory.cpp.

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◆ _store()

void _store ( const armem::wm::Memory & m )

finalprotectedvirtual

Implements MemoryBase< CoreSegment >.

Definition at line 258 of file Memory.cpp.

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◆ createPropertyDefinitions()

void createPropertyDefinitions	(	PropertyDefinitionsPtr &	defs,
		const std::string &	prefix
	)

overridevirtual

default parameters. Implementation should use the configuration to configure

Reimplemented from MemoryBase< CoreSegment >.

Definition at line 170 of file Memory.cpp.

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◆ findCoreSegment()

std::unique_ptr< CoreSegment > findCoreSegment ( const std::string & ) const

finalvirtual

find core segment

Implements MemoryBase< CoreSegment >.

Definition at line 153 of file Memory.cpp.

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◆ forEachCoreSegment()

bool forEachCoreSegment ( std::function< void(CoreSegment &)> func ) const

finalvirtual

iterate over all core segments of this ltm

Implements MemoryBase< CoreSegment >.

Definition at line 82 of file Memory.cpp.

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◆ getAndSaveStatistics()

void getAndSaveStatistics ( )

getAndSaveStatistics generates and saves statistics for a LTM recording

Definition at line 311 of file Memory.cpp.

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◆ hasCoreSegment()

bool hasCoreSegment ( const std::string & ) const

finalvirtual

check if core segment exists

Implements MemoryBase< CoreSegment >.

Definition at line 116 of file Memory.cpp.

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The documentation for this class was generated from the following files:

RobotAPI/libraries/armem/server/ltm/Memory.h
RobotAPI/libraries/armem/server/ltm/Memory.cpp

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ BufferedBase

◆ CachedBase

◆ DiskMemoryBase

◆ MemoryBase

◆ MongoDBStorageMixin

Constructor & Destructor Documentation

◆ Memory() [1/3]

◆ Memory() [2/3]

◆ Memory() [3/3]

Member Function Documentation

◆ _configure()

◆ _directlyStore()

◆ _disable()

◆ _enable()

◆ _loadAllReferences()

◆ _loadLatestNReferences() [1/2]

◆ _loadLatestNReferences() [2/2]

◆ _loadOnStartup()

◆ _resolve()

◆ _setExportName()

◆ _setMemoryID()

◆ _store()

◆ createPropertyDefinitions()

◆ findCoreSegment()

◆ forEachCoreSegment()

◆ getAndSaveStatistics()

◆ hasCoreSegment()