The LongtermMemory class provides persistent data that has been learned or copied as a snapshot from working memory. More...

#include <MemoryX/components/LongtermMemory/LongtermMemory.h>

Inheritance diagram for LongtermMemory:

Public Member Functions
AbstractMemorySegmentPrx	addGenericSegment (const std::string &segmentName, const Ice::Current &) override

armarx::PropertyDefinitionsPtr	createPropertyDefinitions () override

CommonStorageInterfacePrx	getCommonStorage (const ::Ice::Current &c=Ice::emptyCurrent) const override

PersistentObjectInstanceSegmentBasePrx	getCustomInstancesSegment (const std::string &segmentName, bool createIfMissing, const ::Ice::Current &c=Ice::emptyCurrent) override

std::string	getDefaultName () const override
	Retrieve default name of component. More...

PersistentDMPDataSegmentBasePrx	getDMPSegment (const ::Ice::Current &=Ice::emptyCurrent) override

KBMSegmentBasePrx	getKBMSegment (const Ice::Current &) override

std::string	getMemoryName (const Ice::Current &=Ice::emptyCurrent) const override

OacMemorySegmentBasePrx	getOacSegment (const ::Ice::Current &=Ice::emptyCurrent) override

PersistentObjectClassSegmentBasePrx	getObjectClassesSegment (const ::Ice::Current &c=Ice::emptyCurrent) const override

PersistentPredictionDataSegmentBasePrx	getPredictionDataSegment (const Ice::Current &c=Ice::emptyCurrent) override

PersistentProfilerDataSegmentBasePrx	getProfilerDataSegment (const Ice::Current &c=Ice::emptyCurrent) override

PersistentResourceProfileSegmentBasePrx	getResourceProfileSegment (const Ice::Current &c=Ice::emptyCurrent) override

PersistentEntitySegmentBasePrx	getSelfLocalisationSegment (const Ice::Current &c=Ice::emptyCurrent) override

NameList	getSnapshotNames (const ::Ice::Current &=Ice::emptyCurrent) override

WorkingMemorySnapshotListSegmentBasePrx	getWorkingMemorySnapshotListSegment (const ::Ice::Current &=Ice::emptyCurrent) override

void	loadWorkingMemorySnapshot (const std::string &snapshotName, const AbstractWorkingMemoryInterfacePrx &workingMemory, const ::Ice::Current &=Ice::emptyCurrent) override

void	onConnectLongtermMemory () override

void	onInitLongtermMemory () override

WorkingMemorySnapshotInterfacePrx	openWorkingMemorySnapshot (const std::string &snapshotName, const ::Ice::Current &=Ice::emptyCurrent) override

bool	removeWorkingMemorySnapshot (const std::string &snapshotName, const ::Ice::Current &=Ice::emptyCurrent) override

bool	saveWorkingMemorySnapshot (const std::string &snapshotName, const AbstractWorkingMemoryInterfacePrx &workingMemory, const ::Ice::Current &=Ice::emptyCurrent) override

Public Member Functions inherited from AbstractLongtermMemory
void	clear (const ::Ice::Current &=Ice::emptyCurrent) override

armarx::PropertyDefinitionsPtr	createPropertyDefinitions () override

std::string	getDefaultName () const override
	Retrieve default name of component. More...

Ice::ObjectAdapterPtr	getObjectAdapter () const override

void	onConnectComponent () override
	Pure virtual hook for the subclass. More...

void	onInitComponent () override
	Pure virtual hook for the subclass. More...

Public Member Functions inherited from SegmentedMemory
AbstractMemorySegmentPrx	addSegment (const std::string &segmentName, const AbstractMemorySegmentPtr &segment, const ::Ice::Current &=Ice::emptyCurrent) override

EntityBasePtr	findEntityById (const std::string &entityId, const Ice::Current &c=Ice::emptyCurrent) override

EntityRefBasePtr	findEntityRefById (const std::string &entityId, const Ice::Current &c=Ice::emptyCurrent) override

AbstractMemorySegmentPrx	getSegment (const std::string &segmentName, const ::Ice::Current &=Ice::emptyCurrent) const override

NameList	getSegmentNames (const ::Ice::Current &=Ice::emptyCurrent) const override

AbstractMemorySegmentPtr	getSegmentPtr (const std::string &segmentName)

bool	hasSegment (const std::string &segmentName, const ::Ice::Current &=Ice::emptyCurrent) const override

void	removeSegment (const std::string &segmentName, const ::Ice::Current &=Ice::emptyCurrent) override

	SegmentedMemory ()

Public Member Functions inherited from Component
virtual void	componentPropertiesUpdated (const std::set< std::string > &changedProperties)
	Implement this function if you would like to react to changes in the properties. More...

void	forceComponentCreatedByComponentCreateFunc ()
	forces the flag to be set to true that the object instance was created by the Component::create function More...

std::vector< PropertyUserPtr >	getAdditionalPropertyUsers () const

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name)

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name) const

template<class T >
void	getProperty (std::atomic< T > &val, const std::string &name) const

template<class T >
void	getProperty (T &val, const std::string &name) const

template<class ProxyType >
ProxyType	getProxyFromProperty (const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Get a proxy whose name is specified by the given property. More...

template<class ProxyType >
void	getProxyFromProperty (ProxyType &proxy, const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)

template<class TopicProxyType >
TopicProxyType	getTopicFromProperty (const std::string &propertyName)
	Get a topic proxy whose name is specified by the given property. More...

template<class TopicProxyType >
void	getTopicFromProperty (TopicProxyType &top, const std::string &propertyName)

void	initializeProperties (const std::string &configName, Ice::PropertiesPtr const &properties, const std::string &configDomain)
	initializes the properties of this component. More...

void	injectPropertyDefinitions (PropertyDefinitionsPtr &props) override

void	offeringTopicFromProperty (const std::string &propertyName)
	Offer a topic whose name is specified by the given property. More...

virtual void	preOnConnectComponent () override

virtual void	preOnInitComponent () override

bool	usingProxyFromProperty (const std::string &propertyName, const std::string &endpoints="")
	Use a proxy whose name is specified by the given property. More...

void	usingTopicFromProperty (const std::string &propertyName, bool orderedPublishing=false)
	Use a topic whose name is specified by the given property. More...

Public Member Functions inherited from ManagedIceObject
void	enableProfiler (bool enable)
	setProfiler allows setting ManagedIceObject::profiler to a new instance (if the new instance is actually not a null pointer) More...

std::string	generateSubObjectName (const std::string &subObjectName)
	Generates a unique name for a sub object from a general name. More...

ArmarXManagerPtr	getArmarXManager () const
	Returns the ArmarX manager used to add and remove components. More...

ManagedIceObjectConnectivity	getConnectivity () const
	Retrieve connectivity of the object (topcis as well as proxies) More...

IceManagerPtr	getIceManager () const
	Returns the IceManager. More...

VariantBasePtr	getMetaInfo (const std::string &id)

StringVariantBaseMap	getMetaInfoMap () const

std::string	getName () const
	Retrieve name of object. More...

Ice::ObjectAdapterPtr	getObjectAdapter () const
	Returns object's Ice adapter. More...

ArmarXObjectSchedulerPtr	getObjectScheduler () const

PeriodicTaskPtr	getPeriodicTask (const std::string &name)

Profiler::ProfilerPtr	getProfiler () const
	getProfiler returns an instance of armarx::Profiler More...

template<class ProxyTarg , class... Args>
void	getProxy (const char *name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&...args)

template<class ProxyType >
ProxyType	getProxy (const std::string &name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Retrieves a proxy object. More...

template<class ProxyTarg , class... Args>
void	getProxy (const std::string &name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&...args)

template<class ProxyTarg , class... Args>
void	getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const char *name, Args &&...args)

template<class ProxyTarg , class... Args>
void	getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const std::string &name, Args &&...args)
	Assigns a proxy to `proxy`. More...

Ice::ObjectPrx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const
	Returns the proxy of this object (optionally it waits for the proxy) More...

template<class Prx >
Prx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const

template<class ProxyType >
void	getProxy (ProxyType &proxy, const char *name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Overload to allow using string literals as name (solve ambiguous overload). More...

template<class Prx >
void	getProxy (Prx &prx, long timeoutMs=0, bool waitForScheduler=true) const

int	getState () const
	Retrieve current state of the ManagedIceObject. More...

template<class TopicProxyType >
TopicProxyType	getTopic (const std::string &name)
	Returns a proxy of the specified topic. More...

template<class TopicProxyType >
void	getTopic (TopicProxyType &topicProxy, const std::string &name)
	Assigns a proxy of the specified topic to `topicProxy`. More...

std::vector< std::string >	getUnresolvedDependencies () const
	returns the names of all unresolved dependencies More...

	ManagedIceObject (ManagedIceObject const &other)

void	offeringTopic (const std::string &name)
	Registers a topic for retrival after initialization. More...

void	preambleGetTopic (std::string const &name)

void	setMetaInfo (const std::string &id, const VariantBasePtr &value)
	Allows to set meta information that can be queried live via Ice interface on the ArmarXManager. More...

void	startPeriodicTask (const std::string &uniqueName, std::function< void(void)> f, int periodMs, bool assureMeanInterval=false, bool forceSystemTime=true)

bool	stopPeriodicTask (const std::string &name)

bool	unsubscribeFromTopic (const std::string &name)
	Unsubscribe from a topic. More...

bool	usingProxy (const std::string &name, const std::string &endpoints="")
	Registers a proxy for retrieval after initialization and adds it to the dependency list. More...

void	usingTopic (const std::string &name, bool orderedPublishing=false)
	Registers a proxy for subscription after initialization. More...

void	waitForObjectScheduler ()
	Waits until the ObjectScheduler could resolve all dependencies. More...

void	waitForProxy (std::string const &name, bool addToDependencies)

Public Member Functions inherited from Logging
SpamFilterDataPtr	deactivateSpam (float deactivationDurationSec=10.0f, const std::string &identifier="", bool deactivate=true) const
	disables the logging for the current line for the given amount of seconds. More...

MessageTypeT	getEffectiveLoggingLevel () const

	Logging ()

void	setLocalMinimumLoggingLevel (MessageTypeT level)
	With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set. More...

void	setTag (const LogTag &tag)

void	setTag (const std::string &tagName)

virtual	~Logging ()

Public Member Functions inherited from PropertyUser
std::vector< std::string >	getComponentProxyNames ()

Ice::PropertiesPtr	getIceProperties () const
	Returns the set of Ice properties. More...

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name)
	Property creation and retrieval. More...

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name) const
	Hack to allow using getProperty in `const`-modified methods. More...

template<class T >
void	getProperty (std::atomic< T > &val, const std::string &name) const

template<class T >
void	getProperty (T &val, const std::string &name) const

template<class T >
std::vector< T >	getPropertyAsCSV (const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)

template<class ContainerT >
void	getPropertyAsCSV (ContainerT &val, const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)

PropertyDefinitionsPtr	getPropertyDefinitions ()
	Returns the component's property definition container. More...

std::vector< std::string >	getSubscribedTopicNames ()

std::vector< std::string >	getTopicProxyNames ()

bool	hasProperty (const std::string &name)

	PropertyUser ()

virtual void	setIceProperties (Ice::PropertiesPtr properties)
	Sets the Ice properties. More...

bool	tryAddProperty (const std::string &propertyName, const std::string &value)

virtual void	updateIceProperties (const std::map< std::string, std::string > &changes)

void	updateProperties ()

void	updateProxies (IceManagerPtr)

	~PropertyUser () override

Additional Inherited Members
Public Types inherited from ManagedIceObject
using	PeriodicTaskPtr = IceUtil::Handle< SimplePeriodicTask< std::function< void(void)> >>

Static Public Member Functions inherited from Component
template<class T , class TPtr = IceInternal::Handle<T>>
static TPtr	create (Ice::PropertiesPtr properties=Ice::createProperties(), const std::string &configName="", const std::string &configDomain="ArmarX")
	Factory method for a component. More...

Static Public Member Functions inherited from ManagedIceObject
static std::string	generateSubObjectName (const std::string &superObjectName, const std::string &subObjectName)
	Generates a unique name for a sub object from a general name and unique name. More...

static std::string	GetObjectStateAsString (int state)

Static Public Attributes inherited from ManagedIceObject
static const ManagedIceObjectPtr	NullPtr
	A nullptr to be used when a const ref to a nullptr is required. More...

Protected Member Functions inherited from SegmentedMemory
	~SegmentedMemory () override

Protected Member Functions inherited from Component
void	addPropertyUser (const PropertyUserPtr &subPropertyUser)
	Add additional property users here that should show up in the application help text. More...

	Component ()
	Protected default constructor. Used for virtual inheritance. Use createManagedIceObject() instead. More...

std::string	getConfigDomain ()
	Retrieve config domain for this component as set in constructor. More...

std::string	getConfigIdentifier ()
	Retrieve config identifier for this component as set in constructor. More...

std::string	getConfigName ()
	Retrieve config name for this component as set in constructor. More...

virtual void	icePropertiesInitialized ()

Protected Member Functions inherited from ManagedIceObject
template<class PluginT , class... ParamsT>
PluginT *	addPlugin (const std::string prefix="", ParamsT &&...params)

template<class PluginT , class... ParamsT>
void	addPlugin (PluginT *&targ, const std::string prefix="", ParamsT &&...params)

template<class PluginT , class... ParamsT>
void	addPlugin (std::experimental::observer_ptr< PluginT > &targ, const std::string prefix="", ParamsT &&...params)

Ice::CommunicatorPtr	getCommunicator () const

std::unique_ptr< ManagedIceObjectPlugin > &	getPluginPointer (std::type_info const &type, std::string const &prefix)

	ManagedIceObject ()
	Protected default constructor. More...

virtual void	onDisconnectComponent ()
	Hook for subclass. More...

virtual void	onExitComponent ()
	Hook for subclass. More...

virtual void	postOnConnectComponent ()

virtual void	postOnDisconnectComponent ()

virtual void	postOnExitComponent ()

virtual void	postOnInitComponent ()

virtual void	preOnDisconnectComponent ()

virtual void	preOnExitComponent ()

bool	removeProxyDependency (const std::string &name)
	This function removes the dependency of this object on the in parameter name specified object. More...

void	setName (std::string name)
	Override name of well-known object. More...

void	terminate ()
	Initiates termination of this IceManagedObject. More...

	~ManagedIceObject () override

Protected Member Functions inherited from Logging
bool	checkLogLevel (MessageTypeT level) const

const LogSenderPtr &	getLogSender () const
	Retrieve log sender. More...

LogSenderPtr	loghelper (const char file, int line, const char function) const

Protected Attributes inherited from AbstractLongtermMemory
std::string	dbName

MongoSerializerPtr	dbSerializer

Ice::CommunicatorPtr	ic

CommonStorageInterfacePrx	storagePrx

Protected Attributes inherited from SegmentedMemory
MemorySegmentMap	segments

std::shared_mutex	segmentsMutex

Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Detailed Description

The LongtermMemory class provides persistent data that has been learned or copied as a snapshot from working memory.

The LongtermMemory is a segmented memory and provides methods to store the current WorkingMemory into a snapshot and to fill the WorkingMemory with previously stored snapshots.

See memoryx::LongtermMemory - "offline" memory, built mostly from earlier experience

Definition at line 65 of file LongtermMemory.h.

Member Function Documentation

◆ addGenericSegment()

AbstractMemorySegmentPrx addGenericSegment	(	const std::string &	segmentName,
		const Ice::Current &
	)

override

Definition at line 264 of file LongtermMemory.cpp.

◆ createPropertyDefinitions()

armarx::PropertyDefinitionsPtr createPropertyDefinitions ( )

inlineoverridevirtual

See also: PropertyUser::createPropertyDefinitions()

Reimplemented from Component.

Definition at line 102 of file LongtermMemory.h.

◆ getCommonStorage()

CommonStorageInterfacePrx getCommonStorage ( const ::Ice::Current & c = Ice::emptyCurrent ) const

override

Definition at line 240 of file LongtermMemory.cpp.

◆ getCustomInstancesSegment()

PersistentObjectInstanceSegmentBasePrx getCustomInstancesSegment	(	const std::string &	segmentName,
		bool	createIfMissing,
		const ::Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 116 of file LongtermMemory.cpp.

Here is the call graph for this function:

◆ getDefaultName()

std::string getDefaultName ( ) const

overridevirtual

Retrieve default name of component.

Implement this method in each IceManagedObject. The default name of a is used if no name is specified in the factory method.

Returns: default name of the component (e.g. "KinematicUnit")

Implements ManagedIceObject.

Definition at line 43 of file LongtermMemory.cpp.

◆ getDMPSegment()

PersistentDMPDataSegmentBasePrx getDMPSegment ( const ::Ice::Current & = Ice::emptyCurrent )

override

Definition at line 252 of file LongtermMemory.cpp.

Here is the call graph for this function:

◆ getKBMSegment()

KBMSegmentBasePrx getKBMSegment ( const Ice::Current & c )

override

Definition at line 234 of file LongtermMemory.cpp.

Here is the call graph for this function:

◆ getMemoryName()

std::string getMemoryName ( const Ice::Current & = Ice::emptyCurrent ) const

override

Definition at line 205 of file LongtermMemory.cpp.

Here is the call graph for this function:

◆ getOacSegment()

OacMemorySegmentBasePrx getOacSegment ( const ::Ice::Current & c = Ice::emptyCurrent )

override

Definition at line 228 of file LongtermMemory.cpp.

Here is the call graph for this function:

◆ getObjectClassesSegment()

PersistentObjectClassSegmentBasePrx getObjectClassesSegment ( const ::Ice::Current & c = Ice::emptyCurrent ) const

override

Definition at line 246 of file LongtermMemory.cpp.

Here is the call graph for this function:

◆ getPredictionDataSegment()

PersistentPredictionDataSegmentBasePrx getPredictionDataSegment ( const Ice::Current & c = Ice::emptyCurrent )

override

Definition at line 216 of file LongtermMemory.cpp.

Here is the call graph for this function:

◆ getProfilerDataSegment()

PersistentProfilerDataSegmentBasePrx getProfilerDataSegment ( const Ice::Current & c = Ice::emptyCurrent )

override

Definition at line 211 of file LongtermMemory.cpp.

Here is the call graph for this function:

◆ getResourceProfileSegment()

PersistentResourceProfileSegmentBasePrx getResourceProfileSegment ( const Ice::Current & c = Ice::emptyCurrent )

override

Definition at line 222 of file LongtermMemory.cpp.

Here is the call graph for this function:

◆ getSelfLocalisationSegment()

PersistentEntitySegmentBasePrx getSelfLocalisationSegment ( const Ice::Current & c = Ice::emptyCurrent )

override

Definition at line 258 of file LongtermMemory.cpp.

◆ getSnapshotNames()

NameList getSnapshotNames ( const ::Ice::Current & c = Ice::emptyCurrent )

override

Definition at line 190 of file LongtermMemory.cpp.

Here is the call graph for this function:

◆ getWorkingMemorySnapshotListSegment()

WorkingMemorySnapshotListSegmentBasePrx getWorkingMemorySnapshotListSegment ( const ::Ice::Current & c = Ice::emptyCurrent )

override

Definition at line 110 of file LongtermMemory.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ loadWorkingMemorySnapshot()

void loadWorkingMemorySnapshot	(	const std::string &	snapshotName,
		const AbstractWorkingMemoryInterfacePrx &	workingMemory,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 134 of file LongtermMemory.cpp.

Here is the call graph for this function:

◆ onConnectLongtermMemory()

void onConnectLongtermMemory ( )

overridevirtual

Implements AbstractLongtermMemory.

Definition at line 57 of file LongtermMemory.cpp.

Here is the call graph for this function:

◆ onInitLongtermMemory()

void onInitLongtermMemory ( )

overridevirtual

Implements AbstractLongtermMemory.

Definition at line 48 of file LongtermMemory.cpp.

Here is the call graph for this function:

◆ openWorkingMemorySnapshot()

WorkingMemorySnapshotInterfacePrx openWorkingMemorySnapshot	(	const std::string &	snapshotName,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 160 of file LongtermMemory.cpp.

Here is the call graph for this function:

◆ removeWorkingMemorySnapshot()

bool removeWorkingMemorySnapshot	(	const std::string &	snapshotName,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 175 of file LongtermMemory.cpp.

Here is the call graph for this function:

◆ saveWorkingMemorySnapshot()

bool saveWorkingMemorySnapshot	(	const std::string &	snapshotName,
		const AbstractWorkingMemoryInterfacePrx &	workingMemory,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 145 of file LongtermMemory.cpp.

Here is the call graph for this function:

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

MemoryX/components/LongtermMemory/LongtermMemory.h
MemoryX/components/LongtermMemory/LongtermMemory.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ addGenericSegment()

◆ createPropertyDefinitions()

◆ getCommonStorage()

◆ getCustomInstancesSegment()

◆ getDefaultName()

◆ getDMPSegment()

◆ getKBMSegment()

◆ getMemoryName()

◆ getOacSegment()

◆ getObjectClassesSegment()

◆ getPredictionDataSegment()

◆ getProfilerDataSegment()

◆ getResourceProfileSegment()

◆ getSelfLocalisationSegment()

◆ getSnapshotNames()

◆ getWorkingMemorySnapshotListSegment()

◆ loadWorkingMemorySnapshot()

◆ onConnectLongtermMemory()

◆ onInitLongtermMemory()

◆ openWorkingMemorySnapshot()

◆ removeWorkingMemorySnapshot()

◆ saveWorkingMemorySnapshot()