PeriodicUpdateWorker.cpp

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2012-2025, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    RobotStateComponent::
 * @author     Samet Soenmez (uewtt at student dot kit dot edu)
 * @date       2025t
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "PeriodicUpdateWorker.h"
 
#include <iomanip>
 
#include <QTimer>
 
#include <ArmarXCore/core/time/TimeUtil.h>
#include <ArmarXCore/observers/variant/Variant.h>
 
namespace armarx::armem::gui::controller
{
    PeriodicUpdateWorker::PeriodicUpdateWorker(
        std::shared_ptr<armem::gui::model::MemoryViewerModel> model)
    {
        _model = std::move(model);
 
    }
 
    void PeriodicUpdateWorker::init()
    {
        // this function can not be called in the constructur, otherwise
        // the objects (here timers) will be created in the wrong thread.
        
        _periodicTimer = new QTimer(this);
        _periodicTimer->setInterval(1000 / 60); // Keep this stable.
        connect(_periodicTimer,
                &QTimer::timeout,
                this,
                &This::onPeriodicTimerTimeout);
 
        _autoUpdateTimer = new QTimer(this);
        connect(_autoUpdateTimer,
                &QTimer::timeout,
                this,
                &This::onUpdate);
        
    }
 
    void PeriodicUpdateWorker::cleanup()
    {
        _periodicTimer->deleteLater();
        _periodicTimer = nullptr;
 
        _autoUpdateTimer->deleteLater();
        _autoUpdateTimer = nullptr;
    }
 
    void PeriodicUpdateWorker::startPeriodicTimer()
    {
        _periodicTimer->start();
    }
 
    void PeriodicUpdateWorker::stopPeriodicTimer()
    {
        _periodicTimer->stop();
    }
 
    void PeriodicUpdateWorker::onPeriodicTimerTimeout()
    {
        updateMemoryReadersWriters();
        processQueryResults();
    }
 
    void PeriodicUpdateWorker::startAutoUpdateTimer()
    {
        _autoUpdateTimer->start();
    }
 
    void PeriodicUpdateWorker::stopAutoUpdateTimer()
    {
        _autoUpdateTimer->stop();
    }
 
    void PeriodicUpdateWorker::setAutoUpdateTimerInterval(int freq)
    {
        _autoUpdateTimer->setInterval(freq);
    }
 
    void PeriodicUpdateWorker::onUpdate()
    {
        emit showLoadingLabel();
        startDueQueries();
        _updateLabelAndTree = true;
    }
 
    void PeriodicUpdateWorker::startDueQueries()
    {
        armem::client::QueryInput input = _model->queryInput();
        int recursionDepth = _model->recursionDepth();
 
        // Can't use a structured binding here because you can't capture those in a lambda
        // according to the C++ standard.
        auto enabledMemories = _model->getEnabledMemories();
        for (const auto& pair : _model->memoryReadersCopy())
        {
            // skip if memory should not be queried
            if (std::find(enabledMemories.begin(), enabledMemories.end(), pair.first) ==
                enabledMemories.end())
            {
                continue;
            }
 
            const auto& name = pair.first;
            const auto& reader = pair.second;
 
            // skip if query already running
            if (_runningQueries.count(name) != 0)
            {
                continue;
            }
 
            // You could pass the query function itself to async here,
            // but that caused severe template headaches when I tried it.
            _runningQueries[name] = std::async(
                std::launch::async,
                [reader, input, recursionDepth, this]()
                {
                    // Can't resolve MemoryLinks without data
                    return recursionDepth == 0 || input.dataMode == armem::query::DataMode::NoData
                               ? reader.query(input.toIce())
                               : reader.query(input.toIce(), _model->mns(), recursionDepth);
                });
        }
    }
 
    void
    PeriodicUpdateWorker::processQueryResults()
    {
        const std::map<std::string, client::QueryResult> results = collectQueryResults();
 
        int errorCount = 0;
        if (results.size() > 0)
        {
            // this means we have actual query results
            applyQueryResults(results, &errorCount);
            _updateLabelAndTree = true;
        }
        if (_updateLabelAndTree)
        {
            _updateLabelAndTree = false;
            emit updateLabelAndTree(errorCount);
        }
    }
 
    std::map<std::string, client::QueryResult>
    PeriodicUpdateWorker::collectQueryResults()
    {
 
        TIMING_START(tCollectQueryResults)
 
        std::map<std::string, client::QueryResult> results;
        for (auto it = _runningQueries.begin(); it != _runningQueries.end();)
        {
            const std::string& name = it->first;
            std::future<armem::query::data::Result>* queryPromise = &it->second;
 
            if (queryPromise->wait_for(std::chrono::seconds(0)) == std::future_status::ready)
            {
                auto readers = _model->memoryReadersCopy();
                if (auto jt = readers.find(name); jt != readers.end())
                {
                    try
                    {
                        results[name] = client::QueryResult::fromIce(queryPromise->get());
                    }
                    catch (const Ice::ConnectionRefusedException&)
                    {
                        // Server is gone (MNS did not know about it yet) => Skip result.
                    }
                }
                // else: Server is gone (MNS knew about it) => Skip result.
 
                // Promise is completed => Clean up in any case.
                it = _runningQueries.erase(it);
            }
            else
            {
                ++it; // Uncompleted => Keep.
            }
        }
 
        TIMING_END_STREAM(tCollectQueryResults, ARMARX_VERBOSE)
        if (_model->debugObserver())
        {
            _model->debugObserver()->begin_setDebugChannel(
                Logging::tag.tagName,
                {
                    {"t Collect Query Results [ms]",
                     new Variant(tCollectQueryResults.toMilliSecondsDouble())},
                    {"# Collected Query Results", new Variant(static_cast<int>(results.size()))},
                });
        }
 
        return results;
    }
 
    void
    PeriodicUpdateWorker::applyQueryResults(const std::map<std::string, client::QueryResult>& results,
                                    int* outErrorCount)
    {
        TIMING_START(tProcessQueryResults)
        auto memoryData = _model->memoryDataCopy();
        for (const auto& [name, result] : results)
        {
            if (result.success)
            {
                memoryData[name] = std::move(result.memory);
            }
            else
            {
                ARMARX_WARNING << "Querying memory server '" << name << "' produced an error: \n"
                               << result.errorMessage;
                if (outErrorCount)
                {
                    (*outErrorCount)++;
                }
            }
        }
 
        // Perhaps remove entries
        auto enabledMemories = _model->getEnabledMemories();
        for (auto it = memoryData.begin(); it != memoryData.end();)
        {
            // Drop all entries in memoryData which are not in memoryReaders anymore.
            if (_model->memoryReadersCopy().count(it->first) == 0)
            {
                if (_model->dropRemovedMemories())
                {
                    it = memoryData.erase(it);
                }
                else
                {
                    ++it;
                }
                continue;
            }
 
            // Drop all entries that are not enabled by user (which means that there is no query result)
            if (std::find(enabledMemories.begin(), enabledMemories.end(), it->first) ==
                enabledMemories.end())
            {
                if (_model->dropDisabledMemories())
                {
                    it = memoryData.erase(it);
                }
                else
                {
                    ++it;
                }
                continue;
            }
 
            // Memory found
            ++it;
        }
        _model->setMemoryData(memoryData);
 
        TIMING_END_STREAM(tProcessQueryResults, ARMARX_VERBOSE)
        if (_model->debugObserver())
        {
            _model->debugObserver()->begin_setDebugChannel(
                Logging::tag.tagName,
                {
                    {"t Process Query Results [ms]",
                     new Variant(tProcessQueryResults.toMilliSecondsDouble())},
                    {"# Processed Query Results", new Variant(static_cast<int>(results.size()))},
                });
        }
    }
 
    void
    PeriodicUpdateWorker::updateMemoryReadersWriters()
    {
        if (_model->connected() and _model->mns()) // mns must be connected and mns must be available
        {
            try
            {
 
                auto readers = _model->mns().getAllReaders(true);
                auto writers = _model->mns().getAllWriters(true);
                _model->setMemoryReaders(readers);
                _model->setMemoryWriters(writers);
 
                std::vector<std::string> activeMemoryNames;
 
                // add all active memories to update list
                std::transform(readers.begin(),
                               readers.end(),
                               std::back_inserter(activeMemoryNames),
                               [](const auto& p) { return p.first; });
 
 
                // only update if memories changed
                if (activeMemoryNames != _activeMemoryNames)
                {
                    _activeMemoryNames = activeMemoryNames;
 
                    // convertion into QStringList is necessary for signal/slot in this case
                    QStringList qnames;
                    for (auto &s : activeMemoryNames) {
                        qnames << QString::fromStdString(s);
                    }
                    emit updateQueryWidget(qnames);
                }
            }
            catch (...)
            {
                // MNS was killed/stopped
                // ignore?!
            }
        }
        else
        {
            ARMARX_VERBOSE
                << deactivateSpam()
                << "MNS not ready yet. Skip update of available memories in query widget.";
        }
    }
 
}