MemoryToDebugObserver.cpp

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/*
 * This file is part of ArmarX.
 *
 * 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    RobotAPI::ArmarXObjects::MemoryToDebugObserver
 * @author     Rainer Kartmann ( rainer dot kartmann at kit dot edu )
 * @date       2023
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "MemoryToDebugObserver.h"
 
#include <array>
#include <cstdint>
#include <mutex>
#include <optional>
#include <string>
#include <utility>
#include <vector>
 
#include <Eigen/Core>
 
#include <SimoxUtility/algorithm/string/string_tools.h>
#include <SimoxUtility/math/convert/mat4f_to_rpy.h>
 
#include <RobotAPI/libraries/armem/core/error/mns.h>
#include <RobotAPI/libraries/armem/core/json_conversions.h>
#include <RobotAPI/libraries/aron/core/data/variant/Variant.h>
#include <RobotAPI/libraries/aron/core/data/variant/complex/NDArray.h>
#include <RobotAPI/libraries/aron/core/data/variant/primitive/All.h>
#include <RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.h>
 
namespace armarx::armem::client::util
{
 
    MemoryToDebugObserver::MemoryToDebugObserver(const Properties& properties,
                                                 const Services& services) :
        properties(properties), services(services)
    {
        services.debugObserver.setDebugObserverBatchModeEnabled(true);
    }
 
    class Visitor : public aron::data::ConstVariantVisitor
    {
    public:
        Visitor(armarx::DebugObserverHelper& debugObserver) : debugObserver{debugObserver}
        {
        }
 
        // void visitAronVariant(const data::DictPtr&) override;
        // void visitAronVariant(const data::ListPtr&) override;
        void
        visitAronVariant(const aron::data::NDArrayPtr& v) override
        {
            if (not v)
            {
                return;
            }
            for (const auto& [suffix, value] : MemoryToDebugObserver::decomposeNDArray(*v))
            {
                setDatafield(datafieldName + suffix, value);
            }
        }
 
        void
        visitAronVariant(const aron::data::IntPtr& v) override
        {
            setDatafield(v->getValue());
        }
 
        void
        visitAronVariant(const aron::data::LongPtr& v) override
        {
            setDatafield(v->getValue());
        }
 
        void
        visitAronVariant(const aron::data::FloatPtr& v) override
        {
            setDatafield(v->getValue());
        }
 
        void
        visitAronVariant(const aron::data::DoublePtr& v) override
        {
            setDatafield(v->getValue());
        }
 
        void
        visitAronVariant(const aron::data::BoolPtr& v) override
        {
            setDatafield(v->getValue());
        }
 
        void
        visitAronVariant(const aron::data::StringPtr& v) override
        {
            setDatafield(v->getValue());
        }
 
        template <class ValueT>
        void
        setDatafield(const std::string& datafield, const ValueT& value)
        {
            debugObserver.setDebugObserverDatafield(channelName, datafield, value);
            pushed[channelName].insert(datafield);
            ++count;
        }
 
        template <class ValueT>
        void
        setDatafield(const ValueT& value)
        {
            setDatafield(datafieldName, value);
        }
 
        armarx::DebugObserverHelper& debugObserver;
        std::string channelName;
        std::string datafieldName;
 
        std::map<std::string, std::set<std::string>> pushed;
 
        int count = 0;
    };
 
    void
    MemoryToDebugObserver::pollOnce()
    {
        pollOnce(properties.plottedValues);
    }
 
    std::map<std::string, std::set<std::string>>
    MemoryToDebugObserver::pollOnce(const std::vector<MemoryValueID>& values)
    {
        Visitor visitor(services.debugObserver);
 
        std::stringstream log;
 
        // Group by memory segment to reduce number of queries.
        std::map<MemoryID, std::vector<const MemoryValueID*>> valuesPerProviderSegment;
        for (const MemoryValueID& valueId : values)
        {
            valuesPerProviderSegment[valueId.entityID.getProviderSegmentID()].push_back(&valueId);
        }
 
        for (const auto& [providerSegmentID, values] : valuesPerProviderSegment)
        {
            armem::client::Reader* reader = nullptr;
            try
            {
                reader = getReader(providerSegmentID);
            }
            catch (armem::error::CouldNotResolveMemoryServer& e)
            {
                log << "\n" << e.what();
                continue;
            }
            ARMARX_CHECK_NOT_NULL(reader);
 
            const QueryResult result = reader->getLatestSnapshotsIn(providerSegmentID);
            if (not result.success)
            {
                log << "Query to provider segment " << providerSegmentID
                    << " failed: " << result.errorMessage;
                continue;
            }
 
            for (const MemoryValueID* valueId : values)
            {
                const wm::Entity* entity = result.memory.findEntity(valueId->entityID);
                if (entity == nullptr)
                {
                    log << "\nDid not find entity " << valueId->entityID << " in provider segment "
                        << providerSegmentID << ".";
                    continue;
                }
 
                // Use the non-throwing findLatestInstance() variant: an
                // entity may exist but have no snapshots (e.g. just
                // created, or all snapshots truncated by maxHistorySize),
                // or its latest snapshot may carry no instances. In both
                // cases getLatestInstance() throws NoSuchEntries, which
                // would propagate uncaught out of pollOnce() and abort
                // the polling thread.
                const wm::EntityInstance* instance = entity->findLatestInstance();
                if (instance == nullptr)
                {
                    log << "\nEntity " << valueId->entityID
                        << " has no latest instance (yet) in provider segment " << providerSegmentID
                        << ".";
                    continue;
                }
 
                aron::data::VariantPtr valueVariant =
                    instance->data()->navigateAbsolute(valueId->aronPath);
                if (not valueVariant)
                {
                    log << "\nDid not find " << valueId->aronPath.toString()
                        << " in entity instance " << instance->id() << ".";
                    continue;
                }
 
                visitor.channelName = makeChannelName(valueId->entityID);
                visitor.datafieldName = makeDatafieldName(valueId->aronPath);
 
                aron::data::visit(visitor, valueVariant);
            }
        }
 
        services.debugObserver.sendDebugObserverBatch();
 
        if (not log.str().empty())
        {
            ARMARX_INFO << deactivateSpam(60)
                        << "Encountered issues while sending memory values to the debug observer "
                           "for plotting: "
                        << log.str();
        }
 
        return visitor.pushed;
    }
 
    std::string
    MemoryToDebugObserver::makeChannelName(const MemoryID& memoryID)
    {
        return simox::alg::replace_all(memoryID.str(), "/", ">");
    }
 
    std::string
    MemoryToDebugObserver::makeDatafieldName(const aron::Path& path)
    {
        // The first element is always "ARON->", which we can discard for readability.
        std::string str = path.toString();
        str = simox::alg::remove_prefix(str, path.getRootIdentifier() + path.getDelimeter());
        str = simox::alg::replace_all(str, path.getDelimeter(), ">");
        return str;
    }
 
    std::vector<std::pair<std::string, double>>
    MemoryToDebugObserver::decomposeNDArray(const aron::data::NDArray& array, int maxSize)
    {
        // Aron stores numeric arrays row-major with shape {rows, cols, sizeof(element)} (see
        // aron::eigen::AronPosef and the aron code generation), so map them row-major like
        // armem_gui's DataDisplayVisitor. AronEigenConverter maps column-major and would
        // transpose them.
        auto mapAsMatrix = [&array, maxSize](auto scalar) -> std::optional<Eigen::MatrixXd>
        {
            using ScalarT = decltype(scalar);
            const std::vector<int> shape = array.getShape();
            if (shape.size() != 3 or shape.back() != static_cast<int>(sizeof(ScalarT)))
            {
                return std::nullopt;
            }
            const int rows = shape.at(0);
            const int cols = shape.at(1);
            if (rows <= 0 or cols <= 0 or rows * cols > maxSize)
            {
                return std::nullopt;
            }
            using MapT = Eigen::Map<
                const Eigen::Matrix<ScalarT, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>>;
            return MapT(reinterpret_cast<const ScalarT*>(array.getData()), rows, cols)
                .template cast<double>();
        };
 
        const std::string type = array.getType();
        std::optional<Eigen::MatrixXd> matrix;
        if (type == "float")
        {
            matrix = mapAsMatrix(float{});
        }
        else if (type == "double")
        {
            matrix = mapAsMatrix(double{});
        }
        else if (type == "int")
        {
            matrix = mapAsMatrix(int{});
        }
        else if (type == "long")
        {
            matrix = mapAsMatrix(std::int64_t{});
        }
        if (not matrix.has_value())
        {
            return {};
        }
        const Eigen::MatrixXd& m = matrix.value();
 
        std::vector<std::pair<std::string, double>> components;
 
        // 4x4 homogeneous transform (bottom row [0 0 0 1]) -> x, y, z, roll, pitch, yaw.
        constexpr double bottomRowPrecision = 1e-4;
        if (m.rows() == 4 and m.cols() == 4 and
            m.row(3).isApprox(Eigen::RowVector4d(0, 0, 0, 1), bottomRowPrecision))
        {
            const Eigen::Matrix4f pose = m.cast<float>();
            const Eigen::Vector3f rpy = simox::math::mat4f_to_rpy(pose);
            components.emplace_back("_x", m(0, 3));
            components.emplace_back("_y", m(1, 3));
            components.emplace_back("_z", m(2, 3));
            components.emplace_back("_roll", rpy(0));
            components.emplace_back("_pitch", rpy(1));
            components.emplace_back("_yaw", rpy(2));
            return components;
        }
 
        if (m.size() == 1)
        {
            components.emplace_back("", m(0, 0));
            return components;
        }
 
        // Vectors -> x/y/z/w (or indices for larger vectors).
        if (m.rows() == 1 or m.cols() == 1)
        {
            static const std::array<std::string, 4> xyzw{"_x", "_y", "_z", "_w"};
            for (int i = 0; i < m.size(); ++i)
            {
                components.emplace_back(m.size() <= 4 ? xyzw.at(i) : "_" + std::to_string(i), m(i));
            }
            return components;
        }
 
        // Generic matrix -> _row_col.
        for (int r = 0; r < m.rows(); ++r)
        {
            for (int c = 0; c < m.cols(); ++c)
            {
                components.emplace_back("_" + std::to_string(r) + "_" + std::to_string(c), m(r, c));
            }
        }
        return components;
    }
 
    Reader*
    MemoryToDebugObserver::getReader(const MemoryID& memoryID)
    {
        auto it = memoryReaders.find(memoryID);
        if (it != memoryReaders.end())
        {
            return &it->second;
        }
        else
        {
            armem::client::Reader reader = services.memoryNameSystem.getReader(memoryID);
            auto [it, _] = memoryReaders.emplace(memoryID, reader);
            return &it->second;
        }
    }
 
    bool
    operator==(const MemoryValueID& lhs, const MemoryValueID& rhs)
    {
        return lhs.entityID == rhs.entityID && lhs.aronPath.getPath() == rhs.aronPath.getPath();
    }
 
    bool
    operator<(const MemoryValueID& lhs, const MemoryValueID& rhs)
    {
        if (lhs.entityID < rhs.entityID)
        {
            return true;
        }
        if (rhs.entityID < lhs.entityID)
        {
            return false;
        }
        return lhs.aronPath.getPath() < rhs.aronPath.getPath();
    }
 
} // namespace armarx::armem::client::util
 
namespace armarx::armem::client
{
 
    void
    util::to_json(simox::json::json& j, const MemoryValueID& id)
    {
        j["entityID"] = id.entityID.getItems();
        j["aronPath"] = id.aronPath.getPath();
    }
 
    void
    util::from_json(const simox::json::json& j, MemoryValueID& id)
    {
        id.entityID = MemoryID::fromItems(j.at("entityID").get<std::vector<std::string>>());
        id.aronPath = {j.at("aronPath").get<std::vector<std::string>>()};
    }
 
    void
    util::to_json(simox::json::json& j, const MemoryToDebugObserver::Properties& p)
    {
        j["plottedValues"] = p.plottedValues;
    }
 
    void
    util::from_json(const simox::json::json& j, MemoryToDebugObserver::Properties& p)
    {
        j.at("plottedValues").get_to(p.plottedValues);
    }
 
 
} // namespace armarx::armem::client