ProfilerStorage.cpp

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2012-2016, 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    MemoryX::component::ProfilerStorage
 * @author     haass ( tobias dot haass at student dot kit dot edu )
 * @author     Manfred Kroehnert ( manfred dot kroehnert at kit dot edu )
 * @date       2013, 2015
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
 
#include "ProfilerStorage.h"
 
#include <IceUtil/Time.h>
 
#include <ArmarXCore/statechart/StatechartObjectFactories.h>
#include <ArmarXCore/libraries/DecoupledSingleComponent/Decoupled.h>
 
#include <MemoryX/core/MemoryXCoreObjectFactories.h>
#include <MemoryX/libraries/memorytypes/MemoryXTypesObjectFactories.h>
#include <MemoryX/libraries/memorytypes/entity/ObjectInstance.h>
#include <MemoryX/libraries/memorytypes/entity/profiler/ProfilerEvent.h>
#include <MemoryX/libraries/memorytypes/entity/profiler/ProfilerMemoryUsage.h>
#include <MemoryX/libraries/memorytypes/entity/profiler/ProfilerProcess.h>
#include <mongo/client/dbclient.h>
 
namespace memoryx
{
    std::string
    ProfilerStorage::getDefaultName() const
    {
        return "ProfilerStorage";
    }
 
    std::string
    ProfilerStorage::GetDefaultName()
    {
        return "ProfilerStorage";
    }
 
    void
    ProfilerStorage::onInitComponent()
    {
        setTag("ProfilerStorage");
 
        usingProxy(getCommonStorageName());
        usingProxy(getWorkingMemoryName());
        usingProxy(getLongtermMemoryName());
 
        enabled = getProperty<bool>("enabled").getValue();
 
        if (enabled)
        {
            usingTopic(armarx::Profiler::PROFILER_TOPIC_NAME);
        }
 
        saveTimeout = getProperty<int>("SaveTimeout").getValue();
        saveToLongtermMemoryTask =
            new armarx::RunningTask<ProfilerStorage>(this, &ProfilerStorage::saveToLongtermMemory);
        saveTransitionsToLongtermMemoryTask = new armarx::RunningTask<ProfilerStorage>(
            this, &ProfilerStorage::saveTransitionsToLongtermMemory);
 
        // the initial transition does not have a source state, thus the name of the initial transition is empty
        memorySnapshot = CreateProfilerMemorySnapshot("", workingMemoryPrx);
    }
 
    void
    ProfilerStorage::onConnectComponent()
    {
        getProxy(commonStoragePrx, getCommonStorageName());
        getProxy(workingMemoryPrx, getWorkingMemoryName());
        getProxy(longtermMemoryPrx, getLongtermMemoryName());
        profilerDataSegmentPrx = longtermMemoryPrx->getProfilerDataSegment();
 
        saveToLongtermMemoryTask->start();
        saveTransitionsToLongtermMemoryTask->start();
    }
 
    void
    ProfilerStorage::onDisconnectComponent()
    {
    }
 
    void
    ProfilerStorage::onExitComponent()
    {
        enabled = false;
        saveToLongtermMemoryTask->stop();
        saveTransitionsToLongtermMemoryTask->stop();
    }
 
    void
    ProfilerStorage::saveToLongtermMemory()
    {
        IceUtil::Time t = IceUtil::Time::now();
 
        while (enabled)
        {
            size_t logSize = entityLog.size();
 
            if (logSize == 0)
            {
                continue;
            }
 
            if ((logSize < 1000) && ((IceUtil::Time::now() - t).toMilliSeconds() < saveTimeout))
            {
                continue;
            }
 
            EntityBaseList entityLogCopy;
            {
                std::scoped_lock lock(entityLogMutex);
                entityLog.swap(entityLogCopy);
            }
            t = IceUtil::Time::now();
            profilerDataSegmentPrx->addEntityList(entityLogCopy);
            ARMARX_WARNING_S << "Took " << (IceUtil::Time::now() - t).toMilliSeconds()
                             << " [ms] to add " << entityLogCopy.size() << " Entities";
            t = IceUtil::Time::now();
        }
    }
 
    void
    ProfilerStorage::saveTransitionsToLongtermMemory()
    {
        IceUtil::Time t = IceUtil::Time::now();
 
        while (enabled)
        {
            size_t logSize = transitionSnapshotList.size();
 
            if (logSize == 0)
            {
                continue;
            }
 
            if ((logSize < 1000) && ((IceUtil::Time::now() - t).toMilliSeconds() < saveTimeout))
            {
                continue;
            }
 
            TransitionSnapshotList transitionSnapshotListCopy;
            {
                std::scoped_lock lock(transitionSnapshotListMutex);
                transitionSnapshotList.swap(transitionSnapshotListCopy);
            }
            t = IceUtil::Time::now();
 
            for (TransitionSnapshot& snapshot : transitionSnapshotListCopy)
            {
                std::string sourceSnapshot = profilerDataSegmentPrx->saveUniqueMemorySnapshot(
                    snapshot.sourceStateMemorySnapshot);
                std::string targetSnapshot = profilerDataSegmentPrx->saveUniqueMemorySnapshot(
                    snapshot.targetStateMemorySnapshot);
                EntityRefBasePtr sourceSnapshotRef =
                    profilerDataSegmentPrx->getEntityRefById(sourceSnapshot);
                EntityRefBasePtr targetSnapshotRef =
                    profilerDataSegmentPrx->getEntityRefById(targetSnapshot);
                ProfilerTransitionPtr profilerTransition =
                    new memoryx::ProfilerTransition(snapshot.transition.parentStateIdentifier,
                                                    snapshot.transition.sourceStateIdentifier,
                                                    snapshot.transition.targetStateIdentifier,
                                                    sourceSnapshotRef,
                                                    targetSnapshotRef,
                                                    1);
                std::string entityId =
                    profilerDataSegmentPrx->saveOrUpdateTransition(profilerTransition);
            }
            ARMARX_WARNING_S << "Took " << (IceUtil::Time::now() - t).toMilliSeconds()
                             << " [ms] to add " << transitionSnapshotListCopy.size()
                             << " Transitions";
            t = IceUtil::Time::now();
        }
    }
 
    void
    ProfilerStorage::reportNetworkTraffic(const std::string&,
                                          const std::string&,
                                          Ice::Int,
                                          Ice::Int,
                                          const Ice::Current&)
    {
        // ignore network traffic for now
    }
 
    void
    ProfilerStorage::reportEvent(const armarx::ProfilerEvent& profilerEvent, const Ice::Current&)
    {
        std::scoped_lock lock(entityLogMutex);
        entityLog.push_back(new memoryx::ProfilerEvent(profilerEvent));
    }
 
    void
    ProfilerStorage::reportStatechartTransition(
        const armarx::ProfilerStatechartTransition& transition,
        const ::Ice::Current& context)
    {
        std::scoped_lock lock(transitionSnapshotListMutex);
        TransitionSnapshot transitionSnapshot;
        transitionSnapshot.transition = transition;
        transitionSnapshot.sourceStateMemorySnapshot = memorySnapshot;
        memorySnapshot =
            CreateProfilerMemorySnapshot(transition.targetStateIdentifier, workingMemoryPrx);
        transitionSnapshot.targetStateMemorySnapshot = memorySnapshot;
        transitionSnapshotList.push_back(transitionSnapshot);
    }
 
    void
    ProfilerStorage::reportStatechartInputParameters(
        const armarx::ProfilerStatechartParameters& inputParameters,
        const Ice::Current&)
    {
    }
 
    void
    ProfilerStorage::reportStatechartLocalParameters(
        const armarx::ProfilerStatechartParameters& localParameters,
        const Ice::Current&)
    {
    }
 
    void
    ProfilerStorage::reportStatechartOutputParameters(
        const armarx::ProfilerStatechartParameters& outputParameters,
        const Ice::Current&)
    {
    }
 
    void
    ProfilerStorage::reportProcessCpuUsage(const armarx::ProfilerProcessCpuUsage& process,
                                           const Ice::Current& context)
    {
        std::scoped_lock lock(entityLogMutex);
        entityLog.push_back(new memoryx::ProfilerProcess(process));
    }
 
    void
    ProfilerStorage::reportProcessMemoryUsage(const armarx::ProfilerProcessMemoryUsage& memoryUsage,
                                              const Ice::Current& context)
    {
        std::scoped_lock lock(entityLogMutex);
        entityLog.push_back(new memoryx::ProfilerMemoryUsage(memoryUsage));
    }
 
    void
    ProfilerStorage::reportEventList(const armarx::ProfilerEventList& events, const Ice::Current&)
    {
        memoryx::EntityBaseList eventEntities(events.size());
        std::transform(events.begin(),
                       events.end(),
                       eventEntities.begin(),
                       [](const armarx::ProfilerEvent& event)
                       { return new memoryx::ProfilerEvent(event); });
 
        {
            std::scoped_lock lock(entityLogMutex);
            entityLog.insert(entityLog.end(), eventEntities.begin(), eventEntities.end());
        }
    }
 
    void
    ProfilerStorage::reportStatechartTransitionList(
        const armarx::ProfilerStatechartTransitionList& transitions,
        const Ice::Current&)
    {
        if (transitions.empty())
        {
            return;
        }
 
        TransitionSnapshotList transitionSnapshots(transitions.size());
 
        ProfilerMemorySnapshotPtr sourceMemorySnapshot = memorySnapshot->clone();
 
        std::transform(transitions.begin(),
                       transitions.end(),
                       transitionSnapshots.begin(),
                       [](const armarx::ProfilerStatechartTransition& transition)
                       {
                           TransitionSnapshot transitionSnapshot = {transition,
                                                                    new ProfilerMemorySnapshot(),
                                                                    new ProfilerMemorySnapshot()};
                           return transitionSnapshot;
                       });
 
        transitionSnapshots.front().sourceStateMemorySnapshot = sourceMemorySnapshot;
        memorySnapshot = ProfilerStorage::CreateProfilerMemorySnapshot(
            transitionSnapshots.back().transition.targetStateIdentifier, workingMemoryPrx);
        if (memorySnapshot)
        {
            transitionSnapshots.back().targetStateMemorySnapshot = memorySnapshot;
        }
        {
            std::scoped_lock lock(transitionSnapshotListMutex);
            transitionSnapshotList.insert(transitionSnapshotList.end(),
                                          transitionSnapshots.begin(),
                                          transitionSnapshots.end());
        }
    }
 
    void
    ProfilerStorage::reportStatechartInputParametersList(
        const armarx::ProfilerStatechartParametersList& inputParametersList,
        const Ice::Current&)
    {
    }
 
    void
    ProfilerStorage::reportStatechartLocalParametersList(
        const armarx::ProfilerStatechartParametersList& localParametesList,
        const Ice::Current&)
    {
    }
 
    void
    ProfilerStorage::reportStatechartOutputParametersList(
        const armarx::ProfilerStatechartParametersList& outputParametersList,
        const Ice::Current&)
    {
    }
 
    void
    ProfilerStorage::reportProcessCpuUsageList(const armarx::ProfilerProcessCpuUsageList& processes,
                                               const Ice::Current&)
    {
        memoryx::EntityBaseList eventEntities(processes.size());
        std::transform(processes.begin(),
                       processes.end(),
                       eventEntities.begin(),
                       [](const armarx::ProfilerProcessCpuUsage& process)
                       { return new memoryx::ProfilerProcess(process); });
 
        {
            std::scoped_lock lock(entityLogMutex);
            entityLog.insert(entityLog.end(), eventEntities.begin(), eventEntities.end());
        }
    }
 
    void
    ProfilerStorage::reportProcessMemoryUsageList(
        const armarx::ProfilerProcessMemoryUsageList& memoryUsages,
        const Ice::Current&)
    {
        memoryx::EntityBaseList eventEntities(memoryUsages.size());
        std::transform(memoryUsages.begin(),
                       memoryUsages.end(),
                       eventEntities.begin(),
                       [](const armarx::ProfilerProcessMemoryUsage& memoryUsage)
                       { return new memoryx::ProfilerMemoryUsage(memoryUsage); });
 
        {
            std::scoped_lock lock(entityLogMutex);
            entityLog.insert(entityLog.end(), eventEntities.begin(), eventEntities.end());
        }
    }
 
    ProfilerMemorySnapshotPtr
    ProfilerStorage::CreateProfilerMemorySnapshot(
        const std::string& stateName,
        const WorkingMemoryInterfacePrx& workingMemoryProxy)
    {
        if (!workingMemoryProxy)
        {
            return new ProfilerMemorySnapshot(stateName, Ice::Context());
        }
 
        Ice::Context snapshot;
 
        memoryx::ObjectInstancePtr humanInstance = memoryx::ObjectInstancePtr::dynamicCast(
            workingMemoryProxy->getObjectInstancesSegment()->getObjectInstanceByName("human"));
        if (humanInstance)
        {
            snapshot["human"] = humanInstance->getAttribute("name")->getValue()->getString();
            if (humanInstance->hasAttribute("humanObject"))
            {
                snapshot["humanObject"] =
                    humanInstance->getAttribute("humanObject")->getValue()->getString();
            }
 
            if (humanInstance->hasAttribute("intention"))
            {
                snapshot["intention"] =
                    humanInstance->getAttribute("intention")->getValue()->getString();
            }
        }
 
        memoryx::ObjectInstancePtr objectInstance = memoryx::ObjectInstancePtr::dynamicCast(
            workingMemoryProxy->getObjectInstancesSegment()->getObjectInstanceByName("taskObject"));
        if (objectInstance)
        {
            snapshot["taskObject"] = objectInstance->getAttribute("name")->getValue()->getString();
 
            bool inHand = objectInstance->getAttribute("inHand")->getValue()->getBool();
            snapshot["objectInHand"] = inHand ? "true" : "false";
        }
 
        return new ProfilerMemorySnapshot(stateName, snapshot);
    }
 
    std::string
    ProfilerStorage::getCommonStorageName()
    {
        return getProperty<std::string>("CommonStorageName").getValue();
    }
 
    std::string
    ProfilerStorage::getWorkingMemoryName()
    {
        return getProperty<std::string>("WorkingMemoryName").getValue();
    }
 
    std::string
    ProfilerStorage::getLongtermMemoryName()
    {
        return getProperty<std::string>("LongtermMemoryName").getValue();
    }
 
    armarx::PropertyDefinitionsPtr
    ProfilerStorage::createPropertyDefinitions()
    {
        return armarx::PropertyDefinitionsPtr(
            new ProfilerStoragePropertyDefinitions(getConfigIdentifier()));
    }
 
    void
    ProfilerStorage::reportStatechartTransitionWithParameters(
        const armarx::ProfilerStatechartTransitionWithParameters& transition,
        const Ice::Current& context)
    {
    }
 
    void
    ProfilerStorage::reportStatechartTransitionWithParametersList(
        const armarx::ProfilerStatechartTransitionWithParametersList& transitions,
        const Ice::Current&)
    {
    }
 
    ProfilerStoragePropertyDefinitions::ProfilerStoragePropertyDefinitions(std::string prefix) :
        ComponentPropertyDefinitions(prefix)
    {
        defineOptionalProperty<int>(
            "SaveTimeout", 500, "How often should the statistics be saved (ms)");
        defineOptionalProperty<std::string>(
            "CommonStorageName", "CommonStorage", "Name of the CommonStorage proxy to use");
        defineOptionalProperty<std::string>(
            "WorkingMemoryName", "WorkingMemory", "Name of the WorkingMemory proxy to use");
        defineOptionalProperty<std::string>(
            "LongtermMemoryName", "LongtermMemory", "Name of the LongtermMemory proxy to use");
        defineOptionalProperty<bool>("enabled", true, "disable/enable saver");
    }
} // namespace memoryx
 
ARMARX_REGISTER_COMPONENT_EXECUTABLE(::memoryx::ProfilerStorage,
                                     ::memoryx::ProfilerStorage::GetDefaultName());