Base class of memory server components. More...

#include <RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h>

Inheritance diagram for ReadWritePluginUser:

Public Member Functions
data::AddSegmentsResult	addSegments (const data::AddSegmentsInput &input, bool addCoreSegments)

virtual data::AddSegmentsResult	addSegments (const data::AddSegmentsInput &input, const Ice::Current &=Ice::emptyCurrent) override

virtual void	clearWorkingMemory (const Ice::Current &=Ice::emptyCurrent) override
	Clears the working memory usings its clear feature.

virtual data::CommitResult	commit (const data::Commit &commit, const Ice::Current &=Ice::emptyCurrent) override

virtual dto::DirectlyStoreResult	directlyStore (const dto::DirectlyStoreInput &, const Ice::Current &=Ice::emptyCurrent) override

virtual armem::actions::ExecuteActionOutputSeq	executeActions (const armem::actions::ExecuteActionInputSeq &inputs)

virtual armem::actions::ExecuteActionOutputSeq	executeActions (const armem::actions::ExecuteActionInputSeq &inputs, const ::Ice::Current &) override

virtual armem::actions::GetActionsOutputSeq	getActions (const armem::actions::GetActionsInputSeq &inputs)

virtual armem::actions::GetActionsOutputSeq	getActions (const armem::actions::GetActionsInputSeq &inputs, const ::Ice::Current &) override

virtual armem::prediction::data::EngineSupportMap	getAvailableEngines ()

virtual armem::prediction::data::EngineSupportMap	getAvailableEngines (const ::Ice::Current &) override

virtual dto::RecordStatusResult	getRecordStatus (const Ice::Current &=Ice::emptyCurrent) override

virtual armem::structure::data::GetServerStructureResult	getServerStructure (const Ice::Current &=Ice::emptyCurrent) override

MemoryToIceAdapter &	iceAdapter ()

bool	loadExportIntoWM (const std::string &directory, const std::string &exportName, const std::string &memoryName, const std::vector< std::string > &coreSegmentName={}, bool addNonExistingCoreSegments=false, int amountOfSnapshotsPerSegmentToLoad=-1)
	loads data from a specified LTM export into the currently running WM (needs to already have the CoreSegments)

bool	loadExportIntoWM (const std::string &export_path, const std::string &memoryName, const std::vector< std::string > &coreSegmentName={}, bool addNonExistingCoreSegments=false, int amountOfSnapshotsPerSegmentToLoad=-1, const ::Ice::Current &=Ice::emptyCurrent) override
	loads data from a specified LTM export into the currently running WM (needs to already have the CoreSegments)

virtual void	loadLTMintoWM (bool complete, const ::Ice::Current &) override
	Loads the data of the LTMs into the WM.

server::ltm::Memory &	longtermMemory ()

Plugin &	memoryServerPlugin ()

virtual armem::prediction::data::PredictionResultSeq	predict (const armem::prediction::data::PredictionRequestSeq &requests)

virtual armem::prediction::data::PredictionResultSeq	predict (const armem::prediction::data::PredictionRequestSeq &requests, const ::Ice::Current &) override

virtual armem::query::data::Result	query (const armem::query::data::Input &input, const Ice::Current &=Ice::emptyCurrent) override

virtual armem::query::data::Result	queryLTM (const armem::query::data::Input &input, bool storeIntoWM, const Ice::Current &=Ice::emptyCurrent) override
	Queries only the LTMs of the memory server.

	ReadWritePluginUser ()

armem::CommitResult	reloadFromLTM ()

void	setMemoryName (const std::string &memoryName)

virtual dto::StartRecordResult	startRecord (const dto::StartRecordInput &startRecordInput, const Ice::Current &=Ice::emptyCurrent) override

virtual dto::StopRecordResult	stopRecord (const Ice::Current &=Ice::emptyCurrent) override

virtual void	useDiskPersistenceStrategy (const std::string &identifier, const std::string &exportName, const std::string &exportPath, bool overwritePrevStrategy, const ::Ice::Current &) override
	Use a disk persistence strategy for storing the wm as ltm Uses the disk as ltm sink.

virtual void	useMongoDbPersistenceStrategy (const std::string &identifier, const std::string &exportName, bool overwritePrevStrategy, const ::Ice::Current &) override
	Use a mongodb persistence strategy for storing the wm as ltm Uses a mongodb as ltm sink.

virtual void	useRestPersistenceStrategy (const std::string &identifier, const std::string &exportName, const std::string &host, int port, bool overwritePrevStrategy, const ::Ice::Current &) override
	Use a rest persistence strategy for storing the wm as ltm Uses a rest server as ltm sink.

server::wm::Memory &	workingMemory ()

virtual	~ReadWritePluginUser () override

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)

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

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

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

virtual std::string	getDefaultName () const =0
	Retrieve default name of component.

IceManagerPtr	getIceManager () const
	Returns the IceManager.

VariantBasePtr	getMetaInfo (const std::string &id)

StringVariantBaseMap	getMetaInfoMap () const

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

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

ArmarXObjectSchedulerPtr	getObjectScheduler () const

PeriodicTaskPtr	getPeriodicTask (const std::string &name)

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

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.

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`.

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

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).

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

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

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

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

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

	ManagedIceObject (ManagedIceObject const &other)

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

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.

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.

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

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

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

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.

MessageTypeT	getEffectiveLoggingLevel () const

	Logging ()

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

void	setTag (const LogTag &tag)

void	setTag (const std::string &tagName)

virtual	~Logging ()

Public Member Functions inherited from PluginUser
MemoryNameSystem &	memoryNameSystem ()

const MemoryNameSystem &	memoryNameSystem () const

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

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.

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.

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.

virtual void	onConnectComponent ()=0
	Pure virtual hook for the subclass.

virtual void	onDisconnectComponent ()
	Hook for subclass.

virtual void	onExitComponent ()
	Hook for subclass.

virtual void	onInitComponent ()=0
	Pure virtual hook for the subclass.

virtual void	postOnConnectComponent ()

virtual void	postOnDisconnectComponent ()

virtual void	postOnExitComponent ()

virtual void	postOnInitComponent ()

virtual void	preOnConnectComponent ()

virtual void	preOnDisconnectComponent ()

virtual void	preOnExitComponent ()

virtual void	preOnInitComponent ()

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

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

void	terminate ()
	Initiates termination of this IceManagedObject.

	~ManagedIceObject () override

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

const LogSenderPtr &	getLogSender () const
	Retrieve log sender.

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

Protected Member Functions inherited from ListeningPluginUser
	ListeningPluginUser ()

virtual void	memoryUpdated (const std::vector< data::MemoryID > &updatedSnapshotIDs, const Ice::Current &) override

virtual	~ListeningPluginUser () override

Protected Member Functions inherited from PluginUser
	PluginUser ()

virtual	~PluginUser () override

Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Detailed Description

Base class of memory server components.

Implements the server ice interfaces using the ice adapter of the plugin.

Definition at line 20 of file ReadWritePluginUser.h.

Constructor & Destructor Documentation

◆ ReadWritePluginUser()

ReadWritePluginUser ( )

Definition at line 20 of file ReadWritePluginUser.cpp.

◆ ~ReadWritePluginUser()

~ReadWritePluginUser ( )

overridevirtual

Definition at line 25 of file ReadWritePluginUser.cpp.

Member Function Documentation

◆ addSegments() [1/2]

data::AddSegmentsResult addSegments	(	const data::AddSegmentsInput &	input,
		bool	addCoreSegments )

Definition at line 45 of file ReadWritePluginUser.cpp.

◆ addSegments() [2/2]

data::AddSegmentsResult addSegments	(	const data::AddSegmentsInput &	input,
		const Ice::Current &	= Ice::emptyCurrent )

overridevirtual

Definition at line 37 of file ReadWritePluginUser.cpp.

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◆ clearWorkingMemory()

void clearWorkingMemory ( const Ice::Current & = Ice::emptyCurrent )

overridevirtual

Clears the working memory usings its clear feature.

Definition at line 60 of file ReadWritePluginUser.cpp.

◆ commit()

data::CommitResult commit	(	const data::Commit &	commit,
		const Ice::Current &	= Ice::emptyCurrent )

overridevirtual

Definition at line 53 of file ReadWritePluginUser.cpp.

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◆ directlyStore()

dto::DirectlyStoreResult directlyStore	(	const dto::DirectlyStoreInput &	input,
		const Ice::Current &	= Ice::emptyCurrent )

overridevirtual

Definition at line 97 of file ReadWritePluginUser.cpp.

◆ executeActions() [1/2]

armem::actions::ExecuteActionOutputSeq executeActions ( const armem::actions::ExecuteActionInputSeq & inputs )

virtual

Definition at line 172 of file ReadWritePluginUser.cpp.

◆ executeActions() [2/2]

armem::actions::ExecuteActionOutputSeq executeActions	(	const armem::actions::ExecuteActionInputSeq &	inputs,
		const ::Ice::Current &	)

overridevirtual

Definition at line 165 of file ReadWritePluginUser.cpp.

◆ getActions() [1/2]

armem::actions::GetActionsOutputSeq getActions ( const armem::actions::GetActionsInputSeq & inputs )

virtual

Definition at line 158 of file ReadWritePluginUser.cpp.

◆ getActions() [2/2]

armem::actions::GetActionsOutputSeq getActions	(	const armem::actions::GetActionsInputSeq &	inputs,
		const ::Ice::Current &	)

overridevirtual

Definition at line 151 of file ReadWritePluginUser.cpp.

◆ getAvailableEngines() [1/2]

armem::prediction::data::EngineSupportMap getAvailableEngines ( )

virtual

Definition at line 185 of file ReadWritePluginUser.cpp.

◆ getAvailableEngines() [2/2]

armem::prediction::data::EngineSupportMap getAvailableEngines ( const ::Ice::Current & )

overridevirtual

Definition at line 198 of file ReadWritePluginUser.cpp.

◆ getRecordStatus()

dto::RecordStatusResult getRecordStatus ( const Ice::Current & = Ice::emptyCurrent )

overridevirtual

Definition at line 119 of file ReadWritePluginUser.cpp.

◆ getServerStructure()

structure::data::GetServerStructureResult getServerStructure ( const Ice::Current & = Ice::emptyCurrent )

overridevirtual

Definition at line 89 of file ReadWritePluginUser.cpp.

◆ iceAdapter()

MemoryToIceAdapter & iceAdapter ( )

Definition at line 138 of file ReadWritePluginUser.cpp.

◆ loadExportIntoWM() [1/2]

bool loadExportIntoWM	(	const std::string &	directory,
		const std::string &	exportName,
		const std::string &	memoryName,
		const std::vector< std::string > &	coreSegmentName = {},
		bool	addNonExistingCoreSegments = false,
		int	amountOfSnapshotsPerSegmentToLoad = -1 )

loads data from a specified LTM export into the currently running WM (needs to already have the CoreSegments)

This function loads an LTM specified by directory, exportName and memoryName into the current WM. It handles if the path is not a correct LTM export. If you do this multiple times the LTM is always appended to the WM ,meaning you can load several LTM exports into the same WM. This does not exclude the maxHistory size from working! If you load to much snapshots they will still be discarded.

Parameters

directory	path (as string) to the export directory
exportName	name of the export folder (often 'MemoryExport')
memoryName	name of the memory server (e.g. 'Object', 'Skill')
coreSegmentNames	list (std::vector) of names of core segments which should be loaded, keep empty or do not provide if you want to load all core segments
addNonExistingCoreSegments	(not yet supported)
amountOfSnapshotsPerSegmentToLoad	amount of snapshots loaded (per core segment); is the same for all core segments

Returns: bool true if everything worked fine, false if some error arose permitting the LTM to be loaded

Definition at line 362 of file ReadWritePluginUser.cpp.

◆ loadExportIntoWM() [2/2]

bool loadExportIntoWM	(	const std::string &	export_path,
		const std::string &	memoryName,
		const std::vector< std::string > &	coreSegmentName = {},
		bool	addNonExistingCoreSegments = false,
		int	amountOfSnapshotsPerSegmentToLoad = -1,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

loads data from a specified LTM export into the currently running WM (needs to already have the CoreSegments)

This function loads an LTM specified by export_path and memoryName into the current WM. It handles if the path is not a correct LTM export. If you do this multiple times the LTM is always appended to the WM ,meaning you can load several LTM exports into the same WM. This does not exclude the maxHistory size from working! If you load to much snapshots they will still be discarded.

Parameters

export_path	path to the export folder (needs to be a string with '/' as delimiter)
memoryName	name of the memory server (e.g. 'Object', 'Skill')
coreSegmentNames	list (std::vector) of names of core segments which should be loaded, keep empty or do not provide if you want to load all core segments
addNonExistingCoreSegments	(not yet supported)
amountOfSnapshotsPerSegmentToLoad	amount of snapshots loaded (per core segment); is the same for all core segments

Returns: bool true if everything worked fine, false if some error arose permitting the LTM to be loaded

Definition at line 298 of file ReadWritePluginUser.cpp.

◆ loadLTMintoWM()

void loadLTMintoWM	(	bool	complete,
		const ::Ice::Current &	)

overridevirtual

Loads the data of the LTMs into the WM.

Definition at line 284 of file ReadWritePluginUser.cpp.

◆ longtermMemory()

ltm::Memory & longtermMemory ( )

Definition at line 144 of file ReadWritePluginUser.cpp.

◆ memoryServerPlugin()

Plugin & memoryServerPlugin ( )

Definition at line 126 of file ReadWritePluginUser.cpp.

◆ predict() [1/2]

armem::prediction::data::PredictionResultSeq predict ( const armem::prediction::data::PredictionRequestSeq & requests )

virtual

Definition at line 179 of file ReadWritePluginUser.cpp.

◆ predict() [2/2]

armem::prediction::data::PredictionResultSeq predict	(	const armem::prediction::data::PredictionRequestSeq &	requests,
		const ::Ice::Current &	)

overridevirtual

Definition at line 191 of file ReadWritePluginUser.cpp.

◆ query()

armem::query::data::Result query	(	const armem::query::data::Input &	input,
		const Ice::Current &	= Ice::emptyCurrent )

overridevirtual

Definition at line 73 of file ReadWritePluginUser.cpp.

◆ queryLTM()

armem::query::data::Result queryLTM	(	const armem::query::data::Input &	input,
		bool	storeIntoWM,
		const Ice::Current &	= Ice::emptyCurrent )

overridevirtual

Queries only the LTMs of the memory server.

Parameters

storeIntoWM if set, the result is also stored into the working memory no matter how the recording mode is set.

Definition at line 80 of file ReadWritePluginUser.cpp.

◆ reloadFromLTM()

armem::CommitResult reloadFromLTM ( )

Definition at line 204 of file ReadWritePluginUser.cpp.

◆ setMemoryName()

void setMemoryName ( const std::string & memoryName )

Definition at line 30 of file ReadWritePluginUser.cpp.

◆ startRecord()

dto::StartRecordResult startRecord	(	const dto::StartRecordInput &	startRecordInput,
		const Ice::Current &	= Ice::emptyCurrent )

overridevirtual

Definition at line 104 of file ReadWritePluginUser.cpp.

◆ stopRecord()

dto::StopRecordResult stopRecord ( const Ice::Current & = Ice::emptyCurrent )

overridevirtual

Definition at line 112 of file ReadWritePluginUser.cpp.

◆ useDiskPersistenceStrategy()

void useDiskPersistenceStrategy	(	const std::string &	identifier,
		const std::string &	exportName,
		const std::string &	exportPath,
		bool	overwritePrevStrategy,
		const ::Ice::Current &	)

overridevirtual

Use a disk persistence strategy for storing the wm as ltm Uses the disk as ltm sink.

Parameters

identifier	unique strategy name
exportName	memory export name
exportPath	path where the export is stored on disk
overwritePrevStrategy	if set the ltm only contains this new strategy, if false it will be appended to the other(s)

Definition at line 245 of file ReadWritePluginUser.cpp.

◆ useMongoDbPersistenceStrategy()

void useMongoDbPersistenceStrategy	(	const std::string &	identifier,
		const std::string &	exportName,
		bool	overwritePrevStrategy,
		const ::Ice::Current &	)

overridevirtual

Use a mongodb persistence strategy for storing the wm as ltm Uses a mongodb as ltm sink.

NOTE (TODO): Not implemented

Definition at line 275 of file ReadWritePluginUser.cpp.

◆ useRestPersistenceStrategy()

void useRestPersistenceStrategy	(	const std::string &	identifier,
		const std::string &	exportName,
		const std::string &	host,
		int	port,
		bool	overwritePrevStrategy,
		const ::Ice::Current &	)

overridevirtual

Use a rest persistence strategy for storing the wm as ltm Uses a rest server as ltm sink.

Parameters

identifier	unique strategy name
exportName	memory export name
host	name of the host where the rest server is running
port	network port at which the rest server is running
overwritePrevStrategy	if set the ltm only contains this new strategy, if false it will be appended to the other(s)

Definition at line 213 of file ReadWritePluginUser.cpp.

◆ workingMemory()

wm::Memory & workingMemory ( )

Definition at line 132 of file ReadWritePluginUser.cpp.

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

RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h
RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ReadWritePluginUser()

◆ ~ReadWritePluginUser()

Member Function Documentation

◆ addSegments() [1/2]

◆ addSegments() [2/2]

◆ clearWorkingMemory()

◆ commit()

◆ directlyStore()

◆ executeActions() [1/2]

◆ executeActions() [2/2]

◆ getActions() [1/2]

◆ getActions() [2/2]

◆ getAvailableEngines() [1/2]

◆ getAvailableEngines() [2/2]

◆ getRecordStatus()

◆ getServerStructure()

◆ iceAdapter()

◆ loadExportIntoWM() [1/2]

◆ loadExportIntoWM() [2/2]

◆ loadLTMintoWM()

◆ longtermMemory()

◆ memoryServerPlugin()

◆ predict() [1/2]

◆ predict() [2/2]

◆ query()

◆ queryLTM()

◆ reloadFromLTM()

◆ setMemoryName()

◆ startRecord()

◆ stopRecord()

◆ useDiskPersistenceStrategy()

◆ useMongoDbPersistenceStrategy()

◆ useRestPersistenceStrategy()

◆ workingMemory()