The controller for the communication with the working memory. More...

#include <MemoryX/gui-plugins/SceneEditor/memoryxcontroller/WorkingMemoryController.h>

Inheritance diagram for WorkingMemoryController:

Public Member Functions
void	addAllInstancesToLocalScene () const
	Adds all object instances of the working memory to the local scene.

std::string	addObjectInstance (const std::string &objectName, const memoryx::ObjectClassPtr &objectClassPtr)
	Adds a new object instance to the working memory.

std::vector< std::string >	addObjectInstances (const std::vector< memoryx::ObjectInstancePtr > &instancePtrs)
	Adds all given object instances to the working memory.

std::vector< std::string >	getAllObjectInstances () const
	Returns all object ids that are currently in the working memory.

void	removeObjectInstance (const std::string &id)
	Removes the object instance with the given id.

void	rotateTranslateObject (const std::string &id, const SbRotation &newOrientation, const SbVec3f &newPosition)
	Applies the given orientation and position to the object instance with the given id.

bool	saveObjectsInSnapshot (const std::string &snapshotName, const memoryx::LongtermMemoryInterfacePrx &longtermMemoryPrx, const std::vector< std::string > &objectIds) const
	Saves the object instances with the given ids in a snapshot with the given name.

bool	saveSceneInSnapshot (const std::string &snapshotName, const memoryx::LongtermMemoryInterfacePrx &longtermMemoryPrx) const
	Saves the whole scene in a snapshot with the given name.

	WorkingMemoryController (const memoryx::WorkingMemoryInterfacePrx &workingMemoryPrx, const std::string &workingMemoryUpdatesTopic, const std::string &objectInstancesSegmentName, const std::shared_ptr< MemoryXController > &memoryXController)
	Constructor.

	~WorkingMemoryController () override
	Destructor.

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)

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 ()

Static Public Member Functions
static SbRotation	getSbRotationFromInstance (const memoryx::ObjectInstancePtr &objectInstance)
	Returns the rotation of a object instance.

static SbVec3f	getSbVec3fFromInstance (const memoryx::ObjectInstancePtr &objectInstance)
	Returns the position of a object instance.

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)

Protected Member Functions
std::string	getDefaultName () const override
	Returns the default name of this managed ice object.

void	onConnectComponent () override

void	onInitComponent () override

void	reportEntityCreated (const std::string &segmentName, const ::memoryx::EntityBasePtr &entity, const ::Ice::Current &=Ice::emptyCurrent) override
	Recognises when an entity is created in the working memory.

void	reportEntityRemoved (const std::string &segmentName, const ::memoryx::EntityBasePtr &entity, const ::Ice::Current &=Ice::emptyCurrent) override
	Recognises when an entity is removed from the working memory.

void	reportEntityUpdated (const std::string &segmentName, const ::memoryx::EntityBasePtr &entityOld, const ::memoryx::EntityBasePtr &entityNew, const ::Ice::Current &=Ice::emptyCurrent) override
	Recognises when an entity is updated in the working memory.

void	reportMemoryCleared (const std::string &segmentName, const ::Ice::Current &=Ice::emptyCurrent) override
	Recognises when an entity is created on the working memory.

void	reportSnapshotCompletelyLoaded (const Ice::Current &c=Ice::emptyCurrent) override

void	reportSnapshotLoaded (const std::string &segmentName, const ::Ice::Current &=Ice::emptyCurrent) override
	Recognises when a segment was loaded from a snapshot.

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	onDisconnectComponent ()
	Hook for subclass.

virtual void	onExitComponent ()
	Hook for 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

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

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 Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Detailed Description

The controller for the communication with the working memory.

This class provides methods to add, change and remove object instances in the working memory. Furthermore it is possible to get the content of the memory and save its content in snapshots.

Constructor & Destructor Documentation

◆ WorkingMemoryController()

WorkingMemoryController	(	const memoryx::WorkingMemoryInterfacePrx &	workingMemoryPrx,
		const std::string &	workingMemoryUpdatesTopic,
		const std::string &	objectInstancesSegmentName,
		const std::shared_ptr< MemoryXController > &	memoryXController )

Constructor.

Creates a new instance of this class and registers this managed ice object.

Parameters

workingMemoryPrx	the proxy to the used working memory
workingMemoryUpdatesTopic	the name of the topic this ice object will subscribe to recieve events from the working memory
objectInstancesSegmentName	the name of the segment in the data base where the object instances are stored
memoryXController	the MemoryXController

See also: memoryxcontroller::MemoryXController

◆ ~WorkingMemoryController()

~WorkingMemoryController ( )

override

Destructor.

Destructs this instance of this class.

Member Function Documentation

◆ addAllInstancesToLocalScene()

void addAllInstancesToLocalScene ( ) const

Adds all object instances of the working memory to the local scene.

◆ addObjectInstance()

std::string addObjectInstance	(	const std::string &	objectName,
		const memoryx::ObjectClassPtr &	objectClassPtr )

Adds a new object instance to the working memory.

Returns the id of the new object instance.

Parameters

objectName	the name of the added object instance
objectClassPtr	a pointer to the object class of the new object instance

Returns: std::string the unique id of this object instance that is set by the working memory

◆ addObjectInstances()

std::vector< std::string > addObjectInstances ( const std::vector< memoryx::ObjectInstancePtr > & instancePtrs )

Adds all given object instances to the working memory.

This method will also add the given object instances to the local scene

Parameters

instancePtrs object instances to add to the working memory

Returns: std::vector<std::string>

◆ getAllObjectInstances()

std::vector< std::string > getAllObjectInstances ( ) const

Returns all object ids that are currently in the working memory.

Returns: std::vector<std::string> all object ids of the objects in the working memory

◆ getDefaultName()

std::string getDefaultName ( ) const

overrideprotectedvirtual

Returns the default name of this managed ice object.

See also: armarx::ManagedIceObject::getDefaultName()

Implements ManagedIceObject.

◆ getSbRotationFromInstance()

SbRotation getSbRotationFromInstance ( const memoryx::ObjectInstancePtr & objectInstance )

static

Returns the rotation of a object instance.

The rotation is translated to the format used in the Scene.

Returns: The rotation.

◆ getSbVec3fFromInstance()

SbVec3f getSbVec3fFromInstance ( const memoryx::ObjectInstancePtr & objectInstance )

static

Returns the position of a object instance.

The position is translated to the format used in the Scene.

Returns: The position.

◆ onConnectComponent()

void onConnectComponent ( )

overrideprotectedvirtual

See also: armarx::ManagedIceObject::onConnectComponent()

Implements ManagedIceObject.

◆ onInitComponent()

void onInitComponent ( )

overrideprotectedvirtual

See also: armarx::ManagedIceObject::onInitComponent()

Implements ManagedIceObject.

◆ removeObjectInstance()

void removeObjectInstance ( const std::string & id )

Removes the object instance with the given id.

Exceptions

Exception when there is no object instance with the given id

Parameters

id	the id of the object instance that should be removed from the working memory

◆ reportEntityCreated()

void reportEntityCreated	(	const std::string &	segmentName,
		const ::memoryx::EntityBasePtr &	entity,
		const ::Ice::Current &	= Ice::emptyCurrent )

overrideprotected

Recognises when an entity is created in the working memory.

See also: armarx::ManagedIceObject::reportEntityCreated()

◆ reportEntityRemoved()

void reportEntityRemoved	(	const std::string &	segmentName,
		const ::memoryx::EntityBasePtr &	entity,
		const ::Ice::Current &	= Ice::emptyCurrent )

overrideprotected

Recognises when an entity is removed from the working memory.

See also: armarx::ManagedIceObject::reportEntityRemoved()

◆ reportEntityUpdated()

void reportEntityUpdated	(	const std::string &	segmentName,
		const ::memoryx::EntityBasePtr &	entityOld,
		const ::memoryx::EntityBasePtr &	entityNew,
		const ::Ice::Current &	= Ice::emptyCurrent )

overrideprotected

Recognises when an entity is updated in the working memory.

See also: armarx::ManagedIceObject::reportEntityUpdated()

◆ reportMemoryCleared()

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

overrideprotected

Recognises when an entity is created on the working memory.

See also: armarx::ManagedIceObject::reportMemoryCleared()

◆ reportSnapshotCompletelyLoaded()

void reportSnapshotCompletelyLoaded ( const Ice::Current & c = Ice::emptyCurrent )

inlineoverrideprotected

◆ reportSnapshotLoaded()

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

overrideprotected

Recognises when a segment was loaded from a snapshot.

See also: armarx::ManagedIceObject::reportSnapshotLoaded()

◆ rotateTranslateObject()

void rotateTranslateObject	(	const std::string &	id,
		const SbRotation &	newOrientation,
		const SbVec3f &	newPosition )

Applies the given orientation and position to the object instance with the given id.

Important: The values of the position vector will be multiplied by 1000 because the working memory uses another scale

Parameters

id	the id of the object that gets the new orientation and position
newOrientation	the new orientation
newPosition	the new position

◆ saveObjectsInSnapshot()

bool saveObjectsInSnapshot	(	const std::string &	snapshotName,
		const memoryx::LongtermMemoryInterfacePrx &	longtermMemoryPrx,
		const std::vector< std::string > &	objectIds ) const

Saves the object instances with the given ids in a snapshot with the given name.

Retruns true if the saving was sucessful.

Parameters

snapshotName	the name of the snapshot where the object instances are saved
longtermMemoryPrx	a proxy for the longterm-memory where the snapshot will be stored
objectIds	the list of ids

Returns: bool returns true if the saving was succesful

◆ saveSceneInSnapshot()

bool saveSceneInSnapshot	(	const std::string &	snapshotName,
		const memoryx::LongtermMemoryInterfacePrx &	longtermMemoryPrx ) const

Saves the whole scene in a snapshot with the given name.

Retruns true if the saving was sucessful.

Parameters

snapshotName	the name of the snapshot where all object instances of the working memory are saved
longtermMemoryPrx	a proxy for the longterm-memory where the snapshot will be stored

Returns: bool returns true if the saving was succesful

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

MemoryX/gui-plugins/SceneEditor/memoryxcontroller/WorkingMemoryController.h
MemoryX/gui-plugins/SceneEditor/memoryxcontroller/WorkingMemoryController.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ WorkingMemoryController()

◆ ~WorkingMemoryController()

Member Function Documentation

◆ addAllInstancesToLocalScene()

◆ addObjectInstance()

◆ addObjectInstances()

◆ getAllObjectInstances()

◆ getDefaultName()

◆ getSbRotationFromInstance()

◆ getSbVec3fFromInstance()

◆ onConnectComponent()

◆ onInitComponent()

◆ removeObjectInstance()

◆ reportEntityCreated()

◆ reportEntityRemoved()

◆ reportEntityUpdated()

◆ reportMemoryCleared()

◆ reportSnapshotCompletelyLoaded()

◆ reportSnapshotLoaded()

◆ rotateTranslateObject()

◆ saveObjectsInSnapshot()

◆ saveSceneInSnapshot()