#include <RobotAPI/libraries/armem/server/ltm/detail/mixins/BufferedMemoryMixin.h>

Public Types
using	StorageItem = std::variant<std::shared_ptr<const armem::wm::Memory>, PendingConversion>
	Can hold either pre-converted Memory or pending conversion data.

Public Member Functions
	BufferedMemoryMixin (const MemoryID &id)

void	bufferFinished ()

void	directlyStore (const armem::server::wm::Memory &serverMemory, bool simulatedVersion=false)

void	directlyStore (const armem::wm::Memory &memory, bool simulatedVersion=false)

bool	flushAsyncStorage (int timeoutMs=0)
	Flush the async storage queue and wait for all pending items to be stored.

const AsyncStorageStatistics &	getAsyncStorageStatistics () const
	Get the async storage statistics.

size_t	getNumThreadsProcessing () const
	Get the number of threads currently processing items.

size_t	getQueueSize () const
	Get the current size of the async storage queue.

void	resetAsyncStorageStatistics ()
	Reset the async storage statistics.

virtual	~BufferedMemoryMixin ()

Protected Member Functions
virtual void	_directlyStore (const armem::wm::Memory &memory, bool simulatedVersion=false)=0

virtual std::shared_ptr< armem::wm::Memory >	_preFilterMemory (const armem::wm::Memory &memory, uint64_t &filteredCount, uint64_t &passedCount)=0
	Pre-filter a memory object before enqueuing for async storage.

void	addToBuffer (const armem::wm::Memory &memory)

void	asyncStorageWorker (size_t threadId)
	Worker thread that processes the async storage queue.

void	configureMixin (const nlohmann::json &json)
	configuration

size_t	countSnapshotsInItem (const StorageItem &item) const
	Count the number of snapshots in a storage item.

void	createPropertyDefinitions (PropertyDefinitionsPtr &defs, const std::string &prefix)

void	enqueueForAsyncStorage (std::shared_ptr< const armem::wm::Memory > memory)
	Enqueue a memory object for async storage.

void	enqueueForAsyncStoragePublic (std::shared_ptr< const armem::wm::Memory > memory)
	Public interface to enqueue memory for async storage This allows MemoryBase::store() to use the async thread pool.

void	enqueuePendingConversion (PendingConversion pending)
	Enqueue snapshots for deferred conversion and async storage This defers the expensive toMemory() conversion to the async thread.

void	enqueueStorageItem (StorageItem item)
	Internal method to enqueue any storage item (Memory or PendingConversion) PERFORMANCE: Uses lock-free queue to avoid mutex contention at 50Hz commit rate NON-BLOCKING: If the queue is full, the item is DROPPED immediately to prevent upstream queue (e.g., RobotWriterQueue) from backing up.

armem::wm::Memory	getBuffer () const

void	setMixinMemoryID (const MemoryID &id)

void	start ()

void	stop ()

void	storeBuffer ()

Protected Attributes
std::unique_ptr< armem::wm::Memory >	buffer
	Internal memory for data consolidated from wm to ltm (double-buffer) The to-put-to-ltm buffer (contains data in plain text) This buffer may still be filtered (e.g.

size_t	maxAsyncQueueSize = 1000
	Maximum size of the async storage queue (default 100 items)

size_t	numAsyncStorageThreads = 4
	Number of worker threads for async storage (default 4)

std::atomic_flag	storeFlag = ATOMIC_FLAG_INIT

float	storeFrequency = 10
	The frequency (Hz) to store data to the ltm.

std::unique_ptr< armem::wm::Memory >	to_store

int	workerShutdownTimeoutSeconds = 30
	Timeout in seconds for worker thread shutdown (default 30 seconds)

Detailed Description

template<class _CoreSegmentT>
class armarx::armem::server::ltm::detail::mixin::BufferedMemoryMixin< _CoreSegmentT >

Definition at line 127 of file BufferedMemoryMixin.h.

Member Typedef Documentation

◆ StorageItem

template<class _CoreSegmentT>

using StorageItem = std::variant<std::shared_ptr<const armem::wm::Memory>, PendingConversion>

Can hold either pre-converted Memory or pending conversion data.

Definition at line 131 of file BufferedMemoryMixin.h.

Constructor & Destructor Documentation

◆ BufferedMemoryMixin()

template<class _CoreSegmentT>

BufferedMemoryMixin ( const MemoryID & id )

inline

Definition at line 133 of file BufferedMemoryMixin.h.

◆ ~BufferedMemoryMixin()

template<class _CoreSegmentT>

virtual ~BufferedMemoryMixin ( )

inlinevirtual

Definition at line 142 of file BufferedMemoryMixin.h.

Member Function Documentation

◆ _directlyStore()

template<class _CoreSegmentT>

virtual void _directlyStore	(	const armem::wm::Memory &	memory,
		bool	simulatedVersion = false )

protectedpure virtual

Implemented in Memory.

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◆ _preFilterMemory()

template<class _CoreSegmentT>

virtual std::shared_ptr< armem::wm::Memory > _preFilterMemory	(	const armem::wm::Memory &	memory,
		uint64_t &	filteredCount,
		uint64_t &	passedCount )

protectedpure virtual

Pre-filter a memory object before enqueuing for async storage.

This method applies snapshot filters BEFORE the memory enters the async queue, reducing queue pressure and avoiding work on the async worker threads.

Parameters

memory	The memory to filter
filteredCount	Output: number of snapshots that were filtered out
passedCount	Output: number of snapshots that passed the filter

Returns: A new memory containing only the snapshots that passed the filters, or nullptr if all snapshots were filtered out

Implemented in Memory.

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◆ addToBuffer()

template<class _CoreSegmentT>

void addToBuffer ( const armem::wm::Memory & memory )

inlineprotected

Definition at line 413 of file BufferedMemoryMixin.h.

◆ asyncStorageWorker()

template<class _CoreSegmentT>

void asyncStorageWorker ( size_t threadId )

inlineprotected

Worker thread that processes the async storage queue.

Parameters

threadId ID of this worker thread (for logging)

Definition at line 641 of file BufferedMemoryMixin.h.

◆ bufferFinished()

template<class _CoreSegmentT>

void bufferFinished ( )

inline

Definition at line 180 of file BufferedMemoryMixin.h.

◆ configureMixin()

template<class _CoreSegmentT>

void configureMixin ( const nlohmann::json & json )

inlineprotected

configuration

Definition at line 355 of file BufferedMemoryMixin.h.

◆ countSnapshotsInItem()

template<class _CoreSegmentT>

size_t countSnapshotsInItem ( const StorageItem & item ) const

inlineprotected

Count the number of snapshots in a storage item.

Definition at line 613 of file BufferedMemoryMixin.h.

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◆ createPropertyDefinitions()

template<class _CoreSegmentT>

void createPropertyDefinitions	(	PropertyDefinitionsPtr &	defs,
		const std::string &	prefix )

inlineprotected

Definition at line 384 of file BufferedMemoryMixin.h.

◆ directlyStore() [1/2]

template<class _CoreSegmentT>

void directlyStore	(	const armem::server::wm::Memory &	serverMemory,
		bool	simulatedVersion = false )

inline

Definition at line 170 of file BufferedMemoryMixin.h.

◆ directlyStore() [2/2]

template<class _CoreSegmentT>

void directlyStore	(	const armem::wm::Memory &	memory,
		bool	simulatedVersion = false )

inline

Definition at line 155 of file BufferedMemoryMixin.h.

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◆ enqueueForAsyncStorage()

template<class _CoreSegmentT>

void enqueueForAsyncStorage ( std::shared_ptr< const armem::wm::Memory > memory )

inlineprotected

Enqueue a memory object for async storage.

Definition at line 434 of file BufferedMemoryMixin.h.

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◆ enqueueForAsyncStoragePublic()

template<class _CoreSegmentT>

void enqueueForAsyncStoragePublic ( std::shared_ptr< const armem::wm::Memory > memory )

inlineprotected

Public interface to enqueue memory for async storage This allows MemoryBase::store() to use the async thread pool.

Definition at line 424 of file BufferedMemoryMixin.h.

◆ enqueuePendingConversion()

template<class _CoreSegmentT>

void enqueuePendingConversion ( PendingConversion pending )

inlineprotected

Enqueue snapshots for deferred conversion and async storage This defers the expensive toMemory() conversion to the async thread.

Definition at line 444 of file BufferedMemoryMixin.h.

◆ enqueueStorageItem()

template<class _CoreSegmentT>

void enqueueStorageItem ( StorageItem item )

inlineprotected

Internal method to enqueue any storage item (Memory or PendingConversion) PERFORMANCE: Uses lock-free queue to avoid mutex contention at 50Hz commit rate NON-BLOCKING: If the queue is full, the item is DROPPED immediately to prevent upstream queue (e.g., RobotWriterQueue) from backing up.

Definition at line 559 of file BufferedMemoryMixin.h.

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◆ flushAsyncStorage()

template<class _CoreSegmentT>

bool flushAsyncStorage ( int timeoutMs = 0 )

inline

Flush the async storage queue and wait for all pending items to be stored.

This blocks until the queue is empty and all storage operations are complete.

Parameters

timeoutMs Maximum time to wait in milliseconds (0 = wait indefinitely)

Returns: true if queue was flushed successfully, false if timeout occurred

Definition at line 192 of file BufferedMemoryMixin.h.

◆ getAsyncStorageStatistics()

template<class _CoreSegmentT>

const AsyncStorageStatistics & getAsyncStorageStatistics ( ) const

inline

Get the async storage statistics.

Definition at line 238 of file BufferedMemoryMixin.h.

◆ getBuffer()

template<class _CoreSegmentT>

armem::wm::Memory getBuffer ( ) const

inlineprotected

Definition at line 303 of file BufferedMemoryMixin.h.

◆ getNumThreadsProcessing()

template<class _CoreSegmentT>

size_t getNumThreadsProcessing ( ) const

inline

Get the number of threads currently processing items.

Definition at line 256 of file BufferedMemoryMixin.h.

◆ getQueueSize()

template<class _CoreSegmentT>

size_t getQueueSize ( ) const

inline

Get the current size of the async storage queue.

Definition at line 229 of file BufferedMemoryMixin.h.

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◆ resetAsyncStorageStatistics()

template<class _CoreSegmentT>

void resetAsyncStorageStatistics ( )

inline

Reset the async storage statistics.

Definition at line 247 of file BufferedMemoryMixin.h.

◆ setMixinMemoryID()

template<class _CoreSegmentT>

void setMixinMemoryID ( const MemoryID & id )

inlineprotected

Definition at line 263 of file BufferedMemoryMixin.h.

◆ start()

template<class _CoreSegmentT>

void start ( )

inlineprotected

Definition at line 272 of file BufferedMemoryMixin.h.

◆ stop()

template<class _CoreSegmentT>

void stop ( )

inlineprotected

Definition at line 290 of file BufferedMemoryMixin.h.

◆ storeBuffer()

template<class _CoreSegmentT>

void storeBuffer ( )

inlineprotected

Definition at line 310 of file BufferedMemoryMixin.h.

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Member Data Documentation

◆ buffer

template<class _CoreSegmentT>

std::unique_ptr<armem::wm::Memory> buffer

protected

Internal memory for data consolidated from wm to ltm (double-buffer) The to-put-to-ltm buffer (contains data in plain text) This buffer may still be filtered (e.g.

snapshot filters). This means that it is not guaranteed that all data in the buffer will be stored in the ltm

Definition at line 868 of file BufferedMemoryMixin.h.

◆ maxAsyncQueueSize

template<class _CoreSegmentT>

size_t maxAsyncQueueSize = 1000

protected

Maximum size of the async storage queue (default 100 items)

Definition at line 876 of file BufferedMemoryMixin.h.

◆ numAsyncStorageThreads

template<class _CoreSegmentT>

size_t numAsyncStorageThreads = 4

protected

Number of worker threads for async storage (default 4)

Definition at line 879 of file BufferedMemoryMixin.h.

◆ storeFlag

template<class _CoreSegmentT>

std::atomic_flag storeFlag = ATOMIC_FLAG_INIT

protected

Definition at line 870 of file BufferedMemoryMixin.h.

◆ storeFrequency

template<class _CoreSegmentT>

float storeFrequency = 10

protected

The frequency (Hz) to store data to the ltm.

Definition at line 873 of file BufferedMemoryMixin.h.

◆ to_store

template<class _CoreSegmentT>

std::unique_ptr<armem::wm::Memory> to_store

protected

Definition at line 869 of file BufferedMemoryMixin.h.

◆ workerShutdownTimeoutSeconds

template<class _CoreSegmentT>

int workerShutdownTimeoutSeconds = 30

protected

Timeout in seconds for worker thread shutdown (default 30 seconds)

Definition at line 882 of file BufferedMemoryMixin.h.

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

RobotAPI/libraries/armem/server/ltm/detail/mixins/BufferedMemoryMixin.h

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ StorageItem

Constructor & Destructor Documentation

◆ BufferedMemoryMixin()

◆ ~BufferedMemoryMixin()

Member Function Documentation

◆ _directlyStore()

◆ _preFilterMemory()

◆ addToBuffer()

◆ asyncStorageWorker()

◆ bufferFinished()

◆ configureMixin()

◆ countSnapshotsInItem()

◆ createPropertyDefinitions()

◆ directlyStore() [1/2]

◆ directlyStore() [2/2]

◆ enqueueForAsyncStorage()

◆ enqueueForAsyncStoragePublic()

◆ enqueuePendingConversion()

◆ enqueueStorageItem()

◆ flushAsyncStorage()

◆ getAsyncStorageStatistics()

◆ getBuffer()

◆ getNumThreadsProcessing()

◆ getQueueSize()

◆ resetAsyncStorageStatistics()

◆ setMixinMemoryID()

◆ start()

◆ stop()

◆ storeBuffer()

Member Data Documentation

◆ buffer

◆ maxAsyncQueueSize

◆ numAsyncStorageThreads

◆ storeFlag

◆ storeFrequency

◆ to_store

◆ workerShutdownTimeoutSeconds