ControlWidget.cpp

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#include "ControlWidget.h"
 
#include <cmath>
#include <filesystem>
 
#include <QFileDialog>
#include <QHBoxLayout>
#include <QPushButton>
#include <QSpacerItem>
 
#include <SimoxUtility/algorithm/string/string_tools.h>
 
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
 
#include <RobotAPI/libraries/armem/server/ltm/Memory.h>
#include <RobotAPI/libraries/armem/server/query_proc/ltm/disk/ltm.h>
 
#include <RobotAPI/libraries/armem/server/ltm/persistence/MemoryPersistenceStrategy.h>
#include <RobotAPI/libraries/armem/server/ltm/persistence/disk/DiskPersistence.h>
 
namespace armarx::armem::gui::disk
{
 
    ControlWidget::ControlWidget()
    {
        _latestDirectory = QString::fromStdString("/tmp/MemoryExport");
 
        _loadFromDiskButton = new QPushButton(" Load Query from Disk into WM", this);
        _loadFromDiskButton->setIcon(QIcon(":/icons/document-open.svg"));
        _storeOnDiskButton = new QPushButton(" Store shown Data on Disk", this);
        _storeOnDiskButton->setIcon(QIcon(":/icons/document-save.svg"));
 
        // Allow horizontal shrinking of buttons
        std::vector<QPushButton*> buttons{_storeOnDiskButton, _loadFromDiskButton};
        for (QPushButton* button : buttons)
        {
            button->setSizePolicy(QSizePolicy::Maximum, QSizePolicy::Fixed);
        }
 
        this->setSizePolicy(QSizePolicy::Policy::Preferred, QSizePolicy::Policy::Fixed);
 
        QHBoxLayout* layout = new QHBoxLayout();
        this->setLayout(layout);
 
        const int margin = 0;
        layout->setContentsMargins(margin, margin, margin, margin);
 
        layout->addWidget(_loadFromDiskButton);
        layout->addWidget(_storeOnDiskButton);
 
 
        // Connections
 
        connect(_loadFromDiskButton,
                &QPushButton::pressed,
                [this]()
                {
                    QString directory = chooseDirectoryDialog();
                    if (directory.size() > 0)
                    {
                        emit requestedLoadFromDisk(directory);
                    }
                });
        connect(_storeOnDiskButton,
                &QPushButton::pressed,
                [this]()
                {
                    QString directory = chooseDirectoryDialog();
                    if (directory.size() > 0)
                    {
                        emit requestedStoreOnDisk(directory);
                    }
                });
    }
 
    static const std::string&
    handleSingular(int num, const std::string& singular, const std::string& plural)
    {
        return num == 1 ? singular : plural;
    }
 
    void
    ControlWidget::storeOnDisk(QString directory,
                               const std::vector<wm::Memory> memoryData,
                               std::string* outStatus)
    {
        std::filesystem::path path(directory.toUtf8().constData());
        ARMARX_CHECK_POSITIVE(path.string().size()); // An empty path indicates an error.
 
        std::stringstream status;
        if (std::filesystem::is_regular_file(path))
        {
            status << "Could not export memories contents to " << path
                   << ": Cannot overwrite existing file.";
        }
        else
        {
            int numStored = 0;
            for (const auto& data : memoryData)
            {
                std::string name = data.id().memoryName;
                if (std::filesystem::is_regular_file(path / name))
                {
                    status << "Could not export memory '" << name << "' to " << path
                           << ": Cannot overwrite existing file.\n";
                }
                else
                {
                    std::string defaultIdent = "DefaultDisk";
                    std::string exportName = "MemoryExport";
                    std::shared_ptr<armem::server::ltm::persistence::DiskPersistence> diskPersistence = std::make_shared<armem::server::ltm::persistence::DiskPersistence>(defaultIdent, exportName, path);
 
                    armem::server::ltm::Memory memory(exportName, name);
                    
                    if (memory.getPersistenceStrategy())
                    {
                        memory.getPersistenceStrategy()->addStrategy(diskPersistence);
                    }
                    else 
                    {   
                        std::shared_ptr<armem::server::ltm::persistence::RedundantPersistenceStrategy> redundantPersistence = std::make_shared<armem::server::ltm::persistence::RedundantPersistenceStrategy>();
 
                        memory.setPersistenceStrategy(redundantPersistence);
                        memory.getPersistenceStrategy()->addStrategy(diskPersistence);
                    }
                    
                    memory.directlyStore(data);
 
                    numStored++;
                }
            }
            status << "Exported " << numStored << " "
                   << handleSingular(numStored, "memory", "memories") << " to " << path << ".";
        }
 
        if (outStatus)
        {
            *outStatus = status.str();
        }
    }
 
    std::map<std::filesystem::path, wm::Memory>
    ControlWidget::loadFromDisk(QString directory,
                                const armem::client::QueryInput& _queryInput,
                                std::string* outStatus)
    {
        std::filesystem::path path(directory.toUtf8().constData());
 
        std::map<std::filesystem::path, wm::Memory> memoryData;
 
        auto setStatus = [&](const std::string& s)
        {
            if (outStatus)
            {
                *outStatus = s;
            }
        };
 
        if (not std::filesystem::is_directory(path))
        {
            setStatus("Could not import a memory from " + path.string() +
                      ". It is not a directory. Skipping import.");
            return memoryData;
        }
 
        // Find out whether this is a single memory or a collection of memories by searching
        // for a data.aron.* or metadata.aron.* file at depth 5 (if 6 then it is collection of memories)
        bool isSingleMemory = false;
        for (auto i = std::filesystem::recursive_directory_iterator(path);
             i != std::filesystem::recursive_directory_iterator();
             ++i)
        {
            if (i.depth() > armem::server::ltm::persistence::MemoryPersistenceStrategy::DEPTH_TO_DATA_FILES + 2)
            {
                // After some depth we stop searching to not freeze GUI too long
                setStatus("Could not import a memory from " + path.string() +
                          ". Data files were not found until max-depth 7. Skipping import.");
                return memoryData;
            }
 
            auto& dir = *i;
 
            // if one matches it is enough to check
            if (std::filesystem::is_regular_file(dir.path()) &&
                simox::alg::starts_with(dir.path().filename(), "data.aron"))
            {
                isSingleMemory = (i.depth() == armem::server::ltm::persistence::MemoryPersistenceStrategy::DEPTH_TO_DATA_FILES);
                break;
            }
        }
 
        // TODO: Only add data that matches query?
        // We use LTM as query target for the disk
        // armem::client::QueryInput queryInput = _queryInput;
        // queryInput.addQueryTargetToAll(armem::query::data::QueryTarget::LTM);
        // const query::data::Input queryIce = queryInput.toIce();
 
        int numLoaded = 0;
        auto loadMemory = [&](const std::filesystem::path& p)
        {
            if (std::filesystem::is_directory(p))
            {
                std::string defaultIdent = "DefaultDisk";
                std::string exportName = "MemoryExport";
                std::shared_ptr<armem::server::ltm::persistence::DiskPersistence> diskPersistence = std::make_shared<armem::server::ltm::persistence::DiskPersistence>(defaultIdent, exportName, p.parent_path().parent_path());
 
                armem::server::ltm::Memory ltm(exportName, p.filename());
                if (ltm.getPersistenceStrategy())
                {
                    ltm.getPersistenceStrategy()->addStrategy(diskPersistence);
                }
                else 
                {   
                    std::shared_ptr<armem::server::ltm::persistence::RedundantPersistenceStrategy> redundantPersistence = std::make_shared<armem::server::ltm::persistence::RedundantPersistenceStrategy>();
 
                    ltm.setPersistenceStrategy(redundantPersistence);
                    ltm.getPersistenceStrategy()->addStrategy(diskPersistence);
                }
                    
                armem::wm::Memory memory =
                    ltm.loadAllAndResolve(); // load list of references and load data
                memoryData[p] = std::move(memory);
 
                numLoaded++;
            }
        };
 
        if (isSingleMemory)
        {
            loadMemory(path);
        }
        else
        {
            // we have to load multiple memories (each subfolder)
            for (const auto& dir : std::filesystem::directory_iterator(path))
            {
                loadMemory(dir.path());
            }
        }
 
        setStatus("Loaded " + std::to_string(numLoaded) + " " +
                  handleSingular(numLoaded, "memory", "memories") + " from " + path.string() + ".");
        return memoryData;
    }
 
    QString
    ControlWidget::chooseDirectoryDialog()
    {
        _latestDirectory = QFileDialog::getExistingDirectory(this,
                                                             "Open query result",
                                                             _latestDirectory,
                                                             QFileDialog::ShowDirsOnly |
                                                                 QFileDialog::DontResolveSymlinks);
 
        return _latestDirectory;
    }
 
} // namespace armarx::armem::gui::disk