Merge remote-tracking branch 'origin/master' into githubaction

Author: Taiju Yamada

CHANELOG.md

@@ -1,5 +1,13 @@
 # Changelog
 
+## 0.72.0 (2024-04-27)
+
+- change `CreateLogEntries` to use `vector<LogEntry>` for memory optimization
+
+## 0.71.0 (2024-03-26)
+
+- Add objectType field in RegisterMinViableRegionInfo
+
 ## 0.70.2 (2023-11-21)
 
 - Fix memory leak by incorrect usage of `curl_formfree`.

CMakeLists.txt

@@ -18,8 +18,8 @@ set( CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS TRUE )
 # Define here the needed parameters
 # make sure to change the version in docs/Makefile
 set (MUJINCLIENT_VERSION_MAJOR 0)
-set (MUJINCLIENT_VERSION_MINOR 70)
-set (MUJINCLIENT_VERSION_PATCH 2)
+set (MUJINCLIENT_VERSION_MINOR 72)
+set (MUJINCLIENT_VERSION_PATCH 0)
 set (MUJINCLIENT_VERSION ${MUJINCLIENT_VERSION_MAJOR}.${MUJINCLIENT_VERSION_MINOR}.${MUJINCLIENT_VERSION_PATCH})
 set (MUJINCLIENT_SOVERSION ${MUJINCLIENT_VERSION_MAJOR}.${MUJINCLIENT_VERSION_MINOR})
 set (CLIENT_SOVERSION ${MUJINCLIENT_VERSION_MAJOR}.${MUJINCLIENT_VERSION_MINOR})

include/mujincontrollerclient/binpickingtask.h

@@ -217,6 +217,7 @@ class MUJINCLIENT_API BinPickingTaskResource : public TaskResource
             std::array<double, 3> translation; ///< Translation of the 2D MVR plane (height = 0)
             std::array<double, 4> quaternion; ///< Rotation of the 2D MVR plane (height = 0)
             double objectWeight; ///< If non-zero, use this weight fo registration. unit is kg. zero means unknown.
+            std::string objectType; ///< The type of the object
             uint64_t sensorTimeStampMS; ///< Same as DetectedObject's timestamp sent to planning
             double robotDepartStopTimestamp; ///< Force capture after robot stops
             std::array<double, 3> liftedWorldOffset; ///< [dx, dy, dz], mm in world frame

include/mujincontrollerclient/mujincontrollerclient.h

@@ -144,6 +144,13 @@ struct LogEntryAttachment
 {
     std::string filename; // filename
     std::vector<unsigned char> data; // data for the attachment
+
+    // default constructor
+    LogEntryAttachment() = default;
+
+    // move constructor (delete copy constructor)
+    LogEntryAttachment(LogEntryAttachment&& other) = default;
+    LogEntryAttachment& operator=(LogEntryAttachment&& other) = default;
 };
 
 typedef boost::shared_ptr<LogEntryAttachment> LogEntryAttachmentPtr;
@@ -154,7 +161,7 @@ struct LogEntry
 {
     rapidjson::Value rEntry; // log entry data in JSON format
     std::string logType; // log type
-    std::vector<LogEntryAttachmentPtr> attachments; // a list of related attachments
+    std::vector<LogEntryAttachment> attachments; // a list of related attachments
 };
 
 typedef boost::shared_ptr<LogEntry> LogEntryPtr;
@@ -724,7 +731,7 @@ class MUJINCLIENT_API ControllerClient
     /// \param logEntries a vector of log entries to upload
     /// \param createdLogEntryIds an optional vector for storing the created log entry ids
     /// \param timeout timeout of uploading log entries in seconds
-    virtual void CreateLogEntries(const std::vector<LogEntryPtr>& logEntries, std::vector<std::string>& createdLogEntryIds, double timeout = 5) = 0;
+    virtual void CreateLogEntries(const std::vector<LogEntry>& logEntries, std::vector<std::string>& createdLogEntryIds, double timeout = 5) = 0;
 };
 
 class MUJINCLIENT_API WebResource

include/mujincontrollerclient/mujinjson.h

@@ -293,6 +293,18 @@ inline void LoadJsonValue(const rapidjson::Value& v, int& t) {
     }
 }
 
+inline void LoadJsonValue(const rapidjson::Value& v, int16_t& t) {
+    if (v.IsInt()) {
+        t = v.GetInt();
+    } else if (v.IsString()) {
+        t = boost::lexical_cast<int16_t>(v.GetString());
+    } else if (v.IsBool()) {
+        t = v.GetBool() ? 1 : 0;
+    } else {
+        throw MujinJSONException("Cannot convert JSON type %s to Int" + GetJsonString(v));
+    }
+}
+
 inline void LoadJsonValue(const rapidjson::Value& v, int8_t& t) {
     if (v.IsInt()) {
         t = v.GetInt();

src/binpickingtask.cpp

@@ -83,6 +83,7 @@ BinPickingTaskResource::ResultGetBinpickingState::RegisterMinViableRegionInfo& B
     translation = rhs.translation;
     quaternion = rhs.quaternion;
     objectWeight = rhs.objectWeight;
+    objectType = rhs.objectType;
     sensorTimeStampMS = rhs.sensorTimeStampMS;
     robotDepartStopTimestamp = rhs.robotDepartStopTimestamp;
     liftedWorldOffset = rhs.liftedWorldOffset;
@@ -124,6 +125,7 @@ void BinPickingTaskResource::ResultGetBinpickingState::RegisterMinViableRegionIn
     SetJsonValueByKey(rInfo, "translation", translation, alloc);
     SetJsonValueByKey(rInfo, "quaternion", quaternion, alloc);
     SetJsonValueByKey(rInfo, "objectWeight", objectWeight, alloc);
+    SetJsonValueByKey(rInfo, "objectType", objectType, alloc);
     SetJsonValueByKey(rInfo, "sensorTimeStampMS", sensorTimeStampMS, alloc);
     SetJsonValueByKey(rInfo, "robotDepartStopTimestamp", robotDepartStopTimestamp, alloc);
 
@@ -171,6 +173,7 @@ void BinPickingTaskResource::ResultGetBinpickingState::RegisterMinViableRegionIn
     LoadJsonValueByKey(rInfo, "translation", translation);
     LoadJsonValueByKey(rInfo, "quaternion", quaternion);
     objectWeight = GetJsonValueByKey<double>(rInfo, "objectWeight", 0);
+    LoadJsonValueByKey(rInfo, "objectType", objectType);
     sensorTimeStampMS = GetJsonValueByKey<uint64_t>(rInfo, "sensorTimeStampMS", 0);
     robotDepartStopTimestamp = GetJsonValueByKey<double>(rInfo, "robotDepartStopTimestamp", 0);
 

src/controllerclientimpl.cpp

@@ -2078,7 +2078,7 @@ void ControllerClientImpl::ListFilesInController(std::vector<FileEntry>& fileent
     }
 }
 
-void ControllerClientImpl::CreateLogEntries(const std::vector<LogEntryPtr>& logEntries, std::vector<std::string>& createdLogEntryIds, double timeout)
+void ControllerClientImpl::CreateLogEntries(const std::vector<LogEntry>& logEntries, std::vector<std::string>& createdLogEntryIds, double timeout)
 {
     if (logEntries.empty()) {
         return;
@@ -2104,32 +2104,25 @@ void ControllerClientImpl::CreateLogEntries(const std::vector<LogEntryPtr>& logE
     rapidjson::StringBuffer& rRequestStringBuffer = _rRequestStringBufferCache;
     rapidjson::Writer<rapidjson::StringBuffer> writer(rRequestStringBuffer);
 
-    for (const LogEntryPtr logEntry : logEntries) {
-        if (!logEntry) {
-            continue;
-        }
-
+    for (const LogEntry &logEntry : logEntries) {
         // add log entry content
         rRequestStringBuffer.Clear();
         writer.Reset(rRequestStringBuffer);
-        logEntry->rEntry.Accept(writer);
-        std::string formName = "logEntry/" + logEntry->logType;
+        logEntry.rEntry.Accept(writer);
+        std::string formName = "logEntry/" + logEntry.logType;
         curl_formadd(&formpost, &lastptr,
                     CURLFORM_COPYNAME, formName.c_str(),
                     CURLFORM_COPYCONTENTS, rRequestStringBuffer.GetString(),
                     CURLFORM_CONTENTTYPE, "application/json",
                     CURLFORM_END);
 
         // add attachments
-        for (const LogEntryAttachmentPtr attachment : logEntry->attachments) {
-            if (!attachment) {
-                continue;
-            }
+        for (const LogEntryAttachment &attachment : logEntry.attachments) {
             curl_formadd(&formpost, &lastptr,
                 CURLFORM_COPYNAME, "attachment",
-                CURLFORM_BUFFER, attachment->filename.c_str(),
-                CURLFORM_BUFFERPTR, attachment->data.data(),
-                CURLFORM_BUFFERLENGTH, (long)(attachment->data.size()),
+                CURLFORM_BUFFER, attachment.filename.c_str(),
+                CURLFORM_BUFFERPTR, attachment.data.data(),
+                CURLFORM_BUFFERLENGTH, (long)(attachment.data.size()),
                 CURLFORM_END);
         }
     }

src/controllerclientimpl.h

@@ -172,7 +172,7 @@ class ControllerClientImpl : public ControllerClient, public boost::enable_share
     /// \param logEntries a vector of log entries to upload
     /// \param createdLogEntryIds an optional vector for storing the created log entry ids
     /// \param timeout timeout of uploading log entries in seconds
-    void CreateLogEntries(const std::vector<LogEntryPtr>& logEntries, std::vector<std::string>& createdLogEntryIds, double timeout = 5) override;
+    void CreateLogEntries(const std::vector<LogEntry>& logEntries, std::vector<std::string>& createdLogEntryIds, double timeout = 5) override;
 
     inline std::string GetBaseUri() const
     {