minor optimizations; more logging

examples/python/gRPC/images/gRPC_fb_queryImages.py

@@ -43,9 +43,7 @@ def query_images_raw(
     """
     image_service_stub = imageService.ImageServiceStub(grpc_channel)
 
-    query = createQuery(
-        fbb, *args, projectUuids=[target_proj_uuid], **kwargs
-    )
+    query = createQuery(fbb, *args, projectUuids=[target_proj_uuid], **kwargs)
 
     fbb.Finish(query)
     query_buf = fbb.Output()

examples/python/gRPC/tf/gRPC_fb_deleteTfs.py

@@ -6,13 +6,10 @@
 
 import flatbuffers
 import numpy as np
-from google.protobuf import empty_pb2
 from grpc import Channel
 from quaternion import quaternion
 from seerep.fb import TransformStampedIntervalQuery
 from seerep.fb import tf_service_grpc_fb as tf_srv
-from seerep.pb import meta_operations_pb2_grpc as meta_operations
-from seerep.pb import projectCreation_pb2 as project_creation
 from seerep.util.common import get_gRPC_channel
 from seerep.util.fb_helper import (
     createHeader,
@@ -22,6 +19,7 @@
     createTransformStamped,
     createTransformStampedQueryInterval,
     createVector3,
+    getOrCreateProject,
 )
 from seerep.util.fb_to_dict import SchemaFileNames, fb_flatc_dict
 
@@ -39,22 +37,10 @@ def delete_tfs_raw(
 ) -> bytearray:
     builder = flatbuffers.Builder(1024)
 
-    stubMeta = meta_operations.MetaOperationsStub(grpc_channel)
-
     if target_proj_uuid is None:
-        # 2. Get all projects from the server
-        response = stubMeta.GetProjects(empty_pb2.Empty())
-        for project in response.projects:
-            print(project.name + " " + project.uuid)
-            if project.name == "LabeledImagesInGrid":
-                target_proj_uuid = project.uuid
-
-        if target_proj_uuid is None:
-            creation = project_creation.ProjectCreation(
-                name="LabeledImagesInGrid", mapFrameId="map"
-            )
-            projectCreated = stubMeta.CreateProject(creation)
-            target_proj_uuid = projectCreated.uuid
+        target_proj_uuid = getOrCreateProject(
+            flatbuffers.Builder(), grpc_channel, "testproject"
+        )
 
     stubTf = tf_srv.TfServiceStub(grpc_channel)
 
@@ -147,27 +133,6 @@ def send_artificial_tfs(
     return sent_tfs_base
 
 
-def get_grcp_and_project() -> Tuple[Channel, str]:
-    grpc_channel = get_gRPC_channel()
-    stubMeta = meta_operations.MetaOperationsStub(grpc_channel)
-    target_proj_uuid = None
-    # 2. Get all projects from the server
-    response = stubMeta.GetProjects(empty_pb2.Empty())
-    for project in response.projects:
-        print(project.name + " " + project.uuid)
-        if project.name == "testproject":
-            target_proj_uuid = project.uuid
-
-    if target_proj_uuid is None:
-        creation = project_creation.ProjectCreation(
-            name="testproject", mapFrameId="map"
-        )
-        projectCreated = stubMeta.CreateProject(creation)
-        target_proj_uuid = projectCreated.uuid
-
-    return grpc_channel, target_proj_uuid
-
-
 if __name__ == "__main__":
     timestamp_nanos = 1245
     nanos_factor = 1e-9
@@ -176,7 +141,11 @@ def get_grcp_and_project() -> Tuple[Channel, str]:
         (t, timestamp_nanos) for t in range(1661336507, 1661336558, 10)
     ]
 
-    grpc_channel, proj_uuid = get_grcp_and_project()
+    grpc_channel = get_gRPC_channel()
+
+    proj_uuid = getOrCreateProject(
+        flatbuffers.Builder(), grpc_channel, "testproject"
+    )
 
     if grpc_channel is None or proj_uuid is None:
         print("There is no project on the server or server is not reachable")

seerep_hdf5/seerep_hdf5_fb/include/seerep_hdf5_fb/hdf5_fb_tf.h

@@ -35,8 +35,9 @@ class Hdf5FbTf : public Hdf5FbGeneral
    * @param timeMin The inclusive timestamp to start the deletion from.
    * @param timeMax The exclusive timestamp to end the deletion on.
    *
-   * @return true when the deletion was successful
-   * @return false when something went wrong during the deletion
+   * @return true when atleast one deletion took place.
+   * @return false when something went wrong during deletion,
+   *   or no tf matched the parameters.
    */
   bool deleteTransformStamped(std::string parentFrameId,
                               std::string childFrameId, const bool isStatic,

seerep_hdf5/seerep_hdf5_fb/src/hdf5_fb_tf.cpp

@@ -171,12 +171,26 @@ bool Hdf5FbTf::deleteTransformStamped(std::string parentFrameId,
       !m_file->exist(hdf5DatasetTransPath) ||
       !m_file->exist(hdf5DatasetRotPath))
   {
+    auto str_static = isStatic ? "static" : "non-static";
+
+    BOOST_LOG_SEV(m_logger, boost::log::trivial::severity_level::warning)
+        << "No " << str_static << " tfs matching the frames (" << parentFrameId
+        << " -> " << childFrameId << ") were found!";
     return false;
   }
-  // read size
+
   std::shared_ptr<HighFive::Group> group_ptr =
       std::make_shared<HighFive::Group>(m_file->getGroup(hdf5GroupPath));
 
+  // read size
+  if (!group_ptr->hasAttribute(seerep_hdf5_core::Hdf5CoreTf::SIZE))
+  {
+    BOOST_LOG_SEV(m_logger, boost::log::trivial::severity_level::error)
+        << "Could not access size attribute of the tf group " << parentFrameId
+        << "_" << childFrameId << "!";
+    return false;
+  }
+
   long unsigned int size;
   group_ptr->getAttribute(seerep_hdf5_core::Hdf5CoreTf::SIZE).read(size);
 
@@ -256,14 +270,14 @@ bool Hdf5FbTf::deleteTransformStamped(std::string parentFrameId,
         << "No tf was found in the timeinterval between " << timeMin.seconds()
         << "s / " << timeMin.nanos() << "ns (inclusive) and "
         << timeMax.seconds() << "s / " << timeMax.nanos() << "ns (exclusive)!";
-    return true;
+    return false;
   }
   std::vector<std::vector<int64_t>> reduced_time;
   std::vector<std::vector<double>> reduced_trans;
   std::vector<std::vector<double>> reduced_rot;
 
   BOOST_LOG_SEV(m_logger, boost::log::trivial::severity_level::info)
-      << "Deleting tfs from" << timeMin.seconds() << "s / " << timeMin.nanos()
+      << "Deleting tfs from " << timeMin.seconds() << "s / " << timeMin.nanos()
       << "ns (inclusive) up to " << timeMax.seconds() << "s / "
       << timeMax.nanos() << "ns (exclusive)...";
 
@@ -295,15 +309,7 @@ bool Hdf5FbTf::deleteTransformStamped(std::string parentFrameId,
   data_set_rot_ptr->select({ 0, 0 }, { reduced_size, 4 }).write(reduced_rot);
 
   // write the size as group attribute
-  HighFive::Group group = m_file->getGroup(hdf5GroupPath);
-  if (!group.hasAttribute(seerep_hdf5_core::Hdf5CoreTf::SIZE))
-  {
-    group.createAttribute(seerep_hdf5_core::Hdf5CoreTf::SIZE, reduced_size);
-  }
-  else
-  {
-    group.getAttribute(seerep_hdf5_core::Hdf5CoreTf::SIZE).write(reduced_size);
-  }
+  group_ptr->getAttribute(seerep_hdf5_core::Hdf5CoreTf::SIZE).write(reduced_size);
 
   m_file->flush();
   return true;

seerep_srv/seerep_core_fb/include/seerep_core_fb/core_fb_tf.h

@@ -62,14 +62,15 @@ class CoreFbTf
   void addData(const seerep::fb::TransformStamped& tf);
 
   /**
-   * @brief Delete a range of tfs based on specified time interval from hdf5
-   * @param tfInterval types of tfs to delete in a given time
+   * @brief Delete a range of tfs based on specified time interval from hdf5.
+   * @param tfInterval types of tfs to delete in a given time.
    *
    * The tfs are deleted from hdf5 in the specified project.
    *
-   * @return the project uuid which the tfs are deleted from
+   * @return std::nullopt if no deletions were done.
+   * @return the projectuuid when atleast one deletion was executed.
    */
-  boost::uuids::uuid
+  std::optional<boost::uuids::uuid>
   deleteHdf5(const seerep::fb::TransformStampedIntervalQuery& tfInterval);
 
   /**

seerep_srv/seerep_core_fb/src/core_fb_tf.cpp

@@ -54,7 +54,7 @@ CoreFbTf::getFrames(const boost::uuids::uuid& projectuuid)
   return m_seerepCore->getFrames(projectuuid);
 }
 
-boost::uuids::uuid
+std::optional<boost::uuids::uuid>
 CoreFbTf::deleteHdf5(const seerep::fb::TransformStampedIntervalQuery& tfInterval)
 {
   auto projectuuid = boost::lexical_cast<boost::uuids::uuid>(
@@ -64,21 +64,30 @@ CoreFbTf::deleteHdf5(const seerep::fb::TransformStampedIntervalQuery& tfInterval
   auto hdf5io = CoreFbGeneral::getHdf5(projectuuid, m_seerepCore, m_hdf5IoMap);
 
   // non static frames
-  hdf5io->deleteTransformStamped(
+  bool wasDeleted = hdf5io->deleteTransformStamped(
       tfInterval.transform_stamped_query()->header()->frame_id()->str(),
       tfInterval.transform_stamped_query()->child_frame_id()->str(), false,
       *tfInterval.time_interval()->time_min(),
       *tfInterval.time_interval()->time_max());
 
   // static frames
-  hdf5io->deleteTransformStamped(
-      tfInterval.transform_stamped_query()->header()->frame_id()->str(),
-      tfInterval.transform_stamped_query()->child_frame_id()->str(), true,
-      *tfInterval.time_interval()->time_min(),
-      *tfInterval.time_interval()->time_max());
+  if (hdf5io->deleteTransformStamped(
+          tfInterval.transform_stamped_query()->header()->frame_id()->str(),
+          tfInterval.transform_stamped_query()->child_frame_id()->str(), true,
+          *tfInterval.time_interval()->time_min(),
+          *tfInterval.time_interval()->time_max()))
+  {
+    wasDeleted = true;
+  };
 
-  return projectuuid;
+  if (wasDeleted)
+  {
+    return projectuuid;
+  }
+
+  return std::nullopt;
 }
+
 void CoreFbTf::reinitializeTFs(const boost::uuids::uuid& projectuuid)
 {
   // recreate the tf buffer

seerep_srv/seerep_server/src/fb_tf_service.cpp

@@ -106,7 +106,10 @@ grpc::Status FbTfService::DeleteTransformStamped(
     {
       try
       {
-        projectUuids.insert(tfFb->deleteHdf5(*tfIntervalQuery));
+        if (auto deletedInProjectUuid = tfFb->deleteHdf5(*tfIntervalQuery))
+        {
+          projectUuids.insert(deletedInProjectUuid.value());
+        }
       }
       catch (std::runtime_error const& e)
       {
@@ -143,7 +146,6 @@ grpc::Status FbTfService::DeleteTransformStamped(
   {
     try
     {
-      // TODO dont reinitialize if nothing was deleted
       tfFb->reinitializeTFs(projectUuid);
     }
     catch (std::runtime_error const& e)