Merge pull request #138 from davidprueser/tests

[orm] improved orm insert speed

src/pycram/designator.py

@@ -25,7 +25,7 @@
 from .orm.action_designator import (Action as ORMAction)
 from .orm.object_designator import (Object as ORMObjectDesignator)
 
-from .orm.base import Quaternion, Position, Base, RobotState, ProcessMetaData
+from .orm.base import RobotState, ProcessMetaData
 from .task import with_tree
 
 
@@ -424,15 +424,15 @@ def insert(self, session: Session, *args, **kwargs) -> ORMAction:
             metadata = ProcessMetaData().insert(session)
 
             # create robot-state object
-            robot_state = RobotState(self.robot_torso_height, self.robot_type, pose.id)
-            robot_state.process_metadata_id = metadata.id
+            robot_state = RobotState(self.robot_torso_height, self.robot_type)
+            robot_state.pose = pose
+            robot_state.process_metadata = metadata
             session.add(robot_state)
-            session.commit()
 
             # create action
             action = self.to_sql()
-            action.process_metadata_id = metadata.id
-            action.robot_state_id = robot_state.id
+            action.process_metadata = metadata
+            action.robot_state = robot_state
 
             return action
 
@@ -545,16 +545,13 @@ def insert(self, session: Session) -> ORMObjectDesignator:
             :return: The completely instanced ORM object
             """
             metadata = ProcessMetaData().insert(session)
+            pose = self.pose.insert(session)
 
             # create object orm designator
             obj = self.to_sql()
-            obj.process_metadata_id = metadata.id
-
-            pose = self.pose.insert(session)
-            obj.pose_id = pose.id
-
+            obj.process_metadata = metadata
+            obj.pose = pose
             session.add(obj)
-            session.commit()
             return obj
 
         def frozen_copy(self) -> 'ObjectDesignatorDescription.Object':

src/pycram/designators/actions/actions.py

@@ -14,7 +14,7 @@
 from ...bullet_world import BulletWorld
 from ...helper import multiply_quaternions
 from ...local_transformer import LocalTransformer
-from ...orm.base import Base, Pose as ORMPose
+from ...orm.base import Pose as ORMPose
 from ...orm.object_designator import Object as ORMObject, ObjectPart as ORMObjectPart
 from ...orm.action_designator import Action as ORMAction
 from ...plan_failures import ObjectUnfetchable, ReachabilityFailure
@@ -94,12 +94,11 @@ def insert(self, session: Session, **kwargs) -> Action:
             if key not in orm_class_variables:
                 variable = value.insert(session)
                 if isinstance(variable, ORMObject):
-                    action.object_id = variable.id
+                    action.object = variable
                 elif isinstance(variable, ORMPose):
-                    action.pose_id = variable.id
-
+                    action.pose = variable
         session.add(action)
-        session.commit()
+
         return action
 
 

src/pycram/designators/motion_designator.py

@@ -54,7 +54,7 @@ def insert(self, session: Session, *args, **kwargs) -> ORMMotionDesignator:
         metadata = ProcessMetaData().insert(session)
 
         motion = self.to_sql()
-        motion.process_metadata_id = metadata.id
+        motion.process_metadata = metadata
 
         return motion
 
@@ -108,12 +108,9 @@ def to_sql(self) -> ORMMoveMotion:
 
     def insert(self, session, *args, **kwargs) -> ORMMoveMotion:
         motion = super().insert(session)
-
         pose = self.target.insert(session)
-        motion.pose_id = pose.id
-
+        motion.pose = pose
         session.add(motion)
-        session.commit()
 
         return motion
 
@@ -147,12 +144,9 @@ def to_sql(self) -> ORMMoveTCPMotion:
 
     def insert(self, session: Session, *args, **kwargs) -> ORMMoveTCPMotion:
         motion = super().insert(session)
-
         pose = self.target.insert(session)
-        motion.pose_id = pose.id
-
+        motion.pose = pose
         session.add(motion)
-        session.commit()
 
         return motion
 
@@ -174,12 +168,9 @@ def to_sql(self) -> ORMLookingMotion:
 
     def insert(self, session: Session, *args, **kwargs) -> ORMLookingMotion:
         motion = super().insert(session)
-
         pose = self.target.insert(session)
-        motion.pose_id = pose.id
-
+        motion.pose = pose
         session.add(motion)
-        session.commit()
 
         return motion
 
@@ -213,9 +204,8 @@ def to_sql(self) -> ORMMoveGripperMotion:
 
     def insert(self, session: Session, *args, **kwargs) -> ORMMoveGripperMotion:
         motion = super().insert(session)
-
         session.add(motion)
-        session.commit()
+
         return motion
 
 
@@ -250,7 +240,7 @@ def to_sql(self) -> ORMDetectingMotion:
     def insert(self, session: Session, *args, **kwargs) -> ORMDetectingMotion:
         motion = super().insert(session)
         session.add(motion)
-        session.commit()
+
         return motion
 
 
@@ -353,12 +343,9 @@ def to_sql(self) -> ORMOpeningMotion:
 
     def insert(self, session: Session, *args, **kwargs) -> ORMOpeningMotion:
         motion = super().insert(session)
-
         op = self.object_part.insert(session)
-        motion.object_id = op.id
-
+        motion.object = op
         session.add(motion)
-        session.commit()
 
         return motion
 
@@ -388,11 +375,8 @@ def to_sql(self) -> ORMClosingMotion:
 
     def insert(self, session: Session, *args, **kwargs) -> ORMClosingMotion:
         motion = super().insert(session)
-
         op = self.object_part.insert(session)
-        motion.object_id = op.id
-
+        motion.object = op
         session.add(motion)
-        session.commit()
 
         return motion

src/pycram/designators/object_designator.py

@@ -24,11 +24,11 @@ def to_sql(self) -> ORMBelieveObject:
             return ORMBelieveObject(self.type, self.name)
 
         def insert(self, session: sqlalchemy.orm.session.Session) -> ORMBelieveObject:
+            metadata = ProcessMetaData().insert(session)
             self_ = self.to_sql()
+            self_.process_metadata = metadata
             session.add(self_)
-            session.commit()
-            metadata = ProcessMetaData().insert(session)
-            self_.process_metadata_id = metadata.id
+
             return self_
 
 
@@ -47,14 +47,12 @@ def to_sql(self) -> ORMObjectPart:
             return ORMObjectPart(self.type, self.name)
 
         def insert(self, session: sqlalchemy.orm.session.Session) -> ORMObjectPart:
-            obj = self.to_sql()
             metadata = ProcessMetaData().insert(session)
-            obj.process_metadata_id = metadata.id
             pose = self.part_pose.insert(session)
-            obj.pose_id = pose.id
-
+            obj = self.to_sql()
+            obj.process_metadata = metadata
+            obj.pose = pose
             session.add(obj)
-            session.commit()
 
             return obj
 

src/pycram/orm/base.py

@@ -49,7 +49,7 @@ class Base(_Base):
     __abstract__ = True
 
     @declared_attr
-    def process_metadata_id(self) -> Mapped[Optional[int]]:
+    def process_metadata_id(self) -> Mapped[int]:
         return mapped_column(ForeignKey(f'{ProcessMetaData.__tablename__}.id'), default=None, init=False)
     """Related MetaData Object to store information about the context of this experiment."""
 
@@ -164,7 +164,6 @@ def insert(self, session: Session):
         """Insert this into the database using the session. Skipped if it already is inserted."""
         if not self.committed():
             session.add(self)
-            session.commit()
         return self
 
     @classmethod
@@ -223,8 +222,6 @@ class Color(Base):
 class RobotState(PoseMixin, Base):
     """ORM Representation of a robots state."""
 
-    pose_to_init = True
-
     torso_height: Mapped[float]
     """The torso height of the robot."""
 

src/pycram/orm/task.py

@@ -14,16 +14,16 @@ class TaskTreeNode(Base):
 
     id: Mapped[int] = mapped_column(autoincrement=True, primary_key=True, init=False)
 
-    action_id: Mapped[Optional[int]] = mapped_column(ForeignKey(f'{Designator.__tablename__}.id'), default=None)
+    action_id: Mapped[Optional[int]] = mapped_column(ForeignKey(f'{Designator.__tablename__}.id'), init=False)
     action: Mapped[Optional[Designator]] = relationship(init=False)
 
-    start_time: Mapped[datetime.datetime] = mapped_column(default=None)
-    end_time: Mapped[Optional[datetime.datetime]] = mapped_column(default=None)
+    start_time: Mapped[datetime.datetime]
+    end_time: Mapped[Optional[datetime.datetime]]
 
-    status: Mapped[TaskStatus] = mapped_column(default=None)
-    reason: Mapped[Optional[str]] = mapped_column(default=None)
+    status: Mapped[TaskStatus]
+    reason: Mapped[Optional[str]]
 
-    parent_id: Mapped[Optional[int]] = mapped_column(ForeignKey("TaskTreeNode.id"), default=None)
-    parent: Mapped["TaskTreeNode"] = relationship(foreign_keys=[parent_id], init=False, remote_side=[id])
+    parent_id: Mapped[Optional[int]] = mapped_column(ForeignKey("TaskTreeNode.id"), init=False)
+    parent: Mapped[Optional["TaskTreeNode"]] = relationship(init=False, remote_side=[id])
 
 

src/pycram/pose.py

@@ -242,20 +242,17 @@ def insert(self, session: sqlalchemy.orm.Session) -> ORMPose:
         metadata = ProcessMetaData().insert(session)
 
         position = Position(*self.position_as_list())
-        position.process_metadata_id = metadata.id
+        position.process_metadata = metadata
         orientation = Quaternion(*self.orientation_as_list())
-        orientation.process_metadata_id = metadata.id
-
+        orientation.process_metadata = metadata
         session.add(position)
         session.add(orientation)
-        session.commit()
-        pose = self.to_sql()
-        pose.process_metadata_id = metadata.id
-        pose.position_id = position.id
-        pose.orientation_id = orientation.id
 
+        pose = self.to_sql()
+        pose.process_metadata = metadata
+        pose.orientation = orientation
+        pose.position = position
         session.add(pose)
-        session.commit()
 
         return pose
 

src/pycram/task.py

@@ -118,18 +118,17 @@ def to_sql(self) -> ORMTaskTreeNode:
         else:
             reason = None
 
-        return ORMTaskTreeNode(None, self.start_time, self.end_time, self.status.name,
-                               reason, id(self.parent) if self.parent else None)
+        return ORMTaskTreeNode(self.start_time, self.end_time, self.status.name, reason)
 
     def insert(self, session: sqlalchemy.orm.session.Session, recursive: bool = True,
-               parent_id: Optional[int] = None, use_progress_bar: bool = True,
+               parent: Optional[TaskTreeNode] = None, use_progress_bar: bool = True,
                progress_bar: Optional[tqdm.tqdm] = None) -> ORMTaskTreeNode:
         """
         Insert this node into the database.
 
         :param session: The current session with the database.
         :param recursive: Rather if the entire tree should be inserted or just this node, defaults to True
-        :param parent_id: The primary key of the parent node, defaults to None
+        :param parent: The parent node, defaults to None
         :param use_progress_bar: Rather to use a progressbar or not
         :param progress_bar: The progressbar to update. If a progress bar is desired and this is None, a new one will be
             created.
@@ -147,30 +146,34 @@ def insert(self, session: sqlalchemy.orm.session.Session, recursive: bool = True
         # insert action if possible
         if getattr(self.action, "insert", None):
             action = self.action.insert(session)
-            node.action_id = action.id
+            node.action = action
         else:
             action = None
-            node.action_id = None
+            node.action = None
 
         # get and set metadata
         metadata = ProcessMetaData().insert(session)
-        node.process_metadata_id = metadata.id
+        node.process_metadata = metadata
 
-        # set parent to id from constructor
-        node.parent_id = parent_id
+        # set node parent
+        node.parent = parent
 
-        # add the node to database to retrieve the new id
+        # add the node to the session; note that the instance is not yet committed to the db, but rather in a
+        # pending state
         session.add(node)
-        session.commit()
 
         if progress_bar:
             progress_bar.update()
 
         # if recursive, insert all children
         if recursive:
-            [child.insert(session, parent_id=node.id, use_progress_bar=use_progress_bar, progress_bar=progress_bar)
+            [child.insert(session, parent=node, use_progress_bar=use_progress_bar, progress_bar=progress_bar)
              for child in self.children]
 
+        # once recursion is done and the root node is reached again, commit the session to the database
+        if self.parent is None:
+            session.commit()
+
         return node
 
 

test/test_orm.py

@@ -1,7 +1,5 @@
 import os
 import unittest
-
-import anytree
 from sqlalchemy import select
 import sqlalchemy.orm
 import pycram.orm.action_designator
@@ -12,7 +10,6 @@
 import pycram.task
 import pycram.task
 from bullet_world_testcase import BulletWorldTestCase
-import test_task_tree
 from pycram.bullet_world import Object
 from pycram.designators import action_designator, object_designator, motion_designator
 from pycram.designators.actions.actions import ParkArmsActionPerformable, MoveTorsoActionPerformable, \
@@ -38,7 +35,6 @@ def setUp(self):
         super().setUp()
         pycram.orm.base.Base.metadata.create_all(self.engine)
         self.session = sqlalchemy.orm.Session(bind=self.engine)
-        self.session.commit()
 
     def tearDown(self):
         super().tearDown()