diff --git a/source/RobotAPI/libraries/armem/client/util/SimpleReaderBase.h b/source/RobotAPI/libraries/armem/client/util/SimpleReaderBase.h
index a78db401d3f578d7be9f9c86542a37f72326aabc..e567b76b8d36d8cf41c00118a49d3e041d0607bc 100644
--- a/source/RobotAPI/libraries/armem/client/util/SimpleReaderBase.h
+++ b/source/RobotAPI/libraries/armem/client/util/SimpleReaderBase.h
@@ -44,7 +44,7 @@ namespace armarx::armem::client::util
virtual ~SimpleReaderBase() = default;
void registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def);
- void connect();
+ virtual void connect();
protected:
@@ -65,6 +65,8 @@ namespace armarx::armem::client::util
const armem::client::Reader& memoryReader() const;
+ MemoryNameSystem& memoryNameSystem;
+
private:
Properties props;
@@ -72,7 +74,6 @@ namespace armarx::armem::client::util
armem::client::Reader memoryReaderClient;
std::mutex memoryMutex;
- MemoryNameSystem& memoryNameSystem;
};
} // namespace armarx::armem::client::util
diff --git a/source/RobotAPI/libraries/armem/mns/MemoryNameSystem.cpp b/source/RobotAPI/libraries/armem/mns/MemoryNameSystem.cpp
index a80a189ff585c7610bebe0978468aec82ebe48b9..a0c606a990fd4635a5fa2cded1c0e5be8f7566a8 100644
--- a/source/RobotAPI/libraries/armem/mns/MemoryNameSystem.cpp
+++ b/source/RobotAPI/libraries/armem/mns/MemoryNameSystem.cpp
@@ -40,6 +40,14 @@ namespace armarx::armem::mns
}
}
}
+
+ dto::RegisterServerResult MemoryNameSystem::registerServer(const dto::RegisterServerInput& input)
+ {
+ const auto result = Registry::registerServer(input);
+ waitForServer_processOnce();
+
+ return result;
+ }
armarx::RemoteGui::Client::GridLayout MemoryNameSystem::RemoteGui_buildInfoGrid()
@@ -92,4 +100,3 @@ namespace armarx::armem::mns
}
}
-
diff --git a/source/RobotAPI/libraries/armem/mns/MemoryNameSystem.h b/source/RobotAPI/libraries/armem/mns/MemoryNameSystem.h
index 51e4719f127ee576073e0c9b45cb0635241a185d..e0cf5b88753cb4a96caad2c004a853dcd4d11a34 100644
--- a/source/RobotAPI/libraries/armem/mns/MemoryNameSystem.h
+++ b/source/RobotAPI/libraries/armem/mns/MemoryNameSystem.h
@@ -31,6 +31,8 @@ namespace armarx::armem::mns
void waitForServer_processOnce();
+ dto::RegisterServerResult registerServer(const dto::RegisterServerInput& input) override;
+
/// Builds a RemoteGui grid containing information about registered memories.
armarx::RemoteGui::Client::GridLayout RemoteGui_buildInfoGrid();
diff --git a/source/RobotAPI/libraries/armem/mns/Registry.h b/source/RobotAPI/libraries/armem/mns/Registry.h
index bf9348d157ee990f6032c4cf115b9fd56c70f716..c1965bdac24fcdf943ad2b7bc945698358dd3f0c 100644
--- a/source/RobotAPI/libraries/armem/mns/Registry.h
+++ b/source/RobotAPI/libraries/armem/mns/Registry.h
@@ -35,7 +35,7 @@ namespace armarx::armem::mns
* Causes threads waiting in `waitForMemory()` to resume if the respective
* memory server was added.
*/
- dto::RegisterServerResult registerServer(const dto::RegisterServerInput& input);
+ virtual dto::RegisterServerResult registerServer(const dto::RegisterServerInput& input);
/**
* @brief Remove a server entry.
*/
diff --git a/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp b/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp
index 764c443a7cc595f7c1f32ca51d4bdde6ee9309a4..a364df3f70d1231c3f0ed8c1b2a1510e4d099679 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp
@@ -149,14 +149,14 @@ namespace armarx::armem::robot_state
const auto jointMap = queryJointState(description, timestamp);
if (not jointMap)
{
- ARMARX_WARNING << "Failed to query joint state";
+ ARMARX_WARNING << "Failed to query joint state for robot " << description.name;
return std::nullopt;
}
const auto globalPose = queryGlobalPose(description, timestamp);
if (not globalPose)
{
- ARMARX_WARNING << "Failed to query global pose";
+ ARMARX_WARNING << "Failed to query global pose for robot " << description.name;
return std::nullopt;
}
diff --git a/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp b/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp
index 10e13611f3fd8608a5d0b5027fd92b960c3a7754..1c0152a463d5c38abb3b1c81f1014e1f74ef4d77 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp
@@ -42,7 +42,7 @@ namespace armarx::armem::robot_state
const auto robotState = queryState(robotDescription, timestamp);
if (not robotState)
{
- ARMARX_WARNING << "Querying robot state failed!";
+ ARMARX_WARNING << "Querying robot state failed for robot `" << robot.getName() << " / " << robot.getType() << "`!";
return false;
}
@@ -67,7 +67,9 @@ namespace armarx::armem::robot_state
const std::string xmlFilename = ArmarXDataPath::resolvePath(description->xml.serialize().path);
ARMARX_INFO << "Loading (virtual) robot '" << description->name << "' from XML file '" << xmlFilename << "'";
- return VirtualRobot::RobotIO::loadRobot(xmlFilename, loadMode);
+ auto robot = VirtualRobot::RobotIO::loadRobot(xmlFilename, loadMode);
+ robot->setName(name);
+ return robot;
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.cpp
index 0db5f2d68e1de29da18c9327a5b25ee5bd834bc5..5f3c8043a69376538f41f8a55313b53f0c331f80 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.cpp
@@ -59,7 +59,7 @@ namespace armarx::aron::cppserializer::serializer
for (const auto& [key, value] : typenavigator->getAcceptedValueMap())
{
std::string enumKeyWithNamespace = std::string(IMPL_ENUM) + "::" + key;
- fields.push_back(std::make_shared<CppField>("const static " + std::string(IMPL_ENUM), key + " = " + enumKeyWithNamespace));
+ fields.push_back(std::make_shared<CppField>("static constexpr " + std::string(IMPL_ENUM), key + " = " + enumKeyWithNamespace));
enum_to_name << "\t\t{" << enumKeyWithNamespace << ", \"" << key << "\"}," << std::endl;
name_to_enum << "\t\t{\"" << key << "\", " << enumKeyWithNamespace << "}," << std::endl;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.h
index bd4a0f8128b19bbe28b388e3fa97faddf8f743b1..4a73767f0f800f03be6c1d77759ba17993cac1a3 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.h
@@ -66,6 +66,6 @@ namespace armarx::aron::cppserializer::serializer
private:
// Members
static const std::map<std::string, std::pair<std::string, int>> ACCEPTED_TYPES;
- static constexpr const char* IMPL_ENUM = "__ImplEnum";
+ static constexpr const char* IMPL_ENUM = "ImplEnum";
};
}
diff --git a/source/RobotAPI/libraries/aron/core/test/aronRandomizedTest.cpp b/source/RobotAPI/libraries/aron/core/test/aronRandomizedTest.cpp
index 4ff0724c95ca3c0cbc31dd051b6ba3afdff37fe9..b9c54acda1e8d0e1b70477427a2d8c848bbedb15 100644
--- a/source/RobotAPI/libraries/aron/core/test/aronRandomizedTest.cpp
+++ b/source/RobotAPI/libraries/aron/core/test/aronRandomizedTest.cpp
@@ -384,3 +384,11 @@ BOOST_AUTO_TEST_CASE(test_Optional)
OptionalTest pc2;
runTestWithInstances<OptionalTest>(pc, pc2);
}
+
+
+BOOST_AUTO_TEST_CASE(test_Enum)
+{
+ BOOST_TEST_MESSAGE("Running Optional test");
+ TheIntEnum value = TheIntEnum::INT_ENUM_VALUE_2;
+ BOOST_CHECK_EQUAL(value.toString(), "INT_ENUM_VALUE_2");
+}