From 082e9efd1566be1f6d2e8ab8c04d2e7f299ef2bf Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Tue, 21 Sep 2021 17:30:55 +0200
Subject: [PATCH] articulated object reader/writer: using instance name to
store and retrieve articulated object
---
.../armem_objects/client/articulated_object/Reader.cpp | 4 ++--
.../armem_objects/client/articulated_object/Writer.cpp | 9 +++++++--
2 files changed, 9 insertions(+), 4 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp
index 4ddd9457f..8b6d4e525 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp
@@ -135,11 +135,11 @@ namespace armarx::armem::articulated_object
void Reader::synchronize(ArticulatedObject& obj, const armem::Time& timestamp)
{
- auto state = queryState(obj.description, timestamp);
+ auto state = queryState(obj.instance, timestamp);
if (not state) /* c++20 [[unlikely]] */
{
- ARMARX_WARNING << "Could not synchronize object " << obj.description.name;
+ ARMARX_WARNING << "Could not synchronize object " << obj.instance;
return;
}
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
index dcd44d673..055061520 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
@@ -104,6 +104,8 @@ namespace armarx::armem::articulated_object
std::optional<armem::MemoryID> Writer::storeOrGetClass(const ArticulatedObject& obj)
{
+ ARMARX_TRACE;
+
const auto objectId = knownObjects.find(obj.description.name);
// check if exists
@@ -187,7 +189,10 @@ namespace armarx::armem::articulated_object
const auto& timestamp = obj.timestamp;
- ARMARX_DEBUG << "Storing articulated object instance '" << obj.description.name << "' (provider '" << properties.providerName << "')";
+ ARMARX_CHECK(not obj.instance.empty()) << "An object instance name must be provided!";
+ const std::string entityName = obj.description.name + "/" + obj.instance;
+
+ ARMARX_DEBUG << "Storing articulated object instance '" << entityName << "' (provider '" << properties.providerName << "')";
const auto providerId = armem::MemoryID()
.withMemoryName(properties.memoryName)
@@ -195,7 +200,7 @@ namespace armarx::armem::articulated_object
.withProviderSegmentName(properties.providerName);
armem::EntityUpdate update;
- update.entityID = providerId.withEntityName(obj.description.name);
+ update.entityID = providerId.withEntityName(entityName);
// .withTimestamp(timestamp); // You only need to specify the entity ID, not the snapshot ID
// arondto::Robot aronArticulatedObject;
--
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