From 10562c2e51163a7140b54b7bfeae92ff0b8342ab Mon Sep 17 00:00:00 2001
From: Fabian Peller-Konrad <fabian.peller-konrad@kit.edu>
Date: Thu, 15 Aug 2024 11:51:50 +0200
Subject: [PATCH] unchecked cast for objProxy, add preOnConnect to mns
---
source/RobotAPI/libraries/armem/mns/Registry.cpp | 2 +-
.../libraries/armem/server/plugins/Plugin.cpp | 12 +++++++++---
.../RobotAPI/libraries/armem/server/plugins/Plugin.h | 1 +
.../armem_objects/client/instance/ObjectReader.cpp | 2 +-
4 files changed, 12 insertions(+), 5 deletions(-)
diff --git a/source/RobotAPI/libraries/armem/mns/Registry.cpp b/source/RobotAPI/libraries/armem/mns/Registry.cpp
index 2c0a92da8..b11b82228 100644
--- a/source/RobotAPI/libraries/armem/mns/Registry.cpp
+++ b/source/RobotAPI/libraries/armem/mns/Registry.cpp
@@ -54,7 +54,7 @@ namespace armarx::armem::mns
info.name = input.name;
info.server = input.server;
info.timeRegistered = armem::Time::Now();
- ARMARX_DEBUG << "Registered memory '" << info.name << "'.";
+ ARMARX_INFO << "Registered memory '" << info.name << "'.";
result.success = true;
return result;
diff --git a/source/RobotAPI/libraries/armem/server/plugins/Plugin.cpp b/source/RobotAPI/libraries/armem/server/plugins/Plugin.cpp
index 193ca45e3..6443b3887 100644
--- a/source/RobotAPI/libraries/armem/server/plugins/Plugin.cpp
+++ b/source/RobotAPI/libraries/armem/server/plugins/Plugin.cpp
@@ -76,15 +76,21 @@ namespace armarx::armem::server::plugins
}
void
- Plugin::postOnConnectComponent()
+ Plugin::preOnConnectComponent()
{
Component& parent = this->parent<Component>();
- // register to MNS
+ // register new server info to MNS
if (clientPlugin->isMemoryNameSystemEnabled() and clientPlugin->getMemoryNameSystemClient())
{
- registerServer(parent);
+ registerServer(parent);
}
+ }
+
+ void
+ Plugin::postOnConnectComponent()
+ {
+ Component& parent = this->parent<Component>();
parent.getTopic(memoryTopic, memoryTopicName);
iceAdapter.setMemoryListener(memoryTopic);
diff --git a/source/RobotAPI/libraries/armem/server/plugins/Plugin.h b/source/RobotAPI/libraries/armem/server/plugins/Plugin.h
index 0712e4d9f..0bb86b71b 100644
--- a/source/RobotAPI/libraries/armem/server/plugins/Plugin.h
+++ b/source/RobotAPI/libraries/armem/server/plugins/Plugin.h
@@ -31,6 +31,7 @@ namespace armarx::armem::server::plugins
virtual void preOnInitComponent() override;
virtual void postOnInitComponent() override;
+ virtual void preOnConnectComponent() override;
virtual void postOnConnectComponent() override;
virtual void preOnDisconnectComponent() override;
diff --git a/source/RobotAPI/libraries/armem_objects/client/instance/ObjectReader.cpp b/source/RobotAPI/libraries/armem_objects/client/instance/ObjectReader.cpp
index 131fdc655..4828ac168 100644
--- a/source/RobotAPI/libraries/armem_objects/client/instance/ObjectReader.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/instance/ObjectReader.cpp
@@ -41,7 +41,7 @@ namespace armarx::armem::obj::instance
// cast MemoryPrx to objPoseStoragePrx
this->objPoseStorage =
- objpose::ObjectPoseStorageInterfacePrx::checkedCast(r.readingPrx);
+ objpose::ObjectPoseStorageInterfacePrx::uncheckedCast(r.readingPrx);
ARMARX_IMPORTANT << "Connected to Memory and ObjectPoseStorage '" << p.memoryName
<< "'";
--
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