From 1be35e350ccbd12a14f6f8f68192b046e997fc33 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Mon, 16 Aug 2021 18:15:20 +0200
Subject: [PATCH] Fix robot unit data conversion
---
.../proprioception/converters/Armar6Converter.cpp | 11 +++++++----
.../proprioception/converters/Armar6Converter.h | 2 +-
2 files changed, 8 insertions(+), 5 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/converters/Armar6Converter.cpp b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/converters/Armar6Converter.cpp
index 6c7171a74..cb1192954 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/converters/Armar6Converter.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/converters/Armar6Converter.cpp
@@ -6,6 +6,8 @@
#include <RobotAPI/libraries/RobotUnitDataStreamingReceiver/RobotUnitDataStreamingReceiver.h>
#include <RobotAPI/libraries/aron/core/navigator/data/container/Dict.h>
+#include <RobotAPI/libraries/armem_robot_state/server/proprioception/aron_conversions.h>
+
#include "ConverterTools.h"
@@ -40,7 +42,7 @@ namespace armarx::armem::server::robot_state::proprioception
void Armar6Converter::process(
- arondto::Proprioception dto,
+ arondto::Proprioception& dto,
const std::string& entryName,
const ConverterValue& value)
{
@@ -70,8 +72,7 @@ namespace armarx::armem::server::robot_state::proprioception
{
// Joint
bool processed = processJointEntry(dto.joints, split, value);
-
- if (!processed)
+ if (not processed)
{
// Fallback: Put in extra.
const std::vector<std::string> comps{simox::alg::advanced(split.begin(), 1), split.end()};
@@ -86,6 +87,8 @@ namespace armarx::armem::server::robot_state::proprioception
dto.extraLongs[key] = getValueAs<long>(value);
break;
default:
+ ARMARX_DEBUG << "Cannot handle extra field '" << key << "' of type "
+ << RobotUnitDataStreaming::DataEntryNames.to_name(value.entry.type);
break;
}
}
@@ -201,7 +204,7 @@ namespace armarx::armem::server::robot_state::proprioception
}
else
{
- ARMARX_DEBUG << "Ignoring unhandled field: '" << simox::alg::join(split, ".") << "'";
+ // ARMARX_DEBUG << "Ignoring unhandled field: '" << simox::alg::join(split, ".") << "'";
return false;
}
}
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/converters/Armar6Converter.h b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/converters/Armar6Converter.h
index f7a0da8f3..03c0a05d0 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/converters/Armar6Converter.h
+++ b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/converters/Armar6Converter.h
@@ -33,7 +33,7 @@ namespace armarx::armem::server::robot_state::proprioception
protected:
- void process(arondto::Proprioception dto, const std::string& entryName, const ConverterValue& value);
+ void process(arondto::Proprioception& dto, const std::string& entryName, const ConverterValue& value);
--
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