diff --git a/source/RobotAPI/drivers/GamepadUnit/GamepadUnit.cpp b/source/RobotAPI/drivers/GamepadUnit/GamepadUnit.cpp
index 1e7dacc348c3101705f4ae650ab978b031cd23d7..14cc8fb49d139d177425040e4b69334f4e9e042a 100644
--- a/source/RobotAPI/drivers/GamepadUnit/GamepadUnit.cpp
+++ b/source/RobotAPI/drivers/GamepadUnit/GamepadUnit.cpp
@@ -22,6 +22,7 @@
#include "GamepadUnit.h"
+#include "ArmarXCore/core/logging/Logging.h"
#include <ArmarXCore/util/CPPUtility/trace.h>
#include <ArmarXCore/observers/variant/TimestampVariant.h>
#include <linux/joystick.h>
@@ -53,7 +54,7 @@ void GamepadUnit::onConnectComponent()
ARMARX_TRACE;
if (!dataTimestamp)
{
- ARMARX_INFO << "dataTimestamp is null, waiting for value";
+ ARMARX_INFO << deactivateSpam(1) << "dataTimestamp is null, waiting for value";
return;
}
ARMARX_CHECK_NOT_NULL(dataTimestamp);
diff --git a/source/RobotAPI/drivers/GamepadUnit/Joystick.h b/source/RobotAPI/drivers/GamepadUnit/Joystick.h
index 8befbe9d5c08bd6d13220cd7c709884c906afc7b..af7cc386dc35a8b1b8ec3122545fd0bb88fef4bd 100644
--- a/source/RobotAPI/drivers/GamepadUnit/Joystick.h
+++ b/source/RobotAPI/drivers/GamepadUnit/Joystick.h
@@ -220,7 +220,7 @@ namespace armarx
stop.type = EV_FF;
stop.code = e.id;
stop.value = 0;
- const int stopStatus = write(fdEvent, static_cast<const void*>(&stop), sizeof(stop));
+ [[maybe_unused]] const int stopStatus = write(fdEvent, static_cast<const void*>(&stop), sizeof(stop));
ret = ioctl(fdEvent, EVIOCRMFF, e.id);
diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
index fa8011d66e9fb45de290395eab222e9299888620..7c7cfae4d2fba28158d7bbe6cb2a3cb89fd5c195 100644
--- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
+++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
@@ -74,6 +74,7 @@
#include <iostream>
#include <memory>
#include <optional>
+#include <stdexcept>
#include <string>
@@ -81,8 +82,10 @@
//#define KINEMATIC_UNIT_FILE_DEFAULT_PACKAGE std::string("RobotAPI")
#define KINEMATIC_UNIT_NAME_DEFAULT "Robot"
//#define TOPIC_NAME_DEFAULT "RobotState"
-#define SLIDER_POS_DEG_MULTIPLIER 5
-#define SLIDER_POS_RAD_MULTIPLIER 100
+
+constexpr float SLIDER_POS_DEG_MULTIPLIER = 5;
+constexpr float SLIDER_POS_RAD_MULTIPLIER = 100;
+constexpr float SLIDER_POS_HEMI_MULTIPLIER = 100;
namespace armarx
{
@@ -648,15 +651,26 @@ namespace armarx
{
if (currentNode)
{
- const bool isDeg = ui.checkBoxUseDegree->isChecked();
- const bool isRot = currentNode->isRotationalJoint();
- const auto factor =
- isRot && !isDeg ? SLIDER_POS_RAD_MULTIPLIER : SLIDER_POS_DEG_MULTIPLIER;
- float conversionFactor = isRot && isDeg ? 180.0 / M_PI : 1.0f;
- float pos = currentNode->getJointValue() * conversionFactor;
-
- ui.lcdNumberKinematicUnitJointValue->display((int)pos);
- ui.horizontalSliderKinematicUnitPos->setSliderPosition((int)(pos * factor));
+ if (currentNode->isRotationalJoint() or currentNode->isHemisphereJoint())
+ {
+ const bool isDeg = ui.checkBoxUseDegree->isChecked();
+ const auto factor =
+ isDeg ? SLIDER_POS_DEG_MULTIPLIER : SLIDER_POS_RAD_MULTIPLIER;
+ const float conversionFactor = isDeg ? 180.0 / M_PI : 1.0f;
+ const float pos = currentNode->getJointValue() * conversionFactor;
+
+ ui.lcdNumberKinematicUnitJointValue->display((int)pos);
+ ui.horizontalSliderKinematicUnitPos->setSliderPosition((int)(pos * factor));
+ }
+
+ if (currentNode->isTranslationalJoint())
+ {
+ const auto factor = SLIDER_POS_DEG_MULTIPLIER;
+ const float pos = currentNode->getJointValue();
+
+ ui.lcdNumberKinematicUnitJointValue->display((int)pos);
+ ui.horizontalSliderKinematicUnitPos->setSliderPosition((int)(pos * factor));
+ }
}
}
}
@@ -712,15 +726,49 @@ namespace armarx
if (currentNode)
{
- QString unit = currentNode->isRotationalJoint()
- ? (ui.checkBoxUseDegree->isChecked() ? "deg" : "rad")
- : "mm";
+ const QString unit = [&]() -> QString
+ {
+ if (currentNode->isRotationalJoint() or currentNode->isHemisphereJoint())
+ {
+ if (ui.checkBoxUseDegree->isChecked())
+ {
+ return "deg";
+ }
+
+ return "rad";
+ }
+
+ if (currentNode->isTranslationalJoint())
+ {
+ return "mm";
+ }
+
+ throw std::invalid_argument("unknown/unsupported joint type");
+ }();
+
ui.labelUnit->setText(unit);
- const bool isDeg = ui.checkBoxUseDegree->isChecked();
- const bool isRot = currentNode->isRotationalJoint();
- const auto factor =
- isRot && !isDeg ? SLIDER_POS_RAD_MULTIPLIER : SLIDER_POS_DEG_MULTIPLIER;
- float conversionFactor = isRot && isDeg ? 180.0 / M_PI : 1.0f;
+
+
+ const auto [factor, conversionFactor] = [&]() -> std::pair<float, float>
+ {
+ if (currentNode->isRotationalJoint() or currentNode->isHemisphereJoint())
+ {
+ const bool isDeg = ui.checkBoxUseDegree->isChecked();
+ if (isDeg)
+ {
+ return {SLIDER_POS_DEG_MULTIPLIER, 180.0 / M_PI};
+ }
+ return {SLIDER_POS_RAD_MULTIPLIER, 1};
+ }
+
+ if (currentNode->isTranslationalJoint())
+ {
+ return {SLIDER_POS_DEG_MULTIPLIER, 1};
+ }
+
+ throw std::invalid_argument("unknown/unsupported joint type");
+ }();
+
jointModes[currentNode->getName()] = ePositionControl;
if (kinematicUnitInterfacePrx)
@@ -728,8 +776,8 @@ namespace armarx
kinematicUnitInterfacePrx->switchControlMode(jointModes);
}
- float lo = currentNode->getJointLimitLo() * conversionFactor;
- float hi = currentNode->getJointLimitHi() * conversionFactor;
+ const float lo = currentNode->getJointLimitLo() * conversionFactor;
+ const float hi = currentNode->getJointLimitHi() * conversionFactor;
if (hi - lo <= 0.0f)
{
@@ -745,7 +793,7 @@ namespace armarx
synchronizeRobotJointAngles();
}
- float pos = currentNode->getJointValue() * conversionFactor;
+ const float pos = currentNode->getJointValue() * conversionFactor;
ARMARX_INFO << "Setting position control for current node "
<< "(name '" << currentNode->getName() << "' with current value " << pos
<< ")";
@@ -754,8 +802,18 @@ namespace armarx
// This will initially send a position target with a small delta to the joint.
ui.horizontalSliderKinematicUnitPos->blockSignals(true);
- ui.horizontalSliderKinematicUnitPos->setMaximum(hi * factor);
- ui.horizontalSliderKinematicUnitPos->setMinimum(lo * factor);
+ const float sliderMax = hi * factor;
+ const float sliderMin = lo * factor;
+
+ ui.horizontalSliderKinematicUnitPos->setMaximum(sliderMax);
+ ui.horizontalSliderKinematicUnitPos->setMinimum(sliderMin);
+
+ const std::size_t desiredNumberOfTicks = 1'000;
+
+ const float tickInterval = (sliderMax - sliderMin) / desiredNumberOfTicks;
+ ARMARX_INFO << VAROUT(tickInterval);
+
+ ui.horizontalSliderKinematicUnitPos->setTickInterval(tickInterval);
ui.lcdNumberKinematicUnitJointValue->display(pos);
ui.horizontalSliderKinematicUnitPos->blockSignals(false);
@@ -780,14 +838,37 @@ namespace armarx
// set the velocity to zero to stop any previous controller (e.g. torque controller)
jointVelocities[currentNode->getName()] = 0;
- const bool isDeg = ui.checkBoxUseDegree->isChecked();
- const bool isRot = currentNode->isRotationalJoint();
- QString unit = isRot ? (isDeg ? "deg/s" : "rad/(100*s)") : "mm/s";
+
+ const QString unit = [&]() -> QString
+ {
+ if (currentNode->isRotationalJoint() or currentNode->isHemisphereJoint())
+ {
+ if (ui.checkBoxUseDegree->isChecked())
+ {
+ return "deg/s";
+ }
+
+ return "rad/(100*s)";
+ }
+
+ if (currentNode->isTranslationalJoint())
+ {
+ return "mm/s";
+ }
+
+ throw std::invalid_argument("unknown/unsupported joint type");
+ }();
+
+
ui.labelUnit->setText(unit);
ARMARX_INFO << "setting velocity control for current Node Name: "
<< currentNode->getName() << flush;
- float lo = isRot ? (isDeg ? -90 : -M_PI * 100) : -1000;
- float hi = isRot ? (isDeg ? +90 : +M_PI * 100) : 1000;
+
+ const bool isDeg = ui.checkBoxUseDegree->isChecked();
+ const bool isRot = currentNode->isRotationalJoint() or currentNode->isHemisphereJoint();
+
+ const float lo = isRot ? (isDeg ? -90 : -M_PI * 100) : -1000;
+ const float hi = isRot ? (isDeg ? +90 : +M_PI * 100) : 1000;
try
{
@@ -1105,7 +1186,7 @@ namespace armarx
const ControlMode currentControlMode = getSelectedControlMode();
const bool isDeg = ui.checkBoxUseDegree->isChecked();
- const bool isRot = currentNode->isRotationalJoint();
+ const bool isRot = currentNode->isRotationalJoint() or currentNode->isHemisphereJoint();
if (currentControlMode == ePositionControl)
{
@@ -1361,7 +1442,10 @@ namespace armarx
QModelIndex index = ui.tableJointList->model()->index(i, eTabelColumnAngleProgressbar);
float conversionFactor =
- ui.checkBoxUseDegree->isChecked() && node->isRotationalJoint() ? 180.0 / M_PI : 1;
+ ui.checkBoxUseDegree->isChecked() &&
+ (node->isRotationalJoint() or node->isHemisphereJoint())
+ ? 180.0 / M_PI
+ : 1;
ui.tableJointList->model()->setData(
index,
(int)(cutJitter(currentValue * conversionFactor) * 100) / 100.0f,
@@ -1401,7 +1485,8 @@ namespace armarx
}
float currentValue = it->second;
- if (ui.checkBoxUseDegree->isChecked() && rn[i]->isRotationalJoint())
+ if (ui.checkBoxUseDegree->isChecked() &&
+ (rn[i]->isRotationalJoint() or rn[i]->isHemisphereJoint()))
{
currentValue *= 180.0 / M_PI;
}
diff --git a/source/RobotAPI/libraries/armem_grasping/client/KnownGraspCandidateReader.cpp b/source/RobotAPI/libraries/armem_grasping/client/KnownGraspCandidateReader.cpp
index efe2d01c13731c5c32ba876a3837b2e1816ea41a..6eafef5ed875232aa83ab237f058a3c29db08a60 100644
--- a/source/RobotAPI/libraries/armem_grasping/client/KnownGraspCandidateReader.cpp
+++ b/source/RobotAPI/libraries/armem_grasping/client/KnownGraspCandidateReader.cpp
@@ -3,29 +3,25 @@
#include <mutex>
#include <optional>
-#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/PackagePath.h>
+#include <ArmarXCore/core/logging/Logging.h>
+#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/core/Time.h>
#include <RobotAPI/libraries/armem/core/error.h>
-#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/util/util.h>
-#include <RobotAPI/libraries/armem_robot/robot_conversions.h>
-#include <RobotAPI/libraries/armem_robot/aron_conversions.h>
-#include <RobotAPI/libraries/armem_robot/aron/Robot.aron.generated.h>
#include <RobotAPI/libraries/armem_objects/aron/Attachment.aron.generated.h>
#include <RobotAPI/libraries/armem_objects/aron_conversions.h>
+#include <RobotAPI/libraries/armem_robot/aron/Robot.aron.generated.h>
+#include <RobotAPI/libraries/armem_robot/aron_conversions.h>
+#include <RobotAPI/libraries/armem_robot/robot_conversions.h>
#include <RobotAPI/libraries/aron/common/aron_conversions.h>
-
namespace armarx::armem::grasping::known_grasps
{
- Reader::Reader(armem::client::MemoryNameSystem& memoryNameSystem) :
- memoryNameSystem(memoryNameSystem)
- {}
-
- void Reader::registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def)
+ void
+ Reader::registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def)
{
ARMARX_DEBUG << "Reader: registerPropertyDefinitions";
@@ -38,8 +34,8 @@ namespace armarx::armem::grasping::known_grasps
"Name of the memory core segment to use for object instances.");
}
-
- void Reader::connect()
+ void
+ Reader::connect(armem::client::MemoryNameSystem& memoryNameSystem)
{
// Wait for the memory to become available and add it as dependency.
ARMARX_IMPORTANT << "Reader: Waiting for memory '" << properties.memoryName << "' ...";
@@ -55,7 +51,8 @@ namespace armarx::armem::grasping::known_grasps
}
}
- std::optional<armem::grasping::arondto::KnownGraspInfo> Reader::queryKnownGraspInfo(const armem::wm::Memory& memory, const armem::Time&)
+ std::optional<armem::grasping::arondto::KnownGraspInfo>
+ Reader::queryKnownGraspInfo(const armem::wm::Memory& memory, const armem::Time&)
{
// clang-format off
const armem::wm::CoreSegment& s = memory
@@ -63,8 +60,7 @@ namespace armarx::armem::grasping::known_grasps
// clang-format on
const armem::wm::EntityInstance* instance = nullptr;
- s.forEachInstance([&instance](const wm::EntityInstance& i)
- { instance = &i; });
+ s.forEachInstance([&instance](const wm::EntityInstance& i) { instance = &i; });
if (instance == nullptr)
{
ARMARX_VERBOSE << "No entity snapshots found";
@@ -73,7 +69,9 @@ namespace armarx::armem::grasping::known_grasps
return armem::grasping::arondto::KnownGraspInfo::FromAron(instance->data());
}
- std::optional<armarx::armem::grasping::arondto::KnownGraspInfo> Reader::queryKnownGraspInfoByEntityName(const std::string& entityName, const armem::Time& timestamp)
+ std::optional<armarx::armem::grasping::arondto::KnownGraspInfo>
+ Reader::queryKnownGraspInfoByEntityName(const std::string& entityName,
+ const armem::Time& timestamp)
{
// Query all entities from all provider.
armem::client::query::Builder qb;
@@ -103,7 +101,8 @@ namespace armarx::armem::grasping::known_grasps
auto split = simox::alg::split(entityName, "/");
if (split.size() > 2) // there is more than just dataset/class
{
- ARMARX_INFO << "No grasp found for object entity " << entityName << ". Search for grasp without the index";
+ ARMARX_INFO << "No grasp found for object entity " << entityName
+ << ". Search for grasp without the index";
return queryKnownGraspInfoByEntityName(split[0] + "/" + split[1], timestamp);
}
}
@@ -111,4 +110,4 @@ namespace armarx::armem::grasping::known_grasps
return ret;
}
-} // namespace armarx::armem::attachment
+} // namespace armarx::armem::grasping::known_grasps
diff --git a/source/RobotAPI/libraries/armem_grasping/client/KnownGraspCandidateReader.h b/source/RobotAPI/libraries/armem_grasping/client/KnownGraspCandidateReader.h
index e421d4ee185b092ece8f81f3af45116e04c3d723..d0057afc8d23a30da6e5c6335143d58c638d0557 100644
--- a/source/RobotAPI/libraries/armem_grasping/client/KnownGraspCandidateReader.h
+++ b/source/RobotAPI/libraries/armem_grasping/client/KnownGraspCandidateReader.h
@@ -28,38 +28,36 @@
#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
#include <RobotAPI/libraries/armem/client/Reader.h>
-
#include <RobotAPI/libraries/armem_grasping/aron/KnownGraspCandidate.aron.generated.h>
-
namespace armarx::armem::grasping::known_grasps
{
class Reader
{
public:
- Reader(armem::client::MemoryNameSystem& memoryNameSystem);
+ Reader() = default;
virtual ~Reader() = default;
void registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def);
- void connect();
+ void connect(armem::client::MemoryNameSystem& memoryNameSystem);
- std::optional<armem::grasping::arondto::KnownGraspInfo> queryKnownGraspInfoByEntityName(const std::string&, const armem::Time&);
- std::optional<armem::grasping::arondto::KnownGraspInfo> queryKnownGraspInfo(const armem::wm::Memory& memory, const armem::Time&);
+ std::optional<armem::grasping::arondto::KnownGraspInfo>
+ queryKnownGraspInfoByEntityName(const std::string&, const armem::Time&);
+ std::optional<armem::grasping::arondto::KnownGraspInfo>
+ queryKnownGraspInfo(const armem::wm::Memory& memory, const armem::Time&);
private:
-
struct Properties
{
- std::string memoryName = "Grasp";
- std::string coreSegmentName = "KnownGraspCandidate";
+ std::string memoryName = "Grasp";
+ std::string coreSegmentName = "KnownGraspCandidate";
} properties;
const std::string propertyPrefix = "mem.grasping.knowngrasps.";
- armem::client::MemoryNameSystem& memoryNameSystem;
armem::client::Reader memoryReader;
mutable std::mutex memoryWriterMutex;
};
-} // namespace armarx::armem::attachment
+} // namespace armarx::armem::grasping::known_grasps
diff --git a/source/RobotAPI/libraries/armem_robot_state/aron/Proprioception.xml b/source/RobotAPI/libraries/armem_robot_state/aron/Proprioception.xml
index bfb14cb23d8dd6a169b5b9bd916723af9cbd6a2a..db6a0a9c5898f6332df65199da67c0b4b7b16c1c 100644
--- a/source/RobotAPI/libraries/armem_robot_state/aron/Proprioception.xml
+++ b/source/RobotAPI/libraries/armem_robot_state/aron/Proprioception.xml
@@ -267,6 +267,31 @@
</Dict>
</ObjectChild>
+ <ObjectChild key="extraBools">
+ <Dict>
+ <bool />
+ </Dict>
+ </ObjectChild>
+
+ <ObjectChild key="extraShorts">
+ <Dict>
+ <int32 />
+ </Dict>
+ </ObjectChild>
+
+ <ObjectChild key="extraInts">
+ <Dict>
+ <int32 />
+ </Dict>
+ </ObjectChild>
+
+ <ObjectChild key="extraBytes">
+ <Dict>
+ <int32 />
+ </Dict>
+ </ObjectChild>
+
+
</Object>
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 8d94400263d0deb04152cda8f96d9b9dcbd8c9f2..a8280d7e93ee5513449571a8c13d8ee086c9843d 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp
@@ -51,12 +51,11 @@ namespace armarx::armem::robot_state
transformReader.connect(memoryNameSystem);
// Wait for the memory to become available and add it as dependency.
- ARMARX_IMPORTANT << "RobotReader: Waiting for memory '" << constants::memoryName << "' ...";
+ ARMARX_INFO << "RobotReader: Waiting for memory '" << constants::memoryName << "' ...";
try
{
memoryReader = memoryNameSystem.useReader(constants::memoryName);
- ARMARX_IMPORTANT << "RobotReader: Connected to memory '" << constants::memoryName
- << "'";
+ ARMARX_INFO << "RobotReader: Connected to memory '" << constants::memoryName << "'";
}
catch (const armem::error::CouldNotResolveMemoryServer& e)
{
@@ -87,7 +86,7 @@ namespace armarx::armem::robot_state
.config = {}, // will be populated by synchronize
.timestamp = timestamp};
- synchronize(robot, timestamp);
+ ARMARX_CHECK(synchronize(robot, timestamp));
return robot;
}
diff --git a/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformReader.cpp b/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformReader.cpp
index 7fa14f5a1bf7ab5a9519584f8432aa92f04a5617..51739021f56c5b87a47b930fa39cd51a8358607d 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformReader.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformReader.cpp
@@ -79,12 +79,11 @@ namespace armarx::armem::client::robot_state::localization
TransformReader::connect(armem::client::MemoryNameSystem& memoryNameSystem)
{
// Wait for the memory to become available and add it as dependency.
- ARMARX_IMPORTANT << "TransformReader: Waiting for memory '" << properties.memoryName
- << "' ...";
+ ARMARX_INFO << "TransformReader: Waiting for memory '" << properties.memoryName << "' ...";
try
{
memoryReader = memoryNameSystem.useReader(properties.memoryName);
- ARMARX_IMPORTANT << "TransformReader: Connected to memory '" << properties.memoryName;
+ ARMARX_INFO << "TransformReader: Connected to memory '" << properties.memoryName;
}
catch (const armem::error::CouldNotResolveMemoryServer& e)
{
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 4dda540b2596801f1492c4ae8ac532455af002a4..dcbe1b7783190849e6a5d8d442a0124ca22c1b4c 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
@@ -1,8 +1,10 @@
#include "Armar6Converter.h"
+#include <cstddef>
#include <SimoxUtility/algorithm/get_map_keys_values.h>
#include <SimoxUtility/algorithm/advanced.h>
+#include <RobotAPI/interface/units/RobotUnit/RobotUnitInterface.h>
#include <RobotAPI/libraries/RobotUnitDataStreamingReceiver/RobotUnitDataStreamingReceiver.h>
#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
@@ -86,6 +88,18 @@ namespace armarx::armem::server::robot_state::proprioception
case RobotUnitDataStreaming::NodeTypeLong:
dto.extraLongs[key] = getValueAs<long>(value);
break;
+ case RobotUnitDataStreaming::NodeTypeBool:
+ dto.extraBools[key] = getValueAs<bool>(value);
+ break;
+ case RobotUnitDataStreaming::NodeTypeInt:
+ dto.extraInts[key] = getValueAs<int>(value);
+ break;
+ case RobotUnitDataStreaming::NodeTypeShort:
+ dto.extraShorts[key] = getValueAs<Ice::Short>(value);
+ break;
+ case RobotUnitDataStreaming::NodeTypeByte:
+ dto.extraBytes[key] = getValueAs<Ice::Byte>(value);
+ break;
default:
ARMARX_DEBUG << "Cannot handle extra field '" << key << "' of type "
<< RobotUnitDataStreaming::DataEntryNames.to_name(value.entry.type);