From 1db6f1d7290431e24a39dfa2783c60a92dff520b Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Thu, 5 Sep 2024 15:18:06 +0200
Subject: [PATCH] + VirtualRobotReader::getRobotWaiting: blocking until robot
can be loaded
---
.../client/common/VirtualRobotReader.cpp | 31 ++++++++++++++++---
.../client/common/VirtualRobotReader.h | 9 ++++++
2 files changed, 35 insertions(+), 5 deletions(-)
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 529aeba90..515a11d94 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp
@@ -24,8 +24,7 @@ namespace armarx::armem::robot_state
if (not robotState)
{
ARMARX_VERBOSE << deactivateSpam(5) << "Querying robot state failed for robot `"
- << robot.getName() << "` "
- << "(type `" << robot.getType() << "`)!";
+ << robot.getName() << "` " << "(type `" << robot.getType() << "`)!";
return false;
}
@@ -43,8 +42,7 @@ namespace armarx::armem::robot_state
if (not robotState)
{
ARMARX_VERBOSE << deactivateSpam(5) << "Querying robot state failed for robot `"
- << robot.getName() << "` "
- << "(type `" << robot.getType() << "`)!";
+ << robot.getName() << "` " << "(type `" << robot.getType() << "`)!";
return false;
}
@@ -84,6 +82,29 @@ namespace armarx::armem::robot_state
return robot;
}
+ VirtualRobot::RobotPtr
+ VirtualRobotReader::getRobotWaiting(const std::string& name,
+ const armem::Time& timestamp,
+ const VirtualRobot::RobotIO::RobotDescription& loadMode)
+ {
+
+ VirtualRobot::RobotPtr robot = nullptr;
+ while (robot == nullptr)
+ {
+ // might be nullptr if query fails
+ robot = getRobot(name, timestamp, loadMode);
+
+ if (robot == nullptr)
+ {
+ ARMARX_WARNING << deactivateSpam(1) << "Failed to query robot `" << name
+ << "`. Will try again ...";
+ }
+ Clock::WaitFor(Duration::MilliSeconds(200));
+ }
+
+ return robot;
+ }
+
VirtualRobot::RobotPtr
VirtualRobotReader::getSynchronizedRobot(const std::string& name,
const VirtualRobot::BaseIO::RobotDescription& loadMode,
@@ -128,4 +149,4 @@ namespace armarx::armem::robot_state
}
-} // namespace armarx::armem::robot_state::client::common
+} // namespace armarx::armem::robot_state
diff --git a/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h b/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h
index 0c0eb05aa..571838aa3 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h
+++ b/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h
@@ -69,6 +69,15 @@ namespace armarx::armem::robot_state
VirtualRobot::RobotIO::RobotDescription::eStructure,
bool blocking = true);
+ /**
+ @brief In contrast to getRobot(), this function will retry to query the robot until it exists.
+ */
+ [[nodiscard]] VirtualRobot::RobotPtr
+ getRobotWaiting(const std::string& name,
+ const armem::Time& timestamp = armem::Time::Invalid(),
+ const VirtualRobot::RobotIO::RobotDescription& loadMode =
+ VirtualRobot::RobotIO::RobotDescription::eStructure);
+
private:
[[nodiscard]] VirtualRobot::RobotPtr
_getSynchronizedRobot(const std::string& name,
--
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