From 28c138f65e6d3ec0b781223f11cb23e1eb62c72c Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Fri, 20 Sep 2024 08:09:06 +0200
Subject: [PATCH] ObjectMemory: reloadKnownObjectClasses()
---
.../armem/server/ObjectMemory/ObjectMemory.cpp | 8 ++++++++
.../armem/server/ObjectMemory/ObjectMemory.h | 2 ++
.../armem/server/ObjectMemoryInterface.ice | 1 +
.../armem_objects/server/class/Segment.cpp | 17 ++++++++++++++++-
.../armem_objects/server/class/Segment.h | 2 ++
5 files changed, 29 insertions(+), 1 deletion(-)
diff --git a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
index 7403e8331..deeec0ebb 100644
--- a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
+++ b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
@@ -350,4 +350,12 @@ namespace armarx::armem::server::obj
}
}
+ void ObjectMemory::reloadKnownObjectClasses(const Ice::Current& current)
+ {
+ ARMARX_INFO << "Reloading object classes ...";
+ classSegment.reloadObjectClassesByObjectFinder();
+ ARMARX_INFO << "Reloaded object classes.";
+ }
+
+
}
diff --git a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
index 9a97c2374..ec78eb3fa 100644
--- a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
+++ b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
@@ -110,6 +110,8 @@ namespace armarx::armem::server::obj
void createRemoteGuiTab();
void RemoteGui_update() override;
+ // Updates the list of known classes and generates a new snapshot in the memory
+ void reloadKnownObjectClasses(const Ice::Current& current) override;
private:
diff --git a/source/RobotAPI/interface/armem/server/ObjectMemoryInterface.ice b/source/RobotAPI/interface/armem/server/ObjectMemoryInterface.ice
index fdae53a72..fa9d74f16 100644
--- a/source/RobotAPI/interface/armem/server/ObjectMemoryInterface.ice
+++ b/source/RobotAPI/interface/armem/server/ObjectMemoryInterface.ice
@@ -54,6 +54,7 @@ module armarx
, FamiliarObjectInstanceSegmentInterface
{
+ void reloadKnownObjectClasses();
};
};
diff --git a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
index a9b406a13..c25da26b1 100644
--- a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
@@ -56,11 +56,26 @@ namespace armarx::armem::server::obj::clazz
if (p.loadFromObjectsPackage)
{
- ARMARX_VERBOSE << "Loading objects from package";
+ ARMARX_VERBOSE << "Loading objects from package `" << p.objectsPackage << "`.";
loadByObjectFinder(p.objectsPackage);
}
}
+ void
+ Segment::reloadObjectClassesByObjectFinder()
+ {
+ if (p.loadFromObjectsPackage)
+ {
+ ARMARX_VERBOSE << "Loading objects from package `" << p.objectsPackage << "`.";
+ loadByObjectFinder(p.objectsPackage);
+ }
+ else
+ {
+ ARMARX_INFO << "Loading object from package in `reloadObjectClassesByObjectFinder()` "
+ "is disabled via property. No object classes will be reloaded!";
+ }
+ }
+
void
Segment::connect(viz::Client arviz)
{
diff --git a/source/RobotAPI/libraries/armem_objects/server/class/Segment.h b/source/RobotAPI/libraries/armem_objects/server/class/Segment.h
index ba42e0072..b2da5cd1b 100644
--- a/source/RobotAPI/libraries/armem_objects/server/class/Segment.h
+++ b/source/RobotAPI/libraries/armem_objects/server/class/Segment.h
@@ -38,6 +38,8 @@ namespace armarx::armem::server::obj::clazz
void loadByObjectFinder(const ObjectFinder& finder);
void loadByObjectFinder();
+ void reloadObjectClassesByObjectFinder();
+
void visualizeClass(const MemoryID& entityID, bool showAABB = true, bool showOOBB = true);
--
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