From 3d0d3959b35f1ec46a95421014e9fa4036c724c0 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Wed, 12 May 2021 16:55:55 +0200
Subject: [PATCH] sensor value prefix
---
.../armem/server/RobotStateMemory/RobotStateMemory.cpp | 10 ++++++----
.../armem/server/RobotStateMemory/RobotStateMemory.h | 2 ++
2 files changed, 8 insertions(+), 4 deletions(-)
diff --git a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
index 0fb608487..a4821d35b 100644
--- a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
+++ b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
@@ -72,11 +72,13 @@ namespace armarx::armem::server::robot_state
armarx::PropertyDefinitionsPtr RobotStateMemory::createPropertyDefinitions()
{
+ const std::string robotUnitPrefix{sensorValuePrefix};
+
armarx::PropertyDefinitionsPtr defs = new ComponentPropertyDefinitions(getConfigIdentifier());
- defs->optional(robotUnitSensorPrefix, "RobotUnit.SensorValuePrefix", "Prefix of all sensor values");
- defs->optional(robotUnitMemoryBatchSize, "RobotUnit.MemoryBatchSize", "The size of the entity snapshot to send to the memory. Min is 1");
- defs->optional(robotUnitPollFrequency, "RobotUnit.UpdateFrequency", "The frequency in Hz to store values. All other values get discarded. Min is 1, max is " + std::to_string(ROBOT_UNIT_MAXIMUM_FREQUENCY));
- defs->optional(robotUnitConfigPath, "robotUnit.ConfigPath", "Specify a configuration file to group the sensor values specifically.");
+ defs->optional(robotUnitSensorPrefix, robotUnitPrefix + "SensorValuePrefix", "Prefix of all sensor values");
+ defs->optional(robotUnitMemoryBatchSize, robotUnitPrefix + "MemoryBatchSize", "The size of the entity snapshot to send to the memory. Min is 1");
+ defs->optional(robotUnitPollFrequency, robotUnitPrefix + "UpdateFrequency", "The frequency in Hz to store values. All other values get discarded. Min is 1, max is " + std::to_string(ROBOT_UNIT_MAXIMUM_FREQUENCY));
+ defs->optional(robotUnitConfigPath, robotUnitPrefix + "ConfigPath", "Specify a configuration file to group the sensor values specifically.");
descriptionSegment.defineProperties(defs);
proprioceptionSegment.defineProperties(defs);
diff --git a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.h b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.h
index 45530f17a..e8174416e 100644
--- a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.h
+++ b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.h
@@ -139,6 +139,8 @@ namespace armarx::armem::server::robot_state
// params
static constexpr int ROBOT_UNIT_MAXIMUM_FREQUENCY = 100;
+ static constexpr const char* sensorValuePrefix = "RobotUnit.";
+
int robotUnitPollFrequency = 50;
std::string robotUnitSensorPrefix = "sens.*";
unsigned int robotUnitMemoryBatchSize = 50;
--
GitLab