From 5b028e60dd1e222289cd3a5c2a3e475e247de965 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Tue, 12 Jan 2021 11:54:57 +0100
Subject: [PATCH] Tweak example
---
.../ArMemExampleClient/ArMemExampleClient.cpp | 16 +++++++++++++---
1 file changed, 13 insertions(+), 3 deletions(-)
diff --git a/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.cpp b/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.cpp
index c964031dd..f2e8c9683 100644
--- a/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.cpp
+++ b/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.cpp
@@ -79,9 +79,12 @@ namespace armarx
entityID = providerID.withEntityName("example_entity");
// Subscribe to example_entity updates
- memoryReader.subscribe(entityID, [&](const armem::MemoryID & sid, const std::vector<armem::MemoryID>& sids)
+ memoryReader.subscribe(entityID, [&](
+ const armem::MemoryID & entityID,
+ const std::vector<armem::MemoryID>& snapshotIDs)
{
- example_entityUpdated(sid);
+ (void) snapshotIDs;
+ example_entityUpdated(entityID);
});
task = new RunningTask<ArMemExampleClient>(this, &ArMemExampleClient::run);
@@ -123,6 +126,13 @@ namespace armarx
commitPrimitives(writer);
queryPrimitives(reader);
}
+
+ CycleUtil c(500);
+ while (!task->isStopped())
+ {
+ commitSingleSnapshot(writer, entityID);
+ c.waitForCycleDuration();
+ }
}
@@ -232,7 +242,7 @@ namespace armarx
void ArMemExampleClient::example_entityUpdated(const armem::MemoryID& id)
{
- ARMARX_IMPORTANT << "example_entity got updated: " << id;
+ ARMARX_IMPORTANT << "############### example_entity got updated: " << id << " ##################";
// Fetch new data of example_entity and do something with it.
}
--
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