Catch connection error in Writer

Signed-off-by: Rainer Kartmann <rainer.kartmann@kit.edu>

source/RobotAPI/libraries/armem/client/Writer.cpp

@@ -36,9 +36,10 @@ namespace armarx::armem::client
     }
 
 
-    CommitResult Writer::commit(Commit commit)
+    CommitResult Writer::commit(const Commit& _commit)
     {
         ARMARX_CHECK_NOT_NULL(memory);
+        Commit commit = _commit;
 
         Time timeSent = armem::Time::now();
         for (EntityUpdate& update : commit.updates)
@@ -47,28 +48,49 @@ namespace armarx::armem::client
         }
 
         armem::data::Commit commitIce;
-        armem::toIce(commitIce, commit);
+        toIce(commitIce, commit);
 
-        armem::data::CommitResult resultIce;
-        try
-        {
-            resultIce = memory->commit(commitIce);
-        }
-        catch (const Ice::NotRegisteredException& e)
+        armem::data::CommitResult resultIce = this->commit(commitIce);
+
+        armem::CommitResult result;
+        fromIce(resultIce, result);
+
+        return result;
+    }
+
+
+    data::CommitResult Writer::commit(const data::Commit& commit)
+    {
+        ARMARX_CHECK_NOT_NULL(memory);
+
+        armem::data::CommitResult result;
+        auto handleError = [&commit, &result](const std::string & what)
         {
-            armem::CommitResult result;
             for (const auto& _ : commit.updates)
             {
                 (void) _;
-                armem::EntityUpdateResult& r = result.results.emplace_back();
+                armem::data::EntityUpdateResult& r = result.results.emplace_back();
                 r.success = false;
-                r.errorMessage = "Memory component not registered.\n" + std::string(e.what());
+                r.errorMessage = "Memory component not registered.\n" + std::string(what);
             }
-            return result;
-        }
+        };
 
-        armem::CommitResult result;
-        armem::fromIce(resultIce, result);
+        try
+        {
+            result = memory->commit(commit);
+        }
+        catch (const Ice::ConnectionRefusedException& e)
+        {
+            handleError(e.what());
+        }
+        catch (const Ice::ConnectionLostException& e)
+        {
+            handleError(e.what());
+        }
+        catch (const Ice::NotRegisteredException& e)
+        {
+            handleError(e.what());
+        }
 
         return result;
     }

source/RobotAPI/libraries/armem/client/Writer.h

@@ -29,7 +29,7 @@ namespace armarx::armem::client
         /**
          * @brief Writes a `Commit` to the memory.
          */
-        CommitResult commit(Commit commit);
+        CommitResult commit(const Commit& commit);
         EntityUpdateResult commit(const EntityUpdate& update);
 
 
@@ -38,6 +38,11 @@ namespace armarx::armem::client
             return bool(memory);
         }
 
+    private:
+
+        data::CommitResult commit(const data::Commit& commit);
+
+
     public:
 
         WritingInterfacePrx memory;