From 614f5be54dc51540e9ab5856c125de716d807e7e Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Mon, 14 Jun 2021 18:43:05 +0200
Subject: [PATCH] Fix empty provider name in ArticulatedObject Example
---
.../ArticulatedObjectLocalizerExample.cpp | 7 ++-
.../client/articulated_object/Reader.cpp | 10 ++++
.../client/articulated_object/Reader.h | 3 ++
.../client/articulated_object/Writer.cpp | 46 ++++++++++++++-----
.../client/articulated_object/Writer.h | 8 +++-
5 files changed, 59 insertions(+), 15 deletions(-)
diff --git a/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.cpp b/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.cpp
index b41d385f3..7009a9267 100644
--- a/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.cpp
+++ b/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.cpp
@@ -66,6 +66,7 @@ namespace armarx::articulated_object
defs->optional(p.updateFrequency, "updateFrequency", "Memory update frequency (write).");
+ // Reader will override some properties of writer.
articulatedObjectWriter->registerPropertyDefinitions(defs);
articulatedObjectReader->registerPropertyDefinitions(defs);
@@ -77,7 +78,11 @@ namespace armarx::articulated_object
return "ArticulatedObjectLocalizerExample";
}
- void ArticulatedObjectLocalizerExample::onInitComponent() {}
+ void ArticulatedObjectLocalizerExample::onInitComponent()
+ {
+ // Reader overwrote property registered property of articulatedObjectWriter.
+ articulatedObjectWriter->setProviderName(articulatedObjectReader->getProviderName());
+ }
void ArticulatedObjectLocalizerExample::onConnectComponent()
{
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp
index e94cfbc11..f7ba4898f 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp
@@ -162,6 +162,16 @@ namespace armarx::armem::articulated_object
return getRobotDescriptions(qResult.memory);
}
+ std::string Reader::getProviderName() const
+ {
+ return properties.providerName;
+ }
+
+ void Reader::setProviderName(const std::string& providerName)
+ {
+ this->properties.providerName = providerName;
+ }
+
std::optional<robot::RobotDescription> Reader::queryDescription(const std::string& name,
const armem::Time& timestamp)
{
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.h b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.h
index d7a0d3c75..5bc5efc3e 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.h
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.h
@@ -54,6 +54,9 @@ namespace armarx::armem::articulated_object
std::vector<robot::RobotDescription> queryDescriptions(const armem::Time& timestamp);
+ std::string getProviderName() const;
+ void setProviderName(const std::string& providerName);
+
// TODO(fabian.reister): register property defs
protected:
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
index 04dc6d4bf..ec87004d5 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
@@ -38,6 +38,8 @@ namespace armarx::armem::articulated_object
def->optional(properties.coreClassSegmentName,
prefix + "CoreSegment",
"Name of the memory core segment to use for object classes.");
+
+ ARMARX_IMPORTANT << "Writer: add property '" << prefix << "ProviderName'";
def->required(properties.providerName, prefix + "ProviderName", "Name of this provider");
}
@@ -159,31 +161,51 @@ namespace armarx::armem::articulated_object
return updateResult.snapshotID;
}
+ std::string Writer::getProviderName() const
+ {
+ return properties.providerName;
+ }
+
+ void Writer::setProviderName(const std::string& providerName)
+ {
+ this->properties.providerName = providerName;
+ }
+
bool Writer::storeInstance(const ArticulatedObject& obj)
{
std::lock_guard g{memoryWriterMutex};
ARMARX_DEBUG << "Trying to create core segment + provider segment";
- const auto result =
- memoryWriter.addSegment(properties.coreInstanceSegmentName, properties.providerName);
-
- if (not result.success)
+ // Provider segments are now added when necessary.
+ // Adding them explicitly is only needed to set a deriving provider segment type.
+ if (false)
{
- ARMARX_ERROR << "Creating core segment failed. Reason: " << result.errorMessage;
- return false;
+ const auto result =
+ memoryWriter.addSegment(properties.coreInstanceSegmentName, properties.providerName);
+
+ if (not result.success)
+ {
+ ARMARX_ERROR << "Creating core segment failed. Reason: " << result.errorMessage;
+ return false;
+ }
+ else
+ {
+ ARMARX_IMPORTANT << VAROUT(result.segmentID);
+ }
}
const auto& timestamp = obj.timestamp;
- const auto providerId = armem::MemoryID(result.segmentID);
- const auto entityID =
- providerId
- .withEntityName(obj.description.name)
- .withTimestamp(timestamp);
+ const auto providerId = armem::MemoryID()
+ .withMemoryName(properties.memoryName)
+ .withCoreSegmentName(properties.coreInstanceSegmentName)
+ .withProviderSegmentName(properties.providerName);
+ ARMARX_IMPORTANT << VAROUT(providerId) << " | " << VAROUT(properties.providerName);
armem::EntityUpdate update;
- update.entityID = entityID;
+ update.entityID = providerId.withEntityName(obj.description.name);
+ // .withTimestamp(timestamp); // You only need to specify the entity ID, not the snapshot ID
arondto::Robot aronArticulatedObject;
robot::toAron(aronArticulatedObject, obj);
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.h b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.h
index 62629b674..c5fa97dd6 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.h
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.h
@@ -42,7 +42,6 @@ namespace armarx::armem::articulated_object
Writer(armem::client::MemoryNameSystem& memoryNameSystem);
virtual ~Writer() = default;
-
void registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def);
void connect();
@@ -54,7 +53,12 @@ namespace armarx::armem::articulated_object
// const std::string& getPropertyPrefix() const override;
+ std::string getProviderName() const;
+ void setProviderName(const std::string& providerName);
+
+
private:
+
std::optional<armem::MemoryID> storeOrGetClass(const ArticulatedObject& obj);
void updateKnownObjects(const armem::MemoryID& subscriptionID, const std::vector<armem::MemoryID>& snapshotIDs);
@@ -72,7 +76,7 @@ namespace armarx::armem::articulated_object
std::string memoryName = "Object";
std::string coreInstanceSegmentName = "ArticulatedObjectInstance";
std::string coreClassSegmentName = "ArticulatedObjectClass";
- std::string providerName;
+ std::string providerName = "";
bool allowClassCreation = false;
} properties;
--
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