From 653cb96ef0b156331f6b2d9b599352935014273a Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Mon, 11 Sep 2023 08:55:38 +0200
Subject: [PATCH] Update example client
---
.../ExampleMemoryClient.cpp | 28 +++++++++++++++----
1 file changed, 22 insertions(+), 6 deletions(-)
diff --git a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
index e7fdc5eaa..7fea318b5 100644
--- a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
+++ b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
@@ -205,6 +205,8 @@ namespace armarx
return armem::MemoryID(result.segmentID);
}
+ // COMMIT
+
armem::MemoryID
ExampleMemoryClient::commitSingleSnapshot(const armem::MemoryID& entityID)
{
@@ -272,10 +274,12 @@ namespace armarx
}
}
+ // QUERY
+
void
ExampleMemoryClient::queryLatestSnapshot(const armem::MemoryID& entityID)
{
- ARMARX_IMPORTANT << "Querying latest snapshot: "
+ ARMARX_IMPORTANT << "Querying latest snapshot in entity: "
<< "\n- entityID: \t'" << entityID << "'";
armem::client::query::Builder builder;
@@ -295,6 +299,8 @@ namespace armarx
ARMARX_IMPORTANT << "Getting entity via ID";
armem::wm::Memory& memory = qResult.memory;
+ ARMARX_CHECK(memory.hasInstances());
+
ARMARX_CHECK_GREATER_EQUAL(memory.size(), 1);
const armem::wm::Entity* entity = memory.findEntity(entityID);
@@ -335,13 +341,23 @@ namespace armarx
if (qResult.success)
{
armem::wm::Memory memory = std::move(qResult.memory);
- const armem::wm::EntitySnapshot& entitySnapshot =
- memory.getEntity(snapshotID).getLatestSnapshot();
+ {
+ const armem::wm::EntitySnapshot& entitySnapshot = memory.getLatestSnapshot();
- ARMARX_INFO << "Result snapshot: "
- << "\n- time: \t" << entitySnapshot.time() << "\n- # instances: \t"
- << entitySnapshot.size();
+ ARMARX_INFO << "Result snapshot: "
+ << "\n- time: \t" << entitySnapshot.time()
+ << "\n- # instances: \t" << entitySnapshot.size();
+ }
+ {
+ const armem::wm::EntitySnapshot& entitySnapshot =
+ memory.getEntity(snapshotID).getLatestSnapshot();
+
+ ARMARX_INFO << "Result snapshot: "
+ << "\n- time: \t" << entitySnapshot.time()
+ << "\n- # instances: \t" << entitySnapshot.size();
+ }
}
+
else
{
ARMARX_ERROR << qResult.errorMessage;
--
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