From 6f7b682acb9f7697dcb57188678374b8f1dcfbcc Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Thu, 12 Sep 2024 13:20:36 +0200
Subject: [PATCH] temporary fix: VirtualRobotReader::getRobotWaiting is
currently not working in combination with Component::onConnectComponent.
Changing back to previous behavior
---
.../client/common/VirtualRobotReader.cpp | 16 +++++++++++-----
1 file changed, 11 insertions(+), 5 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp b/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp
index c1a483450..130e229fb 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp
@@ -90,20 +90,26 @@ namespace armarx::armem::robot_state
ARMARX_INFO << "Trying to get robot `" << name << "` ...";
VirtualRobot::RobotPtr robot = nullptr;
- while (robot == nullptr)
+
+ // while (robot == nullptr)
{
// might be nullptr if query fails
robot = getRobot(name, timestamp, loadMode);
if (robot == nullptr)
{
- ARMARX_INFO << deactivateSpam(1) << "Failed to query robot `" << name
- << "`. Will try again ...";
+ ARMARX_WARNING << deactivateSpam(1) << "Failed to query robot `" << name
+ << "`. At the moment, a blocking behavior is not possible in onConnectComponent()."
+ << "Therefore, a nullptr will be returned. This will likely cause problems downstream.";
+ // << "`. Will try again ...";
+ }
+ else
+ {
+ ARMARX_INFO << "Got robot `" << name << "`.";
}
- Clock::WaitFor(Duration::MilliSeconds(200));
+ // Clock::WaitFor(Duration::MilliSeconds(200));
}
- ARMARX_INFO << "Got robot `" << name << "`.";
return robot;
}
--
GitLab