From 7ab46ae2a0d14a10efe93117bfba9b2dfaa11191 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Thu, 31 Oct 2024 14:54:38 -0700
Subject: [PATCH] RequestedObjects: adding log messages
---
.../plugins/RequestedObjects.cpp | 20 +++++++++++++++++--
1 file changed, 18 insertions(+), 2 deletions(-)
diff --git a/source/RobotAPI/libraries/ArmarXObjects/plugins/RequestedObjects.cpp b/source/RobotAPI/libraries/ArmarXObjects/plugins/RequestedObjects.cpp
index 036e0530c..c67e2f98d 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/plugins/RequestedObjects.cpp
+++ b/source/RobotAPI/libraries/ArmarXObjects/plugins/RequestedObjects.cpp
@@ -1,5 +1,6 @@
#include "RequestedObjects.h"
+#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/time/TimeUtil.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
@@ -24,8 +25,11 @@ namespace armarx::objpose
void RequestedObjects::requestObjects(
const std::vector<armarx::ObjectID>& objectIDs, IceUtil::Time relativeTimeout)
{
+ ARMARX_INFO << VAROUT(relativeTimeout.toMilliSeconds());
+
if (relativeTimeout.toMilliSeconds() < 0)
{
+ ARMARX_INFO << "Infite localization request for object ids :" << objectIDs;
for (const auto& id : objectIDs)
{
infiniteRequests.push_back(id);
@@ -33,6 +37,8 @@ namespace armarx::objpose
}
else
{
+ ARMARX_INFO << "Localization request for " << relativeTimeout << " for object ids :" << objectIDs;
+
IceUtil::Time absoluteTimeout = TimeUtil::GetTime() + relativeTimeout;
Request req;
req.objectIDs = objectIDs;
@@ -48,8 +54,19 @@ namespace armarx::objpose
RequestedObjects::Update RequestedObjects::updateRequestedObjects(IceUtil::Time now)
{
// Remove requests with timeout.
- while (currentRequests.size() > 0 && currentRequests.begin()->first <= now)
+
+ if(not currentRequests.empty())
{
+ ARMARX_INFO << currentRequests.begin()->first - now;
+ }
+
+ while (not currentRequests.empty() and currentRequests.begin()->first <= now)
+ {
+ ARMARX_INFO << "No longer localizing objects: ";
+ for (const Request& request : currentRequests.begin()->second)
+ {
+ ARMARX_INFO << request.objectIDs;
+ }
currentRequests.erase(currentRequests.begin());
}
@@ -83,4 +100,3 @@ namespace armarx::objpose
}
}
-
--
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