Merge branch...

Merge branch '126-arviz-recording-record-full-initial-scene-in-first-revision-when-recording-is-started' into 'master'

Resolve "ArViz Recording: Record full initial scene in first revision when recording is started"

Closes #126

See merge request !339

source/RobotAPI/components/ArViz/ArVizStorage.cpp

@@ -482,6 +482,12 @@ void armarx::ArVizStorage::recordBatch(armarx::viz::data::RecordingBatch& batch)
     batch.header.lastRevision = last.revision;
     batch.header.firstTimestampInMicroSeconds = first.timestampInMicroseconds;
     batch.header.lastTimestampInMicroSeconds = last.timestampInMicroseconds;
+    if (firstBatch) 
+    {
+        batch.initialState = currentState;
+        firstBatch = false;
+    }
+
 
     std::string filename = batchFileName(batch.header);
     std::filesystem::path filePath = recordingPath / filename;
@@ -571,6 +577,7 @@ std::string armarx::ArVizStorage::startRecording(std::string const& newRecording
         recordingMetaData.batchHeaders.clear();
     }
 
+    firstBatch = true;
     recordingTask = new RunningTask<ArVizStorage>(this, &ArVizStorage::record);
     recordingTask->start();
 
@@ -640,7 +647,7 @@ armarx::viz::data::RecordingBatch armarx::ArVizStorage::getRecordingBatch(std::s
         return result;
     }
 
-    if (batchIndex < 0 && batchIndex >= (long)recording->batchHeaders.size())
+    if (batchIndex < 0 || batchIndex >= (long)recording->batchHeaders.size())
     {
         ARMARX_WARNING << "Batch index is not valid. Index = " << batchIndex
                        << "Batch count: " << recording->batchHeaders.size();

source/RobotAPI/components/ArViz/ArVizStorage.h

@@ -110,6 +110,7 @@ namespace armarx
         std::vector<viz::data::TimestampedLayerUpdate> currentState;
         std::vector<viz::data::TimestampedLayerUpdate> history;
         long revision = 0;
+        bool firstBatch = false;
 
         // We store all interactions in here
         // But we curate them, so that only the last interaction with an element is reported