From 835d41b60d4fba39bf72d23a17a4e773ad6be8da Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Tue, 13 Apr 2021 10:56:03 +0200
Subject: [PATCH] armem_robot_mapping: adding list of sensors to query result
---
.../libraries/armem_robot_mapping/MappingDataReader.cpp | 8 +++++++-
.../libraries/armem_robot_mapping/MappingDataReader.h | 2 ++
2 files changed, 9 insertions(+), 1 deletion(-)
diff --git a/source/RobotAPI/libraries/armem_robot_mapping/MappingDataReader.cpp b/source/RobotAPI/libraries/armem_robot_mapping/MappingDataReader.cpp
index 01250bbb4..6f57909c6 100644
--- a/source/RobotAPI/libraries/armem_robot_mapping/MappingDataReader.cpp
+++ b/source/RobotAPI/libraries/armem_robot_mapping/MappingDataReader.cpp
@@ -1,10 +1,11 @@
#include "MappingDataReader.h"
-#include "RobotAPI/libraries/armem_robot_localization/MemoryConnector.h"
#include <vector>
#include <IceUtil/Time.h>
+#include <SimoxUtility/algorithm/get_map_keys_values.h>
+
#include <ArmarXCore/core/logging/Logging.h>
#include <RobotAPI/libraries/armem/core/EntityInstance.h>
@@ -14,6 +15,7 @@
#include <RobotAPI/libraries/armem_robot_mapping/aron_conversions.h>
#include <RobotAPI/libraries/armem_robot_mapping/types.h>
#include <RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/AronCppClass.h>
+#include "RobotAPI/libraries/armem_robot_localization/MemoryConnector.h"
namespace armarx::armem
{
@@ -109,6 +111,7 @@ namespace armarx::armem
ARMARX_WARNING << "Failed to query data from memory: "
<< qResult.errorMessage;
return {.laserScans = {},
+ .sensors = {},
.status = Result::Status::Error,
.errorMessage = qResult.errorMessage};
}
@@ -128,7 +131,10 @@ namespace armarx::armem
return laserScan;
});
+ const auto sensors = simox::alg::get_keys(entities);
+
return {.laserScans = std::move(laserScans),
+ .sensors = sensors,
.status = Result::Status::Success,
.errorMessage = ""};
}
diff --git a/source/RobotAPI/libraries/armem_robot_mapping/MappingDataReader.h b/source/RobotAPI/libraries/armem_robot_mapping/MappingDataReader.h
index 3ccfc02ff..3c700703e 100644
--- a/source/RobotAPI/libraries/armem_robot_mapping/MappingDataReader.h
+++ b/source/RobotAPI/libraries/armem_robot_mapping/MappingDataReader.h
@@ -82,6 +82,8 @@ namespace armarx::armem
std::vector<LaserScanStamped> laserScans;
+ std::vector<std::string> sensors;
+
enum Status
{
Error,
--
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