From 9368239edb269bee1000cdc0c1300161cfff7cfb Mon Sep 17 00:00:00 2001
From: Christoph Pohl <christoph.pohl@kit.edu>
Date: Mon, 10 Jan 2022 10:16:13 +0100
Subject: [PATCH] Added new Memory to GraspCandidateObserver
---
source/RobotAPI/components/units/CMakeLists.txt | 1 +
source/RobotAPI/components/units/GraspCandidateObserver.cpp | 4 +++-
source/RobotAPI/components/units/GraspCandidateObserver.h | 5 ++++-
3 files changed, 8 insertions(+), 2 deletions(-)
diff --git a/source/RobotAPI/components/units/CMakeLists.txt b/source/RobotAPI/components/units/CMakeLists.txt
index 3fa535901..f6710bc22 100644
--- a/source/RobotAPI/components/units/CMakeLists.txt
+++ b/source/RobotAPI/components/units/CMakeLists.txt
@@ -6,6 +6,7 @@ set(LIBS
RobotAPICore
ArmarXCoreObservers
ArmarXCoreEigen3Variants
+ GraspingUtility
)
set(LIB_HEADERS
diff --git a/source/RobotAPI/components/units/GraspCandidateObserver.cpp b/source/RobotAPI/components/units/GraspCandidateObserver.cpp
index e780bbfe3..d4b5ea81c 100644
--- a/source/RobotAPI/components/units/GraspCandidateObserver.cpp
+++ b/source/RobotAPI/components/units/GraspCandidateObserver.cpp
@@ -38,7 +38,7 @@
using namespace armarx;
using namespace armarx::grasping;
-GraspCandidateObserver::GraspCandidateObserver()
+GraspCandidateObserver::GraspCandidateObserver() : graspCandidateWriter(memoryNameSystem())
{
}
@@ -53,6 +53,7 @@ void GraspCandidateObserver::onInitObserver()
void GraspCandidateObserver::onConnectObserver()
{
configTopic = getTopic<GraspCandidateProviderInterfacePrx>(getProperty<std::string>("ConfigTopicName").getValue());
+ graspCandidateWriter.connect();
}
PropertyDefinitionsPtr GraspCandidateObserver::createPropertyDefinitions()
@@ -125,6 +126,7 @@ void GraspCandidateObserver::reportGraspCandidates(const std::string& providerNa
{
std::unique_lock lock(dataMutex);
this->candidates[providerName] = candidates;
+ graspCandidateWriter.commitGraspCandidateSeq(candidates, armarx::armem::Time::now(), providerName);
handleProviderUpdate(providerName, candidates.size());
}
diff --git a/source/RobotAPI/components/units/GraspCandidateObserver.h b/source/RobotAPI/components/units/GraspCandidateObserver.h
index f4bb0ba3e..91169049b 100644
--- a/source/RobotAPI/components/units/GraspCandidateObserver.h
+++ b/source/RobotAPI/components/units/GraspCandidateObserver.h
@@ -25,6 +25,8 @@
#include <ArmarXCore/observers/Observer.h>
#include <RobotAPI/interface/observers/GraspCandidateObserverInterface.h>
+#include <RobotAPI/libraries/armem/client/plugins/PluginUser.h>
+#include <RobotAPI/libraries/GraspingUtility/GraspCandidateWriter.h>
#include <mutex>
@@ -52,6 +54,7 @@ namespace armarx
*/
class GraspCandidateObserver :
virtual public Observer,
+ virtual public armarx::armem::ClientPluginUser,
virtual public grasping::GraspCandidateObserverInterface
{
public:
@@ -124,7 +127,7 @@ namespace armarx
grasping::GraspCandidateSeq selectedCandidates;
grasping::BimanualGraspCandidateSeq selectedBimanualCandidates;
-
+ armarx::armem::GraspCandidateWriter graspCandidateWriter;
void handleProviderUpdate(const std::string& providerName, int candidateCount);
};
--
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