diff --git a/source/RobotAPI/libraries/ArmarXObjects/plugins/ObjectPoseProviderPlugin.cpp b/source/RobotAPI/libraries/ArmarXObjects/plugins/ObjectPoseProviderPlugin.cpp
index 6aef209e68f06d66eae2a5a9a94fde6d084e04bd..ca1aab83a67594f3d66f129aa475afdb2adc6147 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/plugins/ObjectPoseProviderPlugin.cpp
+++ b/source/RobotAPI/libraries/ArmarXObjects/plugins/ObjectPoseProviderPlugin.cpp
@@ -2,43 +2,48 @@
#include <ArmarXCore/core/Component.h>
-
namespace armarx::plugins
{
- void ObjectPoseProviderPlugin::postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties)
+ void
+ ObjectPoseProviderPlugin::postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties)
{
if (!properties->hasDefinition(makePropertyName(PROPERTY_NAME)))
{
properties->defineOptionalProperty<std::string>(
- makePropertyName(PROPERTY_NAME),
- "ObjectPoseTopic",
- "Name of the object pose topic.");
+ makePropertyName(PROPERTY_NAME), "ObjectMemory", "Name of the object memory.");
}
}
- void ObjectPoseProviderPlugin::preOnInitComponent()
+ void
+ ObjectPoseProviderPlugin::preOnInitComponent()
{
- parent<Component>().offeringTopicFromProperty(makePropertyName(PROPERTY_NAME));
+ parent<Component>().usingProxyFromProperty(makePropertyName(PROPERTY_NAME));
}
- void ObjectPoseProviderPlugin::preOnConnectComponent()
+ void
+ ObjectPoseProviderPlugin::preOnConnectComponent()
{
- parent<ObjectPoseProviderPluginUser>().objectPoseTopic = createObjectPoseTopic();
+ parent<ObjectPoseProviderPluginUser>().objectPoseTopic =
+ parent<Component>().getProxyFromProperty<objpose::ObjectPoseStorageInterfacePrx>(
+ makePropertyName(PROPERTY_NAME));
}
- void ObjectPoseProviderPlugin::postOnConnectComponent()
+ void
+ ObjectPoseProviderPlugin::postOnConnectComponent()
{
- ObjectPoseProviderPluginUser& parent = this->parent<ObjectPoseProviderPluginUser>();
- objpose::ObjectPoseTopicPrx& topic = parent.objectPoseTopic;
- if (topic)
+ auto& parent = this->parent<ObjectPoseProviderPluginUser>();
+ if (parent.objectPoseTopic)
{
objpose::ProviderInfo info = parent.getProviderInfo();
if (!info.proxy)
{
- info.proxy = ::armarx::objpose::ObjectPoseProviderPrx::checkedCast(parent.getProxy());
+ info.proxy =
+ ::armarx::objpose::ObjectPoseProviderPrx::checkedCast(parent.getProxy());
}
- topic->reportProviderAvailable(parent.getName(), info);
+
+ ARMARX_INFO << "Reporting provider `" << parent.getName() << "` availability.";
+ parent.objectPoseTopic->reportProviderAvailable(parent.getName(), info);
}
else
{
@@ -46,13 +51,7 @@ namespace armarx::plugins
}
}
- objpose::ObjectPoseTopicPrx ObjectPoseProviderPlugin::createObjectPoseTopic()
- {
- return parent<Component>().getTopicFromProperty<objpose::ObjectPoseTopicPrx>(makePropertyName(PROPERTY_NAME));
- }
-
-}
-
+} // namespace armarx::plugins
namespace armarx
{
@@ -62,7 +61,10 @@ namespace armarx
addPlugin(plugin);
}
- objpose::provider::RequestObjectsOutput ObjectPoseProviderPluginUser::requestObjects(const objpose::provider::RequestObjectsInput& input, const Ice::Current&)
+ objpose::provider::RequestObjectsOutput
+ ObjectPoseProviderPluginUser::requestObjects(
+ const objpose::provider::RequestObjectsInput& input,
+ const Ice::Current&)
{
// ARMARX_INFO << "Requested " << input.objectIDs.size() << " objects for " << input.relativeTimeoutMS << " ms.";
objpose::provider::RequestObjectsOutput output;
@@ -73,9 +75,5 @@ namespace armarx
return output;
}
- objpose::ObjectPoseTopicPrx ObjectPoseProviderPluginUser::createObjectPoseTopic()
- {
- return plugin->createObjectPoseTopic();
- }
-}
+} // namespace armarx
diff --git a/source/RobotAPI/libraries/ArmarXObjects/plugins/ObjectPoseProviderPlugin.h b/source/RobotAPI/libraries/ArmarXObjects/plugins/ObjectPoseProviderPlugin.h
index 1d0191ed6c32cc912efcb683155d465bdbfa0ff2..6e7fd2ebb28c330c81ec378acc3eb218329e4fb5 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/plugins/ObjectPoseProviderPlugin.h
+++ b/source/RobotAPI/libraries/ArmarXObjects/plugins/ObjectPoseProviderPlugin.h
@@ -3,7 +3,7 @@
#include <ArmarXCore/core/ComponentPlugin.h>
#include <RobotAPI/interface/objectpose/ObjectPoseProvider.h>
-
+#include <RobotAPI/interface/objectpose/ObjectPoseStorageInterface.h>
namespace armarx::plugins
{
@@ -11,7 +11,6 @@ namespace armarx::plugins
class ObjectPoseProviderPlugin : public ComponentPlugin
{
public:
-
using ComponentPlugin::ComponentPlugin;
void postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties) override;
@@ -20,17 +19,12 @@ namespace armarx::plugins
void preOnConnectComponent() override;
void postOnConnectComponent() override;
- objpose::ObjectPoseTopicPrx createObjectPoseTopic();
-
-
private:
-
- static constexpr const char* PROPERTY_NAME = "ObjectPoseTopicName";
+ static constexpr const char* PROPERTY_NAME = "ObjectMemoryName";
};
-}
-
+} // namespace armarx::plugins
#include <ArmarXCore/core/ManagedIceObject.h>
@@ -41,24 +35,22 @@ namespace armarx
* @brief Provides an `objpose::ObjectPoseTopicPrx objectPoseTopic` as member variable.
*/
class ObjectPoseProviderPluginUser :
- virtual public ManagedIceObject
- , virtual public objpose::ObjectPoseProvider
+ virtual public ManagedIceObject,
+ virtual public objpose::ObjectPoseProvider
{
public:
-
ObjectPoseProviderPluginUser();
/// Implement to process object requests (empty default implementation).
- objpose::provider::RequestObjectsOutput requestObjects(const objpose::provider::RequestObjectsInput& input, const Ice::Current&) override;
-
- objpose::ObjectPoseTopicPrx createObjectPoseTopic();
+ objpose::provider::RequestObjectsOutput
+ requestObjects(const objpose::provider::RequestObjectsInput& input,
+ const Ice::Current&) override;
- objpose::ObjectPoseTopicPrx objectPoseTopic;
+ // objpose::ObjectPoseStorageInterfacePrx createObjectPoseStorage();
+ objpose::ObjectPoseStorageInterfacePrx objectPoseTopic;
private:
-
armarx::plugins::ObjectPoseProviderPlugin* plugin = nullptr;
-
};
-}
+} // namespace armarx
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp
index 3eb3e1bf3bb51703214dbb107a60ac46c96486dd..818a04491c9d6f3d3d520c4f64d8ffdc40011d7c 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp
@@ -32,6 +32,7 @@
#include "ArmarXCore/core/time/Clock.h"
#include <ArmarXCore/core/ice_conversions/ice_conversions_templates.h>
+#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/time/CycleUtil.h>
#include <ArmarXCore/core/time/ice_conversions.h>
#include <ArmarXCore/observers/variant/Variant.h>
@@ -110,6 +111,7 @@ namespace armarx::armem::server::obj::instance
void SegmentAdapter::reportProviderAvailable(const std::string& providerName, const objpose::ProviderInfo& info, const Ice::Current&)
{
+ ARMARX_IMPORTANT << "Provider `" << providerName << "` is (now) available.";
updateProviderInfo(providerName, info);
}
@@ -266,6 +268,8 @@ namespace armarx::armem::server::obj::instance
objpose::observer::RequestObjectsOutput SegmentAdapter::requestObjects(
const objpose::observer::RequestObjectsInput& input, const Ice::Current&)
{
+ ARMARX_INFO << "Requesting objects ...";
+
std::map<std::string, objpose::provider::RequestObjectsInput> providerRequests;
std::map<std::string, objpose::ObjectPoseProviderPrx> proxies;
@@ -287,7 +291,7 @@ namespace armarx::armem::server::obj::instance
}
};
- if (input.provider.size() > 0)
+ if (not input.provider.empty())
{
providerRequests[input.provider] = input.request;
updateProxy(input.provider);
@@ -296,6 +300,9 @@ namespace armarx::armem::server::obj::instance
{
segment.doLocked([&]()
{
+
+ ARMARX_INFO << "Known providers are: " << simox::alg::get_keys(segment.providers);
+
for (const auto& objectID : input.request.objectIDs)
{
bool found = true;
@@ -304,6 +311,8 @@ namespace armarx::armem::server::obj::instance
// ToDo: optimize look up.
if (std::find(info.supportedObjects.begin(), info.supportedObjects.end(), objectID) != info.supportedObjects.end())
{
+ ARMARX_INFO << "Found provider for " << objectID << ": " << providerName;
+ providerRequests[providerName].relativeTimeoutMS = input.request.relativeTimeoutMS;
providerRequests[providerName].objectIDs.push_back(objectID);
updateProxy(providerName);
break;
@@ -318,6 +327,8 @@ namespace armarx::armem::server::obj::instance
});
}
+ ARMARX_INFO << VAROUT(simox::alg::get_keys(providerRequests));
+
for (const auto& [providerName, request] : providerRequests)
{
if (objpose::ObjectPoseProviderPrx proxy = proxies.at(providerName); proxy)