From a32fb42d233af494ec6ce00d9b0159c0d021d704 Mon Sep 17 00:00:00 2001
From: armar-user <armar-user@kit.edu>
Date: Wed, 5 May 2021 16:33:54 +0200
Subject: [PATCH] RobotStateMemory: creating "Localization" core segment on
startup
---
.../RobotStateMemory/RobotStateMemory.cpp | 23 ++++++++++++++-----
.../RobotStateMemory/RobotStateMemory.h | 10 +++++++-
2 files changed, 26 insertions(+), 7 deletions(-)
diff --git a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
index 3298e2672..1624f899c 100644
--- a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
+++ b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
@@ -97,6 +97,8 @@ namespace armarx
{
setupRobotUnitSegment();
+ setupLocalizationCoreSegment();
+
cfg.loggingNames.emplace_back(robotUnitSensorPrefix);
handler = make_shared<RobotUnitDataStreamingReceiver>(this, getRobotUnit(), cfg);
keys = handler->getDataDescription();
@@ -119,17 +121,26 @@ namespace armarx
stopRobotUnitStream();
}
+ /*************************************************************/
+ // RobotUnit Streaming functions
+ /*************************************************************/
+ void RobotStateMemory::setupLocalizationCoreSegment()
+ {
+ ARMARX_INFO << "Adding core segment " << localizationCoreSegmentName;
+ workingMemory.addCoreSegments({localizationCoreSegmentName});
+ }
+
/*************************************************************/
// RobotUnit Streaming functions
/*************************************************************/
void RobotStateMemory::setupRobotUnitSegment()
{
- ARMARX_INFO << "Adding core segment " << robotUnitCoreSegmentName;
- workingMemory.addCoreSegments({robotUnitCoreSegmentName});
+ ARMARX_INFO << "Adding core segment " << proprioceptionCoreSegmentName;
+ workingMemory.addCoreSegments({proprioceptionCoreSegmentName});
- ARMARX_INFO << "Adding provider segment " << robotUnitCoreSegmentName << "/" << robotUnitProviderSegmentName;
+ ARMARX_INFO << "Adding provider segment " << proprioceptionCoreSegmentName << "/" << robotUnitProviderSegmentName;
armem::data::AddSegmentInput input;
- input.coreSegmentName = robotUnitCoreSegmentName;
+ input.coreSegmentName = proprioceptionCoreSegmentName;
input.providerSegmentName = robotUnitProviderSegmentName;
auto encoderEntryType = std::make_shared<aron::typenavigator::ObjectNavigator>("RobotUnitEncoderEntry");
@@ -144,11 +155,11 @@ namespace armarx
if (!result.success)
{
- ARMARX_ERROR << "Could not add segment " << robotUnitCoreSegmentName << "/" << robotUnitProviderSegmentName << ". The error message is: " << result.errorMessage;
+ ARMARX_ERROR << "Could not add segment " << proprioceptionCoreSegmentName << "/" << robotUnitProviderSegmentName << ". The error message is: " << result.errorMessage;
}
robotUnitProviderID.memoryName = workingMemoryName;
- robotUnitProviderID.coreSegmentName = robotUnitCoreSegmentName;
+ robotUnitProviderID.coreSegmentName = proprioceptionCoreSegmentName;
robotUnitProviderID.providerSegmentName = robotUnitProviderSegmentName;
}
diff --git a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.h b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.h
index 9787ac6f5..490b04109 100644
--- a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.h
+++ b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.h
@@ -91,6 +91,9 @@ namespace armarx
void startRobotUnitStream();
void stopRobotUnitStream();
+ // localization segment
+ void setupLocalizationCoreSegment();
+
private:
std::string workingMemoryName = "RobotStateMemory";
bool addCoreSegmentOnUsage = false;
@@ -98,10 +101,15 @@ namespace armarx
mutable std::recursive_mutex startStopMutex;
// Memory IDs
- std::string robotUnitCoreSegmentName = "Proprioception";
+
+ // - proprioception
+ std::string proprioceptionCoreSegmentName = "Proprioception";
std::string robotUnitProviderSegmentName = "RobotUnit"; // get robot name?
armem::data::MemoryID robotUnitProviderID;
+ // - localization
+ std::string localizationCoreSegmentName = "Localization";
+
// RobotUnit stuff
RobotUnitDataStreaming::DataStreamingDescription keys;
std::vector<RobotUnitDataStreaming::DataEntry> keysList;
--
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