Refactor request interface

source/RobotAPI/components/ObjectPoseObserver/ObjectPoseObserver.cpp

@@ -185,16 +185,13 @@ namespace armarx
         }
         {
             std::scoped_lock lock(dataMutex);
-            if (providers.count(providerName) == 0)
+            std::stringstream ss;
+            for (const auto& id : info.supportedObjects)
             {
-                std::stringstream ss;
-                for (const auto& id : info.supportedObjects)
-                {
-                    ss << "- " << id << "\n";
-                }
-                ARMARX_VERBOSE << "New provider '" << providerName << "' available.\n"
-                               << "Supported objects: \n" << ss.str();
+                ss << "- " << id << "\n";
             }
+            ARMARX_VERBOSE << "Provider '" << providerName << "' available.\n"
+                           << "Supported objects: \n" << ss.str();
             providers[providerName] = info;
 
             if (updateCounters.count(providerName) == 0)
@@ -207,7 +204,8 @@ namespace armarx
         {
             offerChannel(providerName, "Channel of provider '" + providerName + "'.");
         }
-        offerOrUpdateDataField(providerName, "objectType", objpose::ObjectTypeEnumNames.to_name(info.objectType), "");
+        offerOrUpdateDataField(providerName, "objectType", objpose::ObjectTypeEnumNames.to_name(info.objectType), "The object type (known or unknown)");
+        offerOrUpdateDataField(providerName, "numSupportedObjects", int(info.supportedObjects.size()), "Number of requestable objects.");
     }
 
 
@@ -236,13 +234,14 @@ namespace armarx
     }
 
 
-    void ObjectPoseObserver::requestObjects(const objpose::ObjectIDSeq& objectIDs, Ice::Long relativeTimeoutMS, const Ice::Current&)
+    objpose::RequestObjectsOutput ObjectPoseObserver::requestObjects(
+        const objpose::RequestObjectsInput& input, const Ice::Current&)
     {
         std::map<std::string, objpose::ObjectIDSeq> requests;
 
         {
             std::scoped_lock lock(dataMutex);
-            for (const auto& objectID : objectIDs)
+            for (const auto& objectID : input.objectIDs)
             {
                 for (const auto& [name, info] : providers)
                 {
@@ -261,13 +260,16 @@ namespace armarx
             if (provider)
             {
                 ARMARX_VERBOSE << "Requesting provider '" << providerName << "' for objects " << objects;
-                provider->requestObjects(objects, relativeTimeoutMS);
+                provider->requestObjects(objects, input.relativeTimeoutMS);
             }
         }
+        objpose::RequestObjectsOutput output;
+        // todo
+        return output;
     }
 
 
-    objpose::ProviderInfoMap ObjectPoseObserver::getAvailableProvidersWithInfo(const Ice::Current&)
+    objpose::ProviderInfoMap ObjectPoseObserver::getAvailableProvidersInfo(const Ice::Current&)
     {
         std::scoped_lock lock(dataMutex);
         return providers;

source/RobotAPI/components/ObjectPoseObserver/ObjectPoseObserver.h

@@ -91,11 +91,11 @@ namespace armarx
         objpose::data::ObjectPoseSeq getObjectPoses(ICE_CURRENT_ARG) override;
         objpose::data::ObjectPoseSeq getObjectPosesByProvider(const std::string& providerName, ICE_CURRENT_ARG) override;
 
-        void requestObjects(const objpose::ObjectIDSeq& objectIDs, Ice::Long relativeTimeoutMS, ICE_CURRENT_ARG) override;
+        objpose::RequestObjectsOutput requestObjects(const objpose::RequestObjectsInput& input, ICE_CURRENT_ARG) override;
 
         Ice::StringSeq getAvailableProviderNames(ICE_CURRENT_ARG) override;
         objpose::ProviderInfo getProviderInfo(const std::string& providerName, ICE_CURRENT_ARG) override;
-        objpose::ProviderInfoMap getAvailableProvidersWithInfo(ICE_CURRENT_ARG) override;
+        objpose::ProviderInfoMap getAvailableProvidersInfo(ICE_CURRENT_ARG) override;
         bool hasProvider(const std::string& providerName, ICE_CURRENT_ARG) override;
 
 

source/RobotAPI/interface/objectpose/ObjectPoseObserver.ice

@@ -36,16 +36,38 @@ module armarx
     module objpose
     {
 
+        struct RequestObjectsInput
+        {
+            ObjectIDSeq objectIDs;
+            long relativeTimeoutMS;
+            /**
+             * If there are multiple providers for the given IDs, prefer this one.
+             * If the specified provider is not available, take any.
+             */
+            string preferredProvider;
+        };
+        struct ObjectRequestResult
+        {
+            /// Name of the provider who was requested.
+            string providerName;
+        };
+        dictionary<ObjectID, ObjectRequestResult> ObjectRequestResultMap;
+        struct RequestObjectsOutput
+        {
+            ObjectRequestResultMap results;
+        };
+
+
         interface ObjectPoseObserverInterface extends ObserverInterface, ObjectPoseTopic
         {
             data::ObjectPoseSeq getObjectPoses();
             data::ObjectPoseSeq getObjectPosesByProvider(string providerName);
 
-            void requestObjects(ObjectIDSeq objectIDs, long relativeTimeoutMS);
+            RequestObjectsOutput requestObjects(RequestObjectsInput input);
 
 
             Ice::StringSeq getAvailableProviderNames();
-            ProviderInfoMap getAvailableProvidersWithInfo();
+            ProviderInfoMap getAvailableProvidersInfo();
             ProviderInfo getProviderInfo(string providerName);
             bool hasProvider(string providerName);