From b4453830c36599908a34bd1f38b52c96550ff9c0 Mon Sep 17 00:00:00 2001
From: Fabian Peller-Konrad <fabian.peller-konrad@kit.edu>
Date: Mon, 28 Feb 2022 16:21:31 +0100
Subject: [PATCH] skill updates
---
.../libraries/armem_objects/client/instance/ObjectReader.h | 5 ++++-
source/RobotAPI/libraries/skills/provider/Skill.cpp | 5 ++++-
2 files changed, 8 insertions(+), 2 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_objects/client/instance/ObjectReader.h b/source/RobotAPI/libraries/armem_objects/client/instance/ObjectReader.h
index 45a342307..825687d5b 100644
--- a/source/RobotAPI/libraries/armem_objects/client/instance/ObjectReader.h
+++ b/source/RobotAPI/libraries/armem_objects/client/instance/ObjectReader.h
@@ -44,11 +44,11 @@ namespace armarx::armem::obj::instance
void registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def);
void connect();
-
std::optional<armem::arondto::ObjectInstance> queryObject(const armem::wm::Memory& memory, const armem::Time&);
std::optional<armem::arondto::ObjectInstance> queryObjectByEntityID(const std::string& entityName, const armem::Time&);
std::optional<armem::arondto::ObjectInstance> queryObjectByObjectID(const std::string& objectId, const armem::Time&);
+ // return the class name, e.g. Kitchen/greencup in Kitchen/greencup/0
static std::string GetObjectId(const std::string& s)
{
auto split = simox::alg::split(s, "/");
@@ -69,6 +69,7 @@ namespace armarx::armem::obj::instance
return "";
}
+ // return the class name, e.g. greencup in Kitchen/greencup/0
static std::string GetObjectClassName(const std::string& s)
{
auto split = simox::alg::split(s, "/");
@@ -89,6 +90,7 @@ namespace armarx::armem::obj::instance
return "";
}
+ // check if s matches ??/??/??
static bool IsEntityId(const std::string& s)
{
auto split = simox::alg::split(s, "/");
@@ -104,6 +106,7 @@ namespace armarx::armem::obj::instance
return true;
}
+ // check if s matches ??/??
static bool IsObjectId(const std::string& s)
{
auto split = simox::alg::split(s, "/");
diff --git a/source/RobotAPI/libraries/skills/provider/Skill.cpp b/source/RobotAPI/libraries/skills/provider/Skill.cpp
index aaeaabbe3..c74910e43 100644
--- a/source/RobotAPI/libraries/skills/provider/Skill.cpp
+++ b/source/RobotAPI/libraries/skills/provider/Skill.cpp
@@ -67,7 +67,10 @@ namespace armarx
// always called after execute (should not take longer than 100ms)
running = false;
- timeoutCheck.join();
+ if (timeoutCheck.joinable())
+ {
+ timeoutCheck.join();
+ }
exited = IceUtil::Time::now();
}
--
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