From b6b982bfcb49f2842502d5ea047028a2dc62e713 Mon Sep 17 00:00:00 2001
From: Fabian Paus <fabian.paus@kit.edu>
Date: Sat, 18 Jan 2020 11:52:10 +0100
Subject: [PATCH] ArViz: Bug fixes - Stop recording task only if it was started
- Set revision in pullUpdatesSince in return value - Disable joint value
propagation in robot visualization
---
source/RobotAPI/components/ArViz/ArVizStorage.cpp | 10 +++++++---
.../components/ArViz/Coin/VisualizationRobot.cpp | 3 +++
2 files changed, 10 insertions(+), 3 deletions(-)
diff --git a/source/RobotAPI/components/ArViz/ArVizStorage.cpp b/source/RobotAPI/components/ArViz/ArVizStorage.cpp
index 1dc7d7297..e5d8c926a 100644
--- a/source/RobotAPI/components/ArViz/ArVizStorage.cpp
+++ b/source/RobotAPI/components/ArViz/ArVizStorage.cpp
@@ -92,8 +92,11 @@ void ArVizStorage::onConnectComponent()
void ArVizStorage::onDisconnectComponent()
{
- recordingTask->stop();
- recordingTask = nullptr;
+ if (recordingTask)
+ {
+ recordingTask->stop();
+ recordingTask = nullptr;
+ }
}
@@ -171,9 +174,10 @@ viz::data::LayerUpdates armarx::ArVizStorage::pullUpdatesSince(Ice::Long revisio
result.updates.reserve(currentState.size());
for (auto& layer : currentState)
{
- if (revision < layer.revision)
+ if (layer.revision > revision)
{
result.updates.push_back(layer.update);
+ result.revision = std::max(result.revision, layer.revision);
}
}
diff --git a/source/RobotAPI/components/ArViz/Coin/VisualizationRobot.cpp b/source/RobotAPI/components/ArViz/Coin/VisualizationRobot.cpp
index e5b070ec0..7de0d53c8 100644
--- a/source/RobotAPI/components/ArViz/Coin/VisualizationRobot.cpp
+++ b/source/RobotAPI/components/ArViz/Coin/VisualizationRobot.cpp
@@ -49,6 +49,9 @@ namespace armarx::viz::coin
ARMARX_INFO << "Loading robot from " << fullFilename;
result = VirtualRobot::RobotIO::loadRobot(fullFilename, loadMode);
result->setThreadsafe(false);
+ // Do we want to propagate joint values? Probably not...
+ // Closing the hand on the real robot could be implemented on another level
+ result->setPropagatingJointValuesEnabled(false);
}
catch (std::exception const& ex)
{
--
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