diff --git a/source/RobotAPI/libraries/armem/client/MemoryNameSystem.cpp b/source/RobotAPI/libraries/armem/client/MemoryNameSystem.cpp
index 8e60a93726e057532bdaf24caa3dd525afa2840d..f879ed5a349cfccb511315371aad7e72ab4363af 100644
--- a/source/RobotAPI/libraries/armem/client/MemoryNameSystem.cpp
+++ b/source/RobotAPI/libraries/armem/client/MemoryNameSystem.cpp
@@ -61,11 +61,32 @@ namespace armarx::armem::client
// Compare ice identities, update if it changed.
auto foo = [](auto & oldProxy, const auto & newProxy)
{
- if (oldProxy->ice_getIdentity() != newProxy->ice_getIdentity())
+ try
{
- // Replace old proxy by new one.
+ newProxy->ice_ping();
+ }
+ catch (const Ice::Exception& e)
+ {
+ // The new proxy must be reachable
+ throw error::MemoryNameSystemQueryFailed(e.what());
+ }
+
+ try
+ {
+ oldProxy->ice_ping();
+
+ if (oldProxy->ice_getIdentity() != newProxy->ice_getIdentity())
+ {
+ // Replace old proxy by new one. This is the case if the identity changed.
+ oldProxy = newProxy;
+ }
+ }
+ catch (const Ice::Exception&)
+ {
+ // if there is any exception, replace the old proxy by the new one
oldProxy = newProxy;
}
+
};
foo(it->second.reading, server.reading);
foo(it->second.writing, server.writing);
diff --git a/source/RobotAPI/libraries/armem/mns/Registry.cpp b/source/RobotAPI/libraries/armem/mns/Registry.cpp
index 2c0a92da8bb31a2adac56da11d9dd31bd873312f..b11b822285d84ba557e481a0b18ec85469688702 100644
--- a/source/RobotAPI/libraries/armem/mns/Registry.cpp
+++ b/source/RobotAPI/libraries/armem/mns/Registry.cpp
@@ -54,7 +54,7 @@ namespace armarx::armem::mns
info.name = input.name;
info.server = input.server;
info.timeRegistered = armem::Time::Now();
- ARMARX_DEBUG << "Registered memory '" << info.name << "'.";
+ ARMARX_INFO << "Registered memory '" << info.name << "'.";
result.success = true;
return result;
diff --git a/source/RobotAPI/libraries/armem/server/plugins/Plugin.cpp b/source/RobotAPI/libraries/armem/server/plugins/Plugin.cpp
index 193ca45e3c646bb372c684ea36644e7c5f08e450..6443b38874f43fe13c0ca56ad4868625d2f9de72 100644
--- a/source/RobotAPI/libraries/armem/server/plugins/Plugin.cpp
+++ b/source/RobotAPI/libraries/armem/server/plugins/Plugin.cpp
@@ -76,15 +76,21 @@ namespace armarx::armem::server::plugins
}
void
- Plugin::postOnConnectComponent()
+ Plugin::preOnConnectComponent()
{
Component& parent = this->parent<Component>();
- // register to MNS
+ // register new server info to MNS
if (clientPlugin->isMemoryNameSystemEnabled() and clientPlugin->getMemoryNameSystemClient())
{
- registerServer(parent);
+ registerServer(parent);
}
+ }
+
+ void
+ Plugin::postOnConnectComponent()
+ {
+ Component& parent = this->parent<Component>();
parent.getTopic(memoryTopic, memoryTopicName);
iceAdapter.setMemoryListener(memoryTopic);
diff --git a/source/RobotAPI/libraries/armem/server/plugins/Plugin.h b/source/RobotAPI/libraries/armem/server/plugins/Plugin.h
index 0712e4d9f2281adf2c435a7585a019b97907c9d7..0bb86b71baa485fea1a5f6c959ffff1647136445 100644
--- a/source/RobotAPI/libraries/armem/server/plugins/Plugin.h
+++ b/source/RobotAPI/libraries/armem/server/plugins/Plugin.h
@@ -31,6 +31,7 @@ namespace armarx::armem::server::plugins
virtual void preOnInitComponent() override;
virtual void postOnInitComponent() override;
+ virtual void preOnConnectComponent() override;
virtual void postOnConnectComponent() override;
virtual void preOnDisconnectComponent() override;
diff --git a/source/RobotAPI/libraries/armem_objects/client/instance/ObjectReader.cpp b/source/RobotAPI/libraries/armem_objects/client/instance/ObjectReader.cpp
index 131fdc655569a16b5d80488289ad2e0fa0d90983..05e850869fac0ce879b1a9b186b5acea99f98890 100644
--- a/source/RobotAPI/libraries/armem_objects/client/instance/ObjectReader.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/instance/ObjectReader.cpp
@@ -26,25 +26,34 @@ namespace armarx::armem::obj::instance
{
const std::string prefix = propertyPrefix;
- def->optional(p.memoryName, prefix + "MemoryName");
+ def->optional(properties.memoryName, prefix + "MemoryName");
}
void
Reader::connect(armem::client::MemoryNameSystem& memoryNameSystem)
{
// Wait for the memory to become available and add it as dependency.
- ARMARX_IMPORTANT << "Waiting for memory '" << p.memoryName << "' ...";
+ ARMARX_IMPORTANT << "Waiting for memory '" << properties.memoryName << "' ...";
try
{
// simply wait until memory is ready. Do nothing with reader but get prx
- auto r = memoryNameSystem.useReader(p.memoryName);
+ auto r = memoryNameSystem.useReader(properties.memoryName);
+
+ // cast MemoryPrx to objPoseStoragePrx --> NOT WORKING DUE TO SOME ICE CACHING OR SO.
+ // Explanation:
+ // When the readingPrx disconnects and reconnects, the cast fails as it uses internally
+ // a ice_isA call which results in connection refused. The reason is, that for some
+ // reason the mns thinks that the reconnected prx is similar to the old info
+ // (check ice_identity) so it returnes the cached prx in its server map. Could be fixed
+ // by always querying the mns component for new proxies, but this may slow the system
+ // down.
+ //this->objPoseStorage =
+ // objpose::ObjectPoseStorageInterfacePrx::uncheckedCast(r.readingPrx);
+ // Current fix: Get prx from mns:
+ this->readingPrx = r.readingPrx;
+
+ ARMARX_INFO << "Connected to Memory '" << properties.memoryName << "'";
- // cast MemoryPrx to objPoseStoragePrx
- this->objPoseStorage =
- objpose::ObjectPoseStorageInterfacePrx::checkedCast(r.readingPrx);
-
- ARMARX_IMPORTANT << "Connected to Memory and ObjectPoseStorage '" << p.memoryName
- << "'";
}
catch (const armem::error::CouldNotResolveMemoryServer& e)
{
@@ -58,7 +67,7 @@ namespace armarx::armem::obj::instance
const armarx::core::time::Duration& until)
{
std::map<std::string, bool> ret;
- auto providers = objPoseStorage->getAvailableProvidersInfo();
+ auto providers = getObjectPoseStorage()->getAvailableProvidersInfo();
for (const auto& [k, p] : providers)
{
// TODO: check supported objects?
@@ -81,7 +90,7 @@ namespace armarx::armem::obj::instance
req.request.objectIDs = {requestObject};
req.request.relativeTimeoutMS = until.toMilliSeconds();
- auto requestResult = objPoseStorage->requestObjects(req);
+ auto requestResult = getObjectPoseStorage()->requestObjects(req);
if (requestResult.results.count(requestObject))
{
@@ -95,7 +104,7 @@ namespace armarx::armem::obj::instance
{
// TODO: Shall we throw an exception if no instance index is set?
- auto objectPoses = objPoseStorage->getObjectPoses();
+ auto objectPoses = getObjectPoseStorage()->getObjectPoses();
for (const auto& pose : objectPoses)
{
ObjectID oid;
@@ -114,7 +123,7 @@ namespace armarx::armem::obj::instance
Reader::queryLatestObjectInstances()
{
std::map<std::string, objpose::ObjectPose> ret;
- auto objectPoses = objPoseStorage->getObjectPoses();
+ auto objectPoses = getObjectPoseStorage()->getObjectPoses();
for (const auto& pose : objectPoses)
{
ObjectID oid;
@@ -128,7 +137,7 @@ namespace armarx::armem::obj::instance
Reader::queryLatestObjectInstances(const ObjectID& classId)
{
std::map<std::string, objpose::ObjectPose> ret;
- auto objectPoses = objPoseStorage->getObjectPoses();
+ auto objectPoses = getObjectPoseStorage()->getObjectPoses();
for (const auto& pose : objectPoses)
{
ObjectID oid;
diff --git a/source/RobotAPI/libraries/armem_objects/client/instance/ObjectReader.h b/source/RobotAPI/libraries/armem_objects/client/instance/ObjectReader.h
index 18f52a6111d96525c0b5940b2e03084b8ff29a96..41769504c5bcf3096371dd7c4da774b3133ff7e6 100644
--- a/source/RobotAPI/libraries/armem_objects/client/instance/ObjectReader.h
+++ b/source/RobotAPI/libraries/armem_objects/client/instance/ObjectReader.h
@@ -34,6 +34,7 @@
// The object pose provider. As long as the provider is not connected to armem we need the second proxy
#include <RobotAPI/interface/objectpose/ObjectPoseProvider.h>
#include <RobotAPI/interface/objectpose/ObjectPoseStorageInterface.h>
+#include <RobotAPI/interface/armem/server/MemoryInterface.h>
namespace armarx::armem::obj::instance
{
@@ -71,21 +72,22 @@ namespace armarx::armem::obj::instance
Properties
getProperties()
{
- return this->p;
+ return this->properties;
}
objpose::ObjectPoseStorageInterfacePrx
getObjectPoseStorage() const
{
- return objPoseStorage;
+ // TODO: see problem in source file. This performs a ice_isA every time this method is called
+ return objpose::ObjectPoseStorageInterfacePrx::checkedCast(this->readingPrx);
}
private:
- Properties p;
+ Properties properties;
const std::string propertyPrefix = "mem.obj.instance.";
- objpose::ObjectPoseStorageInterfacePrx objPoseStorage;
+ armarx::armem::server::ReadingMemoryInterfacePrx readingPrx;
};