From d18c1253a49d3191ba773fc392e12b2e9be3cad9 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Wed, 17 Nov 2021 15:58:09 +0100
Subject: [PATCH] armem_objects/client/articulated_object: sync: returing bool
instead of void
---
.../armem_objects/client/articulated_object/Reader.cpp | 5 +++--
.../armem_objects/client/articulated_object/Reader.h | 2 +-
.../armem_objects/client/articulated_object/interfaces.h | 2 +-
3 files changed, 5 insertions(+), 4 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp
index c554afd52..64dfbc7f5 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp
@@ -146,7 +146,7 @@ namespace armarx::armem::articulated_object
return obj;
}
- void
+ bool
Reader::synchronize(ArticulatedObject& obj, const armem::Time& timestamp)
{
ARMARX_CHECK_NOT_EMPTY(obj.instance) << "An instance name must be provided!";
@@ -156,10 +156,11 @@ namespace armarx::armem::articulated_object
if (not state) /* c++20 [[unlikely]] */
{
ARMARX_WARNING << "Could not synchronize object " << obj.instance;
- return;
+ return false;
}
obj.config = std::move(*state);
+ return true;
}
std::vector<robot::RobotDescription>
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.h b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.h
index 3108b17f9..91a38432f 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.h
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.h
@@ -45,7 +45,7 @@ namespace armarx::armem::articulated_object
void registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def);
void connect();
- void synchronize(ArticulatedObject& obj, const armem::Time& timestamp) override;
+ bool synchronize(ArticulatedObject& obj, const armem::Time& timestamp) override;
std::optional<ArticulatedObject> get(const std::string& name,
const armem::Time& timestamp) override;
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/interfaces.h b/source/RobotAPI/libraries/armem_objects/client/articulated_object/interfaces.h
index a3061a553..d7e74a9a0 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/interfaces.h
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/interfaces.h
@@ -11,7 +11,7 @@ namespace armarx::armem::articulated_object
public:
virtual ~ReaderInterface() = default;
- virtual void synchronize(ArticulatedObject& obj, const armem::Time& timestamp) = 0;
+ virtual bool synchronize(ArticulatedObject& obj, const armem::Time& timestamp) = 0;
virtual ArticulatedObject get(const ArticulatedObjectDescription& description, const armem::Time& timestamp, const std::string& instanceName) = 0;
virtual std::optional<ArticulatedObject> get(const std::string& name, const armem::Time& timestamp) = 0;
--
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