From db900c4b78997c591742ad38067774129038ffc3 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Wed, 12 May 2021 16:48:50 +0200
Subject: [PATCH] properly setting memory id in class segment
---
.../articulated_object_class/Segment.cpp | 24 +++++++++++--------
.../articulated_object_instance/Segment.cpp | 12 +++++++++-
2 files changed, 25 insertions(+), 11 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_objects/server/articulated_object_class/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/articulated_object_class/Segment.cpp
index 62cb54fbc..422b8e6be 100644
--- a/source/RobotAPI/libraries/armem_objects/server/articulated_object_class/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/articulated_object_class/Segment.cpp
@@ -1,5 +1,6 @@
#include "Segment.h"
+#include <SimoxUtility/algorithm/get_map_keys_values.h>
#include <sstream>
#include <ArmarXCore/core/time/TimeUtil.h>
@@ -66,7 +67,7 @@ namespace armarx::armem::server::obj::articulated_object_class
ObjectFinder finder(package);
const auto knownArticulatedObjectDescriptions = finder.findAllArticulatedObjectsByDataset(true);
- ARMARX_INFO << "Found " << knownArticulatedObjectDescriptions.size() << " articulated objects";
+ ARMARX_DEBUG << "Found " << knownArticulatedObjectDescriptions.size() << " articulated objects";
loadObjectsIntoMemory(knownArticulatedObjectDescriptions, package);
}
@@ -114,18 +115,21 @@ namespace armarx::armem::server::obj::articulated_object_class
{
for (const auto& [name, entity] : provSeg.entities())
{
- const auto& entityInstance = entity.getLatestSnapshot().getInstance(0);
- const auto description = robot::convertRobotDescription(entityInstance);
-
- if (not description)
+ for (const auto& snapshot : simox::alg::get_values(entity.history()))
{
- ARMARX_WARNING << "Could not convert entity instance to 'RobotDescription'";
- continue;
- }
+ const auto& entityInstance = snapshot.getInstance(0);
+ const auto description = robot::convertRobotDescription(entityInstance);
- ARMARX_DEBUG << "Key is " << armem::MemoryID(entity.id());
+ if (not description)
+ {
+ ARMARX_WARNING << "Could not convert entity instance to 'RobotDescription'";
+ continue;
+ }
- objects.emplace(armem::MemoryID(entity.id()), *description);
+ ARMARX_DEBUG << "Key is " << armem::MemoryID(snapshot.id());
+
+ objects.emplace(armem::MemoryID(snapshot.id()), *description);
+ }
}
}
diff --git a/source/RobotAPI/libraries/armem_objects/server/articulated_object_instance/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/articulated_object_instance/Segment.cpp
index 8932734ec..c7fa562a6 100644
--- a/source/RobotAPI/libraries/armem_objects/server/articulated_object_instance/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/articulated_object_instance/Segment.cpp
@@ -70,11 +70,20 @@ namespace armarx::armem::server::obj::articulated_object_instance
ARMARX_CHECK_NOT_NULL(classSegment);
const auto knownObjectClasses = classSegment->getKnownObjectClasses();
+ ARMARX_DEBUG << "Class segment has " << knownObjectClasses.size() << " known articulated objects";
+
+ const auto escape = [](std::string & v)
+ {
+ v = simox::alg::replace_all(v, "/", "\\/");
+ };
+
const auto resolveDescriptionLink = [&](auto & articulatedObject, const auto & aronDescriptionLink) -> bool
{
armem::MemoryID descriptionLink;
fromAron(aronDescriptionLink, descriptionLink);
+ escape(descriptionLink.providerSegmentName);
+
ARMARX_DEBUG << "Lookup key is " << descriptionLink;
// const auto keys = simox::alg::get_keys(knownObjectClasses);
@@ -83,7 +92,8 @@ namespace armarx::armem::server::obj::articulated_object_instance
const auto it = knownObjectClasses.find(descriptionLink);
if (it == knownObjectClasses.end())
{
- ARMARX_WARNING << "Unknown object class " ; //<< aronArticulatedObject.description;
+ ARMARX_WARNING << "Unknown object class " << descriptionLink
+ << "Known classes are " << simox::alg::get_keys(knownObjectClasses);
return false;
}
--
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