From dde3c20059937aa363d3721764c95c8bbf218d46 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Sun, 19 Feb 2023 14:07:01 +0100
Subject: [PATCH] virtual robot reader: warnings now on verbose level.
---
.../client/common/RobotReader.cpp | 47 ++++++++-----------
.../client/common/RobotReader.h | 5 +-
.../client/common/VirtualRobotReader.cpp | 15 +++---
.../client/common/VirtualRobotReader.h | 3 +-
4 files changed, 29 insertions(+), 41 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp b/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp
index 611fa0e0d..3374b9fe4 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp
@@ -121,7 +121,7 @@ namespace armarx::armem::robot_state
const auto elapsedTime = armem::Time::Now() - tsStartFunctionInvokation;
if (elapsedTime > syncTimeout)
{
- ARMARX_WARNING << "Could not synchronize object " << obj.description.name;
+ ARMARX_VERBOSE << "Could not synchronize object " << obj.description.name;
return false;
}
@@ -137,9 +137,7 @@ namespace armarx::armem::robot_state
std::optional<robot::RobotDescription>
RobotReader::queryDescription(
const std::string& name,
- const armem::Time& timestamp,
- bool warnings
- )
+ const armem::Time& timestamp)
{
const auto sanitizedTimestamp = timestamp.isValid() ? timestamp : Clock::Now();
@@ -159,11 +157,8 @@ namespace armarx::armem::robot_state
if (not memoryReader)
{
- if (warnings)
- {
- ARMARX_WARNING << "Memory reader is null. Did you forget to call "
- "RobotReader::connect() in onConnectComponent()?";
- }
+ ARMARX_WARNING << "Memory reader is null. Did you forget to call "
+ "RobotReader::connect() in onConnectComponent()?";
return std::nullopt;
}
@@ -182,10 +177,7 @@ namespace armarx::armem::robot_state
}
catch (...)
{
- if (warnings)
- {
- ARMARX_WARNING << "query description failure" << GetHandledExceptionString();
- }
+ ARMARX_VERBOSE << "Query description failure" << GetHandledExceptionString();
}
return std::nullopt;
@@ -198,14 +190,14 @@ namespace armarx::armem::robot_state
const auto jointMap = queryJointState(description, timestamp);
if (not jointMap)
{
- ARMARX_WARNING << "Failed to query joint state for robot '" << description.name << "'.";
+ ARMARX_VERBOSE << "Failed to query joint state for robot '" << description.name << "'.";
return std::nullopt;
}
const auto globalPose = queryGlobalPose(description, timestamp);
if (not globalPose)
{
- ARMARX_WARNING << "Failed to query global pose for robot " << description.name;
+ ARMARX_VERBOSE << "Failed to query global pose for robot " << description.name;
return std::nullopt;
}
@@ -235,7 +227,7 @@ namespace armarx::armem::robot_state
}
catch (...)
{
- ARMARX_WARNING << GetHandledExceptionString();
+ ARMARX_VERBOSE << GetHandledExceptionString();
return std::nullopt;
}
}
@@ -268,7 +260,7 @@ namespace armarx::armem::robot_state
if (not qResult.success) /* c++20 [[unlikely]] */
{
- ARMARX_WARNING << qResult.errorMessage;
+ ARMARX_VERBOSE << qResult.errorMessage;
return std::nullopt;
}
@@ -276,7 +268,7 @@ namespace armarx::armem::robot_state
}
catch (...)
{
- ARMARX_WARNING << deactivateSpam(1) << "Failed to query joint state. Reason: "
+ ARMARX_VERBOSE << deactivateSpam(1) << "Failed to query joint state. Reason: "
<< GetHandledExceptionString();
return std::nullopt;
}
@@ -306,7 +298,7 @@ namespace armarx::armem::robot_state
if (not qResult.success) /* c++20 [[unlikely]] */
{
- ARMARX_WARNING << qResult.errorMessage;
+ ARMARX_VERBOSE << qResult.errorMessage;
return {};
}
@@ -339,7 +331,7 @@ namespace armarx::armem::robot_state
if (not qResult.success) /* c++20 [[unlikely]] */
{
- ARMARX_WARNING << qResult.errorMessage;
+ ARMARX_VERBOSE << qResult.errorMessage;
return std::nullopt;
}
@@ -362,7 +354,7 @@ namespace armarx::armem::robot_state
}
catch (...)
{
- ARMARX_WARNING << deactivateSpam(1) << "Failed to query global pose. Reason: "
+ ARMARX_VERBOSE << deactivateSpam(1) << "Failed to query global pose. Reason: "
<< GetHandledExceptionString();
return std::nullopt;
}
@@ -381,7 +373,7 @@ namespace armarx::armem::robot_state
if (providerSegment.empty())
{
- ARMARX_WARNING << "No entity found";
+ ARMARX_VERBOSE << "No entity found";
return std::nullopt;
}
@@ -394,9 +386,10 @@ namespace armarx::armem::robot_state
instance = &i;
return false; // break
});
- if (!instance)
+
+ if (instance == nullptr)
{
- ARMARX_WARNING << "No entity snapshots found";
+ ARMARX_VERBOSE << "No entity snapshots found";
return std::nullopt;
}
@@ -525,7 +518,7 @@ namespace armarx::armem::robot_state
if (not qResult.success) /* c++20 [[unlikely]] */
{
- ARMARX_WARNING << qResult.errorMessage;
+ ARMARX_VERBOSE << qResult.errorMessage;
return std::nullopt;
}
@@ -558,7 +551,7 @@ namespace armarx::armem::robot_state
if (not qResult.success) /* c++20 [[unlikely]] */
{
- ARMARX_WARNING << qResult.errorMessage;
+ ARMARX_VERBOSE << qResult.errorMessage;
return std::nullopt;
}
@@ -691,7 +684,7 @@ namespace armarx::armem::robot_state
{ instance = &i; });
if (instance == nullptr)
{
- ARMARX_WARNING << "No entity snapshots found in provider segment `" << name << "`";
+ ARMARX_VERBOSE << "No entity snapshots found in provider segment `" << name << "`";
return std::nullopt;
}
diff --git a/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.h b/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.h
index bb63c7141..9474c5237 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.h
+++ b/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.h
@@ -50,7 +50,7 @@ namespace armarx::armem::robot_state
void registerPropertyDefinitions(::armarx::PropertyDefinitionsPtr& def);
- bool synchronize(robot::Robot& obj, const armem::Time& timestamp) override;
+ [[nodiscard]] bool synchronize(robot::Robot& obj, const armem::Time& timestamp) override;
std::optional<robot::Robot> get(const std::string& name,
const armem::Time& timestamp) override;
@@ -58,8 +58,7 @@ namespace armarx::armem::robot_state
const armem::Time& timestamp) override;
std::optional<robot::RobotDescription> queryDescription(const std::string& name,
- const armem::Time& timestamp,
- bool warnings = true);
+ const armem::Time& timestamp);
std::optional<robot::RobotState> queryState(const robot::RobotDescription& description,
const armem::Time& timestamp);
diff --git a/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp b/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp
index 8c1f8dfb0..4f03377e9 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp
@@ -47,7 +47,7 @@ namespace armarx::armem::robot_state
const auto robotState = queryState(robotDescription, timestamp);
if (not robotState)
{
- ARMARX_WARNING << "Querying robot state failed for robot `" << robot.getName() << "` "
+ ARMARX_VERBOSE << "Querying robot state failed for robot `" << robot.getName() << "` "
<< "(type `"<< robot.getType() << "`)!";
return false;
}
@@ -61,19 +61,16 @@ namespace armarx::armem::robot_state
VirtualRobot::RobotPtr
VirtualRobotReader::getRobot(const std::string& name,
const armem::Time& timestamp,
- const VirtualRobot::RobotIO::RobotDescription& loadMode,
- bool warnings)
+ const VirtualRobot::RobotIO::RobotDescription& loadMode)
{
ARMARX_INFO << deactivateSpam(60)
<< "Querying robot description for robot '" << name << "'";
- const auto description = queryDescription(name, timestamp, warnings);
+ const auto description = queryDescription(name, timestamp);
if (not description)
{
- if (warnings)
- {
- ARMARX_WARNING << "The description of robot `" << name << "` is not a available!";
- }
+ ARMARX_VERBOSE << "The description of robot `" << name << "` is not a available!";
+
return nullptr;
}
@@ -134,7 +131,7 @@ namespace armarx::armem::robot_state
Clock::WaitFor(sleepAfterFailure);
}
- ARMARX_WARNING << "Failed to get synchronized robot `" << name << "`";
+ ARMARX_VERBOSE << "Failed to get synchronized robot `" << name << "`";
return nullptr;
}
diff --git a/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h b/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h
index d19e0483f..19a184e8c 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h
+++ b/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h
@@ -53,8 +53,7 @@ namespace armarx::armem::robot_state
getRobot(const std::string& name,
const armem::Time& timestamp = armem::Time::Invalid(),
const VirtualRobot::RobotIO::RobotDescription& loadMode =
- VirtualRobot::RobotIO::RobotDescription::eStructure,
- bool warnings = true);
+ VirtualRobot::RobotIO::RobotDescription::eStructure);
[[nodiscard]] VirtualRobot::RobotPtr
getSynchronizedRobot(const std::string& name,
--
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