add andres fix for the object instance reader

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::uncheckedCast(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;

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;
     };