From f5506e56d5112d8a3b99925ccbafd4ec9dd05baa Mon Sep 17 00:00:00 2001
From: Fabian Peller-Konrad <fabian.peller-konrad@kit.edu>
Date: Mon, 19 Aug 2024 09:10:50 +0200
Subject: [PATCH] add andres fix for the object instance reader
---
.../client/instance/ObjectReader.cpp | 37 ++++++++++++-------
.../client/instance/ObjectReader.h | 10 +++--
2 files changed, 29 insertions(+), 18 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_objects/client/instance/ObjectReader.cpp b/source/RobotAPI/libraries/armem_objects/client/instance/ObjectReader.cpp
index 4828ac168..05e850869 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::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;
diff --git a/source/RobotAPI/libraries/armem_objects/client/instance/ObjectReader.h b/source/RobotAPI/libraries/armem_objects/client/instance/ObjectReader.h
index 18f52a611..41769504c 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;
};
--
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