Updates/a6u1/2023 07 26

source/RobotAPI/libraries/RobotUnitDataStreamingReceiver/RobotUnitDataStreamingReceiver.cpp

@@ -20,13 +20,13 @@
  *             GNU General Public License
  */
 
+#include "RobotUnitDataStreamingReceiver.h"
+
 #include <Ice/ObjectAdapter.h>
 
 #include "ArmarXCore/core/logging/Logging.h"
 #include <ArmarXCore/core/ArmarXManager.h>
 
-#include "RobotUnitDataStreamingReceiver.h"
-
 namespace armarx::detail::RobotUnitDataStreamingReceiver
 {
     class Receiver :
@@ -34,23 +34,37 @@ namespace armarx::detail::RobotUnitDataStreamingReceiver
         virtual public RobotUnitDataStreaming::Receiver
     {
     public:
-        std::string getDefaultName() const override
+        std::string
+        getDefaultName() const override
         {
             return "RobotUnitDataStreamingReceiver";
         }
+
         ~Receiver()
         {
             std::lock_guard g{_data_mutex};
         }
-        void onInitComponent() override {}
-        void onConnectComponent() override {}
-        void onExitComponent() override {}
-
-        void update_async(
-            const RobotUnitDataStreaming::AMD_Receiver_updatePtr& ptr,
-            const RobotUnitDataStreaming::TimeStepSeq& data,
-            Ice::Long msgSequenceNbr,
-            const Ice::Current&) override
+
+        void
+        onInitComponent() override
+        {
+        }
+
+        void
+        onConnectComponent() override
+        {
+        }
+
+        void
+        onExitComponent() override
+        {
+        }
+
+        void
+        update_async(const RobotUnitDataStreaming::AMD_Receiver_updatePtr& ptr,
+                     const RobotUnitDataStreaming::TimeStepSeq& data,
+                     Ice::Long msgSequenceNbr,
+                     const Ice::Current&) override
         {
             ptr->ice_response();
             if (_discard_data)
@@ -65,32 +79,31 @@ namespace armarx::detail::RobotUnitDataStreamingReceiver
             _data[seq] = data;
         }
 
-        std::atomic_bool                                              _discard_data = false;
-        std::mutex                                                    _data_mutex;
-        std::map<std::uint64_t, RobotUnitDataStreaming::TimeStepSeq>  _data;
-        Ice::Identity                                                 _identity;
+        std::atomic_bool _discard_data = false;
+        std::mutex _data_mutex;
+        std::map<std::uint64_t, RobotUnitDataStreaming::TimeStepSeq> _data;
+        Ice::Identity _identity;
     };
-}
+} // namespace armarx::detail::RobotUnitDataStreamingReceiver
 
 namespace armarx
 {
     RobotUnitDataStreamingReceiver::RobotUnitDataStreamingReceiver(
         const ManagedIceObjectPtr& obj,
         const RobotUnitInterfacePrx& ru,
-        const RobotUnitDataStreaming::Config& cfg
-    ) : _obj{obj}, _ru{ru}
+        const RobotUnitDataStreaming::Config& cfg) :
+        _obj{obj}, _ru{ru}
     {
         ARMARX_CHECK_NOT_NULL(_obj);
         ARMARX_CHECK_NOT_NULL(_ru);
         _receiver = make_shared<detail::RobotUnitDataStreamingReceiver::Receiver>();
 
-        _receiver->_identity.name =
-            _obj->getName() + "_RobotUnitDataStreamingReceiver_" +
-            std::to_string(clock_t::now().time_since_epoch().count());
+        _receiver->_identity.name = _obj->getName() + "_RobotUnitDataStreamingReceiver_" +
+                                    std::to_string(clock_t::now().time_since_epoch().count());
 
         auto adapter = _obj->getArmarXManager()->getAdapter();
         _proxy = RobotUnitDataStreaming::ReceiverPrx::uncheckedCast(
-                     adapter->add(_receiver,  _receiver->_identity));
+            adapter->add(_receiver, _receiver->_identity));
 
         _description = _ru->startDataStreaming(_proxy, cfg);
     }
@@ -120,14 +133,15 @@ namespace armarx
                 ARMARX_INFO << deactivateSpam() << "waiting until receiver is removed from ice";
             }
         }
-        _proxy    = nullptr;
+        _proxy = nullptr;
         _receiver = nullptr;
     }
 
-    std::deque<RobotUnitDataStreaming::TimeStep>& RobotUnitDataStreamingReceiver::getDataBuffer()
+    std::deque<RobotUnitDataStreaming::TimeStep>&
+    RobotUnitDataStreamingReceiver::getDataBuffer()
     {
         ARMARX_CHECK_NOT_NULL(_receiver);
-        std::map<std::uint64_t, RobotUnitDataStreaming::TimeStepSeq>  data;
+        std::map<std::uint64_t, RobotUnitDataStreaming::TimeStepSeq> data;
         {
             std::lock_guard g{_receiver->_data_mutex};
             std::swap(data, _receiver->_data);
@@ -169,14 +183,12 @@ namespace armarx
             _tmp_data_buffer_seq_id = it->first;
             for (auto& step : it->second)
             {
-                if (
-                    _last_iteration_id != -1 &&
-                    _last_iteration_id + 1 != step.iterationId
-                )
+                if (_last_iteration_id != -1 && _last_iteration_id + 1 != step.iterationId)
                 {
-                    ARMARX_VERBOSE << "Missing Iterations or iterations out of order! "
-                                 << "This should not happen. " 
-                                 << VAROUT(_last_iteration_id) << ", " << VAROUT(step.iterationId);
+                    ARMARX_INFO << deactivateSpam(10)
+                                << "Missing Iterations or iterations out of order! "
+                                << "This should not happen. " << VAROUT(_last_iteration_id) << ", "
+                                << VAROUT(step.iterationId);
                 }
                 _last_iteration_id = step.iterationId;
                 _data_buffer.emplace_back(std::move(step));
@@ -186,12 +198,14 @@ namespace armarx
         return _data_buffer;
     }
 
-    const RobotUnitDataStreaming::DataStreamingDescription& RobotUnitDataStreamingReceiver::getDataDescription() const
+    const RobotUnitDataStreaming::DataStreamingDescription&
+    RobotUnitDataStreamingReceiver::getDataDescription() const
     {
         return _description;
     }
 
-    std::string RobotUnitDataStreamingReceiver::getDataDescriptionString() const
+    std::string
+    RobotUnitDataStreamingReceiver::getDataDescriptionString() const
     {
         std::stringstream str;
         const auto& entr = getDataDescription().entries;
@@ -202,4 +216,4 @@ namespace armarx
         }
         return str.str();
     }
-}
+} // namespace armarx