Potential fix for instance::ObjectReader for IceConnection refused when...

Potential fix for instance::ObjectReader for IceConnection refused when reconnecting the ObjectMemory

source/RobotAPI/libraries/armem_objects/client/instance/ObjectReader.cpp

@@ -37,14 +37,11 @@ namespace armarx::armem::obj::instance
         try
         {
             // simply wait until memory is ready. Do nothing with reader but get prx
-            auto r = memoryNameSystem.useReader(p.memoryName);
+            auto memoryReaderClient = memoryNameSystem.useReader(p.memoryName);
 
-            // cast MemoryPrx to objPoseStoragePrx
-            this->objPoseStorage =
-                objpose::ObjectPoseStorageInterfacePrx::checkedCast(r.readingPrx);
+            this->readerPrx = memoryReaderClient.readingPrx;
 
-            ARMARX_IMPORTANT << "Connected to Memory and ObjectPoseStorage '" << p.memoryName
-                             << "'";
+            ARMARX_IMPORTANT << "Connected to Memory '" << p.memoryName << "'";
         }
         catch (const armem::error::CouldNotResolveMemoryServer& e)
         {
@@ -58,7 +55,7 @@ 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 +78,7 @@ 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 +92,7 @@ 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 +111,7 @@ 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 +125,7 @@ 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;
@@ -142,4 +139,10 @@ namespace armarx::armem::obj::instance
         return ret;
     }
 
+    objpose::ObjectPoseStorageInterfacePrx
+    Reader::getObjectPoseStorage() const
+    {
+        return objpose::ObjectPoseStorageInterfacePrx::checkedCast(readerPrx);
+    }
+
 } // namespace armarx::armem::obj::instance