From f6643d650e3f24ab2ac49a61f48041d3e49f263e Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Tue, 4 Jan 2022 19:02:08 +0100
Subject: [PATCH] memory subscriber: subscriptions via topic
---
.../client/services/MemorySubscriber.cpp | 25 +++++++++++++++++++
.../client/services/MemorySubscriber.h | 4 +++
.../components/Navigator/Navigator.cpp | 2 +-
3 files changed, 30 insertions(+), 1 deletion(-)
diff --git a/source/armarx/navigation/client/services/MemorySubscriber.cpp b/source/armarx/navigation/client/services/MemorySubscriber.cpp
index f759b164..033ea36f 100644
--- a/source/armarx/navigation/client/services/MemorySubscriber.cpp
+++ b/source/armarx/navigation/client/services/MemorySubscriber.cpp
@@ -27,12 +27,37 @@ namespace armarx::navigation::client
ARMARX_INFO << "MemorySubscriber: will handle all events newer than " << lastMemoryPoll
<< ".";
+ // subscription api
+ armem::MemoryID subscriptionID;
+ subscriptionID.coreSegmentName = "Events";
+ subscriptionID.providerSegmentName = callerId;
+
+ // TODO add: memoryNameSystem.subscribe(subscriptionID, this, &MemorySubscriber::onEntityUpdate);
+
+ // polling api
ARMARX_TRACE;
task = new armarx::PeriodicTask<MemorySubscriber>(
this, &MemorySubscriber::runPollMemoryEvents, 20);
task->start();
}
+ void
+ MemorySubscriber::onEntityUpdate(const armem::MemoryID& subscriptionID,
+ const std::vector<armem::MemoryID>& snapshotIDs)
+ {
+ ARMARX_INFO << "Received " << snapshotIDs.size() << " events from memory";
+ const armem::client::QueryResult qResult = memoryReader.queryMemoryIDs(snapshotIDs);
+
+ if (not qResult.success) /* c++20 [[unlikely]] */
+ {
+ ARMARX_WARNING << deactivateSpam(0.1F) << "Memory lookup failed.";
+ return;
+ }
+
+ handleEvents(qResult.memory);
+ }
+
+
void
MemorySubscriber::handleEvent(const armem::wm::EntityInstance& memoryEntity)
{
diff --git a/source/armarx/navigation/client/services/MemorySubscriber.h b/source/armarx/navigation/client/services/MemorySubscriber.h
index 5a9fcbc6..059305dd 100644
--- a/source/armarx/navigation/client/services/MemorySubscriber.h
+++ b/source/armarx/navigation/client/services/MemorySubscriber.h
@@ -38,6 +38,10 @@ namespace armarx::navigation::client
void runPollMemoryEvents();
void handleEvents(const armem::wm::Memory& memory);
+
+ void onEntityUpdate(const armem::MemoryID& subscriptionID,
+ const std::vector<armem::MemoryID>& snapshotIDs);
+
private:
const std::string callerId;
armem::client::MemoryNameSystem& memoryNameSystem;
diff --git a/source/armarx/navigation/components/Navigator/Navigator.cpp b/source/armarx/navigation/components/Navigator/Navigator.cpp
index 6532665f..8d0ad97d 100644
--- a/source/armarx/navigation/components/Navigator/Navigator.cpp
+++ b/source/armarx/navigation/components/Navigator/Navigator.cpp
@@ -50,6 +50,7 @@
#include "RobotAPI/components/ArViz/Client/Elements.h"
#include "RobotAPI/components/ArViz/Client/elements/Color.h"
+#include "RobotAPI/libraries/armem/core/MemoryID.h"
#include "RobotAPI/libraries/armem/core/Time.h"
#include "RobotAPI/libraries/armem_vision/OccupancyGridHelper.h"
#include "RobotAPI/libraries/armem_vision/client/occupancy_grid/Reader.h"
@@ -163,7 +164,6 @@ namespace armarx::navigation::components
navRemoteGui = std::make_unique<NavigatorRemoteGui>(remoteGui, *this);
navRemoteGui->enable();
-
initialized = true;
ARMARX_INFO << "Initialized. Will now respond to navigation requests.";
--
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