From 0305749540c7b349596846cb22d3a851a8b42170 Mon Sep 17 00:00:00 2001
From: Joana Plewnia <joana.plewnia@.kit.edu>
Date: Wed, 30 Oct 2024 09:50:35 -0700
Subject: [PATCH] added try-catch
---
.../Component.cpp | 2 +-
.../core/ObjectLastSeenAt.cpp | 72 +++++++++----------
.../core/ObjectLastSeenAt.h | 2 +-
.../skills/ObjectLastSeenAt.cpp | 2 +-
.../skills/ObjectLastSeenAt.h | 2 +-
5 files changed, 36 insertions(+), 44 deletions(-)
diff --git a/source/armarx/speech/components/episodic_verbalization_skill_provider/Component.cpp b/source/armarx/speech/components/episodic_verbalization_skill_provider/Component.cpp
index 2b7a956..75b1707 100644
--- a/source/armarx/speech/components/episodic_verbalization_skill_provider/Component.cpp
+++ b/source/armarx/speech/components/episodic_verbalization_skill_provider/Component.cpp
@@ -71,7 +71,7 @@ namespace armarx::speech::components::episodic_verbalization::skill_provider
//Add a new skillFacory for your skill with the remote and properties structs needed.
skills::ObjectLastSeenAt::Properties properties;
skills::ObjectLastSeenAt::Remote remote{
- //.memoryNameSystem = memoryNameSystem(),
+ .memoryNameSystem = memoryNameSystem(),
.pythonProxy = objectLastSeenAtPrx,
.symbolicSceneReader =
std::experimental::make_observer(&symbolicSceneReaderPlugin_->get()),
diff --git a/source/armarx/speech/skills/object_last_seen_at/core/ObjectLastSeenAt.cpp b/source/armarx/speech/skills/object_last_seen_at/core/ObjectLastSeenAt.cpp
index d8b9632..dc3d9fe 100644
--- a/source/armarx/speech/skills/object_last_seen_at/core/ObjectLastSeenAt.cpp
+++ b/source/armarx/speech/skills/object_last_seen_at/core/ObjectLastSeenAt.cpp
@@ -212,6 +212,7 @@ namespace armarx::speech::object_last_seen_at::core
armem::MemoryID newObjectPoseClassID = armem::MemoryID("Object", "Class", "", "");
ARMARX_DEBUG << object_description_name;
+
if (object_description_name.find(object_name) != std::string::npos)
{ // object is in symbolic scene memory at the moment
@@ -229,49 +230,37 @@ namespace armarx::speech::object_last_seen_at::core
return true; // for now return here, later put this below
/**
- //obtain the object pose from the object memory:
- const armem::MemoryID sourceId = armem::MemoryID::fromString(object_description.second.source);
- const armem::MemoryID coreSegmentID("Object", "Instance");
- armem::client::Reader reader = this->remote.memoryNameSystem.getReader(coreSegmentID);
- armem::client::QueryBuilder builder;
- builder.coreSegments().withName(coreSegmentID.coreSegmentName)
- .providerSegments().withName(sourceId.providerSegmentName)
- .entities().withName(sourceId.entityName)
- .snapshots().atTime(sourceId.timestamp);
- armem::client::QueryResult result = reader.query(builder.buildQueryInput());
-
- if(result.success)
- {
- armem::wm::Memory& memory = result.memory;
-
- memory.forEachInstance([](const armem::wm::EntityInstance& instance)
+ try{
+ //obtain the object pose from the object memory:
+ const armem::MemoryID sourceId = armem::MemoryID::fromString(object_description.second.source);
+ const armem::MemoryID coreSegmentID("Object", "Instance");
+ armem::client::Reader reader = this->remote.memoryNameSystem.getReader(coreSegmentID);
+ armem::client::QueryBuilder builder;
+ builder.coreSegments().withName(coreSegmentID.coreSegmentName)
+ .providerSegments().withName(sourceId.providerSegmentName)
+ .entities().withName(sourceId.entityName)
+ .snapshots().atTime(sourceId.timestamp);
+ armem::client::QueryResult result = reader.query(builder.buildQueryInput());
+
+ if(result.success)
{
+ armem::wm::Memory& memory = result.memory;
- armarx::objpose::ObjectPose pose =
- armarx::aron::fromAron<armarx::objpose::ObjectPose>(
- armarx::armem::arondto::ObjectInstance::FromAron(instance.data())
- );
-
- auto currentTime = armarx::armem::Time::Now();
- auto ageOfObjectInformation = currentTime.toSecondsSinceEpoch() - instance.metadata().sentTime.toSecondsSinceEpoch();
-
- // TODO: create an object instance or pose element with the new timestamp
- // TODO: maybe use ObjectInstanceWriter (needs ObjectID, provider name and time)
- });
- }
+ memory.forEachInstance([this](const armem::wm::EntityInstance& instance)
+ {
+ armarx::objpose::ObjectPose pose =
+ armarx::aron::fromAron<armarx::objpose::ObjectPose>(
+ armarx::armem::arondto::ObjectInstance::FromAron(instance.data())
+ );
+
+ auto currentTime = armarx::armem::Time::Now();
+ auto ageOfObjectInformation = currentTime.toSecondsSinceEpoch() - instance.metadata().sentTime.toSecondsSinceEpoch();
- for (const auto& providerName :
- remote.objectInstanceReader->getObjectPoseStorage()->getAvailableProviderNames())
- {
- remote.objectInstanceReader->getObjectPoseStorage()->getObjectPoses()
- // obtain the object instance from the object memory and store it there again but with updated timestamp and provider name
- if (auto objectPose = remote.objectInstanceReader->queryLatestObjectInstance(object_description.second.id))
- {
armarx::armem::arondto::ObjectInstance objectInstance;
- armarx::objpose::toAron(objectInstance.pose, objectPose.value());
+ armarx::objpose::toAron(objectInstance.pose, pose);
- objectInstance.classID = "";
+ objectInstance.classID = ""; //objectClassId;
objectInstance.pose.confidence = 1.0; // we are sure about the location
objectInstance.pose.timestamp =
armarx::Clock::Now(); // we must update the timestamp
@@ -280,11 +269,14 @@ namespace armarx::speech::object_last_seen_at::core
ARMARX_CHECK_NOT_NULL(this->remote.objectInstanceWriter);
ARMARX_CHECK(this->remote.objectInstanceWriter->commitObject(
objectInstance, properties.objectProviderName, armarx::Clock::Now()));
-
- }
+ });
}
- */
+ } catch (const std::exception& e)
+ {
+ ARMARX_ERROR << "Error while updating object instance in object memory: " << e.what();
+ }
+ */
}
diff --git a/source/armarx/speech/skills/object_last_seen_at/core/ObjectLastSeenAt.h b/source/armarx/speech/skills/object_last_seen_at/core/ObjectLastSeenAt.h
index 532e3f4..48ff45d 100644
--- a/source/armarx/speech/skills/object_last_seen_at/core/ObjectLastSeenAt.h
+++ b/source/armarx/speech/skills/object_last_seen_at/core/ObjectLastSeenAt.h
@@ -57,7 +57,7 @@ namespace armarx::speech::object_last_seen_at::core
/// Remote parameters of this skill implementation
struct Remote
{
- //armarx::armem::client::MemoryNameSystem memoryNameSystem;
+ armarx::armem::client::MemoryNameSystem memoryNameSystem;
armarx::speech::skills::object_last_seen_at::core::ObjectLastSeenAtPythonInterfacePrx pythonProxy;
std::experimental::observer_ptr<
diff --git a/source/armarx/speech/skills/object_last_seen_at/skills/ObjectLastSeenAt.cpp b/source/armarx/speech/skills/object_last_seen_at/skills/ObjectLastSeenAt.cpp
index 6f4eb61..26fb31d 100644
--- a/source/armarx/speech/skills/object_last_seen_at/skills/ObjectLastSeenAt.cpp
+++ b/source/armarx/speech/skills/object_last_seen_at/skills/ObjectLastSeenAt.cpp
@@ -64,7 +64,7 @@ namespace armarx::speech::object_last_seen_at::skills
{
// Enter main code of the skill here.
core::ObjectLastSeenAt::Remote r{
- //.memoryNameSystem = this->remote.memoryNameSystem,
+ .memoryNameSystem = this->remote.memoryNameSystem,
.pythonProxy = this->remote.pythonProxy,
.symbolicSceneReader = this->remote.symbolicSceneReader,
.objectClassReader = this->remote.objectClassReader,
diff --git a/source/armarx/speech/skills/object_last_seen_at/skills/ObjectLastSeenAt.h b/source/armarx/speech/skills/object_last_seen_at/skills/ObjectLastSeenAt.h
index 151e262..71a46a6 100644
--- a/source/armarx/speech/skills/object_last_seen_at/skills/ObjectLastSeenAt.h
+++ b/source/armarx/speech/skills/object_last_seen_at/skills/ObjectLastSeenAt.h
@@ -62,7 +62,7 @@ namespace armarx::speech::object_last_seen_at::skills
/// Remote parameters of this skill implementation
struct Remote
{
- //armarx::armem::client::MemoryNameSystem memoryNameSystem;
+ armarx::armem::client::MemoryNameSystem memoryNameSystem;
armarx::speech::skills::object_last_seen_at::core::ObjectLastSeenAtPythonInterfacePrx
pythonProxy;
--
GitLab