From 02aa96337c3bbaa19fa0747eaddf24b700184807 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Thu, 20 May 2021 14:17:00 +0200
Subject: [PATCH] object memory: added attachments segment
---
.../ArticulatedObjectLocalizerExample.cfg | 8 ++++++++
.../server/ObjectMemory/ObjectMemory.cpp | 19 ++++++++++++-------
.../armem/server/ObjectMemory/ObjectMemory.h | 2 ++
3 files changed, 22 insertions(+), 7 deletions(-)
diff --git a/scenarios/ArMemObjectMemory/config/ArticulatedObjectLocalizerExample.cfg b/scenarios/ArMemObjectMemory/config/ArticulatedObjectLocalizerExample.cfg
index 50dce2f4a..82769e0f2 100644
--- a/scenarios/ArMemObjectMemory/config/ArticulatedObjectLocalizerExample.cfg
+++ b/scenarios/ArMemObjectMemory/config/ArticulatedObjectLocalizerExample.cfg
@@ -102,6 +102,14 @@ ArmarX.ArticulatedObjectLocalizerExample.mem.obj.articulated.ProviderName = Exam
# ArmarX.ArticulatedObjectLocalizerExample.tpc.sub.MemoryListener = MemoryUpdates
+# ArmarX.ArticulatedObjectLocalizerExample.updateFrequency: Memory update frequency (write).
+# Attributes:
+# - Default: 25
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ArticulatedObjectLocalizerExample.updateFrequency = 25
+
+
# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
# - Default: mongo/.cache
diff --git a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
index 837fcbcf8..b6d997f68 100644
--- a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
+++ b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
@@ -57,6 +57,8 @@ namespace armarx::armem::server::obj
articulatedObjectInstanceSegment.defineProperties(defs, prefix + "articulated.inst.");
articulatedObjectClassSegment.defineProperties(defs, prefix + "articulated.cls.");
+ attachmentSegment.defineProperties(defs, prefix + "attachments.");
+
return defs;
}
@@ -69,7 +71,9 @@ namespace armarx::armem::server::obj
articulatedObjectClassSegment(server::ComponentPluginUser::iceMemory,
server::ComponentPluginUser::workingMemoryMutex),
articulatedObjectInstanceSegment(server::ComponentPluginUser::iceMemory,
- server::ComponentPluginUser::workingMemoryMutex)
+ server::ComponentPluginUser::workingMemoryMutex),
+ attachmentSegment(server::ComponentPluginUser::iceMemory,
+ server::ComponentPluginUser::workingMemoryMutex)
{
}
@@ -120,6 +124,10 @@ namespace armarx::armem::server::obj
articulatedObjectInstanceSegment.init();
});
+ initSegmentWithCatch("attachment", [&]()
+ {
+ attachmentSegment.init();
+ });
}
@@ -155,12 +163,9 @@ namespace armarx::armem::server::obj
ArVizComponentPluginUser::getArvizClient()
);
-
- // {
- // std::lock_guard g(server::ComponentPluginUser::workingMemoryMutex);
- // // server::ComponentPluginUser::workingMemory.addCoreSegment("ArticulatedObjectInstance"); // TODO , arondto::::toInitialAronType());
- // server::ComponentPluginUser::workingMemory.addCoreSegment("ArticulatedObjectClass"); // TODO , arondto::::toInitialAronType());
- // }
+ attachmentSegment.connect(
+ ArVizComponentPluginUser::getArvizClient()
+ );
createRemoteGuiTab();
RemoteGui_startRunningTask();
diff --git a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
index f42860d88..2dfd668d1 100644
--- a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
+++ b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
@@ -40,6 +40,7 @@
#include <RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.h>
#include <RobotAPI/libraries/armem_objects/server/articulated_object_instance/Segment.h>
#include <RobotAPI/libraries/armem_objects/server/articulated_object_class/Segment.h>
+#include <RobotAPI/libraries/armem_objects/server/attachments/Segment.h>
#define ICE_CURRENT_ARG const Ice::Current& = Ice::emptyCurrent
@@ -112,6 +113,7 @@ namespace armarx::armem::server::obj
articulated_object_class::Segment articulatedObjectClassSegment;
articulated_object_instance::Segment articulatedObjectInstanceSegment;
+ attachments::Segment attachmentSegment;
// associations::Segment associationsSegment;
--
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