From 0911a1888acef208a29803db8706b13050a7865b Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Wed, 8 Jun 2022 09:36:44 +0200
Subject: [PATCH] VirtualRobotReader: better warnings
---
.../VirtualRobotReaderExampleClient.cpp | 2 +-
.../client/common/VirtualRobotReader.cpp | 9 ++++++++-
2 files changed, 9 insertions(+), 2 deletions(-)
diff --git a/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.cpp b/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.cpp
index 639203e46..6aab4a4ff 100644
--- a/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.cpp
+++ b/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.cpp
@@ -95,7 +95,7 @@ namespace armarx::robot_state
ARMARX_INFO << deactivateSpam(10) << "Synchronizing robot";
TIMING_START(synchronizeRobot);
- virtualRobotReader.synchronizeRobot(*virtualRobot, now);
+ ARMARX_CHECK(virtualRobotReader.synchronizeRobot(*virtualRobot, now));
TIMING_END_STREAM(synchronizeRobot, ARMARX_INFO);
}
diff --git a/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp b/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp
index 6eeb7e2e9..58f56a4d7 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp
@@ -68,6 +68,7 @@ namespace armarx::armem::robot_state
if (not description)
{
+ ARMARX_WARNING << "The description of robot `" << name << "` is nota available!";
return nullptr;
}
@@ -79,7 +80,13 @@ namespace armarx::armem::robot_state
auto robot = VirtualRobot::RobotIO::loadRobot(xmlFilename, loadMode);
robot->setName(name);
- synchronizeRobot(*robot, timestamp);
+ const bool success = synchronizeRobot(*robot, timestamp);
+
+ if(not success)
+ {
+ ARMARX_WARNING << "Could not synchronize robot `" << name << "` with the memory!";
+ return nullptr;
+ }
return robot;
}
--
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