From 6cca2a4ec13fd210ede56a466b6924a77348cee9 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Tue, 29 Jun 2021 15:38:54 +0200
Subject: [PATCH] Fix snapshot loading
---
.../armem_objects/server/instance/Segment.cpp | 17 ++++++++++++-----
.../armem_objects/server/instance/Segment.h | 3 ++-
2 files changed, 14 insertions(+), 6 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
index 125bdd946..fd9a7d126 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
@@ -81,12 +81,14 @@ namespace armarx::armem::server::obj::instance
"If true, no new snapshots are stored while an object is attached to a robot node.\n"
"If false, new snapshots are stored, but the attachment is kept in the new snapshots.");
- defs->optional(p.sceneSnapshotsPackage, prefix + "scene.Package",
+ defs->optional(p.sceneSnapshotsPackage, prefix + "scene.10_Package",
"ArmarX package containing the scene snapshots.\n"
"Scene snapshots are expected to be located in Package/data/Package/Scenes/*.json.");
- defs->optional(p.sceneSnapshotToLoad, prefix + "scene.SnapshotToLoad",
+ defs->optional(p.sceneSnapshotsDirectory, prefix + "scene.11_Directory",
+ "Directory in Package/data/Package/ containing the scene snapshots.");
+ defs->optional(p.sceneSnapshotToLoad, prefix + "scene.12_SnapshotToLoad",
"Scene snapshot to load on startup (e.g. 'Scene_2021-06-24_20-20-03').\n"
- "You can also specify paths relative to 'Package/Scenes/'.");
+ "You can also specify paths relative to 'Package/scenes/'.");
decay.defineProperties(defs, prefix + "decay.");
}
@@ -791,7 +793,7 @@ namespace armarx::armem::server::obj::instance
if (finder->packageFound())
{
std::filesystem::path dataDir = finder->getDataDir();
- std::filesystem::path path = dataDir / p.sceneSnapshotsPackage / "Scenes" / filename;
+ std::filesystem::path path = dataDir / p.sceneSnapshotsPackage / p.sceneSnapshotsDirectory / filename;
return path;
}
else
@@ -906,7 +908,12 @@ namespace armarx::armem::server::obj::instance
loadButton.setLabel("Load Scene");
storeButton.setLabel("Store Scene");
- HBoxLayout storeLoadLineLayout({Label(data.p.sceneSnapshotsPackage + "/Scenes/"), storeLoadLine, Label(".json")});
+ HBoxLayout storeLoadLineLayout(
+ {
+ Label(data.p.sceneSnapshotsPackage + "/" + data.p.sceneSnapshotsDirectory + "/"),
+ storeLoadLine,
+ Label(".json")
+ });
HBoxLayout storeLoadButtonsLayout({loadButton, storeButton});
GridLayout grid;
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
index 0ac63b410..440de8135 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
@@ -182,7 +182,8 @@ namespace armarx::armem::server::obj::instance
bool discardSnapshotsWhileAttached = true;
/// Package containing the scene snapshots
- std::string sceneSnapshotsPackage = "ArmarXObjects";
+ std::string sceneSnapshotsPackage = armarx::ObjectFinder::DefaultObjectsPackageName;
+ std::string sceneSnapshotsDirectory = "scenes";
std::string sceneSnapshotToLoad = "";
};
Properties p;
--
GitLab