From 15c21062f2a43c4cda9293ceabaa3bc73686e218 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Fri, 1 Dec 2023 12:55:30 +0100
Subject: [PATCH] Formatting
---
.../proprioception/RobotStateWriter.cpp | 28 +++++++++++--------
.../server/proprioception/RobotUnitReader.cpp | 7 +++--
2 files changed, 20 insertions(+), 15 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotStateWriter.cpp b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotStateWriter.cpp
index e1469a80d..e278bcd05 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotStateWriter.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotStateWriter.cpp
@@ -40,7 +40,6 @@
#include <RobotAPI/libraries/aron/core/data/variant/All.h>
#include <RobotAPI/libraries/core/FramedPose.h>
-
namespace armarx::armem::server::robot_state::proprioception
{
@@ -52,7 +51,6 @@ namespace armarx::armem::server::robot_state::proprioception
DebugObserverHelper(Logging::tag.tagName, debugObserverPlugin.getDebugObserver(), true);
}
-
static float
toDurationMs(std::chrono::high_resolution_clock::time_point start,
std::chrono::high_resolution_clock::time_point end)
@@ -61,7 +59,6 @@ namespace armarx::armem::server::robot_state::proprioception
return duration.count() / 1000.f;
}
-
void
RobotStateWriter::run(float pollFrequency,
Queue& dataBuffer,
@@ -88,10 +85,12 @@ namespace armarx::armem::server::robot_state::proprioception
// Commits lock the core segments.
// Proprioception + Exteroception
- armem::CommitResult resultProprioception = memory.commitLocking(update.proprioception);
+ armem::CommitResult resultProprioception =
+ memory.commitLocking(update.proprioception);
ARMARX_DEBUG << deactivateSpam(1) << VAROUT(update.exteroception.updates.size());
- armem::CommitResult resultExteroception = memory.commitLocking(update.exteroception);
+ armem::CommitResult resultExteroception =
+ memory.commitLocking(update.exteroception);
endProprioception = std::chrono::high_resolution_clock::now();
// Localization
@@ -105,13 +104,15 @@ namespace armarx::armem::server::robot_state::proprioception
if (not resultProprioception.allSuccess())
{
- ARMARX_WARNING << "Could not commit data to proprioception segment in memory. Error message: "
+ ARMARX_WARNING << "Could not commit data to proprioception segment in memory. "
+ "Error message: "
<< resultProprioception.allErrorMessages();
}
if (not resultExteroception.allSuccess())
{
- ARMARX_WARNING << "Could not commit data to exteroception segment in memory. Error message: "
+ ARMARX_WARNING << "Could not commit data to exteroception segment in memory. "
+ "Error message: "
<< resultExteroception.allErrorMessages();
}
@@ -158,21 +159,25 @@ namespace armarx::armem::server::robot_state::proprioception
// Send batch to memory
Update update;
- if(data.proprioception){
+ if (data.proprioception)
+ {
armem::EntityUpdate& up = update.proprioception.add();
up.entityID = properties.robotUnitProviderID.withEntityName(
properties.robotUnitProviderID.providerSegmentName);
- up.entityID.coreSegmentName =::armarx::armem::robot_state::constants::proprioceptionCoreSegment;
+ up.entityID.coreSegmentName =
+ ::armarx::armem::robot_state::constants::proprioceptionCoreSegment;
up.referencedTime = data.timestamp;
up.instancesData = {data.proprioception};
}
// Exteroception
- if(data.exteroception){
+ if (data.exteroception)
+ {
armem::EntityUpdate& up = update.exteroception.add();
up.entityID = properties.robotUnitProviderID.withEntityName(
properties.robotUnitProviderID.providerSegmentName);
- up.entityID.coreSegmentName = ::armarx::armem::robot_state::constants::exteroceptionCoreSegment;
+ up.entityID.coreSegmentName =
+ ::armarx::armem::robot_state::constants::exteroceptionCoreSegment;
up.referencedTime = data.timestamp;
up.instancesData = {data.exteroception};
}
@@ -200,7 +205,6 @@ namespace armarx::armem::server::robot_state::proprioception
return update;
}
-
armem::robot_state::Transform
RobotStateWriter::getTransform(const aron::data::DictPtr& platformData,
const Time& timestamp) const
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitReader.cpp b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitReader.cpp
index 34260f51e..a0178f32f 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitReader.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitReader.cpp
@@ -56,10 +56,11 @@ namespace armarx::armem::server::robot_state::proprioception
if (std::optional<RobotUnitData> commit = fetchAndConvertLatestRobotUnitData())
{
- // will lock a mutex
- debugObserver->setDebugObserverDatafield("RobotUnitReader | t commitTimestamp [us]",
- commit->timestamp.toMicroSecondsSinceEpoch());
+ debugObserver->setDebugObserverDatafield(
+ "RobotUnitReader | t commitTimestamp [us]",
+ commit->timestamp.toMicroSecondsSinceEpoch());
+ // will lock a mutex
dataBuffer.push(std::move(commit.value()));
}
auto duration = std::chrono::duration_cast<std::chrono::microseconds>(
--
GitLab