From 50aa053124c1508bff02d3a7022a3bf7a47f214f Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Wed, 7 Oct 2020 09:48:25 +0200
Subject: [PATCH] Do not throw an exception when object package is not found in
init()
---
.../libraries/ArmarXObjects/ObjectFinder.cpp | 23 ++++++++++++++++++-
.../libraries/ArmarXObjects/ObjectFinder.h | 7 +++++-
2 files changed, 28 insertions(+), 2 deletions(-)
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.cpp b/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.cpp
index a02b6bd10..089bd030b 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.cpp
+++ b/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.cpp
@@ -25,7 +25,7 @@ namespace armarx
if (packageDataDir.empty())
{
ARMARX_WARNING << "Could not find package '" << packageName << "'.";
- throw LocalException() << "Could not find package '" << packageName << "'.";
+ // throw LocalException() << "Could not find package '" << packageName << "'.";
}
else
{
@@ -38,6 +38,10 @@ namespace armarx
std::optional<ObjectInfo> ObjectFinder::findObject(const std::string& dataset, const std::string& name) const
{
init();
+ if (!_ready())
+ {
+ return std::nullopt;
+ }
if (!dataset.empty())
{
return ObjectInfo(packageName, packageDataDir, dataset, name);
@@ -88,6 +92,10 @@ namespace armarx
std::vector<ObjectFinder::path> ObjectFinder::getDatasetDirectories() const
{
init();
+ if (!_ready())
+ {
+ return {};
+ }
const bool local = false;
std::vector<path> dirs = simox::fs::list_directory(_rootDirAbs(), local);
std::vector<path> datasetDirs;
@@ -104,6 +112,10 @@ namespace armarx
std::vector<ObjectInfo> ObjectFinder::findAllObjects(bool checkPaths) const
{
init();
+ if (!_ready())
+ {
+ return {};
+ }
const bool local = true;
std::vector<ObjectInfo> objects;
for (const path& datasetDir : simox::fs::list_directory(_rootDirAbs(), local))
@@ -135,6 +147,10 @@ namespace armarx
std::vector<ObjectInfo> ObjectFinder::findAllObjectsOfDataset(const std::string& dataset, bool checkPaths) const
{
init();
+ if (!_ready())
+ {
+ return {};
+ }
path datasetDir = _rootDirAbs() / dataset;
if (!fs::is_directory(datasetDir))
{
@@ -169,5 +185,10 @@ namespace armarx
return packageName;
}
+ bool ObjectFinder::_ready() const
+ {
+ return !packageDataDir.empty();
+ }
+
}
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.h b/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.h
index 3c56afba7..411edb339 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.h
+++ b/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.h
@@ -44,13 +44,18 @@ namespace armarx
path _rootDirAbs() const;
path _rootDirRel() const;
+ bool _ready() const;
+
private:
/// Name of package containing the object models (ArmarXObjects by default).
mutable std::string packageName;
- /// Absolute path to data directory (e.g. "/.../repos/ArmarXObjects/data").
+ /**
+ * @brief Absolute path to data directory (e.g. "/.../repos/ArmarXObjects/data").
+ * Empty if package could not be found.
+ */
mutable path packageDataDir;
};
--
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