From 5d036f7b519019396bb84875faf5d6d34af96520 Mon Sep 17 00:00:00 2001
From: alissa <alissamueller@outlook.de>
Date: Tue, 29 Jun 2021 18:04:10 +0200
Subject: [PATCH] adjusted grasp memory and writer to new armem changes
---
.../armem/server/GraspMemory/GraspMemory.cpp | 4 ++--
.../GraspingUtility/GraspCandidateWriter.cpp | 19 ++++++++++---------
.../GraspingUtility/GraspCandidateWriter.h | 6 +++---
.../GraspingUtility/aron_conversions.cpp | 16 ++++++++--------
4 files changed, 23 insertions(+), 22 deletions(-)
diff --git a/source/RobotAPI/components/armem/server/GraspMemory/GraspMemory.cpp b/source/RobotAPI/components/armem/server/GraspMemory/GraspMemory.cpp
index 23f894786..034ad0f25 100644
--- a/source/RobotAPI/components/armem/server/GraspMemory/GraspMemory.cpp
+++ b/source/RobotAPI/components/armem/server/GraspMemory/GraspMemory.cpp
@@ -34,9 +34,9 @@ namespace armarx::armem::server::grasp
workingMemory.name() = memoryName;
workingMemory.addCoreSegment("GraspCandidate",
- armarx::grasping::arondto::GraspCandidate::toInitialAronType());
+ armarx::grasping::arondto::GraspCandidate::toAronType());
workingMemory.addCoreSegment("BimanualGraspCandidate",
- armarx::grasping::arondto::BimanualGraspCandidate::toInitialAronType());
+ armarx::grasping::arondto::BimanualGraspCandidate::toAronType());
}
void GraspMemory::onConnectComponent()
diff --git a/source/RobotAPI/libraries/GraspingUtility/GraspCandidateWriter.cpp b/source/RobotAPI/libraries/GraspingUtility/GraspCandidateWriter.cpp
index 7b870dd1a..709b9c092 100644
--- a/source/RobotAPI/libraries/GraspingUtility/GraspCandidateWriter.cpp
+++ b/source/RobotAPI/libraries/GraspingUtility/GraspCandidateWriter.cpp
@@ -1,13 +1,14 @@
#include "GraspCandidateWriter.h"
#include <RobotAPI/libraries/GraspingUtility/aron/GraspCandidate.aron.generated.h>
#include <RobotAPI/libraries/GraspingUtility/aron_conversions.h>
+#include <RobotAPI/libraries/armem/core/error/mns.h>
namespace armarx::armem
{
- GraspCandidateWriter::GraspCandidateWriter(armem::ClientWriterComponentPluginUser& component)
- : component(component)
+ GraspCandidateWriter::GraspCandidateWriter(armem::client::MemoryNameSystem& memoryNameSystem)
+ : memoryNameSystem(memoryNameSystem)
{
}
@@ -16,17 +17,17 @@ namespace armarx::armem
// Wait for the memory to become available and add it as dependency.
ARMARX_IMPORTANT << "GraspCandidateWriter: Waiting for memory '" << properties.memoryName
<< "' ...";
- auto result = component.useMemory(properties.memoryName);
- if (not result.success)
+ try
{
- ARMARX_ERROR << result.errorMessage;
+ memoryWriter = memoryNameSystem.useWriter(properties.memoryName);
+ ARMARX_IMPORTANT << "GraspCandidateWriter: Connected to memory '" << properties.memoryName << "'";
+ }
+ catch (const armem::error::CouldNotResolveMemoryServer& e)
+ {
+ ARMARX_ERROR << e.what();
return;
}
- ARMARX_IMPORTANT << "GraspCandidateWriter: Connected to memory '" << properties.memoryName;
-
- memoryWriter.setWritingMemory(result.proxy);
-
}
void GraspCandidateWriter::registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def)
diff --git a/source/RobotAPI/libraries/GraspingUtility/GraspCandidateWriter.h b/source/RobotAPI/libraries/GraspingUtility/GraspCandidateWriter.h
index 10a502747..a38ab8f93 100644
--- a/source/RobotAPI/libraries/GraspingUtility/GraspCandidateWriter.h
+++ b/source/RobotAPI/libraries/GraspingUtility/GraspCandidateWriter.h
@@ -12,7 +12,7 @@ namespace armarx::armem
class GraspCandidateWriter
{
public:
- GraspCandidateWriter(armem::ClientWriterComponentPluginUser& component);
+ GraspCandidateWriter(armem::client::MemoryNameSystem& memoryNameSystem);
void connect();
@@ -36,6 +36,8 @@ namespace armarx::armem
const std::string& providerName, const armem::Time& timestamp,
std::string coreMemoryName);
+ armem::client::MemoryNameSystem& memoryNameSystem;
+
armem::client::Writer memoryWriter;
struct Properties
@@ -50,8 +52,6 @@ namespace armarx::armem
const std::string propertyPrefix = "mem.grasping.";
- armem::ClientWriterComponentPluginUser& component;
-
};
diff --git a/source/RobotAPI/libraries/GraspingUtility/aron_conversions.cpp b/source/RobotAPI/libraries/GraspingUtility/aron_conversions.cpp
index d70ff6310..2504df79b 100644
--- a/source/RobotAPI/libraries/GraspingUtility/aron_conversions.cpp
+++ b/source/RobotAPI/libraries/GraspingUtility/aron_conversions.cpp
@@ -116,7 +116,7 @@ void armarx::grasping::toAron(armarx::grasping::arondto::GraspCandidate& dto,
else
{
dto.executionHintsValid = false;
- dto.executionHints.initialize();
+ dto.executionHints.toAron();
}
dto.graspPose = fromIce(bo.graspPose);
dto.graspSuccessProbability = bo.graspSuccessProbability;
@@ -131,7 +131,7 @@ void armarx::grasping::toAron(armarx::grasping::arondto::GraspCandidate& dto,
else
{
dto.reachabilityInfoValid = false;
- dto.reachabilityInfo.initialize();
+ dto.reachabilityInfo.toAron();
}
dto.robotPose = fromIce(bo.robotPose);
dto.side = bo.side;
@@ -144,7 +144,7 @@ void armarx::grasping::toAron(armarx::grasping::arondto::GraspCandidate& dto,
else
{
dto.sourceInfoValid = false;
- dto.sourceInfo.initialize();
+ dto.sourceInfo.toAron();
}
dto.targetFrame = bo.targetFrame;
}
@@ -226,7 +226,7 @@ void armarx::grasping::toAron(armarx::grasping::arondto::BimanualGraspCandidate&
else
{
dto.executionHintsRightValid = false;
- dto.executionHintsRight.initialize();
+ dto.executionHintsRight.toAron();
}
if (bo.executionHintsLeft)
{
@@ -236,7 +236,7 @@ void armarx::grasping::toAron(armarx::grasping::arondto::BimanualGraspCandidate&
else
{
dto.executionHintsLeftValid = false;
- dto.executionHintsLeft.initialize();
+ dto.executionHintsLeft.toAron();
}
dto.graspPoseRight = fromIce(bo.graspPoseRight);
@@ -252,7 +252,7 @@ void armarx::grasping::toAron(armarx::grasping::arondto::BimanualGraspCandidate&
else
{
dto.reachabilityInfoRightValid = false;
- dto.reachabilityInfoRight.initialize();
+ dto.reachabilityInfoRight.toAron();
}
if (bo.reachabilityInfoLeft)
{
@@ -262,7 +262,7 @@ void armarx::grasping::toAron(armarx::grasping::arondto::BimanualGraspCandidate&
else
{
dto.reachabilityInfoLeftValid = false;
- dto.reachabilityInfoLeft.initialize();
+ dto.reachabilityInfoLeft.toAron();
}
dto.robotPose = fromIce(bo.robotPose);
dto.sourceFrame = bo.sourceFrame;
@@ -274,7 +274,7 @@ void armarx::grasping::toAron(armarx::grasping::arondto::BimanualGraspCandidate&
else
{
dto.sourceInfoValid = false;
- dto.sourceInfo.initialize();
+ dto.sourceInfo.toAron();
}
dto.targetFrame = bo.targetFrame;
dto.inwardsVectorRight = fromIce(bo.inwardsVectorRight);
--
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