From 7bb2566cc5531f20ee35c55a9c4cff710165fff3 Mon Sep 17 00:00:00 2001
From: Fabian Peller <fabian.peller-konrad@kit.edu>
Date: Sun, 26 Nov 2023 18:29:03 +0100
Subject: [PATCH] fix properties of simpleWriter if no
registerPropertyDefinitions is used
---
.../armem/client/util/SimpleWriterBase.cpp | 29 ++++++++++++++-----
.../armem/client/util/SimpleWriterBase.h | 3 +-
2 files changed, 23 insertions(+), 9 deletions(-)
diff --git a/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.cpp b/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.cpp
index 3d8907a34..c46755e3d 100644
--- a/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.cpp
+++ b/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.cpp
@@ -16,25 +16,28 @@ namespace armarx::armem::client::util
const std::string prefix = propertyPrefix();
- props = defaultProperties();
+ if (not props.has_value())
+ {
+ props = defaultProperties();
+ }
- def->optional(props.memoryName, prefix + "Memory");
- def->optional(props.coreSegmentName, prefix + "CoreSegment");
+ def->optional(props->memoryName, prefix + "Memory");
+ def->optional(props->coreSegmentName, prefix + "CoreSegment");
// TODO(fabian.reister): this might also be part of the subclass
// if the provider name has to be derived from e.g. the component name
- def->optional(props.providerName, prefix + "Provider", "Name of this provider");
+ def->optional(props->providerName, prefix + "Provider", "Name of this provider");
}
void
SimpleWriterBase::connect(armarx::armem::client::MemoryNameSystem& mns)
{
// Wait for the memory to become available and add it as dependency.
- ARMARX_IMPORTANT << "SimpleWriterBase: Waiting for memory '" << props.memoryName << "' ...";
+ ARMARX_IMPORTANT << "SimpleWriterBase: Waiting for memory '" << properties().memoryName << "' ...";
try
{
- memoryWriterClient = mns.useWriter(MemoryID().withMemoryName(props.memoryName));
- ARMARX_IMPORTANT << "SimpleWriterBase: Connected to memory '" << props.memoryName
+ memoryWriterClient = mns.useWriter(MemoryID().withMemoryName(properties().memoryName));
+ ARMARX_IMPORTANT << "SimpleWriterBase: Connected to memory '" << properties().memoryName
<< "'";
}
catch (const armem::error::CouldNotResolveMemoryServer& e)
@@ -53,7 +56,17 @@ namespace armarx::armem::client::util
const SimpleWriterBase::Properties&
SimpleWriterBase::properties() const
{
- return props;
+ if (not props.has_value())
+ {
+ const_cast<std::optional<Properties>&>(props) = defaultProperties();
+ }
+ return props.value();
+ }
+
+ void
+ SimpleWriterBase::setProperties(const Properties& p)
+ {
+ props = p;
}
} // namespace armarx::armem::client::util
diff --git a/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.h b/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.h
index 895376b0a..4950280b3 100644
--- a/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.h
+++ b/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.h
@@ -54,6 +54,7 @@ namespace armarx::armem::client::util
};
const Properties& properties() const;
+ void setProperties(const Properties& p);
virtual std::string propertyPrefix() const = 0;
virtual Properties defaultProperties() const = 0;
@@ -62,7 +63,7 @@ namespace armarx::armem::client::util
private:
- Properties props;
+ std::optional<Properties> props;
armem::client::Writer memoryWriterClient;
};
--
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