From 85823dbaa284269622528dd9bc4ef55c62fab24f Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Wed, 21 Jul 2021 10:06:38 +0200
Subject: [PATCH] Remove explicitly adding prov segment (lead to deadlock + is
not necessary)
---
.../server/proprioception/Segment.cpp | 21 ++-----------------
1 file changed, 2 insertions(+), 19 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp
index 043774b77..f43d8709e 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp
@@ -63,6 +63,7 @@ namespace armarx::armem::server::robot_state::proprioception
const std::string providerSegmentName = kinematicUnit->getRobotName();
this->robotUnitProviderID = coreSegment->id().withProviderSegmentName(providerSegmentName);
+#if 0
// TODO what is the purpose?
auto encoderEntryType = std::make_shared<aron::typenavigator::ObjectNavigator>("RobotUnitEncoderEntry");
auto encoderNameType = std::make_shared<aron::typenavigator::StringNavigator>();
@@ -71,25 +72,7 @@ namespace armarx::armem::server::robot_state::proprioception
encoderEntryType->addMemberType("IterationId", encoderIterationIDType);
//auto encoderValueType = std::make_shared<aron::typenavigator::AnyType>();
//encoderEntryType->addMemberType("value", encoderValueType);
-
- ARMARX_INFO << "Adding provider segment " << p.coreSegment << "/" << providerSegmentName;
- armem::data::AddSegmentInput input;
- input.coreSegmentName = p.coreSegment;
- input.providerSegmentName = providerSegmentName;
-
- {
- std::lock_guard g{mutex()};
- auto result = iceMemory.addSegments({input})[0];
-
- if (!result.success)
- {
- ARMARX_ERROR << "Could not add segment " << p.coreSegment << "/" << providerSegmentName << ". The error message is: " << result.errorMessage;
- }
- }
-
- robotUnitProviderID.memoryName = iceMemory.workingMemory->id().memoryName;
- robotUnitProviderID.coreSegmentName = p.coreSegment;
- robotUnitProviderID.providerSegmentName = providerSegmentName;
+#endif
}
--
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