diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
index bdf8a1cd639b473cf9ac4cb4af27f8d97da81fc1..f8a4b50ece99f95d8d4c618b377774e289ec4c03 100644
--- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
+++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
@@ -1361,11 +1361,11 @@ namespace armarx
newItem = new QTableWidgetItem(state);
ui.tableJointList->setItem(i, eTabelColumnError, newItem);
- state = currentStatus.enabled ? "X" : "-";
+ state = currentStatus.enabled ? "yes" : "no";
newItem = new QTableWidgetItem(state);
ui.tableJointList->setItem(i, eTabelColumnEnabled, newItem);
- state = currentStatus.emergencyStop ? "X" : "-";
+ state = currentStatus.emergencyStop ? "yes" : "no";
newItem = new QTableWidgetItem(state);
ui.tableJointList->setItem(i, eTabelColumnEmergencyStop, newItem);
}
diff --git a/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.cpp b/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.cpp
index e5d468c552d96d70d3ef4ae92196cdb714f39163..3d8907a348bad7051e3fc88239f3b816899acd5e 100644
--- a/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.cpp
+++ b/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.cpp
@@ -44,12 +44,6 @@ namespace armarx::armem::client::util
}
}
- std::mutex&
- SimpleWriterBase::memoryWriterMutex()
- {
- return memoryMutex;
- }
-
armem::client::Writer&
SimpleWriterBase::memoryWriter()
{
diff --git a/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.h b/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.h
index 13a54cc5b213a90e1949f73c1b11de716c0593cc..895376b0a2f3ff1f30fdd070c2e50c62b9aa2968 100644
--- a/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.h
+++ b/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.h
@@ -58,7 +58,6 @@ namespace armarx::armem::client::util
virtual std::string propertyPrefix() const = 0;
virtual Properties defaultProperties() const = 0;
- std::mutex& memoryWriterMutex();
armem::client::Writer& memoryWriter();
@@ -66,7 +65,6 @@ namespace armarx::armem::client::util
Properties props;
armem::client::Writer memoryWriterClient;
- std::mutex memoryMutex;
};
} // namespace armarx::armem::client::util
diff --git a/source/RobotAPI/libraries/armem_objects/CMakeLists.txt b/source/RobotAPI/libraries/armem_objects/CMakeLists.txt
index 63da8444d40d90e6c4e73a1a4fd755082f4914f9..bbb52cc2b5f473d71cbf1d7c73e39002368f71ad 100644
--- a/source/RobotAPI/libraries/armem_objects/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem_objects/CMakeLists.txt
@@ -36,6 +36,8 @@ armarx_add_library(
server/attachments/Segment.h
+ client/class/ClassReader.h
+ client/class/ClassWriter.h
client/articulated_object/Reader.h
client/articulated_object/Writer.h
client/articulated_object/ArticulatedObjectReader.h
@@ -55,6 +57,8 @@ armarx_add_library(
types.cpp
utils.cpp
+ client/class/ClassReader.cpp
+ client/class/ClassWriter.cpp
client/articulated_object/Reader.cpp
client/articulated_object/Writer.cpp
client/articulated_object/ArticulatedObjectReader.cpp
diff --git a/source/RobotAPI/libraries/armem_objects/aron/ObjectClass.xml b/source/RobotAPI/libraries/armem_objects/aron/ObjectClass.xml
index e2d695429d3c4193ad97df106821f5bb912a0028..019987f5054e844478066d377ad0bf1e948b6db7 100644
--- a/source/RobotAPI/libraries/armem_objects/aron/ObjectClass.xml
+++ b/source/RobotAPI/libraries/armem_objects/aron/ObjectClass.xml
@@ -13,6 +13,30 @@ Core segment type of Object/Class.
</AronIncludes>
<GenerateTypes>
+ <Object name="armarx::armem::arondto::Feature">
+ <ObjectChild key="angle">
+ <float32 />
+ </ObjectChild>
+
+ <ObjectChild key="scale">
+ <float32 />
+ </ObjectChild>
+
+ <ObjectChild key="point2d">
+ <vector2f />
+ </ObjectChild>
+
+ <ObjectChild key="point3d">
+ <vector3f />
+ </ObjectChild>
+
+ <ObjectChild key="feature">
+ <List>
+ <float32 />
+ </List>
+ </ObjectChild>
+ </Object>
+
<Object name="armarx::armem::arondto::ObjectClass">
<ObjectChild key="id">
@@ -62,6 +86,12 @@ Core segment type of Object/Class.
<armarx::arondto::ObjectNames />
</ObjectChild>
+ <ObjectChild key="ivtFeatures">
+ <List>
+ <armarx::armem::arondto::Feature />
+ </List>
+ </ObjectChild>
+
</Object>
</GenerateTypes>
diff --git a/source/RobotAPI/libraries/armem_objects/aron_conversions.cpp b/source/RobotAPI/libraries/armem_objects/aron_conversions.cpp
index 6b3f3c184edb32070f6d7f28c853f340bcd78d32..da32c2771a2149f58e5ba3a1a01db93ecbe71028 100644
--- a/source/RobotAPI/libraries/armem_objects/aron_conversions.cpp
+++ b/source/RobotAPI/libraries/armem_objects/aron_conversions.cpp
@@ -111,6 +111,71 @@ namespace armarx::armem
} // namespace armarx::armem
+namespace armarx::armem::clazz
+{
+
+ void
+ fromAron(const arondto::Feature& dto, Feature& bo)
+ {
+ bo.angle = dto.angle;
+ bo.scale = dto.scale;
+ bo.feature = dto.feature;
+ bo.point2d = dto.point2d;
+ bo.point3d = dto.point3d;
+ }
+
+ void
+ toAron(arondto::Feature& dto, const Feature& bo)
+ {
+ dto.angle = bo.angle;
+ dto.scale = bo.scale;
+ dto.feature = bo.feature;
+ dto.point2d = bo.point2d;
+ dto.point3d = bo.point3d;
+ }
+
+ void
+ fromAron(const arondto::ObjectClass& dto, ObjectClass& bo)
+ {
+ armarx::fromAron(dto.id, bo.id);
+ armarx::fromAron(dto.simoxXmlPath, bo.simoxXmlPath);
+ armarx::fromAron(dto.articulatedSimoxXmlPath, bo.articulatedSimoxXmlPath);
+ armarx::fromAron(dto.urdfPath, bo.urdfPath);
+ armarx::fromAron(dto.articulatedUrdfPath, bo.articulatedUrdfPath);
+ armarx::fromAron(dto.sdfPath, bo.sdfPath);
+ armarx::fromAron(dto.meshWrlPath, bo.meshWrlPath);
+ armarx::fromAron(dto.meshObjPath, bo.meshObjPath);
+ armarx::fromAron(dto.aabb, bo.aabb);
+ armarx::fromAron(dto.oobb, bo.oobb);
+ bo.ivtFeatures.clear();
+ for (const auto& i : dto.ivtFeatures)
+ {
+ fromAron(i, bo.ivtFeatures.emplace_back());
+ }
+ }
+
+ void
+ toAron(arondto::ObjectClass& dto, const ObjectClass& bo)
+ {
+ armarx::toAron(dto.id, bo.id);
+ armarx::toAron(dto.simoxXmlPath, bo.simoxXmlPath);
+ armarx::toAron(dto.articulatedSimoxXmlPath, bo.articulatedSimoxXmlPath);
+ armarx::toAron(dto.urdfPath, bo.urdfPath);
+ armarx::toAron(dto.articulatedUrdfPath, bo.articulatedUrdfPath);
+ armarx::toAron(dto.sdfPath, bo.sdfPath);
+ armarx::toAron(dto.meshWrlPath, bo.meshWrlPath);
+ armarx::toAron(dto.meshObjPath, bo.meshObjPath);
+ armarx::toAron(dto.aabb, bo.aabb);
+ armarx::toAron(dto.oobb, bo.oobb);
+ dto.ivtFeatures.clear();
+ for (const auto& i : bo.ivtFeatures)
+ {
+ toAron(dto.ivtFeatures.emplace_back(), i);
+ }
+ }
+
+} // namespace armarx::armem::clazz
+
armarx::armem::MemoryID
armarx::armem::obj::makeObjectInstanceMemoryID(const objpose::ObjectPose& objectPose)
{
diff --git a/source/RobotAPI/libraries/armem_objects/aron_conversions.h b/source/RobotAPI/libraries/armem_objects/aron_conversions.h
index e27ed16c4cede302e2eecf2c013440d240162550..b61164a5d6a7de07bd8ba3761117e263ac714949 100644
--- a/source/RobotAPI/libraries/armem_objects/aron_conversions.h
+++ b/source/RobotAPI/libraries/armem_objects/aron_conversions.h
@@ -1,11 +1,10 @@
#pragma once
#include <RobotAPI/libraries/ArmarXObjects/ObjectPose.h>
-
-#include <RobotAPI/libraries/armem_objects/aron/ObjectInstance.aron.generated.h>
#include <RobotAPI/libraries/armem_objects/aron/Attachment.aron.generated.h>
#include <RobotAPI/libraries/armem_objects/aron/Marker.aron.generated.h>
-
+#include <RobotAPI/libraries/armem_objects/aron/ObjectClass.aron.generated.h>
+#include <RobotAPI/libraries/armem_objects/aron/ObjectInstance.aron.generated.h>
#include <RobotAPI/libraries/armem_objects/types.h>
namespace armarx::armem
@@ -18,19 +17,32 @@ namespace armarx::armem
/* Attachments */
- void fromAron(const arondto::attachment::AgentDescription& dto, attachment::AgentDescription& bo);
+ void fromAron(const arondto::attachment::AgentDescription& dto,
+ attachment::AgentDescription& bo);
void toAron(arondto::attachment::AgentDescription& dto, const attachment::AgentDescription& bo);
- void fromAron(const arondto::attachment::ObjectAttachment& dto, attachment::ObjectAttachment& bo);
+ void fromAron(const arondto::attachment::ObjectAttachment& dto,
+ attachment::ObjectAttachment& bo);
void toAron(arondto::attachment::ObjectAttachment& dto, const attachment::ObjectAttachment& bo);
- void fromAron(const arondto::attachment::ArticulatedObjectAttachment& dto, attachment::ArticulatedObjectAttachment& bo);
- void toAron(arondto::attachment::ArticulatedObjectAttachment& dto, const attachment::ArticulatedObjectAttachment& bo);
+ void fromAron(const arondto::attachment::ArticulatedObjectAttachment& dto,
+ attachment::ArticulatedObjectAttachment& bo);
+ void toAron(arondto::attachment::ArticulatedObjectAttachment& dto,
+ const attachment::ArticulatedObjectAttachment& bo);
+
+ void fromAron(const arondto::Marker& dto, marker::Marker& bo);
+ void toAron(arondto::Marker& dto, const marker::Marker& bo);
+} // namespace armarx::armem
+
+namespace armarx::armem::clazz
+{
+ void fromAron(const armarx::armem::arondto::Feature& dto, Feature& bo);
+ void toAron(armarx::armem::arondto::Feature& dto, const Feature& bo);
- void fromAron(const arondto::Marker& dto, marker::Marker&bo);
- void toAron(arondto::Marker& dto, const marker::Marker&bo);
-} // namespace armarx::armem
+ void fromAron(const armarx::armem::arondto::ObjectClass& dto, ObjectClass& bo);
+ void toAron(armarx::armem::arondto::ObjectClass& dto, const ObjectClass& bo);
+} // namespace armarx::armem::clazz
#include <RobotAPI/libraries/armem/core/MemoryID.h>
@@ -38,4 +50,4 @@ namespace armarx::armem::obj
{
/// Make a Memory ID for the object instance snapshot representing this pose.
MemoryID makeObjectInstanceMemoryID(const objpose::ObjectPose& objectPose);
-}
+} // namespace armarx::armem::obj
diff --git a/source/RobotAPI/libraries/armem_objects/client/class/ClassReader.cpp b/source/RobotAPI/libraries/armem_objects/client/class/ClassReader.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..bceba7d960ffbe41a620c36d47a5d8fc0897c157
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_objects/client/class/ClassReader.cpp
@@ -0,0 +1,45 @@
+#include "ClassReader.h"
+
+namespace armarx::armem::obj::clazz
+{
+ std::optional<armem::clazz::ObjectClass>
+ ClassReader::getObjectClass(const std::string& providerName, const ObjectID& id)
+ {
+ auto mid = armarx::armem::MemoryID();
+ mid.memoryName = properties().memoryName;
+ mid.coreSegmentName = properties().coreSegmentName;
+ mid.providerSegmentName = providerName;
+ mid.entityName = id.str();
+
+ auto i = this->memoryReader().getLatestSnapshotIn(mid);
+
+ if (i.has_value() && i->size() == 1)
+ {
+ auto& instance = i->getInstance(0);
+ auto aron = instance.dataAs<armarx::armem::arondto::ObjectClass>();
+
+ armem::clazz::ObjectClass objClass;
+ armarx::armem::clazz::fromAron(aron, objClass);
+
+ return objClass;
+ }
+
+ return std::nullopt;
+ }
+
+ std::string
+ ClassReader::propertyPrefix() const
+ {
+ return "classReader.";
+ }
+
+ client::util::SimpleReaderBase::Properties
+ ClassReader::defaultProperties() const
+ {
+ client::util::SimpleReaderBase::Properties p;
+ p.memoryName = "Object";
+ p.coreSegmentName = "Class";
+ return p;
+ }
+
+} // namespace armarx::armem::obj::clazz
diff --git a/source/RobotAPI/libraries/armem_objects/client/class/ClassReader.h b/source/RobotAPI/libraries/armem_objects/client/class/ClassReader.h
new file mode 100644
index 0000000000000000000000000000000000000000..4d2805b4f03e81bb6b58b65d73997eeae56755ab
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_objects/client/class/ClassReader.h
@@ -0,0 +1,49 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author Fabian Reister ( fabian dot reister at kit dot edu )
+ * @date 2021
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <mutex>
+#include <optional>
+
+#include <RobotAPI/libraries/armem/client/util/SimpleReaderBase.h>
+#include <RobotAPI/libraries/armem_objects/aron_conversions.h>
+#include <RobotAPI/libraries/armem_objects/types.h>
+
+namespace armarx::armem::obj::clazz
+{
+ class ClassReader : public armem::client::util::SimpleReaderBase
+ {
+ public:
+ ClassReader() = default;
+
+ std::optional<armem::clazz::ObjectClass> getObjectClass(const std::string& providerName,
+ const armarx::ObjectID& id);
+
+ protected:
+ std::string propertyPrefix() const final;
+ Properties defaultProperties() const final;
+
+ private:
+ };
+
+
+} // namespace armarx::armem::obj::clazz
diff --git a/source/RobotAPI/libraries/armem_objects/client/class/ClassWriter.cpp b/source/RobotAPI/libraries/armem_objects/client/class/ClassWriter.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..f9f1d109bca843610638ab3473314ab5fe1c4a03
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_objects/client/class/ClassWriter.cpp
@@ -0,0 +1,48 @@
+#include "ClassWriter.h"
+
+namespace armarx::armem::obj::clazz
+{
+ bool
+ ClassWriter::commitObjectClass(const armarx::armem::clazz::ObjectClass& c,
+ const armarx::core::time::DateTime& referenceTime)
+ {
+ armarx::armem::arondto::ObjectClass objClassAron;
+ armarx::armem::clazz::toAron(objClassAron, c);
+
+ armarx::armem::MemoryID mid;
+ mid.memoryName = properties().memoryName;
+ mid.coreSegmentName = properties().coreSegmentName;
+ mid.providerSegmentName = properties().providerName;
+ mid.entityName = c.id.str();
+
+ auto commit = armarx::armem::Commit();
+ auto& update = commit.add();
+
+ update.confidence = 1.0f;
+ update.referencedTime = referenceTime;
+ update.sentTime = armarx::core::time::DateTime::Now();
+ update.entityID = mid;
+ update.instancesData = {objClassAron.toAron()};
+
+ auto res = this->memoryWriter().commit(commit);
+
+ return res.allSuccess();
+ }
+
+ std::string
+ ClassWriter::propertyPrefix() const
+ {
+ return "classWriter.";
+ }
+
+ client::util::SimpleWriterBase::Properties
+ ClassWriter::defaultProperties() const
+ {
+ client::util::SimpleWriterBase::Properties p;
+ p.memoryName = "Object";
+ p.coreSegmentName = "Class";
+ p.providerName = providerName;
+ return p;
+ }
+
+} // namespace armarx::armem::obj::clazz
diff --git a/source/RobotAPI/libraries/armem_objects/client/class/ClassWriter.h b/source/RobotAPI/libraries/armem_objects/client/class/ClassWriter.h
new file mode 100644
index 0000000000000000000000000000000000000000..db17223ba7f8dc550283fb2aa5c1ed3d11872f7e
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_objects/client/class/ClassWriter.h
@@ -0,0 +1,50 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author Fabian Reister ( fabian dot reister at kit dot edu )
+ * @date 2021
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <mutex>
+#include <optional>
+
+#include <RobotAPI/libraries/armem/client/util/SimpleWriterBase.h>
+#include <RobotAPI/libraries/armem_objects/aron_conversions.h>
+#include <RobotAPI/libraries/armem_objects/types.h>
+
+namespace armarx::armem::obj::clazz
+{
+ class ClassWriter : public armem::client::util::SimpleWriterBase
+ {
+ public:
+ ClassWriter(const std::string& p) : providerName(p){};
+
+ bool commitObjectClass(const armarx::armem::clazz::ObjectClass& c,
+ const armarx::core::time::DateTime& referenceTime);
+
+ protected:
+ std::string propertyPrefix() const final;
+ Properties defaultProperties() const final;
+
+ private:
+ const std::string providerName;
+ };
+
+
+} // namespace armarx::armem::obj::clazz
diff --git a/source/RobotAPI/libraries/armem_objects/types.h b/source/RobotAPI/libraries/armem_objects/types.h
index 79fe9ac956f65869ceb03b35db8545155c4c963c..598c78ca9c6bc5f4fc007059352ee94fc28b2fec 100644
--- a/source/RobotAPI/libraries/armem_objects/types.h
+++ b/source/RobotAPI/libraries/armem_objects/types.h
@@ -23,6 +23,8 @@
#include <Eigen/Geometry>
+#include <SimoxUtility/shapes/AxisAlignedBoundingBox.h>
+
#include <RobotAPI/libraries/ArmarXObjects/ObjectPose.h>
#include <RobotAPI/libraries/armem/core/MemoryID.h>
#include <RobotAPI/libraries/armem/core/Time.h>
@@ -31,7 +33,6 @@
#include "aron_forward_declarations.h"
-
namespace armarx::armem
{
struct ObjectInstance
@@ -40,7 +41,36 @@ namespace armarx::armem
MemoryID classID;
MemoryID sourceID;
};
-}
+} // namespace armarx::armem
+
+namespace armarx::armem::clazz
+{
+ struct Feature
+ {
+ float angle;
+ float scale;
+ Eigen::Vector2f point2d;
+ Eigen::Vector3f point3d;
+ std::vector<float> feature;
+ };
+
+ struct ObjectClass
+ {
+ armarx::ObjectID id;
+ armarx::PackagePath simoxXmlPath;
+ armarx::PackagePath articulatedSimoxXmlPath;
+ armarx::PackagePath urdfPath;
+ armarx::PackagePath articulatedUrdfPath;
+ armarx::PackagePath sdfPath;
+ armarx::PackagePath articulatedSdfPath;
+ armarx::PackagePath meshWrlPath;
+ armarx::PackagePath meshObjPath;
+ simox::AxisAlignedBoundingBox aabb;
+ simox::OrientedBoxf oobb;
+ // TODO NAMES
+ std::vector<Feature> ivtFeatures;
+ };
+} // namespace armarx::armem::clazz
namespace armarx::armem::attachment
{
@@ -110,7 +140,6 @@ namespace armarx::armem::articulated_object
using ArticulatedObjects = armarx::armem::robot::Robots;
} // namespace armarx::armem::articulated_object
-
namespace armarx::armem::marker
{
class Marker
diff --git a/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.cpp b/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.cpp
index a682162553005783d3ad74e42d78bffefbc09ae2..ca80477ebbf264624dd5f722ce2dee86853e8586 100644
--- a/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.cpp
+++ b/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.cpp
@@ -1,19 +1,19 @@
#include "Writer.h"
-#include <RobotAPI/libraries/armem_vision/aron_conversions.h>
#include <RobotAPI/libraries/armem_vision/aron/OccupancyGrid.aron.generated.h>
-
+#include <RobotAPI/libraries/armem_vision/aron_conversions.h>
namespace armarx::armem::vision::occupancy_grid::client
{
Writer::~Writer() = default;
- bool Writer::store(const OccupancyGrid& grid,
- const std::string& frame,
- const std::string& providerName,
- const std::int64_t& timestamp)
+ bool
+ Writer::store(const OccupancyGrid& grid,
+ const std::string& frame,
+ const std::string& providerName,
+ const std::int64_t& timestamp)
{
- std::lock_guard g{memoryWriterMutex()};
+ std::lock_guard g{writeMutex};
const auto result = memoryWriter().addSegment(properties().coreSegmentName, providerName);
@@ -28,7 +28,7 @@ namespace armarx::armem::vision::occupancy_grid::client
const auto iceTimestamp = Time(Duration::MicroSeconds(timestamp));
const auto providerId = armem::MemoryID(result.segmentID);
- const auto entityID = providerId.withEntityName(frame).withTimestamp(iceTimestamp);
+ const auto entityID = providerId.withEntityName(frame).withTimestamp(iceTimestamp);
armem::EntityUpdate update;
update.entityID = entityID;
@@ -41,7 +41,7 @@ namespace armarx::armem::vision::occupancy_grid::client
dict->addElement("grid", toAron(grid.grid));
update.instancesData = {dict};
- update.referencedTime = iceTimestamp;
+ update.referencedTime = iceTimestamp;
ARMARX_DEBUG << "Committing " << update << " at time " << iceTimestamp;
armem::EntityUpdateResult updateResult = memoryWriter().commit(update);
@@ -56,7 +56,8 @@ namespace armarx::armem::vision::occupancy_grid::client
return updateResult.success;
}
- std::string Writer::propertyPrefix() const
+ std::string
+ Writer::propertyPrefix() const
{
return "mem.vision.occupancy_grid.";
}
@@ -65,7 +66,7 @@ namespace armarx::armem::vision::occupancy_grid::client
Writer::defaultProperties() const
{
- return SimpleWriterBase::Properties{.memoryName = "Vision",
+ return SimpleWriterBase::Properties{.memoryName = "Vision",
.coreSegmentName = "OccupancyGrid"};
}
} // namespace armarx::armem::vision::occupancy_grid::client
diff --git a/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.h b/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.h
index df5e02ceaa5b2034e0028e7625c616924af8a2bf..7f950eab82ea37520855a07daf1560b9f30aee53 100644
--- a/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.h
+++ b/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.h
@@ -55,8 +55,10 @@ namespace armarx::armem::vision::occupancy_grid::client
protected:
std::string propertyPrefix() const override;
Properties defaultProperties() const override;
- };
+ private:
+ std::mutex writeMutex;
+ };
} // namespace armarx::armem::vision::occupancy_grid::client
diff --git a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
index 60db0fa913274594078d59c3f7a930b86e1423be..82908d85ac3b526848561cd94593291c15b40f67 100644
--- a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
+++ b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
@@ -137,7 +137,8 @@ namespace armarx
auto terminated = TerminatedSkillStatusUpdate{
{.executionId = statusUpdate.executionId,
.parameters = statusUpdate.parameters,
- .callbackInterface = statusUpdate.callbackInterface}};
+ .callbackInterface = statusUpdate.callbackInterface,
+ .result = statusUpdate.result}};
terminated.status = TerminatedSkillStatus::Aborted;
return terminated;
};
@@ -151,7 +152,8 @@ namespace armarx
auto terminated = TerminatedSkillStatusUpdate{
{.executionId = statusUpdate.executionId,
.parameters = statusUpdate.parameters,
- .callbackInterface = statusUpdate.callbackInterface}};
+ .callbackInterface = statusUpdate.callbackInterface,
+ .result = statusUpdate.result}};
terminated.status = TerminatedSkillStatus::Failed;
return terminated;
};