From ca4b7ca4e1371f758283c0ee7291df556a78b009 Mon Sep 17 00:00:00 2001
From: Your Name <you@example.com>
Date: Thu, 18 Feb 2021 13:38:33 +0100
Subject: [PATCH] Maybe improve debug observer values
---
.../ObjectPoseObserver/ObjectPoseObserver.cpp | 10 ++++++----
1 file changed, 6 insertions(+), 4 deletions(-)
diff --git a/source/RobotAPI/components/ObjectPoseObserver/ObjectPoseObserver.cpp b/source/RobotAPI/components/ObjectPoseObserver/ObjectPoseObserver.cpp
index b4da54f59..8ee8b789c 100644
--- a/source/RobotAPI/components/ObjectPoseObserver/ObjectPoseObserver.cpp
+++ b/source/RobotAPI/components/ObjectPoseObserver/ObjectPoseObserver.cpp
@@ -31,6 +31,7 @@
#include <VirtualRobot/RobotConfig.h>
#include <ArmarXCore/core/exceptions/local/UnexpectedEnumValueException.h>
+#include <ArmarXCore/observers/variant/Variant.h>
#include <RobotAPI/libraries/core/Pose.h>
#include <RobotAPI/libraries/core/FramedPose.h>
@@ -128,15 +129,18 @@ namespace armarx
if (robotHead.isMoving())
{
robotHead.movementStarts(robotHead.discardIntervalAfterMoveMS);
+ robotHead.updateDebugObserverDatafields();
// ARMARX_IMPORTANT << "Ignoring pose update because robot head is moving! until " << robotHead.discardUpdatesUntil;
return;
}
if (TimeUtil::GetTime() < robotHead.discardUpdatesUntil)
{
// ARMARX_IMPORTANT << "Ignoring pose update because robot head is moved until: " << robotHead.discardUpdatesUntil;
+ robotHead.updateDebugObserverDatafields();
return;
}
discardUpdatesUntil = robotHead.discardUpdatesUntil;
+ robotHead.updateDebugObserverDatafields();
}
}
{
@@ -863,7 +867,6 @@ namespace armarx
void ObjectPoseObserver::RobotHeadMovement::movementStarts(IceUtil::Time discardInterval)
{
discardUpdatesUntil = TimeUtil::GetTime() + discardInterval;
- updateDebugObserverDatafields();
}
void ObjectPoseObserver::RobotHeadMovement::movementStops(long discardIntervalMs)
{
@@ -881,7 +884,6 @@ namespace armarx
// Basically the same as starting.
discardUpdatesUntil = TimeUtil::GetTime() + discardInterval;
}
- updateDebugObserverDatafields();
}
void ObjectPoseObserver::RobotHeadMovement::updateDebugObserverDatafields()
@@ -890,8 +892,8 @@ namespace armarx
{
debugObserver->setDebugChannel(Logging::tag.tagName,
{
- { "DicardUpdatesUntilMs", new Variant(static_cast<int>(discardUpdatesUntil.toMilliSeconds())) },
- { "NowMs", new Variant(static_cast<int>(TimeUtil::GetTime().toMilliSeconds())) },
+ { "DicardUpdatesUntilMs", new Variant(discardUpdatesUntil.toMilliSeconds()) },
+ { "NowMs", new Variant(TimeUtil::GetTime().toMilliSeconds()) },
});
}
}
--
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