From e9fad42d72a053d96802f0079198c40dcaddf90e Mon Sep 17 00:00:00 2001
From: Raphael Grimm <raphael.grimm@kit.edu>
Date: Tue, 13 Oct 2020 18:14:03 +0200
Subject: [PATCH] Fix RobotUnit introspection code
---
.../RobotUnit/RobotUnitModules/RobotUnitModuleLogging.cpp | 3 +--
.../units/RobotUnit/SensorValues/SensorValueBase.h | 8 ++++++++
.../units/RobotUnit/util/introspection/DataFieldsInfo.h | 3 ++-
3 files changed, 11 insertions(+), 3 deletions(-)
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.cpp
index 8bcf83387..0ed1a250a 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.cpp
@@ -577,8 +577,7 @@ namespace armarx::RobotUnitModule
//dimensions of sensor value (e.g. vel, tor, f_x, f_y, ...)
for (std::size_t idxField = 0; idxField < val->getNumberOfDataFields(); ++ idxField)
{
- std::string str;
- val->getDataFieldAs(idxField, str);
+ const auto str = val->getDataFieldAs<std::string>(idxField);
for (auto& [_, entry] : rtLoggingEntries)
{
if (entry->loggedSensorDeviceValues.at(idxDev).at(idxField))
diff --git a/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueBase.h b/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueBase.h
index 18d537b29..7afa43be2 100644
--- a/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueBase.h
+++ b/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueBase.h
@@ -99,6 +99,14 @@ namespace armarx
virtual void getDataFieldAs(std::size_t i, Ice::Float& out) const = 0;
virtual void getDataFieldAs(std::size_t i, Ice::Double& out) const = 0;
virtual void getDataFieldAs(std::size_t i, std::string& out) const = 0;
+ template<class T>
+ T getDataFieldAs(std::size_t i) const
+ {
+ ARMARX_TRACE;
+ T t;
+ this->getDataFieldAs(i, t);
+ return t;
+ }
virtual const std::type_info& getDataFieldType(std::size_t i) const = 0;
//management functions
diff --git a/source/RobotAPI/components/units/RobotUnit/util/introspection/DataFieldsInfo.h b/source/RobotAPI/components/units/RobotUnit/util/introspection/DataFieldsInfo.h
index 49e77ca8b..015f386b6 100644
--- a/source/RobotAPI/components/units/RobotUnit/util/introspection/DataFieldsInfo.h
+++ b/source/RobotAPI/components/units/RobotUnit/util/introspection/DataFieldsInfo.h
@@ -325,7 +325,8 @@ namespace armarx::introspection
static void GetDataFieldAs(std::size_t i, const std::array<T, N>& field, OT& out)
{
ARMARX_CHECK_LESS(i, GetNumberOfFields());
- sub_t::GetDataFieldAs(i % N, field.at(i / N), out);
+ const auto subN = sub_t::GetNumberOfFields();
+ sub_t::GetDataFieldAs(i % subN, field.at(i / subN), out);
}
static const std::type_info& GetDataFieldType(std::size_t i)
--
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