diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp index 35adaa2de8a9c3048622728bcb19953fa336995b..f0a4f50914a654d5863958a1eda14ffd39a3158e 100644 --- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp +++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp @@ -291,6 +291,18 @@ namespace armarx } if (robotUnitObserver->getState() >= eManagedIceObjectStarted) { + std::stringstream s; + for (auto& pair : sensorDevMap) + { + s << pair.first << ": \t" << (pair.second ? pair.second->ice_id() + "\t with datatype \t" + Variant::typeToString(pair.second->getType()) : "NULL") << "\n"; + } + ARMARX_DEBUG << deactivateSpam(spamdelay) << "Datafieldnames: " << ARMARX_STREAM_PRINTER + { + for (auto& pair : sensorDevMap) + { + out << pair.first << ": " << (pair.second ? pair.second->ice_id() + Variant::typeToString(pair.second->getType()) : "NULL") << "\n"; + } + }; robotUnitObserver->offerOrUpdateDataFieldsFlatCopy(robotUnitObserver->sensorDevicesChannel, sensorDevMap); robotUnitObserver->updateChannel(robotUnitObserver->sensorDevicesChannel); } @@ -334,8 +346,13 @@ namespace armarx void Publisher::_preOnConnectRobotUnit() { + ARMARX_DEBUG << "retrieving RobotUnitListenerPrx for topic " << getRobotUnitListenerTopicName(); robotUnitListenerPrx = getTopic<RobotUnitListenerPrx>(getRobotUnitListenerTopicName()); + + ARMARX_DEBUG << "retrieving DebugDrawerInterfacePrx for topic " << getDebugDrawerTopicName(); debugDrawerPrx = getTopic<DebugDrawerInterfacePrx>(getDebugDrawerTopicName()); + + ARMARX_DEBUG << "retrieving DebugObserverInterfacePrx for topic " << getDebugObserverTopicName(); debugObserverPrx = getTopic<DebugObserverInterfacePrx>(getDebugObserverTopicName()); }