From ff10388e6ea614818d8754ac7d675958c9edfea2 Mon Sep 17 00:00:00 2001
From: Raphael Grimm <raphael.grimm@kit.edu>
Date: Fri, 4 May 2018 07:25:44 +0200
Subject: [PATCH] Add more verbose output
---
.../RobotUnitModulePublisher.cpp | 17 +++++++++++++++++
1 file changed, 17 insertions(+)
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp
index 35adaa2de..f0a4f5091 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());
}
--
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