Merge branch 'feature/component-plugin-for-memory-reader-and-writer' into 'master'

Component plugin for memory reader and writer

See merge request ArmarX/RobotAPI!249

source/RobotAPI/libraries/armem/client/plugins/ReaderWriterPlugin.h

+/**
+ * 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       2022
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#pragma once
+
+#include <string>
+
+#include "ArmarXCore/core/exceptions/local/ExpressionException.h"
+#include <ArmarXCore/core/ComponentPlugin.h>
+
+#include "RobotAPI/libraries/armem/client/plugins/Plugin.h"
+#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
+#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
+
+
+namespace armarx::armem::client::plugins
+{
+
+    /**
+     * @brief A component plugin offering client-side access to a reader or writer
+     * and manages the lifecycle, e.g. connecting to the memory.
+     * Access to the working memory system is provided by a Memory Name System (MNS) client.
+     *
+     * @see MemoryNameSystem
+     */
+    template <typename T>
+    class ReaderWriterPlugin : public armarx::ComponentPlugin
+    {
+    public:
+        ReaderWriterPlugin(ManagedIceObject& parent, const std::string pre) :
+            ComponentPlugin(parent, pre), readerWriter(memoryNameSystem())
+        {
+                addPlugin(armemPlugin);
+
+        }
+
+        ~ReaderWriterPlugin() override = default;
+
+        void
+        postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties) override
+        {
+            readerWriter.registerPropertyDefinitions(properties);
+        }
+
+        void
+        preOnConnectComponent() override
+        {
+            ARMARX_CHECK_NOT_NULL(armemPlugin);
+            if (not armemPlugin->isMemoryNameSystemEnabled())
+            {
+                ARMARX_INFO << "The memory name system is disabled by user choice via the property."
+                            << "Reader and writer will not be able to connect to the memory.";
+                return;
+            }
+
+            readerWriter.connect();
+        }
+
+        bool
+        isAvailable() const noexcept
+        {
+            ARMARX_CHECK_NOT_NULL(armemPlugin);
+            return armemPlugin->isMemoryNameSystemEnabled();
+        }
+
+        T&
+        get()
+        {
+            ARMARX_CHECK_NOT_NULL(armemPlugin);
+            ARMARX_CHECK(armemPlugin->isMemoryNameSystemEnabled());
+            return readerWriter;
+        }
+
+        const T&
+        get() const
+        {
+            ARMARX_CHECK_NOT_NULL(armemPlugin);
+            ARMARX_CHECK(armemPlugin->isMemoryNameSystemEnabled());
+            return readerWriter;
+        }
+
+
+    private:
+        MemoryNameSystem&
+        memoryNameSystem()
+        {
+            // if (armemPlugin == nullptr)
+            {
+                addPlugin(armemPlugin);
+            }
+
+            ARMARX_CHECK_NOT_NULL(armemPlugin);
+            return armemPlugin->getMemoryNameSystemClient();
+        }
+
+        T readerWriter;
+
+        armarx::armem::client::plugins::Plugin* armemPlugin = nullptr;
+    };
+
+} // namespace armarx::armem::client::plugins