From 0e6a013f22e198b34f05124bfe20900a21b62418 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Tue, 14 Jun 2022 11:37:41 +0200
Subject: [PATCH] Unify overloads of _getAllClients()
---
.../armem/client/MemoryNameSystem.cpp | 49 ++++++++++---------
.../libraries/armem/client/MemoryNameSystem.h | 5 +-
2 files changed, 30 insertions(+), 24 deletions(-)
diff --git a/source/RobotAPI/libraries/armem/client/MemoryNameSystem.cpp b/source/RobotAPI/libraries/armem/client/MemoryNameSystem.cpp
index 60a39400d..6440155ce 100644
--- a/source/RobotAPI/libraries/armem/client/MemoryNameSystem.cpp
+++ b/source/RobotAPI/libraries/armem/client/MemoryNameSystem.cpp
@@ -207,40 +207,44 @@ namespace armarx::armem::client
template <class ClientT>
std::map<std::string, ClientT>
- MemoryNameSystem::_getAllClients(auto&& getProxyFn) const
+ MemoryNameSystem::_getAllClients(ClientFactory<ClientT>&& factory) const
{
std::map<std::string, ClientT> result;
for (const auto& [name, server] : servers)
{
- if (auto proxy = getProxyFn(server))
+ if (std::optional<ClientT> client = factory(server))
{
- result[name] = ClientT(proxy);
+ result[name] = client.value();
}
}
return result;
}
- template <class ClientT>
- std::map<std::string, ClientT>
- MemoryNameSystem::_getAllClients(auto&& getProxyFn, auto&& secondProxyFn) const
+ std::optional<Reader> readerFactory(const mns::dto::MemoryServerInterfaces& server)
{
- std::map<std::string, ClientT> result;
- for (const auto& [name, server] : servers)
+ if (auto read = server.reading)
{
- if (auto proxy = getProxyFn(server))
+ if (auto predict = server.prediction)
{
- if (auto secondProxy = secondProxyFn(server))
- {
- result[name] = ClientT(proxy, secondProxy);
- }
- else
- {
- result[name] = ClientT(proxy);
- }
+ return Reader(read, predict);
+ }
+ else
+ {
+ return Reader(read);
}
}
- return result;
+ return std::nullopt;
+ }
+
+
+ std::optional<Writer> writerFactory(const mns::dto::MemoryServerInterfaces& server)
+ {
+ if (auto write = server.writing)
+ {
+ return Writer(write);
+ }
+ return std::nullopt;
}
@@ -250,13 +254,14 @@ namespace armarx::armem::client
{
this->update();
}
- return _getAllClients<Reader>(&mns::getReadingInterface, &mns::getPredictionInterface);
+
+ return _getAllClients<Reader>(readerFactory);
}
std::map<std::string, Reader> MemoryNameSystem::getAllReaders() const
{
- return _getAllClients<Reader>(&mns::getReadingInterface, &mns::getPredictionInterface);
+ return _getAllClients<Reader>(readerFactory);
}
@@ -296,13 +301,13 @@ namespace armarx::armem::client
{
this->update();
}
- return _getAllClients<Writer>(&mns::getWritingInterface);
+ return _getAllClients<Writer>(writerFactory);
}
std::map<std::string, Writer> MemoryNameSystem::getAllWriters() const
{
- return _getAllClients<Writer>(&mns::getWritingInterface);
+ return _getAllClients<Writer>(writerFactory);
}
diff --git a/source/RobotAPI/libraries/armem/client/MemoryNameSystem.h b/source/RobotAPI/libraries/armem/client/MemoryNameSystem.h
index b5a0fe2ae..50e90444e 100644
--- a/source/RobotAPI/libraries/armem/client/MemoryNameSystem.h
+++ b/source/RobotAPI/libraries/armem/client/MemoryNameSystem.h
@@ -251,11 +251,12 @@ namespace armarx::armem::client
private:
+
template <class ClientT>
- std::map<std::string, ClientT> _getAllClients(auto&& proxyFn) const;
+ using ClientFactory = std::function<std::optional<ClientT>(const mns::dto::MemoryServerInterfaces& server)>;
template <class ClientT>
- std::map<std::string, ClientT> _getAllClients(auto&& proxyFn, auto&& secondProxyFn) const;
+ std::map<std::string, ClientT> _getAllClients(ClientFactory<ClientT>&& factory) const;
/// The MNS proxy.
--
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