diff --git a/source/RobotAPI/components/armem/server/ExampleMemory/CMakeLists.txt b/source/RobotAPI/components/armem/server/ExampleMemory/CMakeLists.txt
index 99070a2c52f970a6ac9f64992a5a9a113de7f227..cc053e479e74106b7a682d6c2c40549eb486f5d0 100644
--- a/source/RobotAPI/components/armem/server/ExampleMemory/CMakeLists.txt
+++ b/source/RobotAPI/components/armem/server/ExampleMemory/CMakeLists.txt
@@ -8,7 +8,6 @@ set(COMPONENT_LIBS
ArmarXCore ArmarXCoreInterfaces # for DebugObserverInterface
ArmarXGuiComponentPlugins
RobotAPICore RobotAPIInterfaces armem
- # RobotAPIComponentPlugins # for ArViz and other plugins
${IVT_LIBRARIES}
)
diff --git a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
index 86db9939460d3661a0f358df3f5e41f76f7acf2d..446c0e2294ba03c7b9042d98416fc5a27f1513a7 100644
--- a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
+++ b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
@@ -76,7 +76,7 @@ namespace armarx
void ExampleMemory::onConnectComponent()
{
- RemoteGui__createTab();
+ createRemoteGuiTab();
RemoteGui_startRunningTask();
}
@@ -95,7 +95,7 @@ namespace armarx
armem::data::AddSegmentsResult ExampleMemory::addSegments(const armem::data::AddSegmentsInput& input, const Ice::Current&)
{
// This function is overloaded to trigger the remote gui rebuild.
- armem::data::AddSegmentsResult result = ComponentPluginUser::addSegments(input, p.core.addOnUsage);
+ armem::data::AddSegmentsResult result = ReadWritePluginUser::addSegments(input, p.core.addOnUsage);
tab.rebuild = true;
return result;
}
@@ -104,7 +104,7 @@ namespace armarx
armem::data::CommitResult ExampleMemory::commit(const armem::data::Commit& commit, const Ice::Current&)
{
// This function is overloaded to trigger the remote gui rebuild.
- armem::data::CommitResult result = ComponentPluginUser::commit(commit);
+ armem::data::CommitResult result = ReadWritePluginUser::commit(commit);
tab.rebuild = true;
return result;
}
@@ -118,7 +118,7 @@ namespace armarx
// REMOTE GUI
- void ExampleMemory::RemoteGui__createTab()
+ void ExampleMemory::createRemoteGuiTab()
{
using namespace armarx::RemoteGui::Client;
@@ -136,7 +136,7 @@ namespace armarx
{
if (tab.rebuild.exchange(false))
{
- RemoteGui__createTab();
+ createRemoteGuiTab();
}
}
diff --git a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.h b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.h
index 86741dcff79045c02e04c1bf7b7f68df60ccacdc..a7dda191aa96c14567899a4f9064edf5f69d2bcf 100644
--- a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.h
+++ b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.h
@@ -27,9 +27,8 @@
#include <ArmarXCore/interface/observers/ObserverInterface.h>
#include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
-#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
-#include <RobotAPI/libraries/armem/server/ComponentPlugin.h>
+#include <RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h>
namespace armarx
@@ -47,9 +46,8 @@ namespace armarx
*/
class ExampleMemory :
virtual public armarx::Component
- , virtual public armem::server::ComponentPluginUser
+ , virtual public armem::server::ReadWritePluginUser
, virtual public LightweightRemoteGuiComponentPluginUser
- // , virtual public armarx::ArVizComponentPluginUser
{
public:
@@ -65,7 +63,7 @@ namespace armarx
// LightweightRemoteGuiComponentPluginUser interface
public:
- void RemoteGui__createTab();
+ void createRemoteGuiTab();
void RemoteGui_update() override;
diff --git a/source/RobotAPI/components/armem/server/GeneralPurposeMemory/GeneralPurposeMemory.cpp b/source/RobotAPI/components/armem/server/GeneralPurposeMemory/GeneralPurposeMemory.cpp
index 02a4c51c8c501b28c63e589537b957c0bab7cc7e..756ffdcabdaa97085db88e4d186058d24790dfb7 100644
--- a/source/RobotAPI/components/armem/server/GeneralPurposeMemory/GeneralPurposeMemory.cpp
+++ b/source/RobotAPI/components/armem/server/GeneralPurposeMemory/GeneralPurposeMemory.cpp
@@ -76,7 +76,7 @@ namespace armarx
armem::data::AddSegmentsResult GeneralPurposeMemory::addSegments(const armem::data::AddSegmentsInput& input, const Ice::Current&)
{
// Allowing adding core segments.
- armem::data::AddSegmentsResult result = ComponentPluginUser::addSegments(input, addCoreSegmentOnUsage);
+ armem::data::AddSegmentsResult result = ReadWritePluginUser::addSegments(input, addCoreSegmentOnUsage);
return result;
}
diff --git a/source/RobotAPI/components/armem/server/GeneralPurposeMemory/GeneralPurposeMemory.h b/source/RobotAPI/components/armem/server/GeneralPurposeMemory/GeneralPurposeMemory.h
index fe0aa7989fbe6108ae7b162777b9746dd77c0e78..0ee828883381d8e8272b2d49a1fdfa81179e69ed 100644
--- a/source/RobotAPI/components/armem/server/GeneralPurposeMemory/GeneralPurposeMemory.h
+++ b/source/RobotAPI/components/armem/server/GeneralPurposeMemory/GeneralPurposeMemory.h
@@ -28,7 +28,7 @@
#include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
-#include <RobotAPI/libraries/armem/server/ComponentPlugin.h>
+#include <RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h>
namespace armarx
@@ -45,8 +45,8 @@ namespace armarx
* Detailed description of class GeneralPurposeMemory.
*/
class GeneralPurposeMemory :
- virtual public armarx::Component,
- virtual public armem::server::ComponentPluginUser
+ virtual public armarx::Component
+ , virtual public armem::server::ReadWritePluginUser
{
public:
diff --git a/source/RobotAPI/components/armem/server/MotionMemory/MotionMemory.cpp b/source/RobotAPI/components/armem/server/MotionMemory/MotionMemory.cpp
index f44ee600791e3bfaae64b9c119b458241c4a8ab4..3555cb2d4ed20b423c43dcc127f35f9983001ad3 100644
--- a/source/RobotAPI/components/armem/server/MotionMemory/MotionMemory.cpp
+++ b/source/RobotAPI/components/armem/server/MotionMemory/MotionMemory.cpp
@@ -22,12 +22,6 @@
#include "MotionMemory.h"
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-#include <SimoxUtility/algorithm/string.h>
-
-#include <RobotAPI/libraries/armem/core/error.h>
-
namespace armarx
{
@@ -44,7 +38,7 @@ namespace armarx
MotionMemory::MotionMemory() :
- mdbMotions(armem::server::ComponentPluginUser::iceAdapter())
+ mdbMotions(iceAdapter())
{
}
diff --git a/source/RobotAPI/components/armem/server/MotionMemory/MotionMemory.h b/source/RobotAPI/components/armem/server/MotionMemory/MotionMemory.h
index 2363dae593ffe51693cec3cca45ce8eef54b206c..b457d713a58a369b83f8f176d8bd241de95be37f 100644
--- a/source/RobotAPI/components/armem/server/MotionMemory/MotionMemory.h
+++ b/source/RobotAPI/components/armem/server/MotionMemory/MotionMemory.h
@@ -22,11 +22,11 @@
#pragma once
+#include <RobotAPI/libraries/armem_motions/server/MotionDatabase/MDBMotions/Segment.h>
-#include <ArmarXCore/core/Component.h>
-#include <RobotAPI/libraries/armem/server/ComponentPlugin.h>
+#include <RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h>
-#include <RobotAPI/libraries/armem_motions/server/MotionDatabase/MDBMotions/Segment.h>
+#include <ArmarXCore/core/Component.h>
namespace armarx
@@ -44,7 +44,7 @@ namespace armarx
*/
class MotionMemory :
virtual public armarx::Component
- , virtual public armem::server::ComponentPluginUser
+ , virtual public armem::server::ReadWritePluginUser
{
public:
diff --git a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
index 23a8210166eada153da6fe5542c37676bd61d4a0..c605df2efece207f0a0b11337dd96c61ca534470 100644
--- a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
+++ b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
@@ -58,10 +58,9 @@ namespace armarx::armem::server::obj
ObjectMemory::ObjectMemory() :
- server::ComponentPluginUser(),
- instance::SegmentAdapter(server::ComponentPluginUser::iceAdapter()),
- classSegment(server::ComponentPluginUser::iceAdapter()),
- attachmentSegment(server::ComponentPluginUser::iceAdapter())
+ instance::SegmentAdapter(iceAdapter()),
+ classSegment(iceAdapter()),
+ attachmentSegment(iceAdapter())
{
}
diff --git a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
index 44332653fc095f826aac0ccf5e5e79c124769dfd..91217c90cc0dcb5be302663a0b472cac3327f3c0 100644
--- a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
+++ b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
@@ -26,7 +26,7 @@
#include <RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.h>
#include <RobotAPI/libraries/armem_objects/server/attachments/Segment.h>
-#include <RobotAPI/libraries/armem/server/ComponentPlugin.h>
+#include <RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h>
#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
#include <RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.h>
@@ -59,7 +59,7 @@ namespace armarx::armem::server::obj
virtual public Component
, virtual public armarx::armem::server::ObjectMemoryInterface
- , virtual public armarx::armem::server::ComponentPluginUser
+ , virtual public armarx::armem::server::ReadWritePluginUser
, virtual public armarx::armem::server::obj::instance::SegmentAdapter
, virtual public armarx::RobotStateComponentPluginUser
@@ -120,6 +120,6 @@ namespace armarx::armem::server::obj
};
-} // namespace armarx::armem::server::obj
+}
#undef ICE_CURRENT_ARG
diff --git a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
index 2b6edb972a904b10b8893c67d4564f286d0ea9dd..27aaa07ddf1c0f0dc819a9a74366036cdadfe11c 100644
--- a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
+++ b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
@@ -22,32 +22,25 @@
#include "RobotStateMemory.h"
-// STD
-#include <memory>
+#include <RobotAPI/libraries/armem_robot_state/server/proprioception/aron_conversions.h>
-// Simox
-#include <SimoxUtility/algorithm/string.h>
+#include <RobotAPI/libraries/armem_robot_state/server/common/Visu.h>
+#include <RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.h>
-// ArmarX
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-#include <ArmarXCore/core/logging/Logging.h>
-#include <ArmarXCore/core/system/ArmarXDataPath.h>
#include <ArmarXCore/libraries/ArmarXCoreComponentPlugins/DebugObserverComponentPlugin.h>
+#include <ArmarXCore/core/logging/Logging.h>
-#include <RobotAPI/libraries/armem/core/error.h>
-#include <RobotAPI/libraries/armem_robot_state/server/common/Visu.h>
-#include <RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.h>
-
-#include <RobotAPI/libraries/armem_robot_state/server/proprioception/aron_conversions.h>
+#include <SimoxUtility/algorithm/string.h>
namespace armarx::armem::server::robot_state
{
RobotStateMemory::RobotStateMemory() :
- descriptionSegment(server::ComponentPluginUser::iceAdapter()),
- proprioceptionSegment(server::ComponentPluginUser::iceAdapter()),
- localizationSegment(server::ComponentPluginUser::iceAdapter()),
+ descriptionSegment(iceAdapter()),
+ proprioceptionSegment(iceAdapter()),
+ localizationSegment(iceAdapter()),
commonVisu(descriptionSegment, proprioceptionSegment, localizationSegment)
{
addPlugin(debugObserver);
@@ -59,19 +52,17 @@ namespace armarx::armem::server::robot_state
robotUnit.writer.setTag(getName());
}
- RobotStateMemory::~RobotStateMemory() = default;
+
+ RobotStateMemory::~RobotStateMemory()
+ {
+ }
armarx::PropertyDefinitionsPtr RobotStateMemory::createPropertyDefinitions()
{
armarx::PropertyDefinitionsPtr defs = new ComponentPropertyDefinitions(getConfigIdentifier());
- const std::string prefix = "mem.";
-
- this->setMemoryName("RobotState");
- defs->optional(workingMemory().name(), prefix + "MemoryName", "Name of this memory server.");
-
- const std::string robotUnitPrefix{sensorValuePrefix};
+ const std::string robotUnitPrefix = sensorValuePrefix;
defs->optional(robotUnit.reader.properties.sensorPrefix, robotUnitPrefix + "SensorValuePrefix",
"Prefix of all sensor values.");
@@ -83,6 +74,11 @@ namespace armarx::armem::server::robot_state
"Minimum is 1, max is " + std::to_string(ROBOT_UNIT_MAXIMUM_FREQUENCY) + ".")
.setMin(1).setMax(ROBOT_UNIT_MAXIMUM_FREQUENCY);
+
+ const std::string prefix = "mem.";
+
+ workingMemory().name() = "RobotState";
+
descriptionSegment.defineProperties(defs, prefix + "desc.");
proprioceptionSegment.defineProperties(defs, prefix + "prop.");
localizationSegment.defineProperties(defs, prefix + "loc.");
@@ -105,7 +101,7 @@ namespace armarx::armem::server::robot_state
localizationSegment.onInit();
commonVisu.init();
- robotUnit.pollFrequency = std::clamp(robotUnit.pollFrequency, 1, ROBOT_UNIT_MAXIMUM_FREQUENCY);
+ robotUnit.pollFrequency = std::clamp(robotUnit.pollFrequency, 0.f, ROBOT_UNIT_MAXIMUM_FREQUENCY);
robotUnit.writer.properties.memoryBatchSize = std::max(static_cast<unsigned int>(1), robotUnit.writer.properties.memoryBatchSize);
std::vector<std::string> includePaths;
@@ -185,7 +181,6 @@ namespace armarx::armem::server::robot_state
void RobotStateMemory::startRobotUnitStream()
{
- std::lock_guard lock{startStopMutex};
if (robotUnit.reader.task->isRunning() || robotUnit.writer.task->isRunning())
{
if (robotUnit.reader.task->isRunning() && robotUnit.writer.task->isRunning())
@@ -213,7 +208,6 @@ namespace armarx::armem::server::robot_state
void RobotStateMemory::stopRobotUnitStream()
{
- std::lock_guard lock{startStopMutex};
robotUnit.reader.task->stop();
robotUnit.writer.task->stop();
}
diff --git a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.h b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.h
index 2cd2be9e3a5838f16b1a385e829416429b7869cd..74dd4a3fa12fea08186ec14d1b93fdf6872ac7dd 100644
--- a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.h
+++ b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.h
@@ -22,17 +22,14 @@
#pragma once
-// STD
-#include <atomic>
-#include <optional>
+#include <mutex>
#include <queue>
-// ArmarX
#include <ArmarXCore/core/Component.h>
#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
#include <RobotAPI/libraries/RobotUnitDataStreamingReceiver/RobotUnitDataStreamingReceiver.h>
-#include <RobotAPI/libraries/armem/server/ComponentPlugin.h>
+#include <RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h>
#include <RobotAPI/libraries/armem_robot_state/server/description/Segment.h>
#include <RobotAPI/libraries/armem_robot_state/server/localization/Segment.h>
@@ -64,7 +61,7 @@ namespace armarx::armem::server::robot_state
*/
class RobotStateMemory :
virtual public armarx::Component,
- virtual public armem::server::ComponentPluginUser,
+ virtual public armem::server::ReadWritePluginUser,
virtual public armarx::ArVizComponentPluginUser
{
public:
@@ -96,7 +93,6 @@ namespace armarx::armem::server::robot_state
armarx::plugins::DebugObserverComponentPlugin* debugObserver = nullptr;
- mutable std::recursive_mutex startStopMutex;
// Core segments
// - description
@@ -115,7 +111,7 @@ namespace armarx::armem::server::robot_state
struct RobotUnit
{
- int pollFrequency = 50;
+ float pollFrequency = 50;
armarx::plugins::RobotUnitComponentPlugin* plugin = nullptr;
proprioception::RobotUnitReader reader;
@@ -123,13 +119,13 @@ namespace armarx::armem::server::robot_state
// queue
std::queue<proprioception::RobotUnitData> dataQueue;
- mutable std::mutex dataMutex;
+ std::mutex dataMutex;
};
RobotUnit robotUnit;
// params
- static constexpr int ROBOT_UNIT_MAXIMUM_FREQUENCY = 100;
+ static constexpr float ROBOT_UNIT_MAXIMUM_FREQUENCY = 100;
static constexpr const char* sensorValuePrefix = "RobotUnit.";
diff --git a/source/RobotAPI/components/armem/server/SkillsMemory/CMakeLists.txt b/source/RobotAPI/components/armem/server/SkillsMemory/CMakeLists.txt
index b9d1d4fd44ed2bf58f8eccd64faa9ab0eafc83ef..eee41fad2917ac3689f98d103f1a927a0715d205 100644
--- a/source/RobotAPI/components/armem/server/SkillsMemory/CMakeLists.txt
+++ b/source/RobotAPI/components/armem/server/SkillsMemory/CMakeLists.txt
@@ -2,10 +2,9 @@ armarx_component_set_name("SkillsMemory")
set(COMPONENT_LIBS
- ArmarXCore ArmarXCoreInterfaces ArmarXCoreObservers # for DebugObserverInterface
- ArmarXGuiComponentPlugins
- RobotAPICore RobotAPIInterfaces armem armem_skills
- # RobotAPIComponentPlugins # for ArViz and other plugins
+ ArmarXCore ArmarXCoreInterfaces
+ RobotAPICore RobotAPIInterfaces
+ armem armem_skills
${IVT_LIBRARIES}
)
diff --git a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
index 2899736c93b1437772dea19f9cd83ce15610f4c2..f7741f3d3991896c43f2d3172c515bfec35af0ef 100644
--- a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
+++ b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
@@ -31,8 +31,6 @@
#include <RobotAPI/libraries/armem/core/error.h>
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
-#include <RobotAPI/libraries/armem/server/MemoryRemoteGui.h>
-
#include <RobotAPI/libraries/armem_skills/aron_conversions.h>
@@ -51,9 +49,6 @@ namespace armarx
workingMemory().name() = "Skills";
- // Publish
- defs->topic(debugObserver);
-
// Statechart Logging
defs->optional(p.statechartCoreSegmentName, "StatechartCoreSegmentName", "Name of the core segment for statecharts.");
defs->optional(p.statechartTransitionsProviderSegmentName, "TransitionsProviderSegmentName", "Name of the provider segment for statechart transitions.");
@@ -102,14 +97,7 @@ namespace armarx
// WRITING
armem::data::AddSegmentsResult SkillsMemory::addSegments(const armem::data::AddSegmentsInput& input, const Ice::Current&)
{
- armem::data::AddSegmentsResult result = ComponentPluginUser::addSegments({input}, p.core.addOnUsage);
- return result;
- }
-
-
- armem::data::CommitResult SkillsMemory::commit(const armem::data::Commit& commit, const Ice::Current&)
- {
- armem::data::CommitResult result = ComponentPluginUser::commit(commit);
+ armem::data::AddSegmentsResult result = ReadWritePluginUser::addSegments({input}, p.core.addOnUsage);
return result;
}
diff --git a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h
index 0c64f675160bb12c3937aee8561e58868d8abb28..6eb9114c94a94c851ba6e7437bb74338353b90db 100644
--- a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h
+++ b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h
@@ -24,12 +24,9 @@
#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/interface/observers/ObserverInterface.h>
-#include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
+#include <RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h>
-#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
-#include <RobotAPI/libraries/armem/server/ComponentPlugin.h>
#include <RobotAPI/libraries/armem_skills/aron/Statechart.aron.generated.h>
#include <RobotAPI/libraries/armem_skills/StatechartListener.h>
@@ -49,8 +46,7 @@ namespace armarx
*/
class SkillsMemory :
virtual public armarx::Component,
- virtual public armem::server::ComponentPluginUser
- // , virtual public armarx::ArVizComponentPluginUser
+ virtual public armem::server::ReadWritePluginUser
{
public:
@@ -64,7 +60,6 @@ namespace armarx
public:
armem::data::AddSegmentsResult addSegments(const armem::data::AddSegmentsInput& input, const Ice::Current&) override;
- armem::data::CommitResult commit(const armem::data::Commit& commit, const Ice::Current&) override;
protected:
@@ -87,8 +82,6 @@ namespace armarx
private:
- DebugObserverInterfacePrx debugObserver;
-
struct Properties
{
// Statechart transition logging
diff --git a/source/RobotAPI/components/armem/server/SubjectMemory/SubjectMemory.h b/source/RobotAPI/components/armem/server/SubjectMemory/SubjectMemory.h
index 2382459ee2fa0ad5bd52300c25cbad0562ed5921..8018df78fc2b92de1353089521c8649aded3b377 100644
--- a/source/RobotAPI/components/armem/server/SubjectMemory/SubjectMemory.h
+++ b/source/RobotAPI/components/armem/server/SubjectMemory/SubjectMemory.h
@@ -24,7 +24,7 @@
#include <ArmarXCore/core/Component.h>
-#include <RobotAPI/libraries/armem/server/ComponentPlugin.h>
+#include <RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h>
#include <RobotAPI/libraries/armem_subjects/server/MotionDatabase/Segment.h>
@@ -43,7 +43,7 @@ namespace armarx
*/
class SubjectMemory :
virtual public armarx::Component
- , virtual public armem::server::ComponentPluginUser
+ , virtual public armem::server::ReadWritePluginUser
{
public: