Add ActionsInterface to MemoryInterface in Ice

Also adds default implementations for action methods, so all the
existing memory servers should continue to work.

source/RobotAPI/interface/CMakeLists.txt

@@ -115,6 +115,7 @@ set(SLICE_FILES
     armem/client/MemoryListenerInterface.ice
 
     armem/server.ice
+    armem/server/ActionsInterface.ice
     armem/server/StoringMemoryInterface.ice
     armem/server/LoadingMemoryInterface.ice
     armem/server/MemoryInterface.ice

source/RobotAPI/interface/armem/server/ActionsInterface.ice

+#include <RobotAPI/interface/armem/memory.ice>
+
+module armarx
+{
+    module armem
+    {
+        module server
+        {
+            module actions
+            {
+                
+                class MenuEntry
+                {
+                    /// Item in the created action path.
+                    string id;
+                    /// Human-readable text displayed to the user.
+                    string text;
+                };
+                sequence<MenuEntry> MenuEntrySeq;
+
+                /**
+                 * Clickable / executable action.
+                 */
+                class Action extends MenuEntry
+                {
+                };
+                
+                /**
+                 * Expandable sub-menu, but cannot be executed itself.
+                 */
+                class SubMenu extends MenuEntry
+                {
+                    MenuEntrySeq entries;
+                };
+
+                class Menu
+                {
+                    MenuEntrySeq entries;
+                };
+
+                sequence<string> ActionPath;
+
+                struct GetActionsInput
+                {
+                    armem::data::MemoryID id;
+                };
+                sequence<GetActionsInput> GetActionsInputSeq;
+
+                struct GetActionsOutput
+                {
+                    Menu menu;
+                };
+                sequence<GetActionsOutput> GetActionsOutputSeq;
+
+                struct ExecuteActionInput
+                {
+                    armem::data::MemoryID id;
+                    ActionPath actionPath;
+                };
+                sequence<ExecuteActionInput> ExecuteActionInputSeq;
+
+                struct ExecuteActionOutput
+                {
+                    bool success = false;
+                    string errorMessage;
+                };
+                sequence<ExecuteActionOutput> ExecuteActionOutputSeq;
+
+                interface ActionsInterface
+                {
+                    GetActionsOutputSeq getActions(GetActionsInputSeq inputs);
+                    ExecuteActionOutputSeq executeActions(ExecuteActionInputSeq inputs);
+                };
+            }
+        }
+    }
+}

source/RobotAPI/interface/armem/server/MemoryInterface.ice

@@ -5,6 +5,7 @@
 
 #include <RobotAPI/interface/armem/server/ReadingMemoryInterface.ice>
 #include <RobotAPI/interface/armem/server/WritingMemoryInterface.ice>
+#include <RobotAPI/interface/armem/server/ActionsInterface.ice>
 
 #include <RobotAPI/interface/armem/client/MemoryListenerInterface.ice>
 
@@ -26,6 +27,7 @@ module armarx
             interface MemoryInterface extends
                     WorkingMemoryInterface,
                     LongTermMemoryInterface,
+                    actions::ActionsInterface,
                     client::MemoryListenerInterface
             {
             };

source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp

@@ -91,4 +91,17 @@ namespace armarx::armem::server::plugins
         return plugin->longtermMemory;
     }
 
-}
+    // ACTIONS
+    actions::GetActionsOutputSeq ReadWritePluginUser::getActions(const actions::GetActionsInputSeq& /*unused*/,
+                                                                 const ::Ice::Current&  /*unused*/)
+    {
+        return {};
+    }
+
+    actions::ExecuteActionOutputSeq ReadWritePluginUser::executeActions(const actions::ExecuteActionInputSeq& /*unused*/,
+                                                                        const ::Ice::Current&  /*unused*/)
+    {
+        return {};
+    }
+
+} // namespace armarx::armem::server::plugins

source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h

@@ -47,6 +47,10 @@ namespace armarx::armem::server::plugins
         // StoringInterface interface
         virtual data::StoreResult store(const data::StoreInput&, const Ice::Current& = Ice::emptyCurrent) override;
 
+        // ActionsInterface interface
+        virtual actions::GetActionsOutputSeq getActions(const actions::GetActionsInputSeq&, const ::Ice::Current& = ::Ice::emptyCurrent) override;
+
+        virtual actions::ExecuteActionOutputSeq executeActions(const actions::ExecuteActionInputSeq&, const ::Ice::Current& = ::Ice::emptyCurrent) override;
 
     public: