feature: Register a memory listener topic and pass it to the memory adapter.

source/RobotAPI/libraries/armem/component/MemoryComponentPlugin.cpp

@@ -13,6 +13,13 @@ namespace armarx::armem::plugins
     MemoryComponentPlugin::~MemoryComponentPlugin()
     {}
 
+
+    void MemoryComponentPlugin::postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties)
+    {
+        properties->topic(memoryListener);
+    }
+
+
     void MemoryComponentPlugin::postOnConnectComponent()
     {
         MemoryComponentPluginUser& parent = this->parent<MemoryComponentPluginUser>();
@@ -20,6 +27,7 @@ namespace armarx::armem::plugins
         {
             registerMemory(parent);
         }
+        parent.iceMemory.setMemoryListener(memoryListener);
     }
 
 

source/RobotAPI/libraries/armem/component/MemoryComponentPlugin.h

@@ -5,6 +5,7 @@
 #include <ArmarXCore/core/Component.h>
 
 #include <RobotAPI/interface/armem/MemoryInterface.h>
+#include <RobotAPI/interface/armem/MemoryListenerInterface.h>
 #include <RobotAPI/interface/armem/MemoryNameSystemInterface.h>
 
 #include "../memory/Memory.h"
@@ -28,6 +29,8 @@ namespace armarx::armem::plugins
         using MemoryNameSystemClientPlugin::MemoryNameSystemClientPlugin;
         virtual ~MemoryComponentPlugin() override;
 
+        void postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties) override;
+
 
         void postOnConnectComponent() override;
         void preOnDisconnectComponent() override;
@@ -44,6 +47,7 @@ namespace armarx::armem::plugins
          */
         data::RemoveMemoryResult removeMemory(MemoryComponentPluginUser& parent);
 
+        MemoryListenerInterfacePrx memoryListener;
     };
 
 }