diff --git a/scenarios/ArMemExample/config/ArMemExampleClient.cfg b/scenarios/ArMemExample/config/ArMemExampleClient.cfg
index 55696f12e2f3b55f140305856f7a5a318484304a..ceaa86ed36d6745a23d3fd00018e667d2cf289f4 100644
--- a/scenarios/ArMemExample/config/ArMemExampleClient.cfg
+++ b/scenarios/ArMemExample/config/ArMemExampleClient.cfg
@@ -86,6 +86,14 @@
# ArmarX.ArMemExampleClient.tpc.pub.DebugObserver = DebugObserver
+# ArmarX.ArMemExampleClient.tpc.sub.MemoryListener: Name of the `MemoryListener` topic to subscribe to.
+# Attributes:
+# - Default: MemoryUpdates
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.ArMemExampleClient.tpc.sub.MemoryListener = MemoryUpdates
+
+
# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
# - Default: mongo/.cache
@@ -225,6 +233,6 @@
# - Case sensitivity: yes
# - Required: no
# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
-# ArmarX.Verbosity = Info
+ArmarX.Verbosity = Debug
diff --git a/scenarios/ArMemExample/config/ArMemExampleMemory.cfg b/scenarios/ArMemExample/config/ArMemExampleMemory.cfg
index 73c5d42b874edbc0decd4a94a8e3eb8e9450f8b1..5a8764611d35007fb9d7884f7b8101f451016897 100644
--- a/scenarios/ArMemExample/config/ArMemExampleMemory.cfg
+++ b/scenarios/ArMemExample/config/ArMemExampleMemory.cfg
@@ -103,6 +103,14 @@
# ArmarX.ArMemExampleMemory.tpc.pub.DebugObserver = DebugObserver
+# ArmarX.ArMemExampleMemory.tpc.pub.MemoryListener: Name of the `MemoryListener` topic to publish data to.
+# Attributes:
+# - Default: MemoryUpdates
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.ArMemExampleMemory.tpc.pub.MemoryListener = MemoryUpdates
+
+
# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
# - Default: mongo/.cache
diff --git a/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.cpp b/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.cpp
index c591b97c9b3eb381f8aae0974c5bc6d427178522..37a59b28d5649cad9ed539857d9a19ffcc5de1fc 100644
--- a/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.cpp
+++ b/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.cpp
@@ -28,7 +28,6 @@
#include <RobotAPI/interface/aron.h>
#include <RobotAPI/libraries/armem/component/MemoryRemoteGui.h>
-#include <RobotAPI/libraries/armem/client/MemoryWriter.h>
#include <RobotAPI/libraries/armem/memory/ice_conversions.h>
#include <RobotAPI/components/armem/ArMemExampleMemory/aron/Primitive.aron.generated.h>
@@ -86,7 +85,6 @@ namespace armarx
}
ARMARX_CHECK_NOT_NULL(memory);
- armem::MemoryID providerID;
if (true)
{
armem::data::AddSegmentInput input;
@@ -111,11 +109,38 @@ namespace armarx
providerID = armem::MemoryID::fromString(result.segmentID);
}
- armem::MemoryWriter writer(memory);
-
- armem::MemoryID entityID = providerID;
+ entityID = providerID;
entityID.entityName = "example_entity";
+ // Subscribe to example_entity updates
+ memoryReader.subscribe(entityID, [&](const armem::MemoryID & sid, const std::vector<armem::MemoryID>& sids)
+ {
+ example_entityUpdated(sid);
+ });
+
+ task = new RunningTask<ArMemExampleClient>(this, &ArMemExampleClient::run);
+ task->start();
+ }
+
+
+ void ArMemExampleClient::onDisconnectComponent()
+ {
+ }
+
+
+ void ArMemExampleClient::onExitComponent()
+ {
+ }
+
+
+ void ArMemExampleClient::run()
+ {
+ sleep(2);
+ ARMARX_IMPORTANT << "Running now.";
+
+ armem::client::Writer writer(memory);
+
+
armem::MemoryID snapshotID;
{
armem::Commit commit;
@@ -266,21 +291,17 @@ namespace armarx
{
primitives(writer);
}
-
}
- void ArMemExampleClient::onDisconnectComponent()
- {
- }
-
-
- void ArMemExampleClient::onExitComponent()
+ void ArMemExampleClient::example_entityUpdated(const armem::MemoryID& id)
{
+ ARMARX_IMPORTANT << "example_entity got updated";
+ // Fetch new data of example_entity and do something with it.
}
- bool ArMemExampleClient::primitives(armem::MemoryWriter& writer)
+ bool ArMemExampleClient::primitives(armem::client::Writer& writer)
{
ARMARX_IMPORTANT << "Adding segment " << "Primitive" << "/" << getName();
diff --git a/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.h b/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.h
index af51519fd0d8d8f896dd92017a9f65116ecb4752..5fffaebff03b9b89f9b620a895ba74af012d8af4 100644
--- a/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.h
+++ b/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.h
@@ -20,21 +20,21 @@
* GNU General Public License
*/
+
#pragma once
+// ArmarX
#include <ArmarXCore/core/Component.h>
-
#include <ArmarXCore/interface/observers/ObserverInterface.h>
-
+#include <ArmarXCore/util/tasks.h>
#include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
-// #include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
-
+// RobotAPI
+//#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
#include <RobotAPI/interface/armem/MemoryInterface.h>
#include <RobotAPI/interface/armem/MemoryNameSystemInterface.h>
-
-#include <RobotAPI/libraries/armem/client/MemoryClientComponentPlugin.h>
+#include <RobotAPI/libraries/armem/client/ComponentPlugin.h>
#include <RobotAPI/libraries/armem/memory/Memory.h>
@@ -52,7 +52,6 @@ namespace armarx
};
-
/**
* @defgroup Component-ArMemExampleClient ArMemExampleClient
* @ingroup RobotAPI-Components
@@ -65,9 +64,9 @@ namespace armarx
* Detailed description of class ArMemExampleClient.
*/
class ArMemExampleClient :
- virtual public armarx::Component
- , virtual public armarx::armem::MemoryClientComponentPluginUser
- , virtual public LightweightRemoteGuiComponentPluginUser
+ virtual public armarx::Component,
+ virtual public armarx::armem::client::ComponentPluginUser,
+ virtual public LightweightRemoteGuiComponentPluginUser
{
public:
@@ -98,14 +97,25 @@ namespace armarx
/// @see PropertyUser::createPropertyDefinitions()
armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
+ void run();
+
private:
+
+ armem::MemoryID providerID;
+ armem::MemoryID entityID;
+
+ // Callback for updates on `example_entity`.
+ void example_entityUpdated(const armem::MemoryID& id);
+
// Examples
- bool primitives(armem::MemoryWriter& writer);
+ bool primitives(armem::client::Writer& writer);
private:
+ armarx::RunningTask<ArMemExampleClient>::pointer_type task;
+
armarx::DebugObserverInterfacePrx debugObserver;
std::string memoryName = "Example";
diff --git a/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidgetController.cpp b/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidgetController.cpp
index fcd59af3018b6459bf20d43281cff022439c93f2..7fd18a174502d8ff9fbe22ff0a60bd4122e2ca2c 100644
--- a/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidgetController.cpp
@@ -142,7 +142,7 @@ namespace armarx
if (memoryName.size() > 0)
{
getProxy(memory, memoryName);
- memoryReader = armem::MemoryReader(memory);
+ memoryReader = armem::client::Reader(memory);
}
// DebugObserver is optional (check for null on every call)
if (!debugObserverName.empty())
diff --git a/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidgetController.h b/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidgetController.h
index 36d618adb8979f718747ac89702ad34cf11851fe..7f5b2ac810a6a86dfe464ecf19a46480bc98c34c 100644
--- a/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidgetController.h
+++ b/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidgetController.h
@@ -33,7 +33,7 @@
#include <ArmarXCore/core/system/ImportExportComponent.h>
#include <RobotAPI/interface/armem/MemoryInterface.h>
-#include <RobotAPI/libraries/armem/client/MemoryReader.h>
+#include <RobotAPI/libraries/armem/client/Reader.h>
#include <RobotAPI/libraries/armem_gui/InstanceTreeWidget.h>
#include <RobotAPI/libraries/armem_gui/MemoryQueryWidget.h>
#include <RobotAPI/libraries/armem_gui/MemoryTreeWidget.h>
@@ -126,7 +126,7 @@ namespace armarx
std::string memoryName;
armem::MemoryInterfacePrx memory;
- armem::MemoryReader memoryReader;
+ armem::client::Reader memoryReader;
armem::MemoryPtr memoryData;
diff --git a/source/RobotAPI/interface/CMakeLists.txt b/source/RobotAPI/interface/CMakeLists.txt
index 5eef8924c0732a542aee27778171a26053e92f33..09a7502102c009e07733934a998385dc5703a9db 100644
--- a/source/RobotAPI/interface/CMakeLists.txt
+++ b/source/RobotAPI/interface/CMakeLists.txt
@@ -106,6 +106,7 @@ set(SLICE_FILES
armem/ReadingInterface.ice
armem/WritingInterface.ice
armem/MemoryInterface.ice
+ armem/MemoryListenerInterface.ice
armem/MemoryNameSystemInterface.ice
armem/query.ice
diff --git a/source/RobotAPI/interface/armem.ice b/source/RobotAPI/interface/armem.ice
index 6fa4705257ad47e82ec53d8804f9e5d5cadce39c..a01037e52a60b33cf9422b5c69b61eeb858a4e44 100644
--- a/source/RobotAPI/interface/armem.ice
+++ b/source/RobotAPI/interface/armem.ice
@@ -3,6 +3,7 @@
#include <RobotAPI/interface/armem/ReadingInterface.ice>
#include <RobotAPI/interface/armem/WritingInterface.ice>
#include <RobotAPI/interface/armem/MemoryInterface.ice>
+#include <RobotAPI/interface/armem/MemoryListenerInterface.ice>
module armarx
diff --git a/source/RobotAPI/interface/armem/MemoryListenerInterface.ice b/source/RobotAPI/interface/armem/MemoryListenerInterface.ice
new file mode 100644
index 0000000000000000000000000000000000000000..be95f31ada2eb87a25c92f1c206714b0fbe34d5e
--- /dev/null
+++ b/source/RobotAPI/interface/armem/MemoryListenerInterface.ice
@@ -0,0 +1,18 @@
+#pragma once
+
+
+#include <RobotAPI/interface/armem/memory.ice>
+
+
+module armarx
+{
+ module armem
+ {
+
+ interface MemoryListenerInterface
+ {
+ void memoryUpdated(data::MemoryIDs updatedIDs);
+ };
+
+ };
+};
diff --git a/source/RobotAPI/interface/armem/memory.ice b/source/RobotAPI/interface/armem/memory.ice
index 352684de14d07f884f15fa8023bd261dfe29e0f2..b501eaf9e54a793dd3188182ba77ad2291af7abe 100644
--- a/source/RobotAPI/interface/armem/memory.ice
+++ b/source/RobotAPI/interface/armem/memory.ice
@@ -21,6 +21,8 @@ module armarx
int instanceIndex = -1;
}
+ sequence<MemoryID> MemoryIDs;
+
module detail
{
class MemoryItem
diff --git a/source/RobotAPI/libraries/armem/CMakeLists.txt b/source/RobotAPI/libraries/armem/CMakeLists.txt
index da280dd43534197b9f6f879c303e9b8075d18bc0..d3505babc138b2b53e495bfce28de1bccb144a31 100644
--- a/source/RobotAPI/libraries/armem/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem/CMakeLists.txt
@@ -40,9 +40,11 @@ set(LIB_FILES
mns/MemoryNameSystemClientPlugin.cpp
mns/MemoryNameSystemComponentPlugin.cpp
- client/MemoryWriter.cpp
- client/MemoryReader.cpp
- client/MemoryClientComponentPlugin.cpp
+ client/ComponentPlugin.cpp
+ client/Reader.cpp
+ client/ReaderComponentPlugin.cpp
+ client/Writer.cpp
+ client/WriterComponentPlugin.cpp
component/IceMemory.cpp
component/MemoryComponentPlugin.cpp
@@ -83,9 +85,11 @@ set(LIB_HEADERS
mns/MemoryNameSystemClientPlugin.h
mns/MemoryNameSystemComponentPlugin.h
- client/MemoryWriter.h
- client/MemoryReader.h
- client/MemoryClientComponentPlugin.h
+ client/ComponentPlugin.h
+ client/Reader.h
+ client/ReaderComponentPlugin.h
+ client/Writer.h
+ client/WriterComponentPlugin.h
component/IceMemory.h
component/MemoryComponentPlugin.h
diff --git a/source/RobotAPI/libraries/armem/client/ComponentPlugin.cpp b/source/RobotAPI/libraries/armem/client/ComponentPlugin.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..f67ed63b52a23149b1888e0fe96aa3be184091bd
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/client/ComponentPlugin.cpp
@@ -0,0 +1,21 @@
+#include <RobotAPI/libraries/armem/client/ComponentPlugin.h>
+
+
+// ArmarX
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+// RobotAPI
+#include <RobotAPI/libraries/armem/error.h>
+
+
+armarx::armem::client::ComponentPluginUser::ComponentPluginUser()
+{
+ // pass
+}
+
+
+armarx::armem::client::ComponentPluginUser::~ComponentPluginUser()
+{
+ // pass
+}
+
diff --git a/source/RobotAPI/libraries/armem/client/ComponentPlugin.h b/source/RobotAPI/libraries/armem/client/ComponentPlugin.h
new file mode 100644
index 0000000000000000000000000000000000000000..cb8f3cd0bb35387236c6676bfcf09af5942892cd
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/client/ComponentPlugin.h
@@ -0,0 +1,33 @@
+#pragma once
+
+
+// ArmarX
+#include <ArmarXCore/core/Component.h>
+
+// RobotAPI
+#include <RobotAPI/interface/armem/MemoryInterface.h>
+#include <RobotAPI/interface/armem/MemoryNameSystemInterface.h>
+#include <RobotAPI/libraries/armem/client/ReaderComponentPlugin.h>
+#include <RobotAPI/libraries/armem/client/WriterComponentPlugin.h>
+#include <RobotAPI/libraries/armem/mns/MemoryNameSystemClientPlugin.h>
+
+
+namespace armarx::armem::client
+{
+
+ /**
+ * @brief Utility for connecting a Memory to Ice.
+ */
+ class ComponentPluginUser :
+ virtual public ReaderComponentPluginUser,
+ virtual public WriterComponentPluginUser
+ {
+
+ public:
+
+ ComponentPluginUser();
+ ~ComponentPluginUser() override;
+
+ };
+
+}
diff --git a/source/RobotAPI/libraries/armem/client/MemoryClientComponentPlugin.cpp b/source/RobotAPI/libraries/armem/client/MemoryClientComponentPlugin.cpp
deleted file mode 100644
index 1d480535c9cfa793a54f5c1aedd93579b7722c9d..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/client/MemoryClientComponentPlugin.cpp
+++ /dev/null
@@ -1,26 +0,0 @@
-#include "MemoryClientComponentPlugin.h"
-
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-#include "../error.h"
-
-
-namespace armarx::armem::plugins
-{
-
- MemoryClientComponentPlugin::~MemoryClientComponentPlugin()
- {
- }
-
-}
-
-
-namespace armarx::armem
-{
-
- MemoryClientComponentPluginUser::MemoryClientComponentPluginUser()
- {
- addPlugin(plugin);
- }
-
-}
diff --git a/source/RobotAPI/libraries/armem/client/MemoryClientComponentPlugin.h b/source/RobotAPI/libraries/armem/client/MemoryClientComponentPlugin.h
deleted file mode 100644
index 318c08c4c58a3a89a9ded0c2ac288dd448187cc2..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/client/MemoryClientComponentPlugin.h
+++ /dev/null
@@ -1,55 +0,0 @@
-#pragma once
-
-#include <mutex>
-
-#include <ArmarXCore/core/Component.h>
-
-#include <RobotAPI/interface/armem/MemoryInterface.h>
-#include <RobotAPI/interface/armem/MemoryNameSystemInterface.h>
-
-#include "../mns/MemoryNameSystemClientPlugin.h"
-#include "MemoryReader.h"
-#include "MemoryWriter.h"
-
-
-
-namespace armarx::armem::plugins
-{
-
- class MemoryClientComponentPlugin : public MemoryNameSystemClientPlugin
- {
- public:
-
- using MemoryNameSystemClientPlugin::MemoryNameSystemClientPlugin;
- virtual ~MemoryClientComponentPlugin() override;
-
-
- };
-
-}
-
-
-namespace armarx::armem
-{
-
- /**
- * @brief Utility for connecting a Memory to Ice.
- */
- class MemoryClientComponentPluginUser :
- virtual public ManagedIceObject
- , virtual public plugins::MemoryNameSystemClientPluginUser
- {
- public:
-
- MemoryClientComponentPluginUser();
-
-
- private:
-
- armem::plugins::MemoryClientComponentPlugin* plugin = nullptr;
-
-
- };
-
-
-}
diff --git a/source/RobotAPI/libraries/armem/client/MemoryReader.cpp b/source/RobotAPI/libraries/armem/client/Reader.cpp
similarity index 59%
rename from source/RobotAPI/libraries/armem/client/MemoryReader.cpp
rename to source/RobotAPI/libraries/armem/client/Reader.cpp
index c14180fd45087d31fde9af20d3578423ff3c4304..0a0985bd2fea1f47a7ce0bed55c49721636db1fd 100644
--- a/source/RobotAPI/libraries/armem/client/MemoryReader.cpp
+++ b/source/RobotAPI/libraries/armem/client/Reader.cpp
@@ -1,19 +1,19 @@
-#include "MemoryReader.h"
+#include "Reader.h"
#include <ArmarXCore/core/logging/Logging.h>
#include "../memory/ice_conversions.h"
-namespace armarx::armem
+namespace armarx::armem::client
{
- MemoryReader::MemoryReader(ReadingInterfacePrx memory) : memory(memory)
+ Reader::Reader(ReadingInterfacePrx memory) : memory(memory)
{
}
- MemoryPtr MemoryReader::getLatestSnapshots()
+ MemoryPtr Reader::getLatestSnapshots()
{
armem::query::EntityQueryPtr entityQuery = new armem::query::entity::Single();
armem::query::ProviderSegmentQueryPtr providerQuery = new armem::query::provider::All({entityQuery});
@@ -23,7 +23,7 @@ namespace armarx::armem
return queryToCpp(memoryQuery);
}
- MemoryPtr MemoryReader::getAllData()
+ MemoryPtr Reader::getAllData()
{
armem::query::EntityQueryPtr entityQuery = new armem::query::entity::All();
armem::query::ProviderSegmentQueryPtr providerQuery = new armem::query::provider::All({entityQuery});
@@ -33,12 +33,12 @@ namespace armarx::armem
return queryToCpp(memoryQuery);
}
- data::MemoryPtr MemoryReader::query(query::MemoryQueryPtr query)
+ data::MemoryPtr Reader::query(query::MemoryQueryPtr query)
{
return this->query(query::MemoryQuerySeq{query});
}
- data::MemoryPtr MemoryReader::query(query::MemoryQuerySeq queries)
+ data::MemoryPtr Reader::query(query::MemoryQuerySeq queries)
{
try
{
@@ -59,14 +59,44 @@ namespace armarx::armem
return nullptr;
}
- MemoryPtr MemoryReader::queryToCpp(query::MemoryQueryPtr query)
+ MemoryPtr Reader::queryToCpp(query::MemoryQueryPtr query)
{
return armem::fromIce<armem::MemoryPtr>(this->query(query));
}
- MemoryPtr MemoryReader::queryToCpp(query::MemoryQuerySeq queries)
+ MemoryPtr Reader::queryToCpp(query::MemoryQuerySeq queries)
{
return armem::fromIce<armem::MemoryPtr>(this->query(queries));
}
+
+ void
+ Reader::updated(const std::vector<MemoryID>& updatedSnapshotIDs)
+ {
+ for (const auto& [subscription, callback] : callbacks)
+ {
+ std::vector<MemoryID> matchingSnapshotIDs;
+
+ for (const MemoryID& updatedSnapshotID : updatedSnapshotIDs)
+ {
+ if (contains(subscription, updatedSnapshotID))
+ {
+ matchingSnapshotIDs.push_back(updatedSnapshotID);
+ }
+ }
+
+ if (not matchingSnapshotIDs.empty())
+ {
+ callback(subscription, matchingSnapshotIDs);
+ }
+ }
+ }
+
+
+ void
+ Reader::subscribe(const MemoryID& id, callback callback)
+ {
+ callbacks[id] = callback;
+ }
+
}
diff --git a/source/RobotAPI/libraries/armem/client/MemoryReader.h b/source/RobotAPI/libraries/armem/client/Reader.h
similarity index 59%
rename from source/RobotAPI/libraries/armem/client/MemoryReader.h
rename to source/RobotAPI/libraries/armem/client/Reader.h
index 240c2a3ef188848b49ac18a4df195bb8722fdc86..3ab4b5e4500ceeff464c3fb66a83b360852a0eb9 100644
--- a/source/RobotAPI/libraries/armem/client/MemoryReader.h
+++ b/source/RobotAPI/libraries/armem/client/Reader.h
@@ -1,26 +1,36 @@
#pragma once
-#include <RobotAPI/interface/armem/ReadingInterface.h>
+// STD/STL
+#include <functional>
+#include <unordered_map>
+#include <vector>
+
+// RobotAPI
+#include <RobotAPI/interface/armem/ReadingInterface.h>
+#include <RobotAPI/interface/armem/MemoryListenerInterface.h>
#include <RobotAPI/libraries/armem/core/ice_conversions.h>
#include <RobotAPI/libraries/armem/memory/Memory.h>
-namespace armarx::armem
+namespace armarx::armem::client
{
/**
* @brief Helps sending data to a memory.
*/
- class MemoryReader
+ class Reader
{
+
+ using callback = std::function<void(const MemoryID& subscriptionID, const std::vector<MemoryID>& updatedSnapshotIDs)>;
+
public:
/**
* @brief Construct a memory reader.
* @param memory The memory proxy.
*/
- MemoryReader(ReadingInterfacePrx memory = nullptr);
+ Reader(ReadingInterfacePrx memory = nullptr);
MemoryPtr getLatestSnapshots();
@@ -32,17 +42,21 @@ namespace armarx::armem
MemoryPtr queryToCpp(query::MemoryQueryPtr query);
MemoryPtr queryToCpp(query::MemoryQuerySeq queries);
+ void updated(const std::vector<MemoryID>& updatedIDs);
+ void subscribe(const MemoryID& entityID, callback callback);
operator bool() const
{
return bool(memory);
}
-
public:
ReadingInterfacePrx memory;
+ private:
+
+ std::unordered_map<MemoryID, callback> callbacks;
};
diff --git a/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.cpp b/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..ed1fc7b8735d2e36ffc2b05d846c0a45754cb80c
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.cpp
@@ -0,0 +1,43 @@
+#include <RobotAPI/libraries/armem/client/ReaderComponentPlugin.h>
+
+
+// ArmarX
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+// RobotAPI
+#include <RobotAPI/libraries/armem/error.h>
+
+
+armarx::armem::client::ReaderComponentPlugin::~ReaderComponentPlugin()
+{
+ // pass
+}
+
+
+void
+armarx::armem::client::ReaderComponentPlugin::postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties)
+{
+ MemoryNameSystemClientPlugin::postCreatePropertyDefinitions(properties);
+ properties->topic<MemoryListenerInterface>("MemoryUpdates");
+}
+
+
+armarx::armem::client::ReaderComponentPluginUser::ReaderComponentPluginUser()
+{
+ addPlugin(plugin);
+}
+
+
+armarx::armem::client::ReaderComponentPluginUser::~ReaderComponentPluginUser()
+{
+ // pass
+}
+
+
+void
+armarx::armem::client::ReaderComponentPluginUser::memoryUpdated(const std::vector<data::MemoryID>& updatedIDsIce, const Ice::Current& current)
+{
+ std::vector<MemoryID> updatedIDs;
+ fromIce(updatedIDsIce, updatedIDs);
+ memoryReader.updated(updatedIDs);
+}
diff --git a/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.h b/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.h
new file mode 100644
index 0000000000000000000000000000000000000000..20680ab189fba0dadf1f849ed1036f3fad1aa693
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.h
@@ -0,0 +1,58 @@
+#pragma once
+
+
+// STD/STL
+#include <vector>
+
+// ArmarX
+#include <ArmarXCore/core/Component.h>
+
+// RobotAPI
+#include <RobotAPI/interface/armem/MemoryInterface.h>
+#include <RobotAPI/interface/armem/MemoryListenerInterface.h>
+#include <RobotAPI/interface/armem/MemoryNameSystemInterface.h>
+#include <RobotAPI/libraries/armem/client/Reader.h>
+#include <RobotAPI/libraries/armem/mns/MemoryNameSystemClientPlugin.h>
+
+
+namespace armarx::armem::client
+{
+
+ class ReaderComponentPlugin :
+ public plugins::MemoryNameSystemClientPlugin
+ {
+
+ public:
+
+ using plugins::MemoryNameSystemClientPlugin::MemoryNameSystemClientPlugin;
+ ~ReaderComponentPlugin() override;
+
+ void postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties) override;
+
+ };
+
+
+ class ReaderComponentPluginUser :
+ virtual public ManagedIceObject,
+ virtual public plugins::MemoryNameSystemClientPluginUser,
+ virtual public MemoryListenerInterface
+ {
+
+ public:
+
+ ReaderComponentPluginUser();
+ ~ReaderComponentPluginUser() override;
+
+ void memoryUpdated(const std::vector<data::MemoryID>& updatedIDs, const Ice::Current& current) override;
+
+ protected:
+
+ Reader memoryReader;
+
+ private:
+
+ ReaderComponentPlugin* plugin = nullptr;
+
+ };
+
+}
diff --git a/source/RobotAPI/libraries/armem/client/MemoryWriter.cpp b/source/RobotAPI/libraries/armem/client/Writer.cpp
similarity index 77%
rename from source/RobotAPI/libraries/armem/client/MemoryWriter.cpp
rename to source/RobotAPI/libraries/armem/client/Writer.cpp
index 03025a45d82eb0133925fb78958c310901ff3c12..cd6b409f8880c41eee3e7f66a39e88dd08afe0ac 100644
--- a/source/RobotAPI/libraries/armem/client/MemoryWriter.cpp
+++ b/source/RobotAPI/libraries/armem/client/Writer.cpp
@@ -1,18 +1,18 @@
-#include "MemoryWriter.h"
+#include "Writer.h"
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include "../error.h"
-namespace armarx::armem
+namespace armarx::armem::client
{
- MemoryWriter::MemoryWriter(WritingInterfacePrx memory) : memory(memory)
+ Writer::Writer(WritingInterfacePrx memory) : memory(memory)
{
}
- data::AddSegmentResult MemoryWriter::addSegment(const std::string& coreSegmentName, const std::string& providerSegmentName)
+ data::AddSegmentResult Writer::addSegment(const std::string& coreSegmentName, const std::string& providerSegmentName)
{
data::AddSegmentInput input;
input.coreSegmentName = coreSegmentName;
@@ -20,14 +20,14 @@ namespace armarx::armem
return addSegment(input);
}
- data::AddSegmentResult MemoryWriter::addSegment(const data::AddSegmentInput& input)
+ data::AddSegmentResult Writer::addSegment(const data::AddSegmentInput& input)
{
data::AddSegmentsResult results = addSegments({input});
ARMARX_CHECK_EQUAL(results.size(), 1);
return results.at(0);
}
- data::AddSegmentsResult MemoryWriter::addSegments(const data::AddSegmentsInput& inputs)
+ data::AddSegmentsResult Writer::addSegments(const data::AddSegmentsInput& inputs)
{
ARMARX_CHECK_NOT_NULL(memory);
data::AddSegmentsResult results = memory->addSegments(inputs);
@@ -36,7 +36,7 @@ namespace armarx::armem
}
- CommitResult MemoryWriter::commit(Commit commit)
+ CommitResult Writer::commit(Commit commit)
{
ARMARX_CHECK_NOT_NULL(memory);
@@ -74,7 +74,7 @@ namespace armarx::armem
}
- EntityUpdateResult MemoryWriter::commit(const EntityUpdate& update)
+ EntityUpdateResult Writer::commit(const EntityUpdate& update)
{
armem::Commit commit;
commit.updates.push_back(update);
diff --git a/source/RobotAPI/libraries/armem/client/MemoryWriter.h b/source/RobotAPI/libraries/armem/client/Writer.h
similarity index 88%
rename from source/RobotAPI/libraries/armem/client/MemoryWriter.h
rename to source/RobotAPI/libraries/armem/client/Writer.h
index eda2d506edc67fd121e42f79b890b53e8ce7a780..e7c7d67c17e63ae2f801eb99053391aba5ce5b87 100644
--- a/source/RobotAPI/libraries/armem/client/MemoryWriter.h
+++ b/source/RobotAPI/libraries/armem/client/Writer.h
@@ -5,13 +5,13 @@
#include <RobotAPI/libraries/armem/core/ice_conversions.h>
-namespace armarx::armem
+namespace armarx::armem::client
{
/**
* @brief Helps sending data to a memory.
*/
- class MemoryWriter
+ class Writer
{
public:
@@ -19,7 +19,7 @@ namespace armarx::armem
* @brief Construct a memory writer.
* @param memory The memory proxy.
*/
- MemoryWriter(WritingInterfacePrx memory = nullptr);
+ Writer(WritingInterfacePrx memory = nullptr);
data::AddSegmentResult addSegment(const std::string& coreSegmentName, const std::string& providerSegmentName);
diff --git a/source/RobotAPI/libraries/armem/client/WriterComponentPlugin.cpp b/source/RobotAPI/libraries/armem/client/WriterComponentPlugin.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..7b8780f32a5aa9ddf61dbf69d5d2ba7d83fb86f3
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/client/WriterComponentPlugin.cpp
@@ -0,0 +1,26 @@
+#include <RobotAPI/libraries/armem/client/WriterComponentPlugin.h>
+
+
+// ArmarX
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+// RobotAPI
+#include <RobotAPI/libraries/armem/error.h>
+
+
+armarx::armem::client::WriterComponentPlugin::~WriterComponentPlugin()
+{
+ // pass
+}
+
+
+armarx::armem::client::WriterComponentPluginUser::WriterComponentPluginUser()
+{
+ addPlugin(plugin);
+}
+
+
+armarx::armem::client::WriterComponentPluginUser::~WriterComponentPluginUser()
+{
+ // pass
+}
diff --git a/source/RobotAPI/libraries/armem/client/WriterComponentPlugin.h b/source/RobotAPI/libraries/armem/client/WriterComponentPlugin.h
new file mode 100644
index 0000000000000000000000000000000000000000..ea8136d9793b4999d57d382ea616c0fb6c4ed967
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/client/WriterComponentPlugin.h
@@ -0,0 +1,49 @@
+#pragma once
+
+
+// ArmarX
+#include <ArmarXCore/core/Component.h>
+
+// RobotAPI
+#include <RobotAPI/interface/armem/MemoryInterface.h>
+#include <RobotAPI/interface/armem/MemoryNameSystemInterface.h>
+#include <RobotAPI/libraries/armem/client/Writer.h>
+#include <RobotAPI/libraries/armem/mns/MemoryNameSystemClientPlugin.h>
+
+
+namespace armarx::armem::client
+{
+
+ class WriterComponentPlugin :
+ public plugins::MemoryNameSystemClientPlugin
+ {
+
+ public:
+
+ using plugins::MemoryNameSystemClientPlugin::MemoryNameSystemClientPlugin;
+ ~WriterComponentPlugin() override;
+
+ };
+
+
+ class WriterComponentPluginUser :
+ virtual public ManagedIceObject,
+ virtual public plugins::MemoryNameSystemClientPluginUser
+ {
+
+ public:
+
+ WriterComponentPluginUser();
+ ~WriterComponentPluginUser() override;
+
+ protected:
+
+ Writer memoryWriter;
+
+ private:
+
+ WriterComponentPlugin* plugin = nullptr;
+
+ };
+
+}
diff --git a/source/RobotAPI/libraries/armem/component/IceMemory.cpp b/source/RobotAPI/libraries/armem/component/IceMemory.cpp
index 4380907087f231a8e102379872d2b41bd1c157de..870a8304da8b4e521a192b9de6f640d73a495a27 100644
--- a/source/RobotAPI/libraries/armem/component/IceMemory.cpp
+++ b/source/RobotAPI/libraries/armem/component/IceMemory.cpp
@@ -15,6 +15,12 @@ namespace armarx::armem
}
+ void IceMemory::setMemoryListener(MemoryListenerInterfacePrx memoryListener)
+ {
+ this->memoryListener = memoryListener;
+ }
+
+
// WRITING
armem::data::AddSegmentResult IceMemory::addSegment(const armem::data::AddSegmentInput& input, bool addCoreSegments)
@@ -107,6 +113,9 @@ namespace armarx::armem
armem::CommitResult IceMemory::commit(const armem::InternalCommit& commit)
{
+ std::vector<data::MemoryID> updatedIDs;
+ const bool publishUpdates = memoryListener;
+
armem::CommitResult commitResult;
for (const auto& update : commit.updates)
{
@@ -118,6 +127,12 @@ namespace armarx::armem
result.success = true;
result.snapshotID = snapshotID;
result.timeArrived = update.timeArrived;
+
+ if (publishUpdates)
+ {
+ data::MemoryID& id = updatedIDs.emplace_back();
+ armem::toIce(id, snapshotID);
+ }
}
catch (const armem::error::ArMemError& e)
{
@@ -125,6 +140,12 @@ namespace armarx::armem
result.errorMessage = e.what();
}
}
+
+ if (publishUpdates)
+ {
+ memoryListener->memoryUpdated(updatedIDs);
+ }
+
return commitResult;
}
diff --git a/source/RobotAPI/libraries/armem/component/IceMemory.h b/source/RobotAPI/libraries/armem/component/IceMemory.h
index 4f3cf09b3f07fdaa80c0d1d445e2e39b8ac0a195..0ffcd932be4018a3513ed29d071a61a84a6a5df6 100644
--- a/source/RobotAPI/libraries/armem/component/IceMemory.h
+++ b/source/RobotAPI/libraries/armem/component/IceMemory.h
@@ -1,6 +1,7 @@
#pragma once
#include <RobotAPI/interface/armem/MemoryInterface.h>
+#include <RobotAPI/interface/armem/MemoryListenerInterface.h>
#include "../memory/Memory.h"
@@ -22,6 +23,8 @@ namespace armarx::armem
/// Construct an IceMemory from an existing Memory.
IceMemory(Memory* memory = nullptr);
+ void setMemoryListener(MemoryListenerInterfacePrx memoryListener);
+
// WRITING
@@ -46,6 +49,8 @@ namespace armarx::armem
Memory* memory;
+ MemoryListenerInterfacePrx memoryListener;
+
};
diff --git a/source/RobotAPI/libraries/armem/component/MemoryComponentPlugin.cpp b/source/RobotAPI/libraries/armem/component/MemoryComponentPlugin.cpp
index 7fbebbfbf79b92d552b8ccb07546abf67b92d16d..ac3f912bdac7c48d60c0b66580f5a4f763fac1af 100644
--- a/source/RobotAPI/libraries/armem/component/MemoryComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/armem/component/MemoryComponentPlugin.cpp
@@ -13,6 +13,14 @@ namespace armarx::armem::plugins
MemoryComponentPlugin::~MemoryComponentPlugin()
{}
+
+ void MemoryComponentPlugin::postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties)
+ {
+ MemoryNameSystemClientPlugin::postCreatePropertyDefinitions(properties);
+ properties->topic(memoryListener, "MemoryUpdates");
+ }
+
+
void MemoryComponentPlugin::postOnConnectComponent()
{
MemoryComponentPluginUser& parent = this->parent<MemoryComponentPluginUser>();
@@ -20,6 +28,7 @@ namespace armarx::armem::plugins
{
registerMemory(parent);
}
+ parent.iceMemory.setMemoryListener(memoryListener);
}
diff --git a/source/RobotAPI/libraries/armem/component/MemoryComponentPlugin.h b/source/RobotAPI/libraries/armem/component/MemoryComponentPlugin.h
index a1e0bd423dff46d6ae9914917d85013bd7a01c7e..5f59d7563d77a4821798d9cf6d337c40d8edb22b 100644
--- a/source/RobotAPI/libraries/armem/component/MemoryComponentPlugin.h
+++ b/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 +29,7 @@ namespace armarx::armem::plugins
using MemoryNameSystemClientPlugin::MemoryNameSystemClientPlugin;
virtual ~MemoryComponentPlugin() override;
+ void postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties) override;
void postOnConnectComponent() override;
void preOnDisconnectComponent() override;
@@ -44,6 +46,7 @@ namespace armarx::armem::plugins
*/
data::RemoveMemoryResult removeMemory(MemoryComponentPluginUser& parent);
+ MemoryListenerInterfacePrx memoryListener;
};
}
diff --git a/source/RobotAPI/libraries/armem/core/MemoryID.cpp b/source/RobotAPI/libraries/armem/core/MemoryID.cpp
index dfb8d98b6f66743353cfaa590662758d056b9b92..493a7fb2ca5df6a6761a575e2ba1d83b0b09e032 100644
--- a/source/RobotAPI/libraries/armem/core/MemoryID.cpp
+++ b/source/RobotAPI/libraries/armem/core/MemoryID.cpp
@@ -54,6 +54,7 @@ namespace armarx::armem
this->instanceIndex = instanceIndexFromStr(*it);
}
+
std::string MemoryID::str() const
{
std::vector<std::string> items = getAllItems();
@@ -280,5 +281,64 @@ namespace armarx::armem
}
+ bool
+ contains(const MemoryID& general, const MemoryID& specific)
+ {
+ if (general.memoryName.empty())
+ {
+ return true;
+ }
+ else if (general.memoryName != specific.memoryName)
+ {
+ return false;
+ }
+
+ if (general.coreSegmentName.empty())
+ {
+ return true;
+ }
+ else if (general.coreSegmentName != specific.coreSegmentName)
+ {
+ return false;
+ }
+
+ if (general.providerSegmentName.empty())
+ {
+ return true;
+ }
+ else if (general.providerSegmentName != specific.providerSegmentName)
+ {
+ return false;
+ }
+
+ if (general.entityName.empty())
+ {
+ return true;
+ }
+ else if (general.entityName != specific.entityName)
+ {
+ return false;
+ }
+
+ if (general.timestamp.toMicroSeconds() < 0)
+ {
+ return true;
+ }
+ else if (general.timestamp != specific.timestamp)
+ {
+ return false;
+ }
+
+ if (general.instanceIndex < 0)
+ {
+ return true;
+ }
+ else if (general.instanceIndex != specific.instanceIndex)
+ {
+ return false;
+ }
+
+ return true;
+ }
}
diff --git a/source/RobotAPI/libraries/armem/core/MemoryID.h b/source/RobotAPI/libraries/armem/core/MemoryID.h
index d21981f570c64dc21a8e5b16aa35251857cbfe5b..95b2637caa61c5ca375dbb124f31ded2acc3984f 100644
--- a/source/RobotAPI/libraries/armem/core/MemoryID.h
+++ b/source/RobotAPI/libraries/armem/core/MemoryID.h
@@ -115,6 +115,15 @@ namespace armarx::armem
friend std::ostream& operator<<(std::ostream& os, const MemoryID id);
+ bool operator== (const MemoryID& other) const
+ {
+ return memoryName == other.memoryName
+ and coreSegmentName == other.coreSegmentName
+ and providerSegmentName == other.providerSegmentName
+ and entityName == other.entityName
+ and timestamp == other.timestamp
+ and instanceIndex == other.instanceIndex;
+ }
private:
@@ -122,4 +131,25 @@ namespace armarx::armem
};
+
+ bool
+ contains(const MemoryID& general, const MemoryID& specific);
+
}
+
+
+namespace std
+{
+
+ template <>
+ struct hash<armarx::armem::MemoryID>
+ {
+ std::size_t operator()(const armarx::armem::MemoryID& id) const
+ {
+ const std::string sid = id.str();
+ return std::hash<string>()(sid);
+ }
+ };
+
+}
+
diff --git a/source/RobotAPI/libraries/armem/test/ArMemMemoryIDTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemMemoryIDTest.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..d811c053ba4c57864030eaa8b0d5a7485a6df58c
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/test/ArMemMemoryIDTest.cpp
@@ -0,0 +1,54 @@
+/*
+ * 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/>.
+ *
+ * @package RobotAPI::ArmarXObjects::armem
+ * @author Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
+ * @date 2020
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#define BOOST_TEST_MODULE RobotAPI::ArmarXLibraries::armem
+
+#define ARMARX_BOOST_TEST
+
+#include <RobotAPI/Test.h>
+#include "../core/MemoryID.h"
+
+#include <iostream>
+
+
+namespace armem = armarx::armem;
+
+
+BOOST_AUTO_TEST_CASE(test_memoryid_contains)
+{
+ armem::MemoryID general, specific;
+
+ BOOST_CHECK(armem::contains(general, specific));
+
+ general.memoryName = "a";
+ specific.memoryName = "b";
+
+ BOOST_CHECK(not armem::contains(general, specific));
+
+ specific.memoryName = "a";
+
+ BOOST_CHECK(armem::contains(general, specific));
+
+ specific.providerSegmentName = "aa";
+
+ BOOST_CHECK(armem::contains(general, specific));
+}
diff --git a/source/RobotAPI/libraries/armem/test/CMakeLists.txt b/source/RobotAPI/libraries/armem/test/CMakeLists.txt
index 9f5c3197ed6ea94551332b546cabd3d8b44d528c..28ea21d32f23d02a9b27137c5eed663a09c87565 100644
--- a/source/RobotAPI/libraries/armem/test/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem/test/CMakeLists.txt
@@ -3,6 +3,6 @@
SET(LIBS ${LIBS} ArmarXCore ${LIB_NAME})
armarx_add_test(ArMemMemoryTest ArMemMemoryTest.cpp "${LIBS}")
+armarx_add_test(ArMemMemoryIDTest ArMemMemoryIDTest.cpp "${LIBS}")
armarx_add_test(ArMemIceConversionsTest ArMemIceConversionsTest.cpp "${LIBS}")
armarx_add_test(ArMemQueryTest ArMemQueryTest.cpp "${LIBS}")
-