Merge remote-tracking branch 'origin/armem/subscribe' into armem/client-query

# Conflicts:
#	source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.cpp

scenarios/ArMemExample/config/ArMemExampleClient.cfg

@@ -233,6 +233,6 @@ ArmarX.ArMemExampleClient.tpc.sub.MemoryListener = MemoryUpdates
 #  - Case sensitivity:   yes
 #  - Required:           no
 #  - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
-# ArmarX.Verbosity = Info
+ArmarX.Verbosity = Debug
 
 

source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.cpp

@@ -88,7 +88,6 @@ namespace armarx
         }
         ARMARX_CHECK_NOT_NULL(memory);
 
-        armem::MemoryID providerID;
         if (true)
         {
             armem::data::AddSegmentInput input;
@@ -113,9 +112,7 @@ namespace armarx
             providerID = armem::MemoryID::fromString(result.segmentID);
         }
 
-        armem::Writer writer(memory);
-
-        armem::MemoryID entityID = providerID;
+        entityID = providerID;
         entityID.entityName = "example_entity";
 
         // Subscribe to example_entity updates
@@ -124,6 +121,29 @@ namespace armarx
             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::Writer writer(memory);
+
+
         armem::MemoryID snapshotID;
         {
             armem::Commit commit;
@@ -179,15 +199,6 @@ namespace armarx
     }
 
 
-    void ArMemExampleClient::onDisconnectComponent()
-    {
-    }
-
-
-    void ArMemExampleClient::onExitComponent()
-    {
-    }
-
     bool ArMemExampleClient::queryLatestRawIce(const armem::MemoryID& entityID)
     {
         ARMARX_IMPORTANT
@@ -254,7 +265,6 @@ namespace armarx
         {
             ARMARX_ERROR << qResult.errorMessage;
         }
-
         return qResult.success;
     }
 

source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.h

@@ -27,6 +27,7 @@
 // ArmarX
 #include <ArmarXCore/core/Component.h>
 #include <ArmarXCore/interface/observers/ObserverInterface.h>
+#include <ArmarXCore/util/tasks.h>
 #include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
 
 // RobotAPI
@@ -96,9 +97,14 @@ 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);
 
@@ -111,6 +117,8 @@ namespace armarx
 
     private:
 
+        armarx::RunningTask<ArMemExampleClient>::pointer_type task;
+
         armarx::DebugObserverInterfacePrx debugObserver;
 
         std::string memoryName = "Example";

source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.cpp

@@ -37,6 +37,7 @@ armarx::armem::client::ReaderComponentPluginUser::~ReaderComponentPluginUser()
 void
 armarx::armem::client::ReaderComponentPluginUser::memoryUpdated(const std::vector<data::MemoryID>& updatedIDsIce, const Ice::Current& current)
 {
+    ARMARX_ERROR << "Updated memory ";
     std::vector<MemoryID> updatedIDs;
     fromIce(updatedIDsIce, updatedIDs);
     memoryReader.updated(updatedIDs);