diff --git a/source/RobotAPI/libraries/GraspingUtility/GraspCandidateReader.cpp b/source/RobotAPI/libraries/GraspingUtility/GraspCandidateReader.cpp
index 4e14baacb6040f7bf97a4855d3da7e4d252bce03..0eecc8e79de97cb3e164b195dd43cedc57b789cf 100644
--- a/source/RobotAPI/libraries/GraspingUtility/GraspCandidateReader.cpp
+++ b/source/RobotAPI/libraries/GraspingUtility/GraspCandidateReader.cpp
@@ -10,13 +10,12 @@
namespace armarx::armem
{
- GraspCandidateReader::GraspCandidateReader(armem::client::MemoryNameSystem& memoryNameSystem) :
- memoryNameSystem(memoryNameSystem)
+ GraspCandidateReader::GraspCandidateReader()
{
}
void
- GraspCandidateReader::connect(bool use)
+ GraspCandidateReader::connect(armem::client::MemoryNameSystem& memoryNameSystem, bool use)
{
// Wait for the memory to become available and add it as dependency.
ARMARX_IMPORTANT << "GraspCandidateReader: Waiting for memory '" << properties.memoryName
diff --git a/source/RobotAPI/libraries/GraspingUtility/GraspCandidateReader.h b/source/RobotAPI/libraries/GraspingUtility/GraspCandidateReader.h
index 384f5cdb0c1158b714ba8b3038e09f4707dd74bb..4b7bba78baae8c78c7c37fdc77ebdaff8e6fd154 100644
--- a/source/RobotAPI/libraries/GraspingUtility/GraspCandidateReader.h
+++ b/source/RobotAPI/libraries/GraspingUtility/GraspCandidateReader.h
@@ -12,9 +12,9 @@ namespace armarx::armem
class GraspCandidateReader
{
public:
- GraspCandidateReader(armem::client::MemoryNameSystem& memoryNameSystem);
+ GraspCandidateReader();
- void connect(bool use = true);
+ void connect(armem::client::MemoryNameSystem& memoryNameSystem, bool use = true);
::armarx::grasping::GraspCandidatePtr
queryGraspCandidateInstanceByID(armem::MemoryID const& id) const;
@@ -65,8 +65,6 @@ namespace armarx::armem
} properties;
const std::string propertyPrefix = "mem.grasping.";
-
- armem::client::MemoryNameSystem& memoryNameSystem;
};
} // namespace armarx::armem
diff --git a/source/RobotAPI/libraries/GraspingUtility/GraspCandidateWriter.cpp b/source/RobotAPI/libraries/GraspingUtility/GraspCandidateWriter.cpp
index 7aa20ba28af1b49404118cfedb3abd006d784738..1f14e344ee988f984813e2a402903cfb0627b940 100644
--- a/source/RobotAPI/libraries/GraspingUtility/GraspCandidateWriter.cpp
+++ b/source/RobotAPI/libraries/GraspingUtility/GraspCandidateWriter.cpp
@@ -6,16 +6,11 @@
#include <RobotAPI/libraries/GraspingUtility/aron_conversions.h>
#include <RobotAPI/libraries/armem/core/error/mns.h>
-
namespace armarx::armem
{
- GraspCandidateWriter::GraspCandidateWriter(armem::client::MemoryNameSystem& memoryNameSystem)
- : memoryNameSystem(memoryNameSystem)
- {
- }
-
- void GraspCandidateWriter::connect()
+ void
+ GraspCandidateWriter::connect(armem::client::MemoryNameSystem& memoryNameSystem)
{
// Wait for the memory to become available and add it as dependency.
ARMARX_IMPORTANT << "GraspCandidateWriter: Waiting for memory '" << properties.memoryName
@@ -23,33 +18,37 @@ namespace armarx::armem
try
{
memoryWriter = memoryNameSystem.useWriter(properties.memoryName);
- ARMARX_IMPORTANT << "GraspCandidateWriter: Connected to memory '" << properties.memoryName << "'";
+ ARMARX_IMPORTANT << "GraspCandidateWriter: Connected to memory '"
+ << properties.memoryName << "'";
}
catch (const armem::error::CouldNotResolveMemoryServer& e)
{
ARMARX_ERROR << e.what();
return;
}
-
}
- void GraspCandidateWriter::registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def)
+ void
+ GraspCandidateWriter::registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def)
{
ARMARX_DEBUG << "GraspCandidateWriter: registerPropertyDefinitions";
const std::string prefix = propertyPrefix;
- def->optional(properties.graspMemoryName, prefix + "GraspMemoryName",
+ def->optional(properties.graspMemoryName,
+ prefix + "GraspMemoryName",
"Name of the grasping memory core segment to use.");
- def->optional(properties.bimanualGraspMemoryName, prefix + "BimanualGraspMemoryName",
+ def->optional(properties.bimanualGraspMemoryName,
+ prefix + "BimanualGraspMemoryName",
"Name of the bimanual grasping memory core segment to use.");
def->optional(properties.memoryName, prefix + "MemoryName");
-
}
- bool GraspCandidateWriter::commitGraspCandidate(const armarx::grasping::GraspCandidate& candidate,
- const armem::Time& timestamp, const std::string& provider)
+ bool
+ GraspCandidateWriter::commitGraspCandidate(const armarx::grasping::GraspCandidate& candidate,
+ const armem::Time& timestamp,
+ const std::string& provider)
{
armarx::grasping::arondto::GraspCandidate aronGraspCandidate;
std::string objectName = "UnknownObject";
@@ -65,8 +64,11 @@ namespace armarx::armem
return commitToMemory({dict}, provider, objectName, timestamp, properties.graspMemoryName);
}
- bool GraspCandidateWriter::commitBimanualGraspCandidate(const armarx::grasping::BimanualGraspCandidate& candidate,
- const armem::Time& timestamp, const std::string& provider)
+ bool
+ GraspCandidateWriter::commitBimanualGraspCandidate(
+ const armarx::grasping::BimanualGraspCandidate& candidate,
+ const armem::Time& timestamp,
+ const std::string& provider)
{
armarx::grasping::arondto::BimanualGraspCandidate aronGraspCandidate;
@@ -80,11 +82,15 @@ namespace armarx::armem
auto dict = aronGraspCandidate.toAron();
- return commitToMemory({dict}, provider, objectName, timestamp, properties.bimanualGraspMemoryName);
+ return commitToMemory(
+ {dict}, provider, objectName, timestamp, properties.bimanualGraspMemoryName);
}
- bool GraspCandidateWriter::commitGraspCandidateSeq(const armarx::grasping::GraspCandidateSeq& candidates,
- const armem::Time& timestamp, const std::string& provider)
+ bool
+ GraspCandidateWriter::commitGraspCandidateSeq(
+ const armarx::grasping::GraspCandidateSeq& candidates,
+ const armem::Time& timestamp,
+ const std::string& provider)
{
bool success = true;
@@ -107,7 +113,7 @@ namespace armarx::armem
for (const auto& [key, dict] : updates)
{
- if (! commitToMemory(dict, provider, key, timestamp, properties.graspMemoryName))
+ if (!commitToMemory(dict, provider, key, timestamp, properties.graspMemoryName))
{
success = false;
}
@@ -115,8 +121,10 @@ namespace armarx::armem
return success;
}
- bool GraspCandidateWriter::commitBimanualGraspCandidateSeq(
- const armarx::grasping::BimanualGraspCandidateSeq& candidates, const armem::Time& timestamp,
+ bool
+ GraspCandidateWriter::commitBimanualGraspCandidateSeq(
+ const armarx::grasping::BimanualGraspCandidateSeq& candidates,
+ const armem::Time& timestamp,
const std::string& provider)
{
bool success = true;
@@ -138,7 +146,7 @@ namespace armarx::armem
for (const auto& [key, dict] : updates)
{
- if (! commitToMemory(dict, provider, key, timestamp, properties.bimanualGraspMemoryName))
+ if (!commitToMemory(dict, provider, key, timestamp, properties.bimanualGraspMemoryName))
{
success = false;
}
@@ -146,14 +154,16 @@ namespace armarx::armem
return success;
}
- bool GraspCandidateWriter::commitToMemory(const std::vector<armarx::aron::data::DictPtr>& instances,
- const std::string& providerName, const std::string& entityName, const armem::Time& timestamp,
- const std::string& coreMemoryName)
+ bool
+ GraspCandidateWriter::commitToMemory(const std::vector<armarx::aron::data::DictPtr>& instances,
+ const std::string& providerName,
+ const std::string& entityName,
+ const armem::Time& timestamp,
+ const std::string& coreMemoryName)
{
std::lock_guard g{memoryWriterMutex};
- const auto result =
- memoryWriter.addSegment(coreMemoryName, providerName);
+ const auto result = memoryWriter.addSegment(coreMemoryName, providerName);
if (not result.success)
{
@@ -164,8 +174,7 @@ namespace armarx::armem
}
const auto providerId = armem::MemoryID(result.segmentID);
- const auto entityID =
- providerId.withEntityName(entityName).withTimestamp(timestamp);
+ const auto entityID = providerId.withEntityName(entityName).withTimestamp(timestamp);
armem::EntityUpdate update;
update.entityID = entityID;
@@ -184,4 +193,4 @@ namespace armarx::armem
return updateResult.success;
}
-}
+} // namespace armarx::armem
diff --git a/source/RobotAPI/libraries/GraspingUtility/GraspCandidateWriter.h b/source/RobotAPI/libraries/GraspingUtility/GraspCandidateWriter.h
index 88793cb534cb18af0fefddcd72be4215eaa70e2b..9b823a6356238b6c4131fdf1437df88fb98a3fb7 100644
--- a/source/RobotAPI/libraries/GraspingUtility/GraspCandidateWriter.h
+++ b/source/RobotAPI/libraries/GraspingUtility/GraspCandidateWriter.h
@@ -1,58 +1,60 @@
#pragma once
-#include <RobotAPI/libraries/armem/client/Writer.h>
-#include <RobotAPI/libraries/armem/client.h>
#include <mutex>
-#include <RobotAPI/interface/units/GraspCandidateProviderInterface.h>
#include <ArmarXCore/core/application/properties/forward_declarations.h>
+#include <RobotAPI/interface/units/GraspCandidateProviderInterface.h>
+#include <RobotAPI/libraries/armem/client.h>
+#include <RobotAPI/libraries/armem/client/Writer.h>
+
namespace armarx::armem
{
class GraspCandidateWriter
{
public:
- GraspCandidateWriter(armem::client::MemoryNameSystem& memoryNameSystem);
+ GraspCandidateWriter();
- void connect();
+ void connect(armem::client::MemoryNameSystem& memoryNameSystem);
void registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def);
bool commitGraspCandidate(const armarx::grasping::GraspCandidate& candidate,
- const armem::Time& timestamp, const std::string& provider);
+ const armem::Time& timestamp,
+ const std::string& provider);
bool commitBimanualGraspCandidate(const armarx::grasping::BimanualGraspCandidate& candidate,
- const armem::Time& timestamp, const std::string& provider);
+ const armem::Time& timestamp,
+ const std::string& provider);
bool commitGraspCandidateSeq(const armarx::grasping::GraspCandidateSeq& candidates,
- const armem::Time& timestamp, const std::string& provider);
- bool commitBimanualGraspCandidateSeq(const armarx::grasping::BimanualGraspCandidateSeq& candidates,
- const armem::Time& timestamp, const std::string& provider);
-
+ const armem::Time& timestamp,
+ const std::string& provider);
+ bool commitBimanualGraspCandidateSeq(
+ const armarx::grasping::BimanualGraspCandidateSeq& candidates,
+ const armem::Time& timestamp,
+ const std::string& provider);
private:
-
bool commitToMemory(const std::vector<armarx::aron::data::DictPtr>& instances,
- const std::string& providerName, const std::string& entityName, const armem::Time& timestamp,
+ const std::string& providerName,
+ const std::string& entityName,
+ const armem::Time& timestamp,
const std::string& coreMemoryName);
- armem::client::MemoryNameSystem& memoryNameSystem;
-
armem::client::Writer memoryWriter;
struct Properties
{
- std::string memoryName = "Grasp";
- std::string graspMemoryName = "GraspCandidate";
+ std::string memoryName = "Grasp";
+ std::string graspMemoryName = "GraspCandidate";
std::string bimanualGraspMemoryName = "BimanualGraspCandidate";
} properties;
-
std::mutex memoryWriterMutex;
const std::string propertyPrefix = "mem.grasping.";
-
};
-}
+} // namespace armarx::armem
diff --git a/source/RobotAPI/libraries/armem/client/util/SimpleReaderBase.cpp b/source/RobotAPI/libraries/armem/client/util/SimpleReaderBase.cpp
index 856bc217146eb651770fc192dd9ce8a03ebcdf3c..e14ce8848fd1fe8242d681770563bf9cddefd7cd 100644
--- a/source/RobotAPI/libraries/armem/client/util/SimpleReaderBase.cpp
+++ b/source/RobotAPI/libraries/armem/client/util/SimpleReaderBase.cpp
@@ -6,8 +6,7 @@
namespace armarx::armem::client::util
{
- SimpleReaderBase::SimpleReaderBase(MemoryNameSystem& memoryNameSystem) :
- memoryNameSystem(memoryNameSystem)
+ SimpleReaderBase::SimpleReaderBase()
{
}
@@ -25,14 +24,13 @@ namespace armarx::armem::client::util
}
void
- SimpleReaderBase::connect()
+ SimpleReaderBase::connect(armarx::armem::client::MemoryNameSystem& mns)
{
// Wait for the memory to become available and add it as dependency.
ARMARX_IMPORTANT << "SimpleReaderBase: Waiting for memory '" << props.memoryName << "' ...";
try
{
- memoryReaderClient =
- memoryNameSystem.useReader(MemoryID().withMemoryName(props.memoryName));
+ memoryReaderClient = mns.useReader(MemoryID().withMemoryName(props.memoryName));
ARMARX_IMPORTANT << "SimpleReaderBase: Connected to memory '" << props.memoryName
<< "'";
}
diff --git a/source/RobotAPI/libraries/armem/client/util/SimpleReaderBase.h b/source/RobotAPI/libraries/armem/client/util/SimpleReaderBase.h
index 45b26e7c9e8c4dd124b762d297d2fb0dca29a317..2b637193765215b81519c55397bcc51a7436041b 100644
--- a/source/RobotAPI/libraries/armem/client/util/SimpleReaderBase.h
+++ b/source/RobotAPI/libraries/armem/client/util/SimpleReaderBase.h
@@ -27,7 +27,6 @@
#include <RobotAPI/libraries/armem/client/Reader.h>
-
namespace armarx::armem::client
{
class MemoryNameSystem;
@@ -43,40 +42,36 @@ namespace armarx::armem::client::util
// Properties
struct Properties
{
- std::string memoryName = "";
- std::string coreSegmentName = "";
+ std::string memoryName = "";
+ std::string coreSegmentName = "";
};
- SimpleReaderBase(MemoryNameSystem& memoryNameSystem);
+ SimpleReaderBase();
virtual ~SimpleReaderBase() = default;
void registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def);
- virtual void connect();
+ virtual void connect(armarx::armem::client::MemoryNameSystem& mns);
const Properties& properties() const;
- void setProperties(const Properties& p)
+
+ void
+ setProperties(const Properties& p)
{
- props = p;
+ props = p;
}
protected:
-
- virtual std::string propertyPrefix() const = 0;
+ virtual std::string propertyPrefix() const = 0;
virtual Properties defaultProperties() const = 0;
std::mutex& memoryReaderMutex();
const armem::client::Reader& memoryReader() const;
-
- MemoryNameSystem& memoryNameSystem;
-
private:
-
Properties props;
armem::client::Reader memoryReaderClient;
std::mutex memoryMutex;
-
};
} // namespace armarx::armem::client::util
diff --git a/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.cpp b/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.cpp
index 9e27df2c2ef5d7af53529502489085e4f43c231d..e5d468c552d96d70d3ef4ae92196cdb714f39163 100644
--- a/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.cpp
+++ b/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.cpp
@@ -1,17 +1,14 @@
#include "SimpleWriterBase.h"
-#include <RobotAPI/libraries/armem/core/error.h>
#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
-
+#include <RobotAPI/libraries/armem/core/error.h>
namespace armarx::armem::client::util
{
- SimpleWriterBase::SimpleWriterBase(MemoryNameSystem& memoryNameSystem) :
- memoryNameSystem(memoryNameSystem)
+ SimpleWriterBase::SimpleWriterBase()
{
}
-
void
SimpleWriterBase::registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def)
{
@@ -26,21 +23,19 @@ namespace armarx::armem::client::util
// TODO(fabian.reister): this might also be part of the subclass
// if the provider name has to be derived from e.g. the component name
- def->optional(props.providerName,
- prefix + "Provider",
- "Name of this provider");
+ def->optional(props.providerName, prefix + "Provider", "Name of this provider");
}
-
- void SimpleWriterBase::connect()
+ void
+ SimpleWriterBase::connect(armarx::armem::client::MemoryNameSystem& mns)
{
// Wait for the memory to become available and add it as dependency.
- ARMARX_IMPORTANT << "SimpleWriterBase: Waiting for memory '"
- << props.memoryName << "' ...";
+ ARMARX_IMPORTANT << "SimpleWriterBase: Waiting for memory '" << props.memoryName << "' ...";
try
{
- memoryWriterClient = memoryNameSystem.useWriter(MemoryID().withMemoryName(props.memoryName));
- ARMARX_IMPORTANT << "SimpleWriterBase: Connected to memory '" << props.memoryName << "'";
+ memoryWriterClient = mns.useWriter(MemoryID().withMemoryName(props.memoryName));
+ ARMARX_IMPORTANT << "SimpleWriterBase: Connected to memory '" << props.memoryName
+ << "'";
}
catch (const armem::error::CouldNotResolveMemoryServer& e)
{
@@ -49,20 +44,20 @@ namespace armarx::armem::client::util
}
}
-
- std::mutex& SimpleWriterBase::memoryWriterMutex()
+ std::mutex&
+ SimpleWriterBase::memoryWriterMutex()
{
return memoryMutex;
}
-
- armem::client::Writer& SimpleWriterBase::memoryWriter()
+ armem::client::Writer&
+ SimpleWriterBase::memoryWriter()
{
return memoryWriterClient;
}
-
- const SimpleWriterBase::Properties& SimpleWriterBase::properties() const
+ const SimpleWriterBase::Properties&
+ SimpleWriterBase::properties() const
{
return props;
}
diff --git a/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.h b/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.h
index 1413299a3081f36dfaa83cce425c50994e7018c2..13a54cc5b213a90e1949f73c1b11de716c0593cc 100644
--- a/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.h
+++ b/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.h
@@ -27,7 +27,6 @@
#include <RobotAPI/libraries/armem/client/Writer.h>
-
namespace armarx::armem::client
{
class MemoryNameSystem;
@@ -39,26 +38,24 @@ namespace armarx::armem::client::util
class SimpleWriterBase
{
public:
-
- SimpleWriterBase(MemoryNameSystem& memoryNameSystem);
+ SimpleWriterBase();
virtual ~SimpleWriterBase() = default;
void registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def);
- void connect();
+ void connect(armarx::armem::client::MemoryNameSystem& mns);
protected:
-
struct Properties
{
- std::string memoryName = "";
+ std::string memoryName = "";
std::string coreSegmentName = "";
- std::string providerName = ""; // required property
+ std::string providerName = ""; // required property
};
const Properties& properties() const;
- virtual std::string propertyPrefix() const = 0;
+ virtual std::string propertyPrefix() const = 0;
virtual Properties defaultProperties() const = 0;
std::mutex& memoryWriterMutex();
@@ -66,14 +63,10 @@ namespace armarx::armem::client::util
private:
-
Properties props;
armem::client::Writer memoryWriterClient;
std::mutex memoryMutex;
-
- MemoryNameSystem& memoryNameSystem;
-
};
} // namespace armarx::armem::client::util
diff --git a/source/RobotAPI/libraries/armem_laser_scans/client/common/Reader.cpp b/source/RobotAPI/libraries/armem_laser_scans/client/common/Reader.cpp
index e7ceabba97898778af1c13d9ad9c805357f79ac2..359ad8e8d978d0bde3e480388e5ed2b1e7f39f30 100644
--- a/source/RobotAPI/libraries/armem_laser_scans/client/common/Reader.cpp
+++ b/source/RobotAPI/libraries/armem_laser_scans/client/common/Reader.cpp
@@ -44,16 +44,14 @@
#include <RobotAPI/libraries/armem_laser_scans/aron_conversions.h>
#include <RobotAPI/libraries/armem_laser_scans/types.h>
-
namespace armarx::armem::laser_scans::client
{
- Reader::Reader(armem::client::MemoryNameSystem& memoryNameSystem) :
- memoryNameSystem(memoryNameSystem)
+ Reader::Reader()
{
}
- Reader::~Reader() = default;
+ Reader::~Reader() = default;
void
Reader::registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def)
@@ -64,7 +62,7 @@ namespace armarx::armem::laser_scans::client
}
void
- Reader::connect()
+ Reader::connect(armem::client::MemoryNameSystem& memoryNameSystem)
{
// Wait for the memory to become available and add it as dependency.
ARMARX_IMPORTANT << "MappingDataReader: Waiting for memory '" << constants::memoryName
diff --git a/source/RobotAPI/libraries/armem_laser_scans/client/common/Reader.h b/source/RobotAPI/libraries/armem_laser_scans/client/common/Reader.h
index 55beab204b12a7f72432ef2e38789f1856058934..5bcfd2c63b9b8bc5682f2b58a2dfbebf7a78a56c 100644
--- a/source/RobotAPI/libraries/armem_laser_scans/client/common/Reader.h
+++ b/source/RobotAPI/libraries/armem_laser_scans/client/common/Reader.h
@@ -29,10 +29,9 @@
#include "RobotAPI/libraries/armem_laser_scans/types.h"
#include <RobotAPI/libraries/armem/client.h>
+#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
#include <RobotAPI/libraries/armem/client/Reader.h>
#include <RobotAPI/libraries/armem/client/query/Builder.h>
-#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
-
namespace armarx
{
@@ -62,11 +61,10 @@ namespace armarx::armem::laser_scans::client
class Reader
{
public:
-
- Reader(armem::client::MemoryNameSystem& memoryNameSystem);
+ Reader();
virtual ~Reader();
- void connect();
+ void connect(armem::client::MemoryNameSystem& memoryNameSystem);
struct Query
{
@@ -99,12 +97,9 @@ namespace armarx::armem::laser_scans::client
void registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def);
- armarx::armem::client::query::Builder
- buildQuery(const Query& query) const;
+ armarx::armem::client::query::Builder buildQuery(const Query& query) const;
private:
-
- armem::client::MemoryNameSystem& memoryNameSystem;
armem::client::Reader memoryReader;
// Properties
@@ -113,7 +108,6 @@ namespace armarx::armem::laser_scans::client
} properties;
const std::string propertyPrefix = "mem.vision.laser_scans.";
-
};
-} // namespace armarx::armem::vision::laser_scans::client
+} // namespace armarx::armem::laser_scans::client
diff --git a/source/RobotAPI/libraries/armem_laser_scans/client/common/Writer.cpp b/source/RobotAPI/libraries/armem_laser_scans/client/common/Writer.cpp
index 8b43cef166b729c2bb7a0bb3d64df74268d1975d..771f49c22a76585026dc735f7f9697e1b28abf7b 100644
--- a/source/RobotAPI/libraries/armem_laser_scans/client/common/Writer.cpp
+++ b/source/RobotAPI/libraries/armem_laser_scans/client/common/Writer.cpp
@@ -6,16 +6,14 @@
#include <RobotAPI/libraries/armem_laser_scans/aron/LaserScan.aron.generated.h>
#include <RobotAPI/libraries/armem_laser_scans/aron_conversions.h>
-
namespace armarx::armem::laser_scans::client
{
- Writer::Writer(armem::client::MemoryNameSystem& memoryNameSystem) :
- memoryNameSystem(memoryNameSystem)
+ Writer::Writer()
{
}
- Writer::~Writer() = default;
+ Writer::~Writer() = default;
void
Writer::registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def)
@@ -23,11 +21,10 @@ namespace armarx::armem::laser_scans::client
ARMARX_DEBUG << "LaserScansWriter: registerPropertyDefinitions";
const std::string prefix = propertyPrefix;
-
}
void
- Writer::connect()
+ Writer::connect(armem::client::MemoryNameSystem& memoryNameSystem)
{
// Wait for the memory to become available and add it as dependency.
ARMARX_IMPORTANT << "LaserScansWriter: Waiting for memory '" << constants::memoryName
diff --git a/source/RobotAPI/libraries/armem_laser_scans/client/common/Writer.h b/source/RobotAPI/libraries/armem_laser_scans/client/common/Writer.h
index 6a75f24b53d13c0ba2d885c588b5c3e944388a57..8b5a90a1867da3d84a225c73e543c694e3d632f3 100644
--- a/source/RobotAPI/libraries/armem_laser_scans/client/common/Writer.h
+++ b/source/RobotAPI/libraries/armem_laser_scans/client/common/Writer.h
@@ -30,7 +30,6 @@
#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
#include <RobotAPI/libraries/armem/client/Writer.h>
-
namespace armarx::armem::laser_scans::client
{
@@ -48,11 +47,11 @@ namespace armarx::armem::laser_scans::client
class Writer
{
public:
- Writer(armem::client::MemoryNameSystem& memoryNameSystem);
+ Writer();
virtual ~Writer();
- void connect();
+ void connect(armem::client::MemoryNameSystem& memoryNameSystem);
// MappingDataWriterInterface
/// to be called in Component::onConnectComponent
@@ -67,7 +66,6 @@ namespace armarx::armem::laser_scans::client
const armem::Time& timestamp);
private:
- armem::client::MemoryNameSystem& memoryNameSystem;
armem::client::Writer memoryWriter;
// Properties