feature: More informative signature for callback, allow subscribing to non-entities.

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

@@ -71,15 +71,23 @@ namespace armarx::armem
 
 
     void
-    Reader::updated(const std::vector<MemoryID>& updatedIDs)
+    Reader::updated(const std::vector<MemoryID>& updatedSnapshotIDs)
     {
-        MemoryID id;
-        for (const MemoryID& updatedID : updatedIDs)
+        for (const auto& [subscription, callback] : callbacks)
         {
-            id = updatedID.getEntityID();
-            if (callbacks.find(id) != callbacks.end())
+            std::vector<MemoryID> matchingSnapshotIDs;
+
+            for (const MemoryID& updatedSnapshotID : updatedSnapshotIDs)
+            {
+                if (contains(subscription, updatedSnapshotID))
+                {
+                    matchingSnapshotIDs.push_back(updatedSnapshotID);
+                }
+            }
+
+            if (not matchingSnapshotIDs.empty())
             {
-                callbacks[id]();
+                callback(subscription, matchingSnapshotIDs);
             }
         }
     }
@@ -88,8 +96,7 @@ namespace armarx::armem
     void
     Reader::subscribe(const MemoryID& id, callback callback)
     {
-        ARMARX_CHECK(id.hasEntityName()) << "MemoryID must be an entity ID.";
-        callbacks[id.getEntityID()] = callback;
+        callbacks[id] = callback;
     }
 
 }

source/RobotAPI/libraries/armem/client/Reader.h

@@ -22,7 +22,7 @@ namespace armarx::armem
     class Reader
     {
 
-        using callback = std::function<void()>;
+        using callback = std::function<void(const MemoryID& subscriptionID, const std::vector<MemoryID>& updatedSnapshotIDs)>;
 
     public: