From 5c0974bc716cd4bdde7a36d97845ea261c79a163 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Mon, 30 Aug 2021 09:19:07 +0200
Subject: [PATCH] MNS: Move interesting stuff to plugin (not user), split
listening from non-listening user
---
.../MemoryNameSystemComponentPlugin.cpp | 101 +++++++-----------
.../client/MemoryNameSystemComponentPlugin.h | 76 ++++++++-----
.../libraries/armem/server/ComponentPlugin.h | 2 +-
3 files changed, 87 insertions(+), 92 deletions(-)
diff --git a/source/RobotAPI/libraries/armem/client/MemoryNameSystemComponentPlugin.cpp b/source/RobotAPI/libraries/armem/client/MemoryNameSystemComponentPlugin.cpp
index 60fae2cf9..07ef49f0f 100644
--- a/source/RobotAPI/libraries/armem/client/MemoryNameSystemComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/armem/client/MemoryNameSystemComponentPlugin.cpp
@@ -21,14 +21,14 @@ namespace armarx::armem::client::plugins
{
properties->defineOptionalProperty<std::string>(
makePropertyName(PROPERTY_MNS_NAME_NAME),
- parent<MemoryNameSystemComponentPluginUser>().memoryNameSystemName,
+ memoryNameSystemName,
"Name of the Memory Name System (MNS) component.");
}
if (!properties->hasDefinition(makePropertyName(PROPERTY_MNS_ENABLED_NAME)))
{
properties->defineOptionalProperty<bool>(
makePropertyName(PROPERTY_MNS_ENABLED_NAME),
- parent<MemoryNameSystemComponentPluginUser>().memoryNameSystemEnabled,
+ memoryNameSystemEnabled,
"Whether to use (and depend on) the Memory Name System (MNS)."
"\nSet to false to use this memory as a stand-alone.");
}
@@ -37,6 +37,7 @@ namespace armarx::armem::client::plugins
properties->topic<MemoryListenerInterface>("MemoryUpdates");
}
+
void MemoryNameSystemComponentPlugin::preOnInitComponent()
{
if (isMemoryNameSystemEnabled())
@@ -45,37 +46,53 @@ namespace armarx::armem::client::plugins
}
}
+
void MemoryNameSystemComponentPlugin::preOnConnectComponent()
{
if (isMemoryNameSystemEnabled())
{
ARMARX_DEBUG << "Creating MemoryNameSystem client with owning component '" << parent().getName() << "'.";
- parent<MemoryNameSystemComponentPluginUser>().memoryNameSystem =
- MemoryNameSystem(getMemoryNameSystem(), &parent());
+ memoryNameSystem = MemoryNameSystem(getMemoryNameSystemProxy(), &parent());
}
}
- bool MemoryNameSystemComponentPlugin::isMemoryNameSystemEnabled()
+
+ bool
+ MemoryNameSystemComponentPlugin::isMemoryNameSystemEnabled()
{
- return parentDerives<Component>() ?
- parent<Component>().getProperty<bool>(makePropertyName(PROPERTY_MNS_ENABLED_NAME)) :
- parent<MemoryNameSystemComponentPluginUser>().memoryNameSystemEnabled;
+ return memoryNameSystemEnabled;
}
- std::string MemoryNameSystemComponentPlugin::getMemoryNameSystemName()
+
+ std::string
+ MemoryNameSystemComponentPlugin::getMemoryNameSystemName()
{
- return parentDerives<Component>() ?
- parent<Component>().getProperty<std::string>(makePropertyName(PROPERTY_MNS_NAME_NAME)) :
- std::string{parent<MemoryNameSystemComponentPluginUser>().memoryNameSystemName};
+ return memoryNameSystemName;
}
- mns::MemoryNameSystemInterfacePrx MemoryNameSystemComponentPlugin::getMemoryNameSystem()
+
+ mns::MemoryNameSystemInterfacePrx
+ MemoryNameSystemComponentPlugin::getMemoryNameSystemProxy()
{
- return isMemoryNameSystemEnabled() && parentDerives<Component>()
- ? parent<Component>().getProxy<mns::MemoryNameSystemInterfacePrx>(getMemoryNameSystemName())
+ return isMemoryNameSystemEnabled() and parentDerives<ManagedIceObject>()
+ ? parent<ManagedIceObject>().getProxy<mns::MemoryNameSystemInterfacePrx>(getMemoryNameSystemName())
: nullptr;
}
+
+ MemoryNameSystem&
+ MemoryNameSystemComponentPlugin::getMemoryNameSystemClient()
+ {
+ return memoryNameSystem;
+ }
+
+
+ const MemoryNameSystem&
+ MemoryNameSystemComponentPlugin::getMemoryNameSystemClient() const
+ {
+ return memoryNameSystem;
+ }
+
}
namespace armarx::armem::client
@@ -90,64 +107,20 @@ namespace armarx::armem::client
{
}
- void MemoryNameSystemComponentPluginUser::memoryUpdated(
- const std::vector<data::MemoryID>& updatedSnapshotIDs, const Ice::Current&)
- {
- memoryNameSystem.updated(updatedSnapshotIDs);
- }
- armem::data::WaitForMemoryResult MemoryNameSystemComponentPluginUser::useMemoryServer(const MemoryID& id)
+ ListeningMemoryNameSystemComponentPluginUser::ListeningMemoryNameSystemComponentPluginUser()
{
- armem::data::WaitForMemoryResult result;
- try
- {
- // Add dependency.
- result.proxy = memoryNameSystem.useServer(id);
- result.success = true;
- }
- catch (const armem::error::CouldNotResolveMemoryServer& e)
- {
- result.success = false;
- result.errorMessage = e.what();
- }
- return result;
}
- armem::data::WaitForMemoryResult MemoryNameSystemComponentPluginUser::useMemoryServer(const std::string& memoryName)
+ ListeningMemoryNameSystemComponentPluginUser::~ListeningMemoryNameSystemComponentPluginUser()
{
- return useMemoryServer(MemoryID().withMemoryName(memoryName));
}
- armem::data::WaitForMemoryResult MemoryNameSystemComponentPluginUser::waitForMemoryServer(const std::string& memoryName)
- {
- armem::data::WaitForMemoryResult result;
- try
- {
- result.proxy = memoryNameSystem.waitForServer(MemoryID().withMemoryName(memoryName));
- result.success = true;
- }
- catch (const armem::error::CouldNotResolveMemoryServer& e)
- {
- result.success = false;
- result.errorMessage = e.what();
- }
- return result;
- }
- armem::data::ResolveMemoryNameResult MemoryNameSystemComponentPluginUser::resolveMemoryServer(const std::string& memoryName)
+ void ListeningMemoryNameSystemComponentPluginUser::memoryUpdated(
+ const std::vector<data::MemoryID>& updatedSnapshotIDs, const Ice::Current&)
{
- armem::data::ResolveMemoryNameResult result;
- try
- {
- result.proxy = memoryNameSystem.resolveServer(MemoryID().withMemoryName(memoryName));
- result.success = true;
- }
- catch (const armem::error::CouldNotResolveMemoryServer& e)
- {
- result.success = false;
- result.errorMessage = e.what();
- }
- return result;
+ memoryNameSystem().updated(updatedSnapshotIDs);
}
}
diff --git a/source/RobotAPI/libraries/armem/client/MemoryNameSystemComponentPlugin.h b/source/RobotAPI/libraries/armem/client/MemoryNameSystemComponentPlugin.h
index a6a2434a6..b7276e844 100644
--- a/source/RobotAPI/libraries/armem/client/MemoryNameSystemComponentPlugin.h
+++ b/source/RobotAPI/libraries/armem/client/MemoryNameSystemComponentPlugin.h
@@ -8,19 +8,14 @@
#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
-namespace armarx::armem::mns
-{
- class MemoryNameSystemComponentPluginUser;
-}
-
-
namespace armarx::armem::client::plugins
{
/**
* @brief A base plugin offering optional access and dependency
* to the Memory Name System (MNS).
*/
- class MemoryNameSystemComponentPlugin : public ComponentPlugin
+ class MemoryNameSystemComponentPlugin :
+ public ComponentPlugin
{
public:
@@ -32,6 +27,9 @@ namespace armarx::armem::client::plugins
void preOnInitComponent() override;
void preOnConnectComponent() override;
+
+ public:
+
/**
* @brief Indicate whether the Memory Name System (MNS) is enabled.
*/
@@ -45,11 +43,29 @@ namespace armarx::armem::client::plugins
* @brief Get the MNS proxy.
* @return The MNS proxy when MNS is enabled, nullptr when MNS is disabled.
*/
- mns::MemoryNameSystemInterfacePrx getMemoryNameSystem();
+ mns::MemoryNameSystemInterfacePrx getMemoryNameSystemProxy();
+
+ /**
+ * @brief Get the MNS client.
+ * Only valid when enabled.
+ */
+ MemoryNameSystem& getMemoryNameSystemClient();
+ const MemoryNameSystem& getMemoryNameSystemClient() const;
+
+
+ protected:
+
+ MemoryNameSystem memoryNameSystem;
+
+ bool memoryNameSystemEnabled = true;
+ std::string memoryNameSystemName = "MemoryNameSystem";
+
+
+ protected:
- public:
static constexpr const char* PROPERTY_MNS_ENABLED_NAME = "mns.MemoryNameSystemEnabled";
static constexpr const char* PROPERTY_MNS_NAME_NAME = "mns.MemoryNameSystemName";
+
};
}
@@ -61,8 +77,7 @@ namespace armarx::armem::client
{
class MemoryNameSystemComponentPluginUser :
- virtual public ManagedIceObject,
- virtual public MemoryListenerInterface
+ virtual public ManagedIceObject
{
protected:
@@ -70,32 +85,39 @@ namespace armarx::armem::client
virtual ~MemoryNameSystemComponentPluginUser() override;
- virtual void memoryUpdated(const std::vector<data::MemoryID>& updatedSnapshotIDs, const Ice::Current& current) override;
+ public:
+ MemoryNameSystem& memoryNameSystem()
+ {
+ return plugin->getMemoryNameSystemClient();
+ }
+ const MemoryNameSystem& memoryNameSystem() const
+ {
+ return plugin->getMemoryNameSystemClient();
+ }
- [[deprecated("Use memoryNameSystem member instead of function inherited by MemoryNameSystemComponentPluginUser.")]]
- armem::data::WaitForMemoryResult waitForMemoryServer(const std::string& memoryName);
- [[deprecated("Use memoryNameSystem member instead of function inherited by MemoryNameSystemComponentPluginUser.")]]
- armem::data::ResolveMemoryNameResult resolveMemoryServer(const std::string& memoryName);
- [[deprecated("Use memoryNameSystem member instead of function inherited by MemoryNameSystemComponentPluginUser.")]]
- armem::data::WaitForMemoryResult useMemoryServer(const MemoryID& id);
- [[deprecated("Use memoryNameSystem member instead of function inherited by MemoryNameSystemComponentPluginUser.")]]
- virtual armem::data::WaitForMemoryResult useMemoryServer(const std::string& memoryName);
+ private:
+ plugins::MemoryNameSystemComponentPlugin* plugin = nullptr;
- public:
+ };
- /// Only valid when enabled.
- MemoryNameSystem memoryNameSystem;
- bool memoryNameSystemEnabled = true;
- std::string memoryNameSystemName = "MemoryNameSystem";
+ class ListeningMemoryNameSystemComponentPluginUser :
+ virtual public MemoryNameSystemComponentPluginUser,
+ virtual public MemoryListenerInterface
+ {
+ protected:
- private:
+ ListeningMemoryNameSystemComponentPluginUser();
+ virtual ~ListeningMemoryNameSystemComponentPluginUser() override;
- plugins::MemoryNameSystemComponentPlugin* plugin = nullptr;
+
+ // MemoryListenerInterface
+ virtual void memoryUpdated(const std::vector<data::MemoryID>& updatedSnapshotIDs,
+ const Ice::Current&) override;
};
}
diff --git a/source/RobotAPI/libraries/armem/server/ComponentPlugin.h b/source/RobotAPI/libraries/armem/server/ComponentPlugin.h
index f55bfc6c0..8a0c3fbc6 100644
--- a/source/RobotAPI/libraries/armem/server/ComponentPlugin.h
+++ b/source/RobotAPI/libraries/armem/server/ComponentPlugin.h
@@ -68,7 +68,7 @@ namespace armarx::armem::server
class ComponentPluginUser :
virtual public ManagedIceObject
, virtual public MemoryInterface
- , virtual public client::MemoryNameSystemComponentPluginUser
+ , virtual public client::ListeningMemoryNameSystemComponentPluginUser
{
public:
--
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