From 5f04ce8d4364d4fb2fe2a0a75f6c4cf58ff343ce Mon Sep 17 00:00:00 2001
From: "Christian R. G. Dreher" <c.dreher@kit.edu>
Date: Tue, 12 Jan 2021 12:08:30 +0100
Subject: [PATCH] feature: Add setter methods to initialize plugins with a
Memory from component.
---
.../armem/ArMemExampleClient/ArMemExampleClient.cpp | 1 +
source/RobotAPI/libraries/armem/client/ComponentPlugin.cpp | 7 +++++++
source/RobotAPI/libraries/armem/client/ComponentPlugin.h | 4 ++++
source/RobotAPI/libraries/armem/client/Reader.cpp | 7 +++++++
source/RobotAPI/libraries/armem/client/Reader.h | 3 ++-
.../libraries/armem/client/ReaderComponentPlugin.cpp | 7 +++++++
.../libraries/armem/client/ReaderComponentPlugin.h | 4 ++++
source/RobotAPI/libraries/armem/client/Writer.cpp | 7 +++++++
source/RobotAPI/libraries/armem/client/Writer.h | 2 +-
.../libraries/armem/client/WriterComponentPlugin.cpp | 7 +++++++
.../libraries/armem/client/WriterComponentPlugin.h | 4 ++++
11 files changed, 51 insertions(+), 2 deletions(-)
diff --git a/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.cpp b/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.cpp
index 37a59b28d..fb757767b 100644
--- a/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.cpp
+++ b/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.cpp
@@ -84,6 +84,7 @@ namespace armarx
<< " (took " << armem::toStringMilliSeconds(armem::Time::now() - start) << ").";
}
ARMARX_CHECK_NOT_NULL(memory);
+ setMemory(memory);
if (true)
{
diff --git a/source/RobotAPI/libraries/armem/client/ComponentPlugin.cpp b/source/RobotAPI/libraries/armem/client/ComponentPlugin.cpp
index f67ed63b5..853e41cf6 100644
--- a/source/RobotAPI/libraries/armem/client/ComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/armem/client/ComponentPlugin.cpp
@@ -19,3 +19,10 @@ armarx::armem::client::ComponentPluginUser::~ComponentPluginUser()
// pass
}
+
+void
+armarx::armem::client::ComponentPluginUser::setMemory(MemoryInterfacePrx memory)
+{
+ setReadingMemory(memory);
+ setWritingMemory(memory);
+}
diff --git a/source/RobotAPI/libraries/armem/client/ComponentPlugin.h b/source/RobotAPI/libraries/armem/client/ComponentPlugin.h
index cb8f3cd0b..2bcf857c2 100644
--- a/source/RobotAPI/libraries/armem/client/ComponentPlugin.h
+++ b/source/RobotAPI/libraries/armem/client/ComponentPlugin.h
@@ -28,6 +28,10 @@ namespace armarx::armem::client
ComponentPluginUser();
~ComponentPluginUser() override;
+ protected:
+
+ void setMemory(MemoryInterfacePrx memory);
+
};
}
diff --git a/source/RobotAPI/libraries/armem/client/Reader.cpp b/source/RobotAPI/libraries/armem/client/Reader.cpp
index 0a0985bd2..07a00a40e 100644
--- a/source/RobotAPI/libraries/armem/client/Reader.cpp
+++ b/source/RobotAPI/libraries/armem/client/Reader.cpp
@@ -99,4 +99,11 @@ namespace armarx::armem::client
callbacks[id] = callback;
}
+
+ void
+ Reader::setReadingMemory(ReadingInterfacePrx memory)
+ {
+ this->memory = memory;
+ }
+
}
diff --git a/source/RobotAPI/libraries/armem/client/Reader.h b/source/RobotAPI/libraries/armem/client/Reader.h
index 3ab4b5e45..d169cb539 100644
--- a/source/RobotAPI/libraries/armem/client/Reader.h
+++ b/source/RobotAPI/libraries/armem/client/Reader.h
@@ -32,7 +32,6 @@ namespace armarx::armem::client
*/
Reader(ReadingInterfacePrx memory = nullptr);
-
MemoryPtr getLatestSnapshots();
MemoryPtr getAllData();
@@ -45,6 +44,8 @@ namespace armarx::armem::client
void updated(const std::vector<MemoryID>& updatedIDs);
void subscribe(const MemoryID& entityID, callback callback);
+ void setReadingMemory(ReadingInterfacePrx memory);
+
operator bool() const
{
return bool(memory);
diff --git a/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.cpp b/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.cpp
index ed1fc7b87..357e3d690 100644
--- a/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.cpp
@@ -41,3 +41,10 @@ armarx::armem::client::ReaderComponentPluginUser::memoryUpdated(const std::vecto
fromIce(updatedIDsIce, updatedIDs);
memoryReader.updated(updatedIDs);
}
+
+
+void
+armarx::armem::client::ReaderComponentPluginUser::setReadingMemory(ReadingInterfacePrx memory)
+{
+ memoryReader.setReadingMemory(memory);
+}
diff --git a/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.h b/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.h
index 20680ab18..54a77363c 100644
--- a/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.h
+++ b/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.h
@@ -45,6 +45,10 @@ namespace armarx::armem::client
void memoryUpdated(const std::vector<data::MemoryID>& updatedIDs, const Ice::Current& current) override;
+ protected:
+
+ void setReadingMemory(ReadingInterfacePrx memory);
+
protected:
Reader memoryReader;
diff --git a/source/RobotAPI/libraries/armem/client/Writer.cpp b/source/RobotAPI/libraries/armem/client/Writer.cpp
index cd6b409f8..7941b1768 100644
--- a/source/RobotAPI/libraries/armem/client/Writer.cpp
+++ b/source/RobotAPI/libraries/armem/client/Writer.cpp
@@ -84,4 +84,11 @@ namespace armarx::armem::client
return result.results.at(0);
}
+
+ void
+ Writer::setWritingMemory(WritingInterfacePrx memory)
+ {
+ this->memory = memory;
+ }
+
}
diff --git a/source/RobotAPI/libraries/armem/client/Writer.h b/source/RobotAPI/libraries/armem/client/Writer.h
index e7c7d67c1..acd1a575b 100644
--- a/source/RobotAPI/libraries/armem/client/Writer.h
+++ b/source/RobotAPI/libraries/armem/client/Writer.h
@@ -32,7 +32,7 @@ namespace armarx::armem::client
CommitResult commit(Commit commit);
EntityUpdateResult commit(const EntityUpdate& update);
-
+ void setWritingMemory(WritingInterfacePrx memory);
public:
diff --git a/source/RobotAPI/libraries/armem/client/WriterComponentPlugin.cpp b/source/RobotAPI/libraries/armem/client/WriterComponentPlugin.cpp
index 7b8780f32..f5c648090 100644
--- a/source/RobotAPI/libraries/armem/client/WriterComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/armem/client/WriterComponentPlugin.cpp
@@ -24,3 +24,10 @@ armarx::armem::client::WriterComponentPluginUser::~WriterComponentPluginUser()
{
// pass
}
+
+
+void
+armarx::armem::client::WriterComponentPluginUser::setWritingMemory(WritingInterfacePrx memory)
+{
+ memoryWriter.setWritingMemory(memory);
+}
diff --git a/source/RobotAPI/libraries/armem/client/WriterComponentPlugin.h b/source/RobotAPI/libraries/armem/client/WriterComponentPlugin.h
index ea8136d97..f93c9a230 100644
--- a/source/RobotAPI/libraries/armem/client/WriterComponentPlugin.h
+++ b/source/RobotAPI/libraries/armem/client/WriterComponentPlugin.h
@@ -36,6 +36,10 @@ namespace armarx::armem::client
WriterComponentPluginUser();
~WriterComponentPluginUser() override;
+ protected:
+
+ void setWritingMemory(WritingInterfacePrx memory);
+
protected:
Writer memoryWriter;
--
GitLab