Add overrides to Reader::subscribe(). Use a list of callbacks instead one per id

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

@@ -86,7 +86,7 @@ namespace armarx::armem::client
     void
     Reader::updated(const std::vector<MemoryID>& updatedSnapshotIDs) const
     {
-        for (const auto& [subscription, callback] : callbacks)
+        for (const auto& [subscription, callbacks] : this->callbacks)
         {
             std::vector<MemoryID> matchingSnapshotIDs;
 
@@ -100,7 +100,10 @@ namespace armarx::armem::client
 
             if (not matchingSnapshotIDs.empty())
             {
-                callback(subscription, matchingSnapshotIDs);
+                for (auto& callback : callbacks)
+                {
+                    callback(subscription, matchingSnapshotIDs);
+                }
             }
         }
     }
@@ -124,7 +127,15 @@ namespace armarx::armem::client
     void
     Reader::subscribe(const MemoryID& id, callback callback)
     {
-        callbacks[id] = callback;
+        callbacks[id].push_back(callback);
+    }
+
+    void Reader::subscribe(const MemoryID& subscriptionID, callback_updated_only callback)
+    {
+        subscribe(subscriptionID, [callback](const MemoryID&, const std::vector<MemoryID>& updatedSnapshotIDs)
+        {
+            callback(updatedSnapshotIDs);
+        });
     }
 
 

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

@@ -27,8 +27,13 @@ namespace armarx::armem::client
     {
 
         using callback = std::function<void(const MemoryID& subscriptionID, const std::vector<MemoryID>& updatedSnapshotIDs)>;
+        using callback_updated_only = std::function<void(const std::vector<MemoryID>& updatedSnapshotIDs)>;
+
         template <class CalleeT>
         using member_callback = void(CalleeT::*)(const MemoryID& subscriptionID, const std::vector<MemoryID>& updatedSnapshotIDs);
+        template <class CalleeT>
+        using member_callback_updated_only = void(CalleeT::*)(const std::vector<MemoryID>& updatedSnapshotIDs);
+
 
     public:
 
@@ -54,6 +59,7 @@ namespace armarx::armem::client
         data::StoreResult readAndStore(const data::StoreInput& input) const;
 
         void subscribe(const MemoryID& subscriptionID, callback callback);
+        void subscribe(const MemoryID& subscriptionID, callback_updated_only callback);
         /**
          * Subscribe with a class member function:
          * @code
@@ -69,6 +75,15 @@ namespace armarx::armem::client
             };
             subscribe(subscriptionID, cb);
         }
+        template <class CalleeT>
+        void subscribe(const MemoryID& subscriptionID, CalleeT* callee, member_callback_updated_only<CalleeT> callback)
+        {
+            auto cb = [callee, callback](const MemoryID&, const std::vector<MemoryID>& updatedSnapshotIDs)
+            {
+                (callee->*callback)(updatedSnapshotIDs);
+            };
+            subscribe(subscriptionID, cb);
+        }
         /// Function handling updates from the MemoryListener ice topic.
         void updated(const std::vector<MemoryID>& updatedIDs) const;
 
@@ -84,7 +99,7 @@ namespace armarx::armem::client
 
     private:
 
-        std::unordered_map<MemoryID, callback> callbacks;
+        std::unordered_map<MemoryID, std::vector<callback>> callbacks;
 
     };