From 78bce7212ed4f06758b8048a33fa2b4d518f4d5d Mon Sep 17 00:00:00 2001
From: "Christian R. G. Dreher" <c.dreher@kit.edu>
Date: Fri, 8 Jan 2021 13:29:26 +0100
Subject: [PATCH] refactor: Restructure client code, add combined plugins and
reader/writer plugins
---
.../ArMemExampleClient/ArMemExampleClient.cpp | 5 +-
.../ArMemExampleClient/ArMemExampleClient.h | 16 +++---
.../ArMemMemoryViewerWidgetController.cpp | 2 +-
.../ArMemMemoryViewerWidgetController.h | 4 +-
source/RobotAPI/interface/armem.ice | 2 +-
.../RobotAPI/libraries/armem/CMakeLists.txt | 16 ++++--
.../armem/client/ComponentPlugin.cpp | 14 +++++
.../libraries/armem/client/ComponentPlugin.h | 35 ++++++++++++
.../client/MemoryClientComponentPlugin.cpp | 26 ---------
.../client/MemoryClientComponentPlugin.h | 55 -------------------
.../client/{MemoryReader.cpp => Reader.cpp} | 16 +++---
.../armem/client/{MemoryReader.h => Reader.h} | 4 +-
.../armem/client/ReaderComponentPlugin.cpp | 21 +++++++
.../armem/client/ReaderComponentPlugin.h | 51 +++++++++++++++++
.../client/{MemoryWriter.cpp => Writer.cpp} | 14 ++---
.../armem/client/{MemoryWriter.h => Writer.h} | 4 +-
.../armem/client/WriterComponentPlugin.cpp | 21 +++++++
.../armem/client/WriterComponentPlugin.h | 51 +++++++++++++++++
18 files changed, 235 insertions(+), 122 deletions(-)
create mode 100644 source/RobotAPI/libraries/armem/client/ComponentPlugin.cpp
create mode 100644 source/RobotAPI/libraries/armem/client/ComponentPlugin.h
delete mode 100644 source/RobotAPI/libraries/armem/client/MemoryClientComponentPlugin.cpp
delete mode 100644 source/RobotAPI/libraries/armem/client/MemoryClientComponentPlugin.h
rename source/RobotAPI/libraries/armem/client/{MemoryReader.cpp => Reader.cpp} (79%)
rename source/RobotAPI/libraries/armem/client/{MemoryReader.h => Reader.h} (91%)
create mode 100644 source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.cpp
create mode 100644 source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.h
rename source/RobotAPI/libraries/armem/client/{MemoryWriter.cpp => Writer.cpp} (77%)
rename source/RobotAPI/libraries/armem/client/{MemoryWriter.h => Writer.h} (91%)
create mode 100644 source/RobotAPI/libraries/armem/client/WriterComponentPlugin.cpp
create mode 100644 source/RobotAPI/libraries/armem/client/WriterComponentPlugin.h
diff --git a/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.cpp b/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.cpp
index c591b97c9..0172f1375 100644
--- a/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.cpp
+++ b/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.cpp
@@ -28,7 +28,6 @@
#include <RobotAPI/interface/aron.h>
#include <RobotAPI/libraries/armem/component/MemoryRemoteGui.h>
-#include <RobotAPI/libraries/armem/client/MemoryWriter.h>
#include <RobotAPI/libraries/armem/memory/ice_conversions.h>
#include <RobotAPI/components/armem/ArMemExampleMemory/aron/Primitive.aron.generated.h>
@@ -111,7 +110,7 @@ namespace armarx
providerID = armem::MemoryID::fromString(result.segmentID);
}
- armem::MemoryWriter writer(memory);
+ armem::Writer writer(memory);
armem::MemoryID entityID = providerID;
entityID.entityName = "example_entity";
@@ -280,7 +279,7 @@ namespace armarx
}
- bool ArMemExampleClient::primitives(armem::MemoryWriter& writer)
+ bool ArMemExampleClient::primitives(armem::Writer& writer)
{
ARMARX_IMPORTANT << "Adding segment " << "Primitive" << "/" << getName();
diff --git a/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.h b/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.h
index af51519fd..2c97cd15a 100644
--- a/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.h
+++ b/source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.h
@@ -20,21 +20,20 @@
* GNU General Public License
*/
+
#pragma once
+// ArmarX
#include <ArmarXCore/core/Component.h>
-
#include <ArmarXCore/interface/observers/ObserverInterface.h>
-
#include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
-// #include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
-
+// RobotAPI
+//#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
#include <RobotAPI/interface/armem/MemoryInterface.h>
#include <RobotAPI/interface/armem/MemoryNameSystemInterface.h>
-
-#include <RobotAPI/libraries/armem/client/MemoryClientComponentPlugin.h>
+#include <RobotAPI/libraries/armem/client/ComponentPlugin.h>
#include <RobotAPI/libraries/armem/memory/Memory.h>
@@ -52,7 +51,6 @@ namespace armarx
};
-
/**
* @defgroup Component-ArMemExampleClient ArMemExampleClient
* @ingroup RobotAPI-Components
@@ -66,7 +64,7 @@ namespace armarx
*/
class ArMemExampleClient :
virtual public armarx::Component
- , virtual public armarx::armem::MemoryClientComponentPluginUser
+ , virtual public armarx::armem::client::ComponentPluginUser
, virtual public LightweightRemoteGuiComponentPluginUser
{
public:
@@ -101,7 +99,7 @@ namespace armarx
private:
// Examples
- bool primitives(armem::MemoryWriter& writer);
+ bool primitives(armem::Writer& writer);
private:
diff --git a/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidgetController.cpp b/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidgetController.cpp
index fcd59af30..f121e160a 100644
--- a/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidgetController.cpp
@@ -142,7 +142,7 @@ namespace armarx
if (memoryName.size() > 0)
{
getProxy(memory, memoryName);
- memoryReader = armem::MemoryReader(memory);
+ memoryReader = armem::Reader(memory);
}
// DebugObserver is optional (check for null on every call)
if (!debugObserverName.empty())
diff --git a/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidgetController.h b/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidgetController.h
index 36d618adb..aad49aecd 100644
--- a/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidgetController.h
+++ b/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidgetController.h
@@ -33,7 +33,7 @@
#include <ArmarXCore/core/system/ImportExportComponent.h>
#include <RobotAPI/interface/armem/MemoryInterface.h>
-#include <RobotAPI/libraries/armem/client/MemoryReader.h>
+#include <RobotAPI/libraries/armem/client/Reader.h>
#include <RobotAPI/libraries/armem_gui/InstanceTreeWidget.h>
#include <RobotAPI/libraries/armem_gui/MemoryQueryWidget.h>
#include <RobotAPI/libraries/armem_gui/MemoryTreeWidget.h>
@@ -126,7 +126,7 @@ namespace armarx
std::string memoryName;
armem::MemoryInterfacePrx memory;
- armem::MemoryReader memoryReader;
+ armem::Reader memoryReader;
armem::MemoryPtr memoryData;
diff --git a/source/RobotAPI/interface/armem.ice b/source/RobotAPI/interface/armem.ice
index 9777fd79d..a01037e52 100644
--- a/source/RobotAPI/interface/armem.ice
+++ b/source/RobotAPI/interface/armem.ice
@@ -3,7 +3,7 @@
#include <RobotAPI/interface/armem/ReadingInterface.ice>
#include <RobotAPI/interface/armem/WritingInterface.ice>
#include <RobotAPI/interface/armem/MemoryInterface.ice>
-#include <RobotAPI/interface/armem/MemoryListenerInterface.h>
+#include <RobotAPI/interface/armem/MemoryListenerInterface.ice>
module armarx
diff --git a/source/RobotAPI/libraries/armem/CMakeLists.txt b/source/RobotAPI/libraries/armem/CMakeLists.txt
index da280dd43..d3505babc 100644
--- a/source/RobotAPI/libraries/armem/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem/CMakeLists.txt
@@ -40,9 +40,11 @@ set(LIB_FILES
mns/MemoryNameSystemClientPlugin.cpp
mns/MemoryNameSystemComponentPlugin.cpp
- client/MemoryWriter.cpp
- client/MemoryReader.cpp
- client/MemoryClientComponentPlugin.cpp
+ client/ComponentPlugin.cpp
+ client/Reader.cpp
+ client/ReaderComponentPlugin.cpp
+ client/Writer.cpp
+ client/WriterComponentPlugin.cpp
component/IceMemory.cpp
component/MemoryComponentPlugin.cpp
@@ -83,9 +85,11 @@ set(LIB_HEADERS
mns/MemoryNameSystemClientPlugin.h
mns/MemoryNameSystemComponentPlugin.h
- client/MemoryWriter.h
- client/MemoryReader.h
- client/MemoryClientComponentPlugin.h
+ client/ComponentPlugin.h
+ client/Reader.h
+ client/ReaderComponentPlugin.h
+ client/Writer.h
+ client/WriterComponentPlugin.h
component/IceMemory.h
component/MemoryComponentPlugin.h
diff --git a/source/RobotAPI/libraries/armem/client/ComponentPlugin.cpp b/source/RobotAPI/libraries/armem/client/ComponentPlugin.cpp
new file mode 100644
index 000000000..e49e46c15
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/client/ComponentPlugin.cpp
@@ -0,0 +1,14 @@
+#include <RobotAPI/libraries/armem/client/ComponentPlugin.h>
+
+
+// ArmarX
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+// RobotAPI
+#include <RobotAPI/libraries/armem/error.h>
+
+
+armarx::armem::client::ComponentPluginUser::ComponentPluginUser()
+{
+ // pass
+}
diff --git a/source/RobotAPI/libraries/armem/client/ComponentPlugin.h b/source/RobotAPI/libraries/armem/client/ComponentPlugin.h
new file mode 100644
index 000000000..da3dc0f5b
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/client/ComponentPlugin.h
@@ -0,0 +1,35 @@
+#pragma once
+
+
+// STD/STL
+#include <mutex>
+
+// ArmarX
+#include <ArmarXCore/core/Component.h>
+
+// RobotAPI
+#include <RobotAPI/interface/armem/MemoryInterface.h>
+#include <RobotAPI/interface/armem/MemoryNameSystemInterface.h>
+#include <RobotAPI/libraries/armem/client/ReaderComponentPlugin.h>
+#include <RobotAPI/libraries/armem/client/WriterComponentPlugin.h>
+#include <RobotAPI/libraries/armem/mns/MemoryNameSystemClientPlugin.h>
+
+
+namespace armarx::armem::client
+{
+
+ /**
+ * @brief Utility for connecting a Memory to Ice.
+ */
+ class ComponentPluginUser :
+ virtual public ReaderComponentPluginUser,
+ virtual public WriterComponentPluginUser
+ {
+
+ public:
+
+ ComponentPluginUser();
+
+ };
+
+}
diff --git a/source/RobotAPI/libraries/armem/client/MemoryClientComponentPlugin.cpp b/source/RobotAPI/libraries/armem/client/MemoryClientComponentPlugin.cpp
deleted file mode 100644
index 1d480535c..000000000
--- a/source/RobotAPI/libraries/armem/client/MemoryClientComponentPlugin.cpp
+++ /dev/null
@@ -1,26 +0,0 @@
-#include "MemoryClientComponentPlugin.h"
-
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-#include "../error.h"
-
-
-namespace armarx::armem::plugins
-{
-
- MemoryClientComponentPlugin::~MemoryClientComponentPlugin()
- {
- }
-
-}
-
-
-namespace armarx::armem
-{
-
- MemoryClientComponentPluginUser::MemoryClientComponentPluginUser()
- {
- addPlugin(plugin);
- }
-
-}
diff --git a/source/RobotAPI/libraries/armem/client/MemoryClientComponentPlugin.h b/source/RobotAPI/libraries/armem/client/MemoryClientComponentPlugin.h
deleted file mode 100644
index 318c08c4c..000000000
--- a/source/RobotAPI/libraries/armem/client/MemoryClientComponentPlugin.h
+++ /dev/null
@@ -1,55 +0,0 @@
-#pragma once
-
-#include <mutex>
-
-#include <ArmarXCore/core/Component.h>
-
-#include <RobotAPI/interface/armem/MemoryInterface.h>
-#include <RobotAPI/interface/armem/MemoryNameSystemInterface.h>
-
-#include "../mns/MemoryNameSystemClientPlugin.h"
-#include "MemoryReader.h"
-#include "MemoryWriter.h"
-
-
-
-namespace armarx::armem::plugins
-{
-
- class MemoryClientComponentPlugin : public MemoryNameSystemClientPlugin
- {
- public:
-
- using MemoryNameSystemClientPlugin::MemoryNameSystemClientPlugin;
- virtual ~MemoryClientComponentPlugin() override;
-
-
- };
-
-}
-
-
-namespace armarx::armem
-{
-
- /**
- * @brief Utility for connecting a Memory to Ice.
- */
- class MemoryClientComponentPluginUser :
- virtual public ManagedIceObject
- , virtual public plugins::MemoryNameSystemClientPluginUser
- {
- public:
-
- MemoryClientComponentPluginUser();
-
-
- private:
-
- armem::plugins::MemoryClientComponentPlugin* plugin = nullptr;
-
-
- };
-
-
-}
diff --git a/source/RobotAPI/libraries/armem/client/MemoryReader.cpp b/source/RobotAPI/libraries/armem/client/Reader.cpp
similarity index 79%
rename from source/RobotAPI/libraries/armem/client/MemoryReader.cpp
rename to source/RobotAPI/libraries/armem/client/Reader.cpp
index c14180fd4..068b910cb 100644
--- a/source/RobotAPI/libraries/armem/client/MemoryReader.cpp
+++ b/source/RobotAPI/libraries/armem/client/Reader.cpp
@@ -1,4 +1,4 @@
-#include "MemoryReader.h"
+#include "Reader.h"
#include <ArmarXCore/core/logging/Logging.h>
@@ -8,12 +8,12 @@
namespace armarx::armem
{
- MemoryReader::MemoryReader(ReadingInterfacePrx memory) : memory(memory)
+ Reader::Reader(ReadingInterfacePrx memory) : memory(memory)
{
}
- MemoryPtr MemoryReader::getLatestSnapshots()
+ MemoryPtr Reader::getLatestSnapshots()
{
armem::query::EntityQueryPtr entityQuery = new armem::query::entity::Single();
armem::query::ProviderSegmentQueryPtr providerQuery = new armem::query::provider::All({entityQuery});
@@ -23,7 +23,7 @@ namespace armarx::armem
return queryToCpp(memoryQuery);
}
- MemoryPtr MemoryReader::getAllData()
+ MemoryPtr Reader::getAllData()
{
armem::query::EntityQueryPtr entityQuery = new armem::query::entity::All();
armem::query::ProviderSegmentQueryPtr providerQuery = new armem::query::provider::All({entityQuery});
@@ -33,12 +33,12 @@ namespace armarx::armem
return queryToCpp(memoryQuery);
}
- data::MemoryPtr MemoryReader::query(query::MemoryQueryPtr query)
+ data::MemoryPtr Reader::query(query::MemoryQueryPtr query)
{
return this->query(query::MemoryQuerySeq{query});
}
- data::MemoryPtr MemoryReader::query(query::MemoryQuerySeq queries)
+ data::MemoryPtr Reader::query(query::MemoryQuerySeq queries)
{
try
{
@@ -59,12 +59,12 @@ namespace armarx::armem
return nullptr;
}
- MemoryPtr MemoryReader::queryToCpp(query::MemoryQueryPtr query)
+ MemoryPtr Reader::queryToCpp(query::MemoryQueryPtr query)
{
return armem::fromIce<armem::MemoryPtr>(this->query(query));
}
- MemoryPtr MemoryReader::queryToCpp(query::MemoryQuerySeq queries)
+ MemoryPtr Reader::queryToCpp(query::MemoryQuerySeq queries)
{
return armem::fromIce<armem::MemoryPtr>(this->query(queries));
}
diff --git a/source/RobotAPI/libraries/armem/client/MemoryReader.h b/source/RobotAPI/libraries/armem/client/Reader.h
similarity index 91%
rename from source/RobotAPI/libraries/armem/client/MemoryReader.h
rename to source/RobotAPI/libraries/armem/client/Reader.h
index 240c2a3ef..3198671f3 100644
--- a/source/RobotAPI/libraries/armem/client/MemoryReader.h
+++ b/source/RobotAPI/libraries/armem/client/Reader.h
@@ -12,7 +12,7 @@ namespace armarx::armem
/**
* @brief Helps sending data to a memory.
*/
- class MemoryReader
+ class Reader
{
public:
@@ -20,7 +20,7 @@ namespace armarx::armem
* @brief Construct a memory reader.
* @param memory The memory proxy.
*/
- MemoryReader(ReadingInterfacePrx memory = nullptr);
+ Reader(ReadingInterfacePrx memory = nullptr);
MemoryPtr getLatestSnapshots();
diff --git a/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.cpp b/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.cpp
new file mode 100644
index 000000000..0d9bd7d76
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.cpp
@@ -0,0 +1,21 @@
+#include <RobotAPI/libraries/armem/client/ReaderComponentPlugin.h>
+
+
+// ArmarX
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+// RobotAPI
+#include <RobotAPI/libraries/armem/error.h>
+
+
+armarx::armem::client::ReaderComponentPlugin::~ReaderComponentPlugin()
+{
+ // pass
+}
+
+
+armarx::armem::client::ReaderComponentPluginUser::ReaderComponentPluginUser() :
+ memoryReader{nullptr}
+{
+ addPlugin(plugin);
+}
diff --git a/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.h b/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.h
new file mode 100644
index 000000000..b67727b5a
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.h
@@ -0,0 +1,51 @@
+#pragma once
+
+
+// STD/STL
+#include <mutex>
+
+// ArmarX
+#include <ArmarXCore/core/Component.h>
+
+// RobotAPI
+#include <RobotAPI/interface/armem/MemoryInterface.h>
+#include <RobotAPI/interface/armem/MemoryNameSystemInterface.h>
+#include <RobotAPI/libraries/armem/client/Reader.h>
+#include <RobotAPI/libraries/armem/mns/MemoryNameSystemClientPlugin.h>
+
+
+namespace armarx::armem::client
+{
+
+ class ReaderComponentPlugin :
+ public plugins::MemoryNameSystemClientPlugin
+ {
+
+ public:
+
+ using plugins::MemoryNameSystemClientPlugin::MemoryNameSystemClientPlugin;
+ virtual ~ReaderComponentPlugin() override;
+
+ };
+
+
+ class ReaderComponentPluginUser :
+ virtual public ManagedIceObject,
+ virtual public plugins::MemoryNameSystemClientPluginUser
+ {
+
+ public:
+
+ ReaderComponentPluginUser();
+
+ protected:
+
+ Reader memoryReader;
+
+ private:
+
+ ReaderComponentPlugin* plugin = nullptr;
+
+ };
+
+}
diff --git a/source/RobotAPI/libraries/armem/client/MemoryWriter.cpp b/source/RobotAPI/libraries/armem/client/Writer.cpp
similarity index 77%
rename from source/RobotAPI/libraries/armem/client/MemoryWriter.cpp
rename to source/RobotAPI/libraries/armem/client/Writer.cpp
index 03025a45d..3d9fb1b81 100644
--- a/source/RobotAPI/libraries/armem/client/MemoryWriter.cpp
+++ b/source/RobotAPI/libraries/armem/client/Writer.cpp
@@ -1,4 +1,4 @@
-#include "MemoryWriter.h"
+#include "Writer.h"
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
@@ -8,11 +8,11 @@
namespace armarx::armem
{
- MemoryWriter::MemoryWriter(WritingInterfacePrx memory) : memory(memory)
+ Writer::Writer(WritingInterfacePrx memory) : memory(memory)
{
}
- data::AddSegmentResult MemoryWriter::addSegment(const std::string& coreSegmentName, const std::string& providerSegmentName)
+ data::AddSegmentResult Writer::addSegment(const std::string& coreSegmentName, const std::string& providerSegmentName)
{
data::AddSegmentInput input;
input.coreSegmentName = coreSegmentName;
@@ -20,14 +20,14 @@ namespace armarx::armem
return addSegment(input);
}
- data::AddSegmentResult MemoryWriter::addSegment(const data::AddSegmentInput& input)
+ data::AddSegmentResult Writer::addSegment(const data::AddSegmentInput& input)
{
data::AddSegmentsResult results = addSegments({input});
ARMARX_CHECK_EQUAL(results.size(), 1);
return results.at(0);
}
- data::AddSegmentsResult MemoryWriter::addSegments(const data::AddSegmentsInput& inputs)
+ data::AddSegmentsResult Writer::addSegments(const data::AddSegmentsInput& inputs)
{
ARMARX_CHECK_NOT_NULL(memory);
data::AddSegmentsResult results = memory->addSegments(inputs);
@@ -36,7 +36,7 @@ namespace armarx::armem
}
- CommitResult MemoryWriter::commit(Commit commit)
+ CommitResult Writer::commit(Commit commit)
{
ARMARX_CHECK_NOT_NULL(memory);
@@ -74,7 +74,7 @@ namespace armarx::armem
}
- EntityUpdateResult MemoryWriter::commit(const EntityUpdate& update)
+ EntityUpdateResult Writer::commit(const EntityUpdate& update)
{
armem::Commit commit;
commit.updates.push_back(update);
diff --git a/source/RobotAPI/libraries/armem/client/MemoryWriter.h b/source/RobotAPI/libraries/armem/client/Writer.h
similarity index 91%
rename from source/RobotAPI/libraries/armem/client/MemoryWriter.h
rename to source/RobotAPI/libraries/armem/client/Writer.h
index eda2d506e..f2f493d4a 100644
--- a/source/RobotAPI/libraries/armem/client/MemoryWriter.h
+++ b/source/RobotAPI/libraries/armem/client/Writer.h
@@ -11,7 +11,7 @@ namespace armarx::armem
/**
* @brief Helps sending data to a memory.
*/
- class MemoryWriter
+ class Writer
{
public:
@@ -19,7 +19,7 @@ namespace armarx::armem
* @brief Construct a memory writer.
* @param memory The memory proxy.
*/
- MemoryWriter(WritingInterfacePrx memory = nullptr);
+ Writer(WritingInterfacePrx memory = nullptr);
data::AddSegmentResult addSegment(const std::string& coreSegmentName, const std::string& providerSegmentName);
diff --git a/source/RobotAPI/libraries/armem/client/WriterComponentPlugin.cpp b/source/RobotAPI/libraries/armem/client/WriterComponentPlugin.cpp
new file mode 100644
index 000000000..3a4885596
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/client/WriterComponentPlugin.cpp
@@ -0,0 +1,21 @@
+#include <RobotAPI/libraries/armem/client/WriterComponentPlugin.h>
+
+
+// ArmarX
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+// RobotAPI
+#include <RobotAPI/libraries/armem/error.h>
+
+
+armarx::armem::client::WriterComponentPlugin::~WriterComponentPlugin()
+{
+ // pass
+}
+
+
+armarx::armem::client::WriterComponentPluginUser::WriterComponentPluginUser() :
+ memoryWriter{nullptr}
+{
+ addPlugin(plugin);
+}
diff --git a/source/RobotAPI/libraries/armem/client/WriterComponentPlugin.h b/source/RobotAPI/libraries/armem/client/WriterComponentPlugin.h
new file mode 100644
index 000000000..179f3227c
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/client/WriterComponentPlugin.h
@@ -0,0 +1,51 @@
+#pragma once
+
+
+// STD/STL
+#include <mutex>
+
+// ArmarX
+#include <ArmarXCore/core/Component.h>
+
+// RobotAPI
+#include <RobotAPI/interface/armem/MemoryInterface.h>
+#include <RobotAPI/interface/armem/MemoryNameSystemInterface.h>
+#include <RobotAPI/libraries/armem/client/Writer.h>
+#include <RobotAPI/libraries/armem/mns/MemoryNameSystemClientPlugin.h>
+
+
+namespace armarx::armem::client
+{
+
+ class WriterComponentPlugin :
+ public plugins::MemoryNameSystemClientPlugin
+ {
+
+ public:
+
+ using plugins::MemoryNameSystemClientPlugin::MemoryNameSystemClientPlugin;
+ virtual ~WriterComponentPlugin() override;
+
+ };
+
+
+ class WriterComponentPluginUser :
+ virtual public ManagedIceObject,
+ virtual public plugins::MemoryNameSystemClientPluginUser
+ {
+
+ public:
+
+ WriterComponentPluginUser();
+
+ protected:
+
+ Writer memoryWriter;
+
+ private:
+
+ WriterComponentPlugin* plugin = nullptr;
+
+ };
+
+}
--
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