From c021a1d2ddf2d8465a99bfa2cd65870b87b73caa Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Mon, 30 Aug 2021 10:35:45 +0200
Subject: [PATCH] Refactor client plugins
---
.../RobotAPI/libraries/armem/CMakeLists.txt | 17 ++--
source/RobotAPI/libraries/armem/client.h | 9 +-
.../armem/client/ComponentPlugin.cpp | 41 --------
.../libraries/armem/client/ComponentPlugin.h | 47 ----------
.../armem/client/ReaderComponentPlugin.cpp | 48 ----------
.../armem/client/ReaderComponentPlugin.h | 67 -------------
.../armem/client/WriterComponentPlugin.cpp | 59 ------------
.../armem/client/WriterComponentPlugin.h | 64 -------------
.../armem/client/forward_declarations.h | 16 +++-
.../RobotAPI/libraries/armem/client/plugins.h | 13 +++
.../client/plugins/ListeningPluginUser.cpp | 26 ++++++
.../client/plugins/ListeningPluginUser.h | 35 +++++++
.../Plugin.cpp} | 58 ++++--------
.../Plugin.h} | 93 +++++--------------
.../armem/client/plugins/PluginUser.cpp | 34 +++++++
.../armem/client/plugins/PluginUser.h | 48 ++++++++++
.../armem/server/ComponentPlugin.cpp | 15 ++-
.../libraries/armem/server/ComponentPlugin.h | 35 +++----
18 files changed, 252 insertions(+), 473 deletions(-)
delete mode 100644 source/RobotAPI/libraries/armem/client/ComponentPlugin.cpp
delete mode 100644 source/RobotAPI/libraries/armem/client/ComponentPlugin.h
delete mode 100644 source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.cpp
delete mode 100644 source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.h
delete mode 100644 source/RobotAPI/libraries/armem/client/WriterComponentPlugin.cpp
delete mode 100644 source/RobotAPI/libraries/armem/client/WriterComponentPlugin.h
create mode 100644 source/RobotAPI/libraries/armem/client/plugins.h
create mode 100644 source/RobotAPI/libraries/armem/client/plugins/ListeningPluginUser.cpp
create mode 100644 source/RobotAPI/libraries/armem/client/plugins/ListeningPluginUser.h
rename source/RobotAPI/libraries/armem/client/{MemoryNameSystemComponentPlugin.cpp => plugins/Plugin.cpp} (60%)
rename source/RobotAPI/libraries/armem/client/{MemoryNameSystemComponentPlugin.h => plugins/Plugin.h} (51%)
create mode 100644 source/RobotAPI/libraries/armem/client/plugins/PluginUser.cpp
create mode 100644 source/RobotAPI/libraries/armem/client/plugins/PluginUser.h
diff --git a/source/RobotAPI/libraries/armem/CMakeLists.txt b/source/RobotAPI/libraries/armem/CMakeLists.txt
index 1fdf140a9..e6c3f1a85 100644
--- a/source/RobotAPI/libraries/armem/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem/CMakeLists.txt
@@ -60,13 +60,13 @@ set(LIB_FILES
core/error/ArMemError.cpp
core/error/mns.cpp
- client/ComponentPlugin.cpp
client/MemoryNameSystem.cpp
- client/MemoryNameSystemComponentPlugin.cpp
client/Reader.cpp
- client/ReaderComponentPlugin.cpp
client/Writer.cpp
- client/WriterComponentPlugin.cpp
+
+ client/plugins/ListeningPluginUser.cpp
+ client/plugins/PluginUser.cpp
+ client/plugins/Plugin.cpp
client/util/MemoryListener.cpp
client/util/SimpleReaderBase.cpp
@@ -155,13 +155,14 @@ set(LIB_HEADERS
client.h
client/forward_declarations.h
- client/ComponentPlugin.h
client/MemoryNameSystem.h
- client/MemoryNameSystemComponentPlugin.h
client/Reader.h
- client/ReaderComponentPlugin.h
client/Writer.h
- client/WriterComponentPlugin.h
+
+ client/plugins.h
+ client/plugins/ListeningPluginUser.h
+ client/plugins/PluginUser.h
+ client/plugins/Plugin.h
client/query.h
client/Query.h
diff --git a/source/RobotAPI/libraries/armem/client.h b/source/RobotAPI/libraries/armem/client.h
index 834d62ab4..fa61feb25 100644
--- a/source/RobotAPI/libraries/armem/client.h
+++ b/source/RobotAPI/libraries/armem/client.h
@@ -1,15 +1,12 @@
#pragma once
-#include "client/ComponentPlugin.h"
#include "client/MemoryNameSystem.h"
-#include "client/MemoryNameSystemComponentPlugin.h"
+#include "client/plugins.h"
#include "client/Query.h"
#include "client/query/Builder.h"
#include "client/query/query_fns.h"
#include "client/Reader.h"
-#include "client/ReaderComponentPlugin.h"
#include "client/Writer.h"
-#include "client/WriterComponentPlugin.h"
namespace armarx::armem
@@ -23,8 +20,4 @@ namespace armarx::armem
using ClientQueryBuilder = client::query::Builder;
namespace client_query_fns = client::query_fns;
- using ClientComponentPluginUser = client::ComponentPluginUser;
- using ClientReaderComponentPluginUser = client::ReaderComponentPluginUser;
- using ClientWriterComponentPluginUser = client::WriterComponentPluginUser;
-
}
diff --git a/source/RobotAPI/libraries/armem/client/ComponentPlugin.cpp b/source/RobotAPI/libraries/armem/client/ComponentPlugin.cpp
deleted file mode 100644
index a88f374d6..000000000
--- a/source/RobotAPI/libraries/armem/client/ComponentPlugin.cpp
+++ /dev/null
@@ -1,41 +0,0 @@
-#include <RobotAPI/libraries/armem/client/ComponentPlugin.h>
-
-
-// ArmarX
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-// RobotAPI
-#include <RobotAPI/libraries/armem/core/error.h>
-
-
-armarx::armem::client::ComponentPluginUser::ComponentPluginUser()
-{
- // pass
-}
-
-
-armarx::armem::client::ComponentPluginUser::~ComponentPluginUser()
-{
- // pass
-}
-
-
-void
-armarx::armem::client::ComponentPluginUser::setMemoryServer(server::MemoryInterfacePrx memory)
-{
- setReadingMemoryServer(memory);
- setWritingMemoryServer(memory);
-}
-
-
-armarx::armem::data::WaitForMemoryResult
-armarx::armem::client::ComponentPluginUser::useMemoryServer(const std::string& memoryName)
-{
- armem::data::WaitForMemoryResult result;
- result.proxy = memoryNameSystem.useServer(MemoryID().withMemoryName(memoryName));
- if (result.proxy)
- {
- setMemoryServer(result.proxy);
- }
- return result;
-}
diff --git a/source/RobotAPI/libraries/armem/client/ComponentPlugin.h b/source/RobotAPI/libraries/armem/client/ComponentPlugin.h
deleted file mode 100644
index ae3f26b26..000000000
--- a/source/RobotAPI/libraries/armem/client/ComponentPlugin.h
+++ /dev/null
@@ -1,47 +0,0 @@
-#pragma once
-
-
-// ArmarX
-#include <ArmarXCore/core/ComponentPlugin.h>
-
-// RobotAPI
-#include <RobotAPI/interface/armem/server/MemoryInterface.h>
-#include <RobotAPI/libraries/armem/client/ReaderComponentPlugin.h>
-#include <RobotAPI/libraries/armem/client/WriterComponentPlugin.h>
-
-
-
-namespace armarx::armem::client
-{
-
- /**
- * @brief Utility for connecting a Client via Ice to ArMem.
- */
- class ComponentPluginUser :
- virtual public ReaderComponentPluginUser,
- virtual public WriterComponentPluginUser
- {
-
- public:
-
- ComponentPluginUser();
- ~ComponentPluginUser() override;
-
-
- /**
- * @brief Resolve the given memory name, add it as dependency and update the readers and writers.
- * @param The memory's name.
- * @return The result of `waitForMemory()`.
- * @see `armem::MemoryNameSystemComponentPluginUser::useMemory()`
- */
- virtual armem::data::WaitForMemoryResult useMemoryServer(const std::string& memoryName) override;
- using MemoryNameSystemComponentPluginUser::useMemoryServer;
-
-
- protected:
-
- void setMemoryServer(server::MemoryInterfacePrx memory);
-
- };
-
-}
diff --git a/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.cpp b/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.cpp
deleted file mode 100644
index c2e4d5ed6..000000000
--- a/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.cpp
+++ /dev/null
@@ -1,48 +0,0 @@
-#include <RobotAPI/libraries/armem/client/ReaderComponentPlugin.h>
-
-
-// ArmarX
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-// RobotAPI
-#include <RobotAPI/libraries/armem/core/error.h>
-
-
-namespace armarx::armem::client::plugins
-{
- ReaderComponentPlugin::ReaderComponentPlugin(ManagedIceObject& parent, std::string pre) :
- ComponentPlugin(parent, pre)
- {
- addPlugin(mnsPlugin, pre);
- addPluginDependency(mnsPlugin);
- }
-
-
- ReaderComponentPlugin::~ReaderComponentPlugin()
- {
- }
-}
-
-
-
-namespace armarx::armem::client
-{
- ReaderComponentPluginUser::ReaderComponentPluginUser()
- {
- addPlugin(plugin);
- }
-
-
- ReaderComponentPluginUser::~ReaderComponentPluginUser()
- {
- }
-
-
- void
- ReaderComponentPluginUser::setReadingMemoryServer(server::ReadingMemoryInterfacePrx memory)
- {
- memoryReader.setReadingMemory(memory);
- }
-
-}
diff --git a/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.h b/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.h
deleted file mode 100644
index 059c5f93d..000000000
--- a/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.h
+++ /dev/null
@@ -1,67 +0,0 @@
-#pragma once
-
-
-// STD/STL
-#include <vector>
-
-// ArmarX
-#include <ArmarXCore/core/ComponentPlugin.h>
-
-// RobotAPI
-#include <RobotAPI/libraries/aron/core/navigator/data/AllNavigators.h>
-#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
-#include <RobotAPI/interface/armem/server/ReadingMemoryInterface.h>
-
-#include <RobotAPI/libraries/armem/client/Reader.h>
-#include <RobotAPI/libraries/armem/client/MemoryNameSystemComponentPlugin.h>
-
-
-namespace armarx::armem::client::plugins
-{
-
- class ReaderComponentPlugin : public ComponentPlugin
- {
-
- public:
-
- ReaderComponentPlugin(ManagedIceObject& parent, std::string pre);
- ~ReaderComponentPlugin() override;
-
-
- private:
-
- plugins::MemoryNameSystemComponentPlugin* mnsPlugin = nullptr;
-
- };
-
-}
-
-
-namespace armarx::armem::client
-{
-
- class ReaderComponentPluginUser :
- virtual public ManagedIceObject,
- virtual public MemoryNameSystemComponentPluginUser
- {
-
- public:
-
- ReaderComponentPluginUser();
- ~ReaderComponentPluginUser() override;
-
-
- protected:
-
- void setReadingMemoryServer(server::ReadingMemoryInterfacePrx memory);
-
- Reader memoryReader;
-
-
- private:
-
- plugins::ReaderComponentPlugin* plugin = nullptr;
-
- };
-
-}
diff --git a/source/RobotAPI/libraries/armem/client/WriterComponentPlugin.cpp b/source/RobotAPI/libraries/armem/client/WriterComponentPlugin.cpp
deleted file mode 100644
index d4b95ca35..000000000
--- a/source/RobotAPI/libraries/armem/client/WriterComponentPlugin.cpp
+++ /dev/null
@@ -1,59 +0,0 @@
-#include <RobotAPI/libraries/armem/client/WriterComponentPlugin.h>
-
-
-// ArmarX
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-// RobotAPI
-#include <RobotAPI/libraries/armem/core/error.h>
-
-
-namespace armarx::armem::client::plugins
-{
- WriterComponentPlugin::WriterComponentPlugin(ManagedIceObject& parent, std::string pre) :
- ComponentPlugin(parent, pre)
- {
- addPlugin(mnsPlugin, pre);
- addPluginDependency(mnsPlugin);
- }
-
- WriterComponentPlugin::~WriterComponentPlugin()
- {
- }
-}
-
-
-namespace armarx::armem::client
-{
- WriterComponentPluginUser::WriterComponentPluginUser()
- {
- addPlugin(plugin);
- }
-
-
- WriterComponentPluginUser::~WriterComponentPluginUser()
- {
- // pass
- }
-
-
- void
- WriterComponentPluginUser::setWritingMemoryServer(server::WritingMemoryInterfacePrx memory)
- {
- memoryWriter.setWritingMemory(memory);
- }
-
-
- armem::data::WaitForMemoryResult WriterComponentPluginUser::useMemoryServer(const std::string& memoryName)
- {
- armem::data::WaitForMemoryResult result;
- result.proxy = memoryNameSystem.useServer(MemoryID().withMemoryName(memoryName));
- if (result.proxy)
- {
- setWritingMemoryServer(result.proxy);
- }
- return result;
- }
-}
-
diff --git a/source/RobotAPI/libraries/armem/client/WriterComponentPlugin.h b/source/RobotAPI/libraries/armem/client/WriterComponentPlugin.h
deleted file mode 100644
index 3ae9a66bf..000000000
--- a/source/RobotAPI/libraries/armem/client/WriterComponentPlugin.h
+++ /dev/null
@@ -1,64 +0,0 @@
-#pragma once
-
-
-// ArmarX
-#include <ArmarXCore/core/ComponentPlugin.h>
-
-// RobotAPI
-#include <RobotAPI/libraries/aron/core/navigator/data/AllNavigators.h>
-#include <RobotAPI/interface/armem/server/WritingMemoryInterface.h>
-#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
-
-#include <RobotAPI/libraries/armem/client/Writer.h>
-#include <RobotAPI/libraries/armem/client/MemoryNameSystemComponentPlugin.h>
-
-
-namespace armarx::armem::client::plugins
-{
-
- class WriterComponentPlugin : public ComponentPlugin
- {
-
- public:
-
- WriterComponentPlugin(ManagedIceObject& parent, std::string pre);
- ~WriterComponentPlugin() override;
-
- private:
-
- plugins::MemoryNameSystemComponentPlugin* mnsPlugin = nullptr;
-
- };
-}
-
-
-namespace armarx::armem::client
-{
- class WriterComponentPluginUser :
- virtual public ManagedIceObject,
- virtual public MemoryNameSystemComponentPluginUser
- {
-
- public:
-
- WriterComponentPluginUser();
- ~WriterComponentPluginUser() override;
-
- virtual armem::data::WaitForMemoryResult useMemoryServer(const std::string& memoryName) override;
- using MemoryNameSystemComponentPluginUser::useMemoryServer;
-
-
- protected:
-
- void setWritingMemoryServer(server::WritingMemoryInterfacePrx memory);
-
- Writer memoryWriter;
-
-
- private:
-
- plugins::WriterComponentPlugin* plugin = nullptr;
-
- };
-
-}
diff --git a/source/RobotAPI/libraries/armem/client/forward_declarations.h b/source/RobotAPI/libraries/armem/client/forward_declarations.h
index 205f56634..ab6a8fb90 100644
--- a/source/RobotAPI/libraries/armem/client/forward_declarations.h
+++ b/source/RobotAPI/libraries/armem/client/forward_declarations.h
@@ -8,9 +8,9 @@ namespace armarx::armem::client::query
{
class Builder;
}
+
namespace armarx::armem::client
{
- class ComponentPluginUser;
class MemoryNameSystem;
class Reader;
@@ -19,6 +19,20 @@ namespace armarx::armem::client
using QueryBuilder = query::Builder;
struct QueryInput;
struct QueryResult;
+}
+namespace armarx::armem::client::plugins
+{
+ class Plugin;
+ class PluginUser;
+ class ListeningPluginUser;
}
+namespace armarx::armem
+{
+ using ClientPlugin = client::plugins::Plugin;
+ using ClientPluginUser = client::plugins::PluginUser;
+ using ListeningClientPluginUser = client::plugins::ListeningPluginUser;
+}
+
+
diff --git a/source/RobotAPI/libraries/armem/client/plugins.h b/source/RobotAPI/libraries/armem/client/plugins.h
new file mode 100644
index 000000000..b91ccec38
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/client/plugins.h
@@ -0,0 +1,13 @@
+#pragma once
+
+#include <RobotAPI/libraries/armem/client/forward_declarations.h>
+
+#include <RobotAPI/libraries/armem/client/plugins/ListeningPluginUser.h>
+#include <RobotAPI/libraries/armem/client/plugins/Plugin.h>
+#include <RobotAPI/libraries/armem/client/plugins/PluginUser.h>
+
+
+namespace armarx::armem::client
+{
+ using ComponentPluginUser = plugins::ListeningPluginUser;
+}
diff --git a/source/RobotAPI/libraries/armem/client/plugins/ListeningPluginUser.cpp b/source/RobotAPI/libraries/armem/client/plugins/ListeningPluginUser.cpp
new file mode 100644
index 000000000..3b3027a38
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/client/plugins/ListeningPluginUser.cpp
@@ -0,0 +1,26 @@
+#include "ListeningPluginUser.h"
+
+#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
+
+
+namespace armarx::armem::client::plugins
+{
+
+ ListeningPluginUser::ListeningPluginUser()
+ {
+ }
+
+
+ ListeningPluginUser::~ListeningPluginUser()
+ {
+ }
+
+
+ void ListeningPluginUser::memoryUpdated(
+ const std::vector<data::MemoryID>& updatedSnapshotIDs, const Ice::Current&)
+ {
+ memoryNameSystem().updated(updatedSnapshotIDs);
+ }
+
+}
+
diff --git a/source/RobotAPI/libraries/armem/client/plugins/ListeningPluginUser.h b/source/RobotAPI/libraries/armem/client/plugins/ListeningPluginUser.h
new file mode 100644
index 000000000..dd80b88e6
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/client/plugins/ListeningPluginUser.h
@@ -0,0 +1,35 @@
+#pragma once
+
+#include "PluginUser.h"
+
+#include <RobotAPI/interface/armem/client/MemoryListenerInterface.h>
+
+#include <vector>
+
+
+namespace armarx::armem::client::plugins
+{
+
+ /**
+ * @brief A memory name system client which listens to the memory updates
+ * topic (`MemoryListenerInterface`).
+ *
+ * Derive from this plugin user class to receive memory update events.
+ */
+ class ListeningPluginUser :
+ virtual public PluginUser,
+ virtual public MemoryListenerInterface
+ {
+ protected:
+
+ ListeningPluginUser();
+ virtual ~ListeningPluginUser() override;
+
+
+ // MemoryListenerInterface
+ virtual void memoryUpdated(const std::vector<data::MemoryID>& updatedSnapshotIDs,
+ const Ice::Current&) override;
+
+ };
+
+}
diff --git a/source/RobotAPI/libraries/armem/client/MemoryNameSystemComponentPlugin.cpp b/source/RobotAPI/libraries/armem/client/plugins/Plugin.cpp
similarity index 60%
rename from source/RobotAPI/libraries/armem/client/MemoryNameSystemComponentPlugin.cpp
rename to source/RobotAPI/libraries/armem/client/plugins/Plugin.cpp
index 07ef49f0f..e31d2d0e5 100644
--- a/source/RobotAPI/libraries/armem/client/MemoryNameSystemComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/armem/client/plugins/Plugin.cpp
@@ -1,4 +1,4 @@
-#include "MemoryNameSystemComponentPlugin.h"
+#include "Plugin.h"
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
@@ -11,11 +11,18 @@
namespace armarx::armem::client::plugins
{
- MemoryNameSystemComponentPlugin::~MemoryNameSystemComponentPlugin()
+ Plugin::Plugin(
+ ManagedIceObject& parent, std::string pre) :
+ ComponentPlugin(parent, pre)
+ {
+ }
+
+
+ Plugin::~Plugin()
{}
- void MemoryNameSystemComponentPlugin::postCreatePropertyDefinitions(armarx::PropertyDefinitionsPtr& properties)
+ void Plugin::postCreatePropertyDefinitions(armarx::PropertyDefinitionsPtr& properties)
{
if (!properties->hasDefinition(makePropertyName(PROPERTY_MNS_NAME_NAME)))
{
@@ -38,7 +45,7 @@ namespace armarx::armem::client::plugins
}
- void MemoryNameSystemComponentPlugin::preOnInitComponent()
+ void Plugin::preOnInitComponent()
{
if (isMemoryNameSystemEnabled())
{
@@ -47,7 +54,7 @@ namespace armarx::armem::client::plugins
}
- void MemoryNameSystemComponentPlugin::preOnConnectComponent()
+ void Plugin::preOnConnectComponent()
{
if (isMemoryNameSystemEnabled())
{
@@ -58,21 +65,21 @@ namespace armarx::armem::client::plugins
bool
- MemoryNameSystemComponentPlugin::isMemoryNameSystemEnabled()
+ Plugin::isMemoryNameSystemEnabled()
{
return memoryNameSystemEnabled;
}
std::string
- MemoryNameSystemComponentPlugin::getMemoryNameSystemName()
+ Plugin::getMemoryNameSystemName()
{
return memoryNameSystemName;
}
mns::MemoryNameSystemInterfacePrx
- MemoryNameSystemComponentPlugin::getMemoryNameSystemProxy()
+ Plugin::getMemoryNameSystemProxy()
{
return isMemoryNameSystemEnabled() and parentDerives<ManagedIceObject>()
? parent<ManagedIceObject>().getProxy<mns::MemoryNameSystemInterfacePrx>(getMemoryNameSystemName())
@@ -81,47 +88,16 @@ namespace armarx::armem::client::plugins
MemoryNameSystem&
- MemoryNameSystemComponentPlugin::getMemoryNameSystemClient()
+ Plugin::getMemoryNameSystemClient()
{
return memoryNameSystem;
}
const MemoryNameSystem&
- MemoryNameSystemComponentPlugin::getMemoryNameSystemClient() const
+ Plugin::getMemoryNameSystemClient() const
{
return memoryNameSystem;
}
}
-
-namespace armarx::armem::client
-{
-
- MemoryNameSystemComponentPluginUser::MemoryNameSystemComponentPluginUser()
- {
- addPlugin(plugin);
- }
-
- MemoryNameSystemComponentPluginUser::~MemoryNameSystemComponentPluginUser()
- {
- }
-
-
- ListeningMemoryNameSystemComponentPluginUser::ListeningMemoryNameSystemComponentPluginUser()
- {
- }
-
- ListeningMemoryNameSystemComponentPluginUser::~ListeningMemoryNameSystemComponentPluginUser()
- {
- }
-
-
- void ListeningMemoryNameSystemComponentPluginUser::memoryUpdated(
- const std::vector<data::MemoryID>& updatedSnapshotIDs, const Ice::Current&)
- {
- memoryNameSystem().updated(updatedSnapshotIDs);
- }
-
-}
-
diff --git a/source/RobotAPI/libraries/armem/client/MemoryNameSystemComponentPlugin.h b/source/RobotAPI/libraries/armem/client/plugins/Plugin.h
similarity index 51%
rename from source/RobotAPI/libraries/armem/client/MemoryNameSystemComponentPlugin.h
rename to source/RobotAPI/libraries/armem/client/plugins/Plugin.h
index b7276e844..550f893bf 100644
--- a/source/RobotAPI/libraries/armem/client/MemoryNameSystemComponentPlugin.h
+++ b/source/RobotAPI/libraries/armem/client/plugins/Plugin.h
@@ -1,26 +1,29 @@
#pragma once
-#include <ArmarXCore/core/ComponentPlugin.h>
-
#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
-#include <RobotAPI/interface/armem/client/MemoryListenerInterface.h>
-#include <RobotAPI/libraries/armem/core/MemoryID.h>
#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
+#include <ArmarXCore/core/ComponentPlugin.h>
+
+#include <string>
+
namespace armarx::armem::client::plugins
{
+
/**
- * @brief A base plugin offering optional access and dependency
- * to the Memory Name System (MNS).
+ * @brief A component plugin offering client-side access to to the
+ * working memory system by providing a Memory Name System (MNS) client.
+ *
+ * @see MemoryNameSystem
*/
- class MemoryNameSystemComponentPlugin :
- public ComponentPlugin
+ class Plugin :
+ public armarx::ComponentPlugin
{
public:
- using ComponentPlugin::ComponentPlugin;
- virtual ~MemoryNameSystemComponentPlugin() override;
+ Plugin(ManagedIceObject& parent, std::string pre);
+ virtual ~Plugin() override;
void postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties) override;
@@ -30,10 +33,20 @@ namespace armarx::armem::client::plugins
public:
+ /**
+ * @brief Get the MNS client.
+ *
+ * Only valid when enabled.
+ */
+ MemoryNameSystem& getMemoryNameSystemClient();
+ const MemoryNameSystem& getMemoryNameSystemClient() const;
+
+
/**
* @brief Indicate whether the Memory Name System (MNS) is enabled.
*/
bool isMemoryNameSystemEnabled();
+
/**
* @brief Get the name of the MNS component.
*/
@@ -45,16 +58,10 @@ namespace armarx::armem::client::plugins
*/
mns::MemoryNameSystemInterfacePrx getMemoryNameSystemProxy();
- /**
- * @brief Get the MNS client.
- * Only valid when enabled.
- */
- MemoryNameSystem& getMemoryNameSystemClient();
- const MemoryNameSystem& getMemoryNameSystemClient() const;
-
protected:
+ /// The MNS client.
MemoryNameSystem memoryNameSystem;
bool memoryNameSystemEnabled = true;
@@ -69,55 +76,3 @@ namespace armarx::armem::client::plugins
};
}
-
-
-#include <ArmarXCore/core/ManagedIceObject.h>
-
-namespace armarx::armem::client
-{
-
- class MemoryNameSystemComponentPluginUser :
- virtual public ManagedIceObject
- {
- protected:
-
- MemoryNameSystemComponentPluginUser();
- virtual ~MemoryNameSystemComponentPluginUser() override;
-
-
- public:
-
- MemoryNameSystem& memoryNameSystem()
- {
- return plugin->getMemoryNameSystemClient();
- }
- const MemoryNameSystem& memoryNameSystem() const
- {
- return plugin->getMemoryNameSystemClient();
- }
-
-
- private:
-
- plugins::MemoryNameSystemComponentPlugin* plugin = nullptr;
-
- };
-
-
-
- class ListeningMemoryNameSystemComponentPluginUser :
- virtual public MemoryNameSystemComponentPluginUser,
- virtual public MemoryListenerInterface
- {
- protected:
-
- ListeningMemoryNameSystemComponentPluginUser();
- virtual ~ListeningMemoryNameSystemComponentPluginUser() override;
-
-
- // MemoryListenerInterface
- virtual void memoryUpdated(const std::vector<data::MemoryID>& updatedSnapshotIDs,
- const Ice::Current&) override;
-
- };
-}
diff --git a/source/RobotAPI/libraries/armem/client/plugins/PluginUser.cpp b/source/RobotAPI/libraries/armem/client/plugins/PluginUser.cpp
new file mode 100644
index 000000000..91414da1c
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/client/plugins/PluginUser.cpp
@@ -0,0 +1,34 @@
+#include "PluginUser.h"
+#include "Plugin.h"
+
+#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
+
+
+
+namespace armarx::armem::client::plugins
+{
+
+ PluginUser::PluginUser()
+ {
+ addPlugin(plugin);
+ }
+
+
+ PluginUser::~PluginUser()
+ {
+ }
+
+
+ MemoryNameSystem& PluginUser::memoryNameSystem()
+ {
+ return plugin->getMemoryNameSystemClient();
+ }
+
+
+ const MemoryNameSystem& PluginUser::memoryNameSystem() const
+ {
+ return plugin->getMemoryNameSystemClient();
+ }
+
+}
+
diff --git a/source/RobotAPI/libraries/armem/client/plugins/PluginUser.h b/source/RobotAPI/libraries/armem/client/plugins/PluginUser.h
new file mode 100644
index 000000000..f67afc8bc
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/client/plugins/PluginUser.h
@@ -0,0 +1,48 @@
+#pragma once
+
+// Let's not forward declare this one.
+#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
+
+#include <ArmarXCore/core/ManagedIceObject.h>
+
+
+namespace armarx::armem::client::plugins
+{
+
+ class Plugin;
+
+
+ /**
+ * @brief Adds the Memory Name System client component plugin.
+ *
+ * This plugin class does not implement the `MemoryListenerInterface`.
+ * Therefore, it will not receive and process memory udpate events via the
+ * memory updates topic. If you want to receive these updates, use the
+ * `ListeningMemoryNameSystemPluginUser`.
+ *
+ *
+ * @see MemoryNameSystemPlugin
+ * @see ListeningMemoryNameSystemPluginUser
+ */
+ class PluginUser :
+ virtual public armarx::ManagedIceObject
+ {
+ protected:
+
+ PluginUser();
+ virtual ~PluginUser() override;
+
+
+ public:
+
+ MemoryNameSystem& memoryNameSystem();
+ const MemoryNameSystem& memoryNameSystem() const;
+
+
+ private:
+
+ plugins::Plugin* plugin = nullptr;
+
+ };
+
+}
diff --git a/source/RobotAPI/libraries/armem/server/ComponentPlugin.cpp b/source/RobotAPI/libraries/armem/server/ComponentPlugin.cpp
index c97d55af4..93246434d 100644
--- a/source/RobotAPI/libraries/armem/server/ComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/armem/server/ComponentPlugin.cpp
@@ -13,10 +13,17 @@ namespace armarx::armem::server::plugins
ComponentPlugin::~ComponentPlugin() = default;
- void ComponentPlugin::postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties)
+ ComponentPlugin::ComponentPlugin(ManagedIceObject& parent, std::string prefix) :
+ armarx::ComponentPlugin(parent, prefix)
{
- MemoryNameSystemComponentPlugin::postCreatePropertyDefinitions(properties);
+ addPlugin(clientPlugin);
+ ARMARX_CHECK_NOT_NULL(clientPlugin);
+ addPluginDependency(clientPlugin);
+ }
+
+ void ComponentPlugin::postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties)
+ {
const std::string prefix = "mem.";
if (not workingMemory.name().empty()
and not properties->hasDefinition(prefix + "MemoryName"))
@@ -33,7 +40,7 @@ namespace armarx::armem::server::plugins
{
ComponentPluginUser& parent = this->parent<ComponentPluginUser>();
- if (isMemoryNameSystemEnabled() && parent.memoryNameSystem())
+ if (clientPlugin->isMemoryNameSystemEnabled() && parent.memoryNameSystem())
{
registerMemory(parent);
}
@@ -50,7 +57,7 @@ namespace armarx::armem::server::plugins
void ComponentPlugin::preOnDisconnectComponent()
{
ComponentPluginUser& parent = this->parent<ComponentPluginUser>();
- if (isMemoryNameSystemEnabled() && memoryNameSystem)
+ if (clientPlugin->isMemoryNameSystemEnabled() and clientPlugin->getMemoryNameSystemProxy())
{
removeMemory(parent);
}
diff --git a/source/RobotAPI/libraries/armem/server/ComponentPlugin.h b/source/RobotAPI/libraries/armem/server/ComponentPlugin.h
index ba4e890f5..4c9c66ee0 100644
--- a/source/RobotAPI/libraries/armem/server/ComponentPlugin.h
+++ b/source/RobotAPI/libraries/armem/server/ComponentPlugin.h
@@ -1,36 +1,31 @@
#pragma once
-#include <mutex>
+#include "MemoryToIceAdapter.h"
-#include <ArmarXCore/core/ComponentPlugin.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
+#include <RobotAPI/libraries/armem/server/ltm/mongodb/MemoryManager.h>
+#include <RobotAPI/libraries/armem/client/plugins/Plugin.h>
+#include <RobotAPI/libraries/armem/client/plugins/ListeningPluginUser.h>
#include <RobotAPI/interface/armem/server/MemoryInterface.h>
#include <RobotAPI/interface/armem/client/MemoryListenerInterface.h>
-#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
-#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
-#include <RobotAPI/libraries/armem/server/ltm/mongodb/MemoryManager.h>
-#include <RobotAPI/libraries/armem/client/MemoryNameSystemComponentPlugin.h>
-
-#include "MemoryToIceAdapter.h"
+#include <ArmarXCore/core/ComponentPlugin.h>
namespace armarx::armem::server
{
class ComponentPluginUser;
}
-
-
namespace armarx::armem::server::plugins
{
- class ComponentPlugin : public client::plugins::MemoryNameSystemComponentPlugin
+ class ComponentPlugin :
+ public armarx::ComponentPlugin
{
- using Base = client::plugins::MemoryNameSystemComponentPlugin;
-
public:
- using Base::MemoryNameSystemComponentPlugin;
+ ComponentPlugin(ManagedIceObject& parent, std::string prefix);
virtual ~ComponentPlugin() override;
virtual void postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties) override;
@@ -41,7 +36,7 @@ namespace armarx::armem::server::plugins
public:
- /// Set the name of the wm and the ltm (if enabled)
+ /// Set the name of the wm and the ltm (if enabled).
void setMemoryName(const std::string& memoryName);
@@ -49,11 +44,14 @@ namespace armarx::armem::server::plugins
/**
* @brief Register the parent component in the MNS.
+ *
* Called before onConnect() if MNS is enabled.
*/
data::RegisterMemoryResult registerMemory(ComponentPluginUser& parent);
+
/**
* @brief Remove the parent component from the MNS.
+ *
* Called before onDisconnect() if MNS is enabled.
*/
data::RemoveMemoryResult removeMemory(ComponentPluginUser& parent);
@@ -89,6 +87,11 @@ namespace armarx::armem::server::plugins
std::string longTermMemoryDatabaseUser;
std::string longTermMemoryDatabasePassword;
+
+ private:
+
+ client::plugins::Plugin* clientPlugin;
+
};
}
@@ -105,7 +108,7 @@ namespace armarx::armem::server
class ComponentPluginUser :
virtual public ManagedIceObject
, virtual public MemoryInterface
- , virtual public client::ListeningMemoryNameSystemComponentPluginUser
+ , virtual public client::plugins::ListeningPluginUser
{
public:
--
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