refactor: Use local reader and writer instead of creating new ones.

source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.cpp

@@ -107,11 +107,8 @@ namespace armarx
         sleep(2);
         ARMARX_IMPORTANT << "Running now.";
 
-        armem::client::Reader reader(memory);
-        armem::client::Writer writer(memory);
-
-        armem::MemoryID snapshotID = commitSingleSnapshot(writer, entityID);
-        commitMultipleSnapshots(writer, entityID, 3);
+        armem::MemoryID snapshotID = commitSingleSnapshot(entityID);
+        commitMultipleSnapshots(entityID, 3);
 
         if (true)
         {
@@ -119,18 +116,18 @@ namespace armarx
         }
         if (true)
         {
-            querySnapshot(reader, snapshotID);
+            querySnapshot(snapshotID);
         }
         if (true)
         {
-            commitPrimitives(writer);
-            queryPrimitives(reader);
+            commitPrimitives();
+            queryPrimitives();
         }
 
         CycleUtil c(500);
         while (!task->isStopped())
         {
-            commitSingleSnapshot(writer, entityID);
+            commitSingleSnapshot(entityID);
             c.waitForCycleDuration();
         }
     }
@@ -204,7 +201,7 @@ namespace armarx
         }
     }
 
-    void ArMemExampleClient::querySnapshot(armem::client::Reader& reader, const armem::MemoryID& snapshotID)
+    void ArMemExampleClient::querySnapshot(const armem::MemoryID& snapshotID)
     {
         ARMARX_IMPORTANT
                 << "Querying exact snapshot of entity: (via query builder)"
@@ -218,7 +215,7 @@ namespace armarx
         .entities().withID(snapshotID)
         .snapshots().withID(snapshotID);
 
-        armem::client::QueryResult qResult = reader.query(qb.buildQueryInput());
+        armem::client::QueryResult qResult = memoryReader.query(qb.buildQueryInput());
         ARMARX_INFO << "Result: "
                     << "\n- success:       \t" << qResult.success
                     << "\n- error message: \t" << qResult.errorMessage
@@ -288,7 +285,7 @@ namespace armarx
         return armem::MemoryID::fromString(result.segmentID);
     }
 
-    armem::MemoryID ArMemExampleClient::commitSingleSnapshot(armem::client::Writer& writer, const armem::MemoryID& entityID)
+    armem::MemoryID ArMemExampleClient::commitSingleSnapshot(const armem::MemoryID& entityID)
     {
         armem::Commit commit;
         armem::EntityUpdate& update = commit.updates.emplace_back();
@@ -301,7 +298,7 @@ namespace armarx
                 << "Committing:"
                 << "\n- entityID:     \t'" << update.entityID.str() << "'"
                 ;
-        armem::CommitResult commitResult = writer.commit(commit);
+        armem::CommitResult commitResult = memoryWriter.commit(commit);
 
         ARMARX_CHECK_EQUAL(commitResult.results.size(), 1);
         armem::EntityUpdateResult& result = commitResult.results.at(0);
@@ -310,7 +307,7 @@ namespace armarx
         return result.snapshotID;
     }
 
-    void ArMemExampleClient::commitMultipleSnapshots(armem::client::Writer& writer, const armem::MemoryID& entityID, int num)
+    void ArMemExampleClient::commitMultipleSnapshots(const armem::MemoryID& entityID, int num)
     {
         armem::Commit commit;
         for (int i = 0; i < num; ++i)
@@ -325,16 +322,16 @@ namespace armarx
         }
         ARMARX_INFO << "Commiting " << commit.updates.size() << " more updates.";
 
-        armem::CommitResult commitResult = writer.commit(commit);
+        armem::CommitResult commitResult = memoryWriter.commit(commit);
         ARMARX_CHECK_EQUAL(commitResult.results.size(), commit.updates.size());
     }
 
 
-    void ArMemExampleClient::commitPrimitives(armem::client::Writer& writer)
+    void ArMemExampleClient::commitPrimitives()
     {
         ARMARX_IMPORTANT << "Adding segment " << "Primitive" << "/" << getName();
 
-        auto addSegmentResult = writer.addSegment("Primitive", getName());
+        auto addSegmentResult = memoryWriter.addSegment("Primitive", getName());
         if (!addSegmentResult.success)
         {
             ARMARX_ERROR << addSegmentResult.errorMessage;
@@ -370,14 +367,14 @@ namespace armarx
             update.instancesData = { primitive.toAron() };
         }
 
-        armem::CommitResult commitResult = writer.commit(commit);
+        armem::CommitResult commitResult = memoryWriter.commit(commit);
         if (!commitResult.allSuccess())
         {
             ARMARX_WARNING << commitResult.allErrorMessages();
         }
     }
 
-    void ArMemExampleClient::queryPrimitives(armem::client::Reader& reader)
+    void ArMemExampleClient::queryPrimitives()
     {
         // Query all entities from provider.
         armem::client::QueryBuilder qb;
@@ -387,7 +384,7 @@ namespace armarx
         .entities().all()
         .snapshots().all();
 
-        armem::client::QueryResult result = reader.query(qb.buildQueryInput());
+        armem::client::QueryResult result = memoryReader.query(qb.buildQueryInput());
         if (result)
         {
             tab.queryResult = std::move(result.memory);

source/RobotAPI/components/armem/ArMemExampleClient/ArMemExampleClient.h

@@ -112,14 +112,14 @@ namespace armarx
         void waitForMemory();
         armem::MemoryID addProviderSegment();
 
-        armem::MemoryID commitSingleSnapshot(armem::client::Writer& writer, const armem::MemoryID& entityID);
-        void commitMultipleSnapshots(armem::client::Writer& writer, const armem::MemoryID& entityID, int num = 3);
+        armem::MemoryID commitSingleSnapshot(const armem::MemoryID& entityID);
+        void commitMultipleSnapshots(const armem::MemoryID& entityID, int num = 3);
 
         void queryLatestRawIce(const armem::MemoryID& entityID);
-        void querySnapshot(armem::client::Reader& reader, const armem::MemoryID& snapshotID);
+        void querySnapshot(const armem::MemoryID& snapshotID);
 
-        void commitPrimitives(armem::client::Writer& writer);
-        void queryPrimitives(armem::client::Reader& reader);
+        void commitPrimitives();
+        void queryPrimitives();
 
 
     private: