From f07a63df8f30795b33573ddaf750e4215118350c Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Mon, 10 May 2021 08:23:18 +0200
Subject: [PATCH] armem robot mapping: taking (memory)
Client**ComponentPluginUser via c'tor
---
.../armem_robot_mapping/MappingDataReader.cpp | 10 +++++-----
.../armem_robot_mapping/MappingDataReader.h | 14 ++++++--------
.../armem_robot_mapping/MappingDataWriter.cpp | 10 ++++------
.../armem_robot_mapping/MappingDataWriter.h | 16 ++++++----------
4 files changed, 21 insertions(+), 29 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_robot_mapping/MappingDataReader.cpp b/source/RobotAPI/libraries/armem_robot_mapping/MappingDataReader.cpp
index 9f7317320..399b866e4 100644
--- a/source/RobotAPI/libraries/armem_robot_mapping/MappingDataReader.cpp
+++ b/source/RobotAPI/libraries/armem_robot_mapping/MappingDataReader.cpp
@@ -52,8 +52,8 @@
namespace armarx::armem
{
- MappingDataReader::MappingDataReader(ManagedIceObject& component)
- : armarx::armem::MemoryConnector(component) {}
+ MappingDataReader::MappingDataReader(armem::ClientReaderComponentPluginUser& memoryClient)
+ : memoryClient(memoryClient) {}
MappingDataReader::~MappingDataReader() = default;
@@ -61,9 +61,9 @@ namespace armarx::armem
armarx::PropertyDefinitionsPtr& def)
{
ARMARX_DEBUG << "TransformReader: registerPropertyDefinitions";
- MemoryConnector::registerPropertyDefinitions(def);
+ registerPropertyDefinitions(def);
- const std::string prefix = getPropertyPrefix();
+ const std::string prefix = propertyPrefix;
def->optional(properties.mappingMemoryName, prefix + "MappingMemoryName",
"Name of the mapping memory core segment to use.");
@@ -76,7 +76,7 @@ namespace armarx::armem
// Wait for the memory to become available and add it as dependency.
ARMARX_IMPORTANT << "TransformReader: Waiting for memory '"
<< properties.memoryName << "' ...";
- auto result = useMemory(properties.memoryName);
+ auto result = memoryClient.useMemory(properties.memoryName);
if (not result.success)
{
ARMARX_ERROR << result.errorMessage;
diff --git a/source/RobotAPI/libraries/armem_robot_mapping/MappingDataReader.h b/source/RobotAPI/libraries/armem_robot_mapping/MappingDataReader.h
index 5135d41b8..4f1e32a85 100644
--- a/source/RobotAPI/libraries/armem_robot_mapping/MappingDataReader.h
+++ b/source/RobotAPI/libraries/armem_robot_mapping/MappingDataReader.h
@@ -27,6 +27,7 @@
#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
+#include <RobotAPI/libraries/armem/client.h>
#include <RobotAPI/libraries/armem/client/Reader.h>
#include <RobotAPI/libraries/armem/client/MemoryConnector.h>
#include <RobotAPI/libraries/armem/client/query/Builder.h>
@@ -59,11 +60,10 @@ namespace armarx::armem
*
* Detailed description of class ExampleClient.
*/
- class MappingDataReader :
- virtual public armarx::armem::MemoryConnector
+ class MappingDataReader
{
public:
- MappingDataReader(ManagedIceObject& component);
+ MappingDataReader(armem::ClientReaderComponentPluginUser& memoryClient);
virtual ~MappingDataReader();
@@ -102,10 +102,6 @@ namespace armarx::armem
void registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def);
- const std::string& getPropertyPrefix() const override
- {
- return propertyPrefix;
- }
client::query::Builder buildQuery(const Query& query) const ;
@@ -122,7 +118,9 @@ namespace armarx::armem
} properties;
- const std::string propertyPrefix = "mem.mapping.read.";
+ const std::string propertyPrefix = "mem.mapping.";
+
+ armem::ClientReaderComponentPluginUser& memoryClient;
};
} // namespace armarx::armem
diff --git a/source/RobotAPI/libraries/armem_robot_mapping/MappingDataWriter.cpp b/source/RobotAPI/libraries/armem_robot_mapping/MappingDataWriter.cpp
index 2216b159f..351d71398 100644
--- a/source/RobotAPI/libraries/armem_robot_mapping/MappingDataWriter.cpp
+++ b/source/RobotAPI/libraries/armem_robot_mapping/MappingDataWriter.cpp
@@ -7,8 +7,8 @@
namespace armarx::armem
{
- MappingDataWriter::MappingDataWriter(ManagedIceObject& component)
- : MemoryConnector(component) {}
+ MappingDataWriter::MappingDataWriter(armem::ClientWriterComponentPluginUser& component)
+ : component(component) {}
MappingDataWriter::~MappingDataWriter() = default;
@@ -17,9 +17,7 @@ namespace armarx::armem
{
ARMARX_DEBUG << "TransformWriter: registerPropertyDefinitions";
- MemoryConnector::registerPropertyDefinitions(def);
-
- const std::string prefix = getPropertyPrefix();
+ const std::string prefix = propertyPrefix;
def->optional(properties.mappingMemoryName, prefix + "MappingMemoryName",
"Name of the mapping memory core segment to use.");
@@ -32,7 +30,7 @@ namespace armarx::armem
// Wait for the memory to become available and add it as dependency.
ARMARX_IMPORTANT << "MappingDataWriter: Waiting for memory '" << properties.memoryName
<< "' ...";
- auto result = useMemory(properties.memoryName);
+ auto result = component.useMemory(properties.memoryName);
if (not result.success)
{
ARMARX_ERROR << result.errorMessage;
diff --git a/source/RobotAPI/libraries/armem_robot_mapping/MappingDataWriter.h b/source/RobotAPI/libraries/armem_robot_mapping/MappingDataWriter.h
index 4eddff56c..e5de99674 100644
--- a/source/RobotAPI/libraries/armem_robot_mapping/MappingDataWriter.h
+++ b/source/RobotAPI/libraries/armem_robot_mapping/MappingDataWriter.h
@@ -27,7 +27,7 @@
#include <RobotAPI/interface/units/LaserScannerUnit.h>
#include <RobotAPI/libraries/armem/client/Writer.h>
-#include <RobotAPI/libraries/armem/client/MemoryConnector.h>
+#include <RobotAPI/libraries/armem/client.h>
namespace armarx::armem
@@ -44,11 +44,10 @@ namespace armarx::armem
*
* Detailed description of class ExampleClient.
*/
- class MappingDataWriter :
- virtual public ::armarx::armem::MemoryConnector
+ class MappingDataWriter
{
public:
- MappingDataWriter(ManagedIceObject& component);
+ MappingDataWriter(armem::ClientWriterComponentPluginUser& component);
virtual ~MappingDataWriter();
void connect();
@@ -62,11 +61,6 @@ namespace armarx::armem
bool storeSensorData(const LaserScan& laserScan, const std::string& frame, const std::string& agentName, const std::int64_t& timestamp);
- const std::string& getPropertyPrefix() const override
- {
- return propertyPrefix;
- }
-
private:
armem::client::Writer memoryWriter;
@@ -80,7 +74,9 @@ namespace armarx::armem
std::mutex memoryWriterMutex;
- const std::string propertyPrefix = "mem.mapping.write.";
+ const std::string propertyPrefix = "mem.mapping.";
+
+ armem::ClientWriterComponentPluginUser& component;
};
--
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