articulated object reader and writer: taking (memory) Client**ComponentPluginUser via c'tor

source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp

@@ -18,7 +18,7 @@ namespace fs = ::std::filesystem;
 namespace armarx::armem::articulated_object
 {
 
-    Reader::Reader(ManagedIceObject& component) : MemoryConnector(component) {}
+    Reader::Reader(armem::ClientReaderComponentPluginUser& component) : component(component) {}
 
     std::optional<ArticulatedObject> Reader::get(const std::string& name, const armem::Time& timestamp)
     {

source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.h

@@ -24,7 +24,7 @@
 #include <mutex>
 #include <optional>
 
-#include "RobotAPI/libraries/armem/client/MemoryConnector.h"
+#include "RobotAPI/libraries/armem/client.h"
 #include "RobotAPI/libraries/armem/client/Reader.h"
 
 #include "interfaces.h"
@@ -32,11 +32,11 @@
 namespace armarx::armem::articulated_object
 {
     class Reader:
-        virtual public ReaderInterface,
-        virtual public ::armarx::armem::MemoryConnector
+        virtual public ReaderInterface
+    // virtual public ::armarx::armem::MemoryConnector
     {
     public:
-        Reader(ManagedIceObject& component);
+        Reader(armem::ClientReaderComponentPluginUser& component);
         virtual ~Reader() = default;
 
         void synchronize(ArticulatedObject& obj, const armem::Time& timestamp) override;
@@ -69,6 +69,7 @@ namespace armarx::armem::articulated_object
         armem::client::Reader memoryReader;
         std::mutex memoryWriterMutex;
 
+        armem::ClientReaderComponentPluginUser& component;
     };
 
 

source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp

@@ -15,15 +15,15 @@
 
 namespace armarx::armem::articulated_object
 {
-    Writer::Writer(ManagedIceObject& component): MemoryConnector(component) {}
+    Writer::Writer(armem::ClientComponentPluginUser& component): component(component) {}
 
     void Writer::registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def)
     {
         ARMARX_DEBUG << "Writer: registerPropertyDefinitions";
 
-        MemoryConnector::registerPropertyDefinitions(def);
+        // MemoryConnector::registerPropertyDefinitions(def);
 
-        const std::string prefix = getPropertyPrefix();
+        const std::string prefix = propertyPrefix;
 
         def->optional(properties.memoryName, prefix + "MemoryName");
 
@@ -40,7 +40,7 @@ namespace armarx::armem::articulated_object
     {
         // Wait for the memory to become available and add it as dependency.
         ARMARX_IMPORTANT << "Writer: Waiting for memory '" << properties.memoryName << "' ...";
-        auto result = useMemory(properties.memoryName);
+        auto result = component.useMemory(properties.memoryName);
         if (not result.success)
         {
             ARMARX_ERROR << result.errorMessage;
@@ -217,9 +217,9 @@ namespace armarx::armem::articulated_object
         return storeInstance(obj);
     }
 
-    const std::string& Writer::getPropertyPrefix() const
-    {
-        return propertyPrefix;
-    }
+    // const std::string& Writer::getPropertyPrefix() const
+    // {
+    //     return propertyPrefix;
+    // }
 
 } // namespace armarx::armem::articulated_object
\ No newline at end of file

source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.h

@@ -26,6 +26,7 @@
 #include "RobotAPI/libraries/armem/client/MemoryConnector.h"
 #include "RobotAPI/libraries/armem/client/Reader.h"
 #include "RobotAPI/libraries/armem/client/Writer.h"
+#include "RobotAPI/libraries/armem/client.h"
 
 #include "interfaces.h"
 
@@ -34,11 +35,11 @@ namespace armarx::armem::articulated_object
 {
 
     class Writer:
-        virtual public WriterInterface,
-        virtual public MemoryConnector
+        virtual public WriterInterface //,
+    // virtual public MemoryConnector
     {
     public:
-        Writer(ManagedIceObject& component);
+        Writer(armem::ClientComponentPluginUser& component);
         virtual ~Writer() = default;
 
 
@@ -51,7 +52,7 @@ namespace armarx::armem::articulated_object
         bool storeInstance(const ArticulatedObject& obj);
         std::optional<armem::MemoryID> storeClass(const ArticulatedObject& obj);
 
-        const std::string& getPropertyPrefix() const override;
+        // const std::string& getPropertyPrefix() const override;
 
     private:
         std::optional<armem::MemoryID> storeOrGetClass(const ArticulatedObject& obj);
@@ -77,6 +78,8 @@ namespace armarx::armem::articulated_object
 
         // key: name of object: RobotDescription::name
         std::map<std::string, MemoryID> knownObjects;
+
+        armem::ClientComponentPluginUser& component;
     };