From f2ef0dddb463db51c04b0d1538900d4b92d350a8 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Mon, 10 May 2021 08:21:04 +0200
Subject: [PATCH] articulated object reader and writer: taking (memory)
Client**ComponentPluginUser via c'tor
---
.../client/articulated_object/Reader.cpp | 2 +-
.../client/articulated_object/Reader.h | 9 +++++----
.../client/articulated_object/Writer.cpp | 16 ++++++++--------
.../client/articulated_object/Writer.h | 11 +++++++----
4 files changed, 21 insertions(+), 17 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp
index 03173cf87..91b9337bc 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp
+++ b/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)
{
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.h b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.h
index 2ad108d0f..2e2403ec9 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.h
+++ b/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;
};
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
index 53e5f925a..97b2ce981 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
+++ b/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
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.h b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.h
index 9e9b20758..042554566 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.h
+++ b/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;
};
--
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