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Commit f79c8384 authored by Rainer Kartmann's avatar Rainer Kartmann
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Move subscription code to new base class

parent ded2a4c6
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2 merge requests!171Periodic merge of armem/dev into master,!170ArMem Viewer: Resolve Memory IDs
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source/RobotAPI/libraries/armem/CMakeLists.txt
+ 2
− 0
View file @ f79c8384
......@@ -85,6 +85,7 @@ set(LIB_FILES
client/Writer.cpp
client/WriterComponentPlugin.cpp
client/util/MemoryListener.cpp
client/util/SimpleReaderBase.cpp
client/util/SimpleWriterBase.cpp
......@@ -199,6 +200,7 @@ set(LIB_HEADERS
client/query/detail/NameSelectorOps.h
client/query/detail/SelectorOps.h
client/util/MemoryListener.h
client/util/SimpleReaderBase.h
client/util/SimpleWriterBase.h
......
source/RobotAPI/libraries/armem/client/Reader.cpp
+ 0
− 57
View file @ f79c8384
......@@ -108,48 +108,6 @@ namespace armarx::armem::client
}
void
Reader::updated(const std::vector<MemoryID>& updatedSnapshotIDs) const
{
std::stringstream error;
for (const auto& [subscription, callbacks] : this->callbacks)
{
std::vector<MemoryID> matchingSnapshotIDs;
for (const MemoryID& updatedSnapshotID : updatedSnapshotIDs)
{
try
{
if (contains(subscription, updatedSnapshotID))
{
matchingSnapshotIDs.push_back(updatedSnapshotID);
}
}
catch (const armem::error::InvalidMemoryID& e)
{
// Log to debug, but ignore otherwise
error << "Error when comparing subscribed ID " << subscription
<< " with updated ID " << updatedSnapshotID << ":\n"
<< e.what() << "\n\n";
}
}
if (not matchingSnapshotIDs.empty())
{
for (auto& callback : callbacks)
{
callback(subscription, matchingSnapshotIDs);
}
}
}
if (error.str().size() > 0)
{
ARMARX_VERBOSE << "The following issues were encountered during Reader::" << __FUNCTION__ << "(): \n\n"
<< error.str();
}
}
data::StoreResult
Reader::readAndStore(const data::StoreInput& input) const
{
......@@ -166,21 +124,6 @@ namespace armarx::armem::client
}
void
Reader::subscribe(const MemoryID& id, callback callback)
{
callbacks[id].push_back(callback);
}
void Reader::subscribe(const MemoryID& subscriptionID, callback_updated_only callback)
{
subscribe(subscriptionID, [callback](const MemoryID&, const std::vector<MemoryID>& updatedSnapshotIDs)
{
callback(updatedSnapshotIDs);
});
}
void
Reader::setReadingMemory(server::ReadingMemoryInterfacePrx memory)
{
......
source/RobotAPI/libraries/armem/client/Reader.h
+ 2
− 46
View file @ f79c8384
......@@ -2,8 +2,6 @@
// STD/STL
#include <functional>
#include <unordered_map>
#include <vector>
// RobotAPI
......@@ -13,6 +11,7 @@
#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
#include <RobotAPI/libraries/armem/core/longtermmemory/Memory.h>
#include <RobotAPI/libraries/armem/client/util/MemoryListener.h>
#include "Query.h"
......@@ -23,18 +22,9 @@ namespace armarx::armem::client
/**
* @brief Reads data from a memory server.
*/
class Reader
class Reader : public util::MemoryListener
{
using callback = std::function<void(const MemoryID& subscriptionID, const std::vector<MemoryID>& updatedSnapshotIDs)>;
using callback_updated_only = std::function<void(const std::vector<MemoryID>& updatedSnapshotIDs)>;
template <class CalleeT>
using member_callback = void(CalleeT::*)(const MemoryID& subscriptionID, const std::vector<MemoryID>& updatedSnapshotIDs);
template <class CalleeT>
using member_callback_updated_only = void(CalleeT::*)(const std::vector<MemoryID>& updatedSnapshotIDs);
public:
/**
......@@ -78,36 +68,6 @@ namespace armarx::armem::client
data::StoreResult readAndStore(const data::StoreInput& input) const;
void subscribe(const MemoryID& subscriptionID, callback callback);
void subscribe(const MemoryID& subscriptionID, callback_updated_only callback);
/**
* Subscribe with a class member function:
* @code
* reader.subscribe(entityID, this, &This::myCallback);
* @endcode
*/
template <class CalleeT>
void subscribe(const MemoryID& subscriptionID, CalleeT* callee, member_callback<CalleeT> callback)
{
auto cb = [callee, callback](const MemoryID & subscriptionID, const std::vector<MemoryID>& updatedSnapshotIDs)
{
(callee->*callback)(subscriptionID, updatedSnapshotIDs);
};
subscribe(subscriptionID, cb);
}
template <class CalleeT>
void subscribe(const MemoryID& subscriptionID, CalleeT* callee, member_callback_updated_only<CalleeT> callback)
{
auto cb = [callee, callback](const MemoryID&, const std::vector<MemoryID>& updatedSnapshotIDs)
{
(callee->*callback)(updatedSnapshotIDs);
};
subscribe(subscriptionID, cb);
}
/// Function handling updates from the MemoryListener ice topic.
void updated(const std::vector<MemoryID>& updatedIDs) const;
inline operator bool() const
{
return bool(memoryPrx);
......@@ -117,10 +77,6 @@ namespace armarx::armem::client
server::ReadingMemoryInterfacePrx memoryPrx;
private:
std::unordered_map<MemoryID, std::vector<callback>> callbacks;
};
}
source/RobotAPI/libraries/armem/client/util/MemoryListener.cpp 0 → 100644
+ 76
− 0
View file @ f79c8384
#include "MemoryListener.h"
#include <sstream>
#include <ArmarXCore/core/logging/Logging.h>
#include <RobotAPI/libraries/armem/core/error.h>
namespace armarx::armem::client::util
{
MemoryListener::MemoryListener()
{
}
void
MemoryListener::updated(const std::vector<MemoryID>& updatedSnapshotIDs) const
{
std::stringstream error;
for (const auto& [subscription, callbacks] : this->callbacks)
{
std::vector<MemoryID> matchingSnapshotIDs;
for (const MemoryID& updatedSnapshotID : updatedSnapshotIDs)
{
try
{
if (contains(subscription, updatedSnapshotID))
{
matchingSnapshotIDs.push_back(updatedSnapshotID);
}
}
catch (const armem::error::InvalidMemoryID& e)
{
// Log to debug, but ignore otherwise
error << "Error when comparing subscribed ID " << subscription
<< " with updated ID " << updatedSnapshotID << ":\n"
<< e.what() << "\n\n";
}
}
if (not matchingSnapshotIDs.empty())
{
for (auto& callback : callbacks)
{
callback(subscription, matchingSnapshotIDs);
}
}
}
if (error.str().size() > 0)
{
ARMARX_VERBOSE << "The following issues were encountered during MemoryListener::" << __FUNCTION__ << "(): \n\n"
<< error.str();
}
}
void
MemoryListener::subscribe(const MemoryID& id, callback callback)
{
callbacks[id].push_back(callback);
}
void MemoryListener::subscribe(const MemoryID& subscriptionID, callback_updated_only callback)
{
subscribe(subscriptionID, [callback](const MemoryID&, const std::vector<MemoryID>& updatedSnapshotIDs)
{
callback(updatedSnapshotIDs);
});
}
}
source/RobotAPI/libraries/armem/client/util/MemoryListener.h 0 → 100644
+ 77
− 0
View file @ f79c8384
#pragma once
// STD/STL
#include <functional>
#include <unordered_map>
#include <vector>
// RobotAPI
#include <RobotAPI/interface/armem/client/MemoryListenerInterface.h>
#include <RobotAPI/libraries/armem/core/MemoryID.h>
namespace armarx::armem::client::util
{
/**
* @brief Handles update signals from the memory system and distributes it
* to its subsribers.
*/
class MemoryListener
{
using callback = std::function<void(const MemoryID& subscriptionID, const std::vector<MemoryID>& updatedSnapshotIDs)>;
using callback_updated_only = std::function<void(const std::vector<MemoryID>& updatedSnapshotIDs)>;
template <class CalleeT>
using member_callback = void(CalleeT::*)(const MemoryID& subscriptionID, const std::vector<MemoryID>& updatedSnapshotIDs);
template <class CalleeT>
using member_callback_updated_only = void(CalleeT::*)(const std::vector<MemoryID>& updatedSnapshotIDs);
public:
MemoryListener();
void subscribe(const MemoryID& subscriptionID, callback callback);
void subscribe(const MemoryID& subscriptionID, callback_updated_only callback);
/**
* Subscribe with a class member function:
* @code
* reader.subscribe(entityID, this, &This::myCallback);
* @endcode
*/
template <class CalleeT>
void subscribe(const MemoryID& subscriptionID, CalleeT* callee, member_callback<CalleeT> callback)
{
auto cb = [callee, callback](const MemoryID & subscriptionID, const std::vector<MemoryID>& updatedSnapshotIDs)
{
(callee->*callback)(subscriptionID, updatedSnapshotIDs);
};
subscribe(subscriptionID, cb);
}
template <class CalleeT>
void subscribe(const MemoryID& subscriptionID, CalleeT* callee, member_callback_updated_only<CalleeT> callback)
{
auto cb = [callee, callback](const MemoryID&, const std::vector<MemoryID>& updatedSnapshotIDs)
{
(callee->*callback)(updatedSnapshotIDs);
};
subscribe(subscriptionID, cb);
}
/// Function handling updates from the MemoryListener ice topic.
void updated(const std::vector<MemoryID>& updatedIDs) const;
protected:
std::unordered_map<MemoryID, std::vector<callback>> callbacks;
};
}
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