From f93b6f7ed097191364e208866f3d21c3aec54bef Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Mon, 30 Aug 2021 18:57:38 +0200
Subject: [PATCH] Only subscribe memory updates when using ListeningPlugin
Signed-off-by: Rainer Kartmann <rainer.kartmann@kit.edu>
---
.../RobotAPI/libraries/armem/CMakeLists.txt | 8 +++++
.../armem/client/MemoryNameSystem.cpp | 8 ++++-
.../armem/client/plugins/ListeningPlugin.cpp | 21 ++++++++++++++
.../armem/client/plugins/ListeningPlugin.h | 29 +++++++++++++++++++
.../client/plugins/ListeningPluginUser.cpp | 3 ++
.../client/plugins/ListeningPluginUser.h | 12 ++++++--
.../libraries/armem/client/plugins/Plugin.cpp | 15 ++++------
.../libraries/armem/client/plugins/Plugin.h | 1 +
8 files changed, 85 insertions(+), 12 deletions(-)
create mode 100644 source/RobotAPI/libraries/armem/client/plugins/ListeningPlugin.cpp
create mode 100644 source/RobotAPI/libraries/armem/client/plugins/ListeningPlugin.h
diff --git a/source/RobotAPI/libraries/armem/CMakeLists.txt b/source/RobotAPI/libraries/armem/CMakeLists.txt
index 32c3b9b94..88519c9ba 100644
--- a/source/RobotAPI/libraries/armem/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem/CMakeLists.txt
@@ -60,11 +60,13 @@ set(LIB_FILES
core/error/ArMemError.cpp
core/error/mns.cpp
+
client/MemoryNameSystem.cpp
client/Reader.cpp
client/Writer.cpp
client/plugins/ListeningPluginUser.cpp
+ client/plugins/ListeningPlugin.cpp
client/plugins/PluginUser.cpp
client/plugins/Plugin.cpp
@@ -76,6 +78,7 @@ set(LIB_FILES
client/query/Builder.cpp
client/query/selectors.cpp
+
server/MemoryToIceAdapter.cpp
server/ComponentPlugin.cpp
server/MemoryRemoteGui.cpp
@@ -102,6 +105,7 @@ set(LIB_FILES
server/query_proc/ltm.cpp
server/query_proc/wm.cpp
+
mns/MemoryNameSystem.cpp
mns/Registry.cpp
mns/plugins/Plugin.cpp
@@ -155,6 +159,7 @@ set(LIB_HEADERS
core/wm/visitor/Visitor.h
core/wm/visitor/FunctionalVisitor.h
+
client.h
client/forward_declarations.h
client/MemoryNameSystem.h
@@ -163,6 +168,7 @@ set(LIB_HEADERS
client/plugins.h
client/plugins/ListeningPluginUser.h
+ client/plugins/ListeningPlugin.h
client/plugins/PluginUser.h
client/plugins/Plugin.h
@@ -178,6 +184,7 @@ set(LIB_HEADERS
client/util/SimpleReaderBase.h
client/util/SimpleWriterBase.h
+
server.h
server/forward_declarations.h
@@ -210,6 +217,7 @@ set(LIB_HEADERS
server/query_proc/ltm.h
server/query_proc/wm.h
+
mns.h
mns/MemoryNameSystem.h
mns/Registry.h
diff --git a/source/RobotAPI/libraries/armem/client/MemoryNameSystem.cpp b/source/RobotAPI/libraries/armem/client/MemoryNameSystem.cpp
index 4dcb3d624..121b29248 100644
--- a/source/RobotAPI/libraries/armem/client/MemoryNameSystem.cpp
+++ b/source/RobotAPI/libraries/armem/client/MemoryNameSystem.cpp
@@ -9,6 +9,8 @@
#include <SimoxUtility/algorithm/string/string_tools.h>
+
+
namespace armarx::armem::client
{
@@ -190,6 +192,7 @@ namespace armarx::armem::client
}
+
template <class ClientT>
std::map<std::string, ClientT>
MemoryNameSystem::_getAllClients(auto&& getProxyFn) const
@@ -197,7 +200,10 @@ namespace armarx::armem::client
std::map<std::string, ClientT> result;
for (const auto& [name, server] : servers)
{
- result[name] = ClientT(getProxyFn(server));
+ if (auto proxy = getProxyFn(server))
+ {
+ result[name] = ClientT(proxy);
+ }
}
return result;
}
diff --git a/source/RobotAPI/libraries/armem/client/plugins/ListeningPlugin.cpp b/source/RobotAPI/libraries/armem/client/plugins/ListeningPlugin.cpp
new file mode 100644
index 000000000..463c6443e
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/client/plugins/ListeningPlugin.cpp
@@ -0,0 +1,21 @@
+#include "ListeningPlugin.h"
+
+#include <RobotAPI/interface/armem/client/MemoryListenerInterface.h>
+
+#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
+
+
+namespace armarx::armem::client::plugins
+{
+
+ ListeningPlugin::~ListeningPlugin()
+ {}
+
+
+ void ListeningPlugin::postCreatePropertyDefinitions(armarx::PropertyDefinitionsPtr& properties)
+ {
+ // Subscribe topics by single servers, use this as a prefix.
+ properties->topic<MemoryListenerInterface>("MemoryUpdates");
+ }
+
+}
diff --git a/source/RobotAPI/libraries/armem/client/plugins/ListeningPlugin.h b/source/RobotAPI/libraries/armem/client/plugins/ListeningPlugin.h
new file mode 100644
index 000000000..80aac20c6
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/client/plugins/ListeningPlugin.h
@@ -0,0 +1,29 @@
+#pragma once
+
+#include <ArmarXCore/core/ComponentPlugin.h>
+
+
+namespace armarx::armem::client::plugins
+{
+
+ /**
+ * @brief Subscribes the memory updates topic.
+ *
+ * When using this plugin, the component needs to implement the
+ * `MemoryListenerInterface`.
+ *
+ * @see MemoryListenerInterface
+ */
+ class ListeningPlugin :
+ public armarx::ComponentPlugin
+ {
+ public:
+
+ using ComponentPlugin::ComponentPlugin;
+ virtual ~ListeningPlugin() override;
+
+ virtual void postCreatePropertyDefinitions(armarx::PropertyDefinitionsPtr& properties) override;
+
+ };
+
+}
diff --git a/source/RobotAPI/libraries/armem/client/plugins/ListeningPluginUser.cpp b/source/RobotAPI/libraries/armem/client/plugins/ListeningPluginUser.cpp
index 3b3027a38..3a40a9ffe 100644
--- a/source/RobotAPI/libraries/armem/client/plugins/ListeningPluginUser.cpp
+++ b/source/RobotAPI/libraries/armem/client/plugins/ListeningPluginUser.cpp
@@ -1,5 +1,7 @@
#include "ListeningPluginUser.h"
+#include "ListeningPlugin.h"
+
#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
@@ -8,6 +10,7 @@ namespace armarx::armem::client::plugins
ListeningPluginUser::ListeningPluginUser()
{
+ addPlugin(listeningPlugin);
}
diff --git a/source/RobotAPI/libraries/armem/client/plugins/ListeningPluginUser.h b/source/RobotAPI/libraries/armem/client/plugins/ListeningPluginUser.h
index dd80b88e6..20b124d5d 100644
--- a/source/RobotAPI/libraries/armem/client/plugins/ListeningPluginUser.h
+++ b/source/RobotAPI/libraries/armem/client/plugins/ListeningPluginUser.h
@@ -9,6 +9,8 @@
namespace armarx::armem::client::plugins
{
+ class ListeningPlugin;
+
/**
* @brief A memory name system client which listens to the memory updates
@@ -27,8 +29,14 @@ namespace armarx::armem::client::plugins
// MemoryListenerInterface
- virtual void memoryUpdated(const std::vector<data::MemoryID>& updatedSnapshotIDs,
- const Ice::Current&) override;
+ virtual void
+ memoryUpdated(const std::vector<data::MemoryID>& updatedSnapshotIDs,
+ const Ice::Current&) override;
+
+
+ private:
+
+ ListeningPlugin* listeningPlugin = nullptr;
};
diff --git a/source/RobotAPI/libraries/armem/client/plugins/Plugin.cpp b/source/RobotAPI/libraries/armem/client/plugins/Plugin.cpp
index e31d2d0e5..74cf798f6 100644
--- a/source/RobotAPI/libraries/armem/client/plugins/Plugin.cpp
+++ b/source/RobotAPI/libraries/armem/client/plugins/Plugin.cpp
@@ -1,18 +1,18 @@
#include "Plugin.h"
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
#include <RobotAPI/libraries/armem/core/error.h>
#include <RobotAPI/libraries/armem/core/ice_conversions.h>
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/core/logging/Logging.h>
namespace armarx::armem::client::plugins
{
Plugin::Plugin(
- ManagedIceObject& parent, std::string pre) :
+ ManagedIceObject& parent, std::string pre) :
ComponentPlugin(parent, pre)
{
}
@@ -24,14 +24,14 @@ namespace armarx::armem::client::plugins
void Plugin::postCreatePropertyDefinitions(armarx::PropertyDefinitionsPtr& properties)
{
- if (!properties->hasDefinition(makePropertyName(PROPERTY_MNS_NAME_NAME)))
+ if (not properties->hasDefinition(makePropertyName(PROPERTY_MNS_NAME_NAME)))
{
properties->defineOptionalProperty<std::string>(
makePropertyName(PROPERTY_MNS_NAME_NAME),
memoryNameSystemName,
"Name of the Memory Name System (MNS) component.");
}
- if (!properties->hasDefinition(makePropertyName(PROPERTY_MNS_ENABLED_NAME)))
+ if (not properties->hasDefinition(makePropertyName(PROPERTY_MNS_ENABLED_NAME)))
{
properties->defineOptionalProperty<bool>(
makePropertyName(PROPERTY_MNS_ENABLED_NAME),
@@ -39,9 +39,6 @@ namespace armarx::armem::client::plugins
"Whether to use (and depend on) the Memory Name System (MNS)."
"\nSet to false to use this memory as a stand-alone.");
}
-
- // Subscribe topics by single servers, use this as a prefix.
- properties->topic<MemoryListenerInterface>("MemoryUpdates");
}
diff --git a/source/RobotAPI/libraries/armem/client/plugins/Plugin.h b/source/RobotAPI/libraries/armem/client/plugins/Plugin.h
index 550f893bf..eff9134fd 100644
--- a/source/RobotAPI/libraries/armem/client/plugins/Plugin.h
+++ b/source/RobotAPI/libraries/armem/client/plugins/Plugin.h
@@ -25,6 +25,7 @@ namespace armarx::armem::client::plugins
Plugin(ManagedIceObject& parent, std::string pre);
virtual ~Plugin() override;
+
void postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties) override;
void preOnInitComponent() override;
--
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