Draft: Make RobotStateMemory ready

Goal:

• Make stable (especially race conditions)
• Improve runtime
• Add profiling/monitoring
• Refactor code
• Add missing interfaces

source/RobotAPI/libraries/armem/server/ComponentPlugin.cpp

@@ -130,7 +130,7 @@ namespace armarx::armem::server
 
     data::AddSegmentsResult ComponentPluginUser::addSegments(const data::AddSegmentsInput& input, bool addCoreSegments)
     {
-        std::scoped_lock lock(workingMemoryMutex);
+        // std::scoped_lock lock(workingMemoryMutex);
         data::AddSegmentsResult result = iceMemory.addSegments(input, addCoreSegments);
         return result;
     }
@@ -138,7 +138,7 @@ namespace armarx::armem::server
 
     data::CommitResult ComponentPluginUser::commit(const data::Commit& commitIce, const Ice::Current&)
     {
-        std::scoped_lock lock(workingMemoryMutex);
+        // std::scoped_lock lock(workingMemoryMutex);
         return iceMemory.commit(commitIce);
     }
 
@@ -146,7 +146,7 @@ namespace armarx::armem::server
     // READING
     armem::query::data::Result ComponentPluginUser::query(const armem::query::data::Input& input, const Ice::Current&)
     {
-        std::scoped_lock lock(workingMemoryMutex);
+        // std::scoped_lock lock(workingMemoryMutex);
         return iceMemory.query(input);
     }
 
@@ -154,7 +154,7 @@ namespace armarx::armem::server
     // LTM STORING
     data::StoreResult ComponentPluginUser::store(const data::StoreInput& input, const Ice::Current&)
     {
-        std::scoped_lock lock(workingMemoryMutex, longtermMemoryMutex);
+        std::scoped_lock lock(/*workingMemoryMutex,*/ longtermMemoryMutex);
         return iceMemory.store(input);
     }