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

 #include "ComponentPlugin.h"
 
+#include <ArmarXCore/core/Component.h>
 #include <ArmarXCore/core/exceptions/local/ExpressionException.h>
 
 #include <RobotAPI/libraries/armem/core/error.h>
@@ -11,8 +12,7 @@
 
 namespace armarx::armem::server::plugins
 {
-    ComponentPlugin::~ComponentPlugin()
-    {}
+    ComponentPlugin::~ComponentPlugin() = default;
 
 
     void ComponentPlugin::postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties)
@@ -118,6 +118,8 @@ namespace armarx::armem::server
         addPlugin(plugin);
     }
 
+    ComponentPluginUser::~ComponentPluginUser() = default;
+
 
     // WRITING
     data::AddSegmentsResult ComponentPluginUser::addSegments(const data::AddSegmentsInput& input, const Ice::Current&)
@@ -128,7 +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;
     }
@@ -136,7 +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);
     }
 
@@ -144,19 +146,20 @@ 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);
     }
 
-    // LTM LOADING
+
+    // 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);
     }
 
 
-    // LTM STORING
+    // LTM LOADING
     armem::query::data::Result ComponentPluginUser::load(const armem::query::data::Input& input, const Ice::Current&)
     {
         std::scoped_lock lock(longtermMemoryMutex);