component: memory reader and writer

source/armarx/navigation/components/dynamic_distance_to_obstacle_costmap_provider/CMakeLists.txt

@@ -3,7 +3,7 @@ armarx_add_component(dynamic_distance_to_obstacle_costmap_provider
         ComponentInterface.ice
     ICE_DEPENDENCIES
         ArmarXCoreInterfaces
-        # RobotAPIInterfaces
+        RobotAPIInterfaces
     # ARON_FILES
         # aron/my_type.xml
     SOURCES
@@ -20,6 +20,7 @@ armarx_add_component(dynamic_distance_to_obstacle_costmap_provider
         ## RobotAPICore
         ## RobotAPIInterfaces
         ## RobotAPIComponentPlugins  # For ArViz and other plugins.
+        armarx_navigation::memory
     # DEPENDENCIES_LEGACY
         ## Add libraries that do not provide any targets but ${FOO_*} variables.
         # FOO

source/armarx/navigation/components/dynamic_distance_to_obstacle_costmap_provider/Component.cpp

@@ -35,14 +35,14 @@
 namespace armarx::navigation::components::dynamic_distance_to_obstacle_costmap_provider
 {
 
-    const std::string
-    Component::defaultName = "dynamic_distance_to_obstacle_costmap_provider";
+    const std::string Component::defaultName = "dynamic_distance_to_obstacle_costmap_provider";
 
 
     armarx::PropertyDefinitionsPtr
     Component::createPropertyDefinitions()
     {
-        armarx::PropertyDefinitionsPtr def = new armarx::ComponentPropertyDefinitions(getConfigIdentifier());
+        armarx::PropertyDefinitionsPtr def =
+            new armarx::ComponentPropertyDefinitions(getConfigIdentifier());
 
         // Publish to a topic (passing the TopicListenerPrx).
         // def->topic(myTopicListener);
@@ -58,13 +58,18 @@ namespace armarx::navigation::components::dynamic_distance_to_obstacle_costmap_p
         // def->required(properties.boxLayerName, "p.box.LayerName", "Name of the box layer in ArViz.");
 
         // Add an optionalproperty.
-        def->optional(properties.boxLayerName, "p.box.LayerName", "Name of the box layer in ArViz.");
+        def->optional(
+            properties.boxLayerName, "p.box.LayerName", "Name of the box layer in ArViz.");
         def->optional(properties.numBoxes, "p.box.Number", "Number of boxes to draw in ArViz.");
 
         return def;
     }
 
 
+    Component::Component() : costmapReader(memoryNameSystem()), costmapWriter(memoryNameSystem())
+    {
+    }
+
     void
     Component::onInitComponent()
     {
@@ -217,4 +222,4 @@ namespace armarx::navigation::components::dynamic_distance_to_obstacle_costmap_p
 
     ARMARX_REGISTER_COMPONENT_EXECUTABLE(Component, Component::GetDefaultName());
 
-}  // namespace armarx::navigation::components::dynamic_distance_to_obstacle_costmap_provider
+} // namespace armarx::navigation::components::dynamic_distance_to_obstacle_costmap_provider

source/armarx/navigation/components/dynamic_distance_to_obstacle_costmap_provider/Component.h

@@ -28,12 +28,17 @@
 
 #include <ArmarXCore/core/Component.h>
 
+#include "RobotAPI/libraries/armem/client/forward_declarations.h"
+
 // #include <ArmarXCore/libraries/ArmarXCoreComponentPlugins/DebugObserverComponentPlugin.h>
 
 // #include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
 
 // #include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
+#include <RobotAPI/libraries/armem/client.h>
 
+#include "armarx/navigation/memory/client/costmap/Reader.h"
+#include "armarx/navigation/memory/client/costmap/Writer.h"
 #include <armarx/navigation/components/dynamic_distance_to_obstacle_costmap_provider/ComponentInterface.h>
 
 
@@ -42,12 +47,16 @@ namespace armarx::navigation::components::dynamic_distance_to_obstacle_costmap_p
 
     class Component :
         virtual public armarx::Component,
-        virtual public armarx::navigation::components::dynamic_distance_to_obstacle_costmap_provider::ComponentInterface
+        virtual public armarx::navigation::components::
+            dynamic_distance_to_obstacle_costmap_provider::ComponentInterface
         // , virtual public armarx::DebugObserverComponentPluginUser
         // , virtual public armarx::LightweightRemoteGuiComponentPluginUser
         // , virtual public armarx::ArVizComponentPluginUser
+        ,
+        virtual public armem::ListeningClientPluginUser
     {
     public:
+        Component();
 
         /// @see armarx::ManagedIceObject::getDefaultName()
         std::string getDefaultName() const override;
@@ -57,7 +66,6 @@ namespace armarx::navigation::components::dynamic_distance_to_obstacle_costmap_p
 
 
     protected:
-
         /// @see PropertyUser::createPropertyDefinitions()
         armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
 
@@ -87,7 +95,6 @@ namespace armarx::navigation::components::dynamic_distance_to_obstacle_costmap_p
 
 
     private:
-
         // Private methods go here.
 
         // Forward declare `Properties` if you used it before its defined.
@@ -100,7 +107,6 @@ namespace armarx::navigation::components::dynamic_distance_to_obstacle_costmap_p
 
 
     private:
-
         static const std::string defaultName;
 
 
@@ -139,6 +145,8 @@ namespace armarx::navigation::components::dynamic_distance_to_obstacle_costmap_p
         std::mutex arvizMutex;
         */
 
+        memory::client::costmap::Reader costmapReader;
+        memory::client::costmap::Writer costmapWriter;
     };
 
-}  // namespace armarx::navigation::components::dynamic_distance_to_obstacle_costmap_provider
+} // namespace armarx::navigation::components::dynamic_distance_to_obstacle_costmap_provider

source/armarx/navigation/components/dynamic_distance_to_obstacle_costmap_provider/ComponentInterface.ice

@@ -23,11 +23,12 @@
 
 #pragma once
 
+#include <RobotAPI/interface/armem/client/MemoryListenerInterface.ice>
 
 module armarx {  module navigation {  module components {  module dynamic_distance_to_obstacle_costmap_provider 
 {
 
-    interface ComponentInterface
+    interface ComponentInterface extends armarx::armem::client::MemoryListenerInterface
     {
 	// Define your interface here.
     };