From 23f4e131fcac4b9edcd66efab13f40f812622e81 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Mon, 6 Nov 2023 16:42:48 +0100
Subject: [PATCH] Remove mutex, make SimpleReaderBase copy-able. Set default
properties when used without registerPropertyDefinitions().
---
.../armem/client/util/SimpleReaderBase.cpp | 34 ++++++++++++-------
.../armem/client/util/SimpleReaderBase.h | 13 ++-----
2 files changed, 24 insertions(+), 23 deletions(-)
diff --git a/source/RobotAPI/libraries/armem/client/util/SimpleReaderBase.cpp b/source/RobotAPI/libraries/armem/client/util/SimpleReaderBase.cpp
index e14ce8848..650eae74f 100644
--- a/source/RobotAPI/libraries/armem/client/util/SimpleReaderBase.cpp
+++ b/source/RobotAPI/libraries/armem/client/util/SimpleReaderBase.cpp
@@ -17,21 +17,25 @@ namespace armarx::armem::client::util
const std::string prefix = propertyPrefix();
- props = defaultProperties();
+ if (not props.has_value())
+ {
+ props = defaultProperties();
+ }
- def->optional(props.memoryName, prefix + "Memory");
- def->optional(props.coreSegmentName, prefix + "CoreSegment");
+ def->optional(props->memoryName, prefix + "Memory");
+ def->optional(props->coreSegmentName, prefix + "CoreSegment");
}
void
SimpleReaderBase::connect(armarx::armem::client::MemoryNameSystem& mns)
{
// Wait for the memory to become available and add it as dependency.
- ARMARX_IMPORTANT << "SimpleReaderBase: Waiting for memory '" << props.memoryName << "' ...";
+ ARMARX_IMPORTANT << "SimpleReaderBase: Waiting for memory '" << properties().memoryName
+ << "' ...";
try
{
- memoryReaderClient = mns.useReader(MemoryID().withMemoryName(props.memoryName));
- ARMARX_IMPORTANT << "SimpleReaderBase: Connected to memory '" << props.memoryName
+ memoryReaderClient = mns.useReader(MemoryID().withMemoryName(properties().memoryName));
+ ARMARX_IMPORTANT << "SimpleReaderBase: Connected to memory '" << properties().memoryName
<< "'";
}
catch (const armem::error::CouldNotResolveMemoryServer& e)
@@ -41,12 +45,6 @@ namespace armarx::armem::client::util
}
}
- std::mutex&
- SimpleReaderBase::memoryReaderMutex()
- {
- return memoryMutex;
- }
-
const armem::client::Reader&
SimpleReaderBase::memoryReader() const
{
@@ -56,7 +54,17 @@ namespace armarx::armem::client::util
const SimpleReaderBase::Properties&
SimpleReaderBase::properties() const
{
- return props;
+ if (not props.has_value())
+ {
+ const_cast<std::optional<Properties>&>(props) = defaultProperties();
+ }
+ return props.value();
+ }
+
+ void
+ SimpleReaderBase::setProperties(const Properties& p)
+ {
+ props = p;
}
} // namespace armarx::armem::client::util
diff --git a/source/RobotAPI/libraries/armem/client/util/SimpleReaderBase.h b/source/RobotAPI/libraries/armem/client/util/SimpleReaderBase.h
index 2b6371937..3e8395680 100644
--- a/source/RobotAPI/libraries/armem/client/util/SimpleReaderBase.h
+++ b/source/RobotAPI/libraries/armem/client/util/SimpleReaderBase.h
@@ -21,7 +21,7 @@
#pragma once
-#include <mutex>
+#include <optional>
#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
@@ -53,25 +53,18 @@ namespace armarx::armem::client::util
virtual void connect(armarx::armem::client::MemoryNameSystem& mns);
const Properties& properties() const;
-
- void
- setProperties(const Properties& p)
- {
- props = p;
- }
+ void setProperties(const Properties& p);
protected:
virtual std::string propertyPrefix() const = 0;
virtual Properties defaultProperties() const = 0;
- std::mutex& memoryReaderMutex();
const armem::client::Reader& memoryReader() const;
private:
- Properties props;
+ std::optional<Properties> props;
armem::client::Reader memoryReaderClient;
- std::mutex memoryMutex;
};
} // namespace armarx::armem::client::util
--
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