Move subscriptions from Reader to MemoryNameSystem client

source/RobotAPI/interface/armem/server/MemoryInterface.ice

@@ -6,6 +6,8 @@
 #include <RobotAPI/interface/armem/server/ReadingMemoryInterface.ice>
 #include <RobotAPI/interface/armem/server/WritingMemoryInterface.ice>
 
+#include <RobotAPI/interface/armem/client/MemoryListenerInterface.ice>
+
 
 module armarx
 {
@@ -21,7 +23,10 @@ module armarx
             {
             };
 
-            interface MemoryInterface extends WorkingMemoryInterface, LongTermMemoryInterface
+            interface MemoryInterface extends
+                    WorkingMemoryInterface,
+                    LongTermMemoryInterface,
+                    client::MemoryListenerInterface
             {
             };
         };

source/RobotAPI/libraries/armem/client/MemoryNameSystem.h

@@ -29,6 +29,7 @@
 #include <RobotAPI/interface/armem/server/MemoryInterface.h>
 
 #include <RobotAPI/libraries/armem/core/MemoryID.h>
+#include <RobotAPI/libraries/armem/client/util/MemoryListener.h>
 
 
 namespace armarx
@@ -64,7 +65,7 @@ namespace armarx::armem::client
      * memory servers, as well as retrieving the data for arbitrary entity or
      * entity snapshot IDs.
      */
-    class MemoryNameSystem
+    class MemoryNameSystem : public util::MemoryListener
     {
     public:
 

source/RobotAPI/libraries/armem/client/MemoryNameSystemComponentPlugin.cpp

@@ -3,6 +3,7 @@
 #include <ArmarXCore/core/exceptions/local/ExpressionException.h>
 
 #include <RobotAPI/libraries/armem/core/error.h>
+#include <RobotAPI/libraries/armem/core/ice_conversions.h>
 
 
 
@@ -30,6 +31,8 @@ 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.");
         }
+
+        properties->topic<MemoryListenerInterface>("MemoryUpdates");
     }
 
     void MemoryNameSystemComponentPlugin::preOnInitComponent()
@@ -85,6 +88,14 @@ namespace armarx::armem::client
     {
     }
 
+    void MemoryNameSystemComponentPluginUser::memoryUpdated(
+        const std::vector<data::MemoryID>& updatedSnapshotIDsIce, const Ice::Current&)
+    {
+        std::vector<MemoryID> updatedSnapshotIDs;
+        fromIce(updatedSnapshotIDsIce, updatedSnapshotIDs);
+        memoryNameSystem.updated(updatedSnapshotIDs);
+    }
+
     armem::data::WaitForMemoryResult MemoryNameSystemComponentPluginUser::useMemoryServer(const MemoryID& id)
     {
         armem::data::WaitForMemoryResult result;

source/RobotAPI/libraries/armem/client/MemoryNameSystemComponentPlugin.h

@@ -3,6 +3,7 @@
 #include <ArmarXCore/core/Component.h>
 
 #include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
+#include <RobotAPI/interface/armem/client/MemoryListenerInterface.h>
 #include <RobotAPI/libraries/armem/core/MemoryID.h>
 #include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
 
@@ -58,17 +59,26 @@ namespace armarx::armem::client
 {
 
     class MemoryNameSystemComponentPluginUser :
-        virtual public ManagedIceObject
+        virtual public ManagedIceObject,
+        virtual public MemoryListenerInterface
     {
     protected:
 
         MemoryNameSystemComponentPluginUser();
-        virtual ~MemoryNameSystemComponentPluginUser();
+        virtual ~MemoryNameSystemComponentPluginUser() override;
 
+
+        virtual void memoryUpdated(const std::vector<data::MemoryID>& updatedSnapshotIDs, const Ice::Current& current) override;
+
+
+        [[deprecated("Use memoryNameSystem member instead of function inherited by MemoryNameSystemComponentPluginUser.")]]
         armem::data::WaitForMemoryResult waitForMemoryServer(const std::string& memoryName);
+        [[deprecated("Use memoryNameSystem member instead of function inherited by MemoryNameSystemComponentPluginUser.")]]
         armem::data::ResolveMemoryNameResult resolveMemoryServer(const std::string& memoryName);
 
+        [[deprecated("Use memoryNameSystem member instead of function inherited by MemoryNameSystemComponentPluginUser.")]]
         armem::data::WaitForMemoryResult useMemoryServer(const MemoryID& id);
+        [[deprecated("Use memoryNameSystem member instead of function inherited by MemoryNameSystemComponentPluginUser.")]]
         virtual armem::data::WaitForMemoryResult useMemoryServer(const std::string& memoryName);
 
 

source/RobotAPI/libraries/armem/client/Reader.h

@@ -11,7 +11,6 @@
 #include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
 #include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
 #include <RobotAPI/libraries/armem/core/longtermmemory/Memory.h>
-#include <RobotAPI/libraries/armem/client/util/MemoryListener.h>
 
 #include "Query.h"
 
@@ -22,7 +21,7 @@ namespace armarx::armem::client
     /**
      * @brief Reads data from a memory server.
      */
-    class Reader : public util::MemoryListener
+    class Reader
     {
 
     public:

source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.cpp

@@ -17,13 +17,9 @@ namespace armarx::armem::client::plugins
         addPluginDependency(mnsPlugin);
     }
 
-    ReaderComponentPlugin::~ReaderComponentPlugin()
-    {
-    }
 
-    void ReaderComponentPlugin::postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties)
+    ReaderComponentPlugin::~ReaderComponentPlugin()
     {
-        properties->topic<MemoryListenerInterface>("MemoryUpdates");
     }
 }
 
@@ -42,22 +38,13 @@ namespace armarx::armem::client
     }
 
 
-    void
-    ReaderComponentPluginUser::memoryUpdated(
-        const std::vector<data::MemoryID>& updatedSnapshotIDsIce, const Ice::Current&)
-    {
-        std::vector<MemoryID> updatedSnapshotIDs;
-        fromIce(updatedSnapshotIDsIce, updatedSnapshotIDs);
-        memoryReader.updated(updatedSnapshotIDs);
-    }
-
-
     void
     ReaderComponentPluginUser::setReadingMemoryServer(server::ReadingMemoryInterfacePrx memory)
     {
         memoryReader.setReadingMemory(memory);
     }
 
+
     armem::data::WaitForMemoryResult ReaderComponentPluginUser::useMemoryServer(const std::string& memoryName)
     {
         armem::data::WaitForMemoryResult result = MemoryNameSystemComponentPluginUser::useMemoryServer(memoryName);

source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.h

@@ -11,7 +11,6 @@
 #include <RobotAPI/libraries/aron/core/navigator/data/AllNavigators.h>
 #include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
 #include <RobotAPI/interface/armem/server/ReadingMemoryInterface.h>
-#include <RobotAPI/interface/armem/client/MemoryListenerInterface.h>
 
 #include <RobotAPI/libraries/armem/client/Reader.h>
 #include <RobotAPI/libraries/armem/client/MemoryNameSystemComponentPlugin.h>
@@ -28,8 +27,6 @@ namespace armarx::armem::client::plugins
         ReaderComponentPlugin(ManagedIceObject& parent, std::string pre);
         ~ReaderComponentPlugin() override;
 
-        void postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties) override;
-
 
     private:
 
@@ -45,8 +42,7 @@ namespace armarx::armem::client
 
     class ReaderComponentPluginUser :
         virtual public ManagedIceObject,
-        virtual public MemoryNameSystemComponentPluginUser,
-        virtual public MemoryListenerInterface
+        virtual public MemoryNameSystemComponentPluginUser
     {
 
     public:
@@ -54,11 +50,10 @@ namespace armarx::armem::client
         ReaderComponentPluginUser();
         ~ReaderComponentPluginUser() override;
 
+        [[deprecated("Use memoryNameSystem member instead of function inherited by ReaderComponentPluginUser.")]]
         virtual armem::data::WaitForMemoryResult useMemoryServer(const std::string& memoryName) override;
         using MemoryNameSystemComponentPluginUser::useMemoryServer;
 
-        virtual void memoryUpdated(const std::vector<data::MemoryID>& updatedSnapshotIDs, const Ice::Current& current) override;
-
 
     protected: