From b1c7ff63fe54cc945500e6de9ecaf03ee7234a03 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Tue, 8 Jun 2021 19:55:02 +0200
Subject: [PATCH] simple writer base class
---
.../RobotAPI/libraries/armem/CMakeLists.txt | 5 ++
.../armem/client/util/SimpleWriterBase.cpp | 60 ++++++++++++++
.../armem/client/util/SimpleWriterBase.h | 81 +++++++++++++++++++
3 files changed, 146 insertions(+)
create mode 100644 source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.cpp
create mode 100644 source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.h
diff --git a/source/RobotAPI/libraries/armem/CMakeLists.txt b/source/RobotAPI/libraries/armem/CMakeLists.txt
index eb83670b3..a9d54ac0e 100644
--- a/source/RobotAPI/libraries/armem/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem/CMakeLists.txt
@@ -66,6 +66,8 @@ set(LIB_FILES
client/Writer.cpp
client/WriterComponentPlugin.cpp
+ client/util/SimpleWriterBase.cpp
+
client/Query.cpp
client/query/Builder.cpp
client/query/selectors.cpp
@@ -163,6 +165,9 @@ set(LIB_HEADERS
client/Writer.h
client/WriterComponentPlugin.h
+ client/util/SimpleWriterBase.h
+
+
client/Query.h
client/query/Builder.h
client/query/query_fns.h
diff --git a/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.cpp b/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.cpp
new file mode 100644
index 000000000..2a3b6d693
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.cpp
@@ -0,0 +1,60 @@
+#include "SimpleWriterBase.h"
+
+#include "RobotAPI/libraries/armem/client/ComponentPlugin.h"
+
+namespace armarx::armem::client::util
+{
+ SimpleWriterBase::SimpleWriterBase(ComponentPluginUser& component) :
+ component(component)
+ {
+ }
+
+ void
+ SimpleWriterBase::registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def)
+ {
+ ARMARX_DEBUG << "Writer: registerPropertyDefinitions";
+
+ const std::string prefix = propertyPrefix();
+
+ def->optional(props.memoryName, prefix + "Memory");
+
+ def->optional(props.coreSegmentName, prefix + "CoreSegment");
+
+ def->required(props.providerName,
+ prefix + "Provider",
+ "Name of this provider");
+ }
+
+ void SimpleWriterBase::connect()
+ {
+ // Wait for the memory to become available and add it as dependency.
+ ARMARX_IMPORTANT << "Writer: Waiting for memory '"
+ << props.memoryName << "' ...";
+ auto result = component.useMemory(props.memoryName);
+ if (not result.success)
+ {
+ ARMARX_ERROR << result.errorMessage;
+ return;
+ }
+
+ ARMARX_IMPORTANT << "SimpleWriterBase: Connected to memory '"
+ << props.memoryName;
+
+ memoryWriterClient.setWritingMemory(result.proxy);
+ // memoryReader.setReadingMemory(result.proxy);
+ }
+
+ std::mutex& SimpleWriterBase::memoryWriterMutex()
+ {
+ return memoryMutex;
+ }
+
+ armem::client::Writer& SimpleWriterBase::memoryWriter()
+ {
+ return memoryWriterClient;
+ }
+ const SimpleWriterBase::Properties& SimpleWriterBase::properties() const
+ {
+ return props;
+ }
+} // namespace armarx::armem::client::util
\ No newline at end of file
diff --git a/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.h b/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.h
new file mode 100644
index 000000000..0d8436e42
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.h
@@ -0,0 +1,81 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author Fabian Reister ( fabian dot reister at kit dot edu )
+ * @date 2021
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <mutex>
+
+#include "ArmarXCore/core/application/properties/PropertyDefinitionContainer.h"
+
+// #include "RobotAPI/libraries/armem/client/Reader.h"
+#include "RobotAPI/libraries/armem/client/Writer.h"
+
+namespace armarx::armem
+{
+ class ClientComponentPluginUser;
+}
+
+namespace armarx::armem::client
+{
+ class ComponentPluginUser;
+}
+
+namespace armarx::armem::client::util
+{
+
+ class SimpleWriterBase
+ {
+ public:
+ SimpleWriterBase(ComponentPluginUser& component);
+ virtual ~SimpleWriterBase() = default;
+
+ void registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def);
+ void connect();
+
+ protected:
+ std::mutex& memoryWriterMutex();
+ armem::client::Writer& memoryWriter();
+
+ struct Properties
+ {
+ std::string memoryName = "";
+ std::string coreSegmentName = "";
+ std::string providerName = ""; // required property
+ };
+
+ const Properties& properties() const;
+
+ virtual std::string propertyPrefix() const = 0;
+ virtual Properties defaultProperties() const = 0;
+
+ private:
+ Properties props;
+
+ armem::client::Writer memoryWriterClient;
+ std::mutex memoryMutex;
+
+ // armem::client::Reader memoryReader;
+ // std::mutex memoryReaderMutex;
+
+ ComponentPluginUser& component;
+ };
+
+} // namespace armarx::armem::client::util
\ No newline at end of file
--
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