From b3e23d6823c5856dc53cdca5c27f9aa47449a5a8 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Mon, 30 Aug 2021 18:58:00 +0200
Subject: [PATCH] Refactor Server plugins - support read-only (and
non-listening) plugins
---
.../RobotAPI/libraries/armem/CMakeLists.txt | 11 +-
.../armem/server/ComponentPlugin.cpp | 211 ------------------
.../libraries/armem/server/ComponentPlugin.h | 155 -------------
.../armem/server/forward_declarations.h | 4 +
.../RobotAPI/libraries/armem/server/plugins.h | 20 ++
.../libraries/armem/server/plugins/Plugin.cpp | 125 +++++++++++
.../libraries/armem/server/plugins/Plugin.h | 105 +++++++++
.../server/plugins/ReadOnlyPluginUser.cpp | 56 +++++
.../armem/server/plugins/ReadOnlyPluginUser.h | 61 +++++
.../server/plugins/ReadWritePluginUser.cpp | 100 +++++++++
.../server/plugins/ReadWritePluginUser.h | 74 ++++++
11 files changed, 554 insertions(+), 368 deletions(-)
delete mode 100644 source/RobotAPI/libraries/armem/server/ComponentPlugin.cpp
delete mode 100644 source/RobotAPI/libraries/armem/server/ComponentPlugin.h
create mode 100644 source/RobotAPI/libraries/armem/server/plugins.h
create mode 100644 source/RobotAPI/libraries/armem/server/plugins/Plugin.cpp
create mode 100644 source/RobotAPI/libraries/armem/server/plugins/Plugin.h
create mode 100644 source/RobotAPI/libraries/armem/server/plugins/ReadOnlyPluginUser.cpp
create mode 100644 source/RobotAPI/libraries/armem/server/plugins/ReadOnlyPluginUser.h
create mode 100644 source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp
create mode 100644 source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h
diff --git a/source/RobotAPI/libraries/armem/CMakeLists.txt b/source/RobotAPI/libraries/armem/CMakeLists.txt
index 88519c9ba..c524ecd93 100644
--- a/source/RobotAPI/libraries/armem/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem/CMakeLists.txt
@@ -80,7 +80,6 @@ set(LIB_FILES
server/MemoryToIceAdapter.cpp
- server/ComponentPlugin.cpp
server/MemoryRemoteGui.cpp
server/RemoteGuiAronDataVisitor.cpp
@@ -93,6 +92,10 @@ set(LIB_FILES
server/wm/ice_conversions.cpp
server/wm/detail/MaxHistorySize.cpp
+ server/plugins/Plugin.cpp
+ server/plugins/ReadOnlyPluginUser.cpp
+ server/plugins/ReadWritePluginUser.cpp
+
server/segment/Segment.cpp
server/segment/SpecializedSegment.cpp
@@ -188,7 +191,6 @@ set(LIB_HEADERS
server.h
server/forward_declarations.h
- server/ComponentPlugin.h
server/MemoryToIceAdapter.h
server/MemoryRemoteGui.h
server/RemoteGuiAronDataVisitor.h
@@ -202,6 +204,11 @@ set(LIB_HEADERS
server/wm/ice_conversions.h
server/wm/detail/MaxHistorySize.h
+ server/plugins.h
+ server/plugins/Plugin.h
+ server/plugins/ReadOnlyPluginUser.h
+ server/plugins/ReadWritePluginUser.h
+
server/segment/Segment.h
server/segment/SpecializedSegment.h
diff --git a/source/RobotAPI/libraries/armem/server/ComponentPlugin.cpp b/source/RobotAPI/libraries/armem/server/ComponentPlugin.cpp
deleted file mode 100644
index cc0d28920..000000000
--- a/source/RobotAPI/libraries/armem/server/ComponentPlugin.cpp
+++ /dev/null
@@ -1,211 +0,0 @@
-#include "ComponentPlugin.h"
-
-#include "MemoryToIceAdapter.h"
-
-#include <RobotAPI/libraries/armem/core/error.h>
-
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-
-namespace armarx::armem::server::plugins
-{
- ComponentPlugin::~ComponentPlugin() = default;
-
-
- ComponentPlugin::ComponentPlugin(ManagedIceObject& parent, std::string prefix) :
- armarx::ComponentPlugin(parent, prefix)
- {
- addPlugin(clientPlugin);
- ARMARX_CHECK_NOT_NULL(clientPlugin);
- addPluginDependency(clientPlugin);
- }
-
-
- void ComponentPlugin::postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties)
- {
- const std::string prefix = "mem.";
- if (not workingMemory.name().empty()
- and not properties->hasDefinition(prefix + "MemoryName"))
- {
- properties->optional(workingMemory.name(), prefix + "MemoryName", "Name of this memory server.");
- }
- properties->optional(longtermMemoryEnabled, prefix + "ltm.00_enabled");
-
- properties->topic(memoryTopic, memoryTopicDefaultName);
- }
-
-
- void ComponentPlugin::postOnConnectComponent()
- {
- ComponentPluginUser& parent = this->parent<ComponentPluginUser>();
-
- if (clientPlugin->isMemoryNameSystemEnabled() && parent.memoryNameSystem())
- {
- registerMemory(parent);
- }
- parent.iceAdapter().setMemoryListener(memoryTopic);
-
- // establishing connection to ltm and mongodb
- if (parent.isLongtermMemoryEnabled())
- {
- parent.longtermMemoryManager().reload();
- }
- }
-
-
- void ComponentPlugin::preOnDisconnectComponent()
- {
- ComponentPluginUser& parent = this->parent<ComponentPluginUser>();
- if (clientPlugin->isMemoryNameSystemEnabled() and clientPlugin->getMemoryNameSystemProxy())
- {
- removeMemory(parent);
- }
- }
-
-
- void ComponentPlugin::setMemoryName(const std::string& memoryName)
- {
- workingMemory.name() = memoryName;
- longtermMemoryManager.setName(memoryName);
- }
-
-
- mns::dto::RegisterServerResult ComponentPlugin::registerMemory(ComponentPluginUser& parent)
- {
- MemoryID id = MemoryID().withMemoryName(parent.workingMemory().name());
- mns::dto::MemoryServerInterfaces server;
- server.reading = ReadingMemoryInterfacePrx::uncheckedCast(parent.getProxy());
- server.writing = WritingMemoryInterfacePrx::uncheckedCast(parent.getProxy());
-
- mns::dto::RegisterServerResult result;
- try
- {
- parent.memoryNameSystem().registerServer(id, server);
- result.success = true;
- ARMARX_DEBUG << "Registered memory server for " << id << " in the Memory Name System (MNS).";
- }
- catch (const armem::error::ServerRegistrationOrRemovalFailed& e)
- {
- result.success = false;
- result.errorMessage = e.what();
- ARMARX_WARNING << e.what();
- }
- return result;
- }
-
-
- mns::dto::RemoveServerResult ComponentPlugin::removeMemory(ComponentPluginUser& parent)
- {
- MemoryID id = MemoryID().withMemoryName(parent.workingMemory().name());
-
- mns::dto::RemoveServerResult result;
- try
- {
- parent.memoryNameSystem().removeServer(id);
- result.success = true;
- ARMARX_DEBUG << "Removed memory server for " << id << " from the Memory Name System (MNS).";
- }
- catch (const armem::error::ServerRegistrationOrRemovalFailed& e)
- {
- result.success = false;
- result.errorMessage = e.what();
- ARMARX_WARNING << e.what();
- }
- catch (const Ice::NotRegisteredException&)
- {
- // It's ok, the MNS is gone.
- result.success = false;
- result.errorMessage = "Memory Name System is gone.";
- }
- return result;
- }
-
-}
-
-
-namespace armarx::armem::server
-{
- ComponentPluginUser::ComponentPluginUser()
- {
- addPlugin(plugin);
- }
-
- ComponentPluginUser::~ComponentPluginUser() = default;
-
- // Set the name of a memory
- void ComponentPluginUser::setMemoryName(const std::string& memoryName)
- {
- plugin->setMemoryName(memoryName);
- }
-
-
- // WRITING
- data::AddSegmentsResult ComponentPluginUser::addSegments(const data::AddSegmentsInput& input, const Ice::Current&)
- {
- ARMARX_TRACE;
- bool addCoreSegmentOnUsage = false;
- return addSegments(input, addCoreSegmentOnUsage);
- }
-
- data::AddSegmentsResult ComponentPluginUser::addSegments(const data::AddSegmentsInput& input, bool addCoreSegments)
- {
- ARMARX_TRACE;
- data::AddSegmentsResult result = iceAdapter().addSegments(input, addCoreSegments);
- return result;
- }
-
-
- data::CommitResult ComponentPluginUser::commit(const data::Commit& commitIce, const Ice::Current&)
- {
- ARMARX_TRACE;
- return iceAdapter().commit(commitIce);
- }
-
-
- // READING
- armem::query::data::Result ComponentPluginUser::query(const armem::query::data::Input& input, const Ice::Current&)
- {
- ARMARX_TRACE;
- return iceAdapter().query(input);
- }
-
-
- // LTM STORING
- data::StoreResult ComponentPluginUser::store(const data::StoreInput& input, const Ice::Current&)
- {
- ARMARX_TRACE;
- return iceAdapter().store(input);
- }
-
-
- ComponentPlugin& ComponentPluginUser::memoryServerPlugin()
- {
- return *plugin;
- }
-
-
- wm::Memory& ComponentPluginUser::workingMemory()
- {
- return plugin->workingMemory;
- }
-
-
- MemoryToIceAdapter& ComponentPluginUser::iceAdapter()
- {
- return plugin->iceAdapter;
- }
-
-
- bool ComponentPluginUser::isLongtermMemoryEnabled()
- {
- return plugin->longtermMemoryEnabled;
- }
-
-
- ltm::mongodb::MemoryManager& ComponentPluginUser::longtermMemoryManager()
- {
- return plugin->longtermMemoryManager;
- }
-
-}
diff --git a/source/RobotAPI/libraries/armem/server/ComponentPlugin.h b/source/RobotAPI/libraries/armem/server/ComponentPlugin.h
deleted file mode 100644
index f198a23b1..000000000
--- a/source/RobotAPI/libraries/armem/server/ComponentPlugin.h
+++ /dev/null
@@ -1,155 +0,0 @@
-#pragma once
-
-#include "MemoryToIceAdapter.h"
-
-#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
-#include <RobotAPI/libraries/armem/server/ltm/mongodb/MemoryManager.h>
-#include <RobotAPI/libraries/armem/client/plugins/Plugin.h>
-#include <RobotAPI/libraries/armem/client/plugins/ListeningPluginUser.h>
-
-#include <RobotAPI/interface/armem/server/MemoryInterface.h>
-#include <RobotAPI/interface/armem/client/MemoryListenerInterface.h>
-
-#include <ArmarXCore/core/ComponentPlugin.h>
-
-
-namespace armarx::armem::server
-{
- class ComponentPluginUser;
-}
-namespace armarx::armem::server::plugins
-{
-
- class ComponentPlugin :
- public armarx::ComponentPlugin
- {
- public:
-
- ComponentPlugin(ManagedIceObject& parent, std::string prefix);
- virtual ~ComponentPlugin() override;
-
- virtual void postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties) override;
-
- virtual void postOnConnectComponent() override;
- virtual void preOnDisconnectComponent() override;
-
-
- public:
-
- /// Set the name of the wm and the ltm (if enabled).
- void setMemoryName(const std::string& memoryName);
-
-
- protected:
-
- /**
- * @brief Register the parent component in the MNS.
- *
- * Called before onConnect() if MNS is enabled.
- */
- mns::dto::RegisterServerResult registerMemory(ComponentPluginUser& parent);
-
- /**
- * @brief Remove the parent component from the MNS.
- *
- * Called before onDisconnect() if MNS is enabled.
- */
- mns::dto::RemoveServerResult removeMemory(ComponentPluginUser& parent);
-
-
-
- public:
-
- // Working Memory
-
- /// The actual memory.
- server::wm::Memory workingMemory;
-
- /// Helps connecting `memory` to ice. Used to handle Ice callbacks.
- MemoryToIceAdapter iceAdapter { &workingMemory, &longtermMemoryManager};
-
-
- // Working Memory Updates
-
- std::string memoryTopicDefaultName = "MemoryUpdates";
- client::MemoryListenerInterfacePrx memoryTopic;
-
-
- // Long-Term Memory
-
- /// Indicates whether to use or not to use the ltm feature.
- bool longtermMemoryEnabled = true;
-
- /// A manager class for the ltm. It internally holds a normal wm instance as a cache.
- server::ltm::mongodb::MemoryManager longtermMemoryManager;
-
- std::string longTermMemoryDatabaseHost;
- std::string longTermMemoryDatabaseUser;
- std::string longTermMemoryDatabasePassword;
-
-
- private:
-
- client::plugins::Plugin* clientPlugin;
-
- };
-
-}
-
-
-namespace armarx::armem::server
-{
-
- /**
- * @brief Base class of memory server components.
- *
- * Implements the server ice interfaces using the ice adapter of the plugin.
- */
- class ComponentPluginUser :
- virtual public ManagedIceObject
- , virtual public MemoryInterface
- , virtual public client::plugins::ListeningPluginUser
- {
- public:
-
- ComponentPluginUser();
- virtual ~ComponentPluginUser() override;
-
- /// Set the name of the wm and the ltm (if enabled)
- void setMemoryName(const std::string& memoryName);
-
-
- // WritingInterface interface
- virtual data::AddSegmentsResult addSegments(const data::AddSegmentsInput& input, const Ice::Current& = Ice::emptyCurrent) override;
- data::AddSegmentsResult addSegments(const data::AddSegmentsInput& input, bool addCoreSegments);
-
- virtual data::CommitResult commit(const data::Commit& commit, const Ice::Current& = Ice::emptyCurrent) override;
-
-
- // ReadingInterface interface
- virtual armem::query::data::Result query(const armem::query::data::Input& input, const Ice::Current& = Ice::emptyCurrent) override;
-
-
- // StoringInterface interface
- virtual data::StoreResult store(const data::StoreInput&, const Ice::Current& = Ice::emptyCurrent) override;
-
-
- public:
-
- ComponentPlugin& memoryServerPlugin();
-
- server::wm::Memory& workingMemory();
- MemoryToIceAdapter& iceAdapter();
-
- bool isLongtermMemoryEnabled();
- server::ltm::mongodb::MemoryManager& longtermMemoryManager();
-
-
- private:
-
- plugins::ComponentPlugin* plugin = nullptr;
-
- };
-
-
-}
diff --git a/source/RobotAPI/libraries/armem/server/forward_declarations.h b/source/RobotAPI/libraries/armem/server/forward_declarations.h
index 6872e2584..d65ec0f36 100644
--- a/source/RobotAPI/libraries/armem/server/forward_declarations.h
+++ b/source/RobotAPI/libraries/armem/server/forward_declarations.h
@@ -16,3 +16,7 @@ namespace armarx::armem::server::wm
class CoreSegment;
class Memory;
}
+namespace armarx::armem::server::ltm::mongodb
+{
+ class MemoryManager;
+}
diff --git a/source/RobotAPI/libraries/armem/server/plugins.h b/source/RobotAPI/libraries/armem/server/plugins.h
new file mode 100644
index 000000000..9f1255994
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/plugins.h
@@ -0,0 +1,20 @@
+#pragma once
+
+#include "plugins/Plugin.h"
+#include "plugins/ReadOnlyPluginUser.h"
+#include "plugins/ReadWritePluginUser.h"
+
+
+namespace armarx::armem::server
+{
+ using plugins::Plugin;
+ using plugins::ReadOnlyPluginUser;
+ using plugins::ReadWritePluginUser;
+}
+
+namespace armarx::armem
+{
+ using ServerPlugin = server::Plugin;
+ using ReadOnlyServerPluginUser = server::ReadOnlyPluginUser;
+ using ReadWriteServerPluginUser = server::ReadWritePluginUser;
+}
diff --git a/source/RobotAPI/libraries/armem/server/plugins/Plugin.cpp b/source/RobotAPI/libraries/armem/server/plugins/Plugin.cpp
new file mode 100644
index 000000000..031e8fbdf
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/plugins/Plugin.cpp
@@ -0,0 +1,125 @@
+#include "Plugin.h"
+
+#include <RobotAPI/libraries/armem/core/error.h>
+#include <RobotAPI/libraries/armem/client/plugins/Plugin.h>
+
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+
+namespace armarx::armem::server::plugins
+{
+
+ Plugin::~Plugin() = default;
+
+
+ Plugin::Plugin(ManagedIceObject& parent, std::string prefix) :
+ armarx::ComponentPlugin(parent, prefix)
+ {
+ addPlugin(clientPlugin);
+ ARMARX_CHECK_NOT_NULL(clientPlugin);
+ addPluginDependency(clientPlugin);
+ }
+
+
+ void Plugin::postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties)
+ {
+ const std::string prefix = "mem.";
+ if (not workingMemory.name().empty()
+ and not properties->hasDefinition(prefix + "MemoryName"))
+ {
+ properties->optional(workingMemory.name(), prefix + "MemoryName", "Name of this memory server.");
+ }
+ properties->optional(longtermMemoryEnabled, prefix + "ltm.00_enabled");
+
+
+ // Publish memory updates topic
+ properties->topic(memoryTopic, memoryTopicDefaultName);
+ }
+
+
+ void Plugin::postOnConnectComponent()
+ {
+ Component& parent = this->parent<Component>();
+
+ if (clientPlugin->isMemoryNameSystemEnabled() and clientPlugin->getMemoryNameSystemClient())
+ {
+ registerServer(parent);
+ }
+ iceAdapter.setMemoryListener(memoryTopic);
+
+ // establishing connection to ltm and mongodb
+ if (longtermMemoryEnabled)
+ {
+ longtermMemoryManager.reload();
+ }
+ }
+
+
+ void Plugin::preOnDisconnectComponent()
+ {
+ if (clientPlugin->isMemoryNameSystemEnabled() and clientPlugin->getMemoryNameSystemClient())
+ {
+ removeServer();
+ }
+ }
+
+
+ void Plugin::setMemoryName(const std::string& memoryName)
+ {
+ workingMemory.name() = memoryName;
+ longtermMemoryManager.setName(memoryName);
+ }
+
+
+ mns::dto::RegisterServerResult Plugin::registerServer(armarx::Component& parent)
+ {
+ MemoryID id = MemoryID().withMemoryName(workingMemory.name());
+ mns::dto::MemoryServerInterfaces server;
+ server.reading = ReadingMemoryInterfacePrx::uncheckedCast(parent.getProxy());
+ server.writing = WritingMemoryInterfacePrx::uncheckedCast(parent.getProxy());
+
+ mns::dto::RegisterServerResult result;
+ try
+ {
+ clientPlugin->getMemoryNameSystemClient().registerServer(id, server);
+ result.success = true;
+ ARMARX_DEBUG << "Registered memory server for " << id << " in the Memory Name System (MNS).";
+ }
+ catch (const armem::error::ServerRegistrationOrRemovalFailed& e)
+ {
+ result.success = false;
+ result.errorMessage = e.what();
+ ARMARX_WARNING << e.what();
+ }
+ return result;
+ }
+
+
+ mns::dto::RemoveServerResult Plugin::removeServer()
+ {
+ MemoryID id = MemoryID().withMemoryName(workingMemory.name());
+
+ mns::dto::RemoveServerResult result;
+ try
+ {
+ clientPlugin->getMemoryNameSystemClient().removeServer(id);
+ result.success = true;
+ ARMARX_DEBUG << "Removed memory server for " << id << " from the Memory Name System (MNS).";
+ }
+ catch (const armem::error::ServerRegistrationOrRemovalFailed& e)
+ {
+ result.success = false;
+ result.errorMessage = e.what();
+ ARMARX_WARNING << e.what();
+ }
+ catch (const Ice::NotRegisteredException&)
+ {
+ // It's ok, the MNS is gone.
+ result.success = false;
+ result.errorMessage = "Memory Name System is gone.";
+ }
+ return result;
+ }
+
+}
diff --git a/source/RobotAPI/libraries/armem/server/plugins/Plugin.h b/source/RobotAPI/libraries/armem/server/plugins/Plugin.h
new file mode 100644
index 000000000..49cc07bb0
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/plugins/Plugin.h
@@ -0,0 +1,105 @@
+#pragma once
+
+#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
+
+#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
+#include <RobotAPI/libraries/armem/server/ltm/mongodb/MemoryManager.h>
+
+#include <RobotAPI/interface/armem/client/MemoryListenerInterface.h>
+#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
+
+#include <ArmarXCore/core/ComponentPlugin.h>
+
+
+namespace armarx
+{
+ class Component;
+}
+namespace armarx::armem::client::plugins
+{
+ class Plugin;
+}
+
+namespace armarx::armem::server::plugins
+{
+
+ class Plugin :
+ public armarx::ComponentPlugin
+ {
+ public:
+
+ Plugin(ManagedIceObject& parent, std::string prefix);
+ virtual ~Plugin() override;
+
+
+ virtual void postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties) override;
+
+ virtual void postOnConnectComponent() override;
+ virtual void preOnDisconnectComponent() override;
+
+
+ public:
+
+ /// Set the name of the wm and the ltm (if enabled).
+ void setMemoryName(const std::string& memoryName);
+
+
+ protected:
+
+ /**
+ * @brief Register the parent component in the MNS.
+ *
+ * Called before onConnect() if MNS is enabled.
+ */
+ mns::dto::RegisterServerResult registerServer(armarx::Component& parent);
+
+ /**
+ * @brief Remove the parent component from the MNS.
+ *
+ * Called before onDisconnect() if MNS is enabled.
+ */
+ mns::dto::RemoveServerResult removeServer();
+
+
+
+ public:
+
+ // Working Memory
+
+ /// The actual memory.
+ server::wm::Memory workingMemory;
+
+ /// Helps connecting `memory` to ice. Used to handle Ice callbacks.
+ MemoryToIceAdapter iceAdapter { &workingMemory, &longtermMemoryManager};
+
+
+ // Working Memory Updates (publishing)
+
+ std::string memoryTopicDefaultName = "MemoryUpdates";
+ client::MemoryListenerInterfacePrx memoryTopic;
+
+
+ // Long-Term Memory
+
+ /// Indicates whether to use or not to use the ltm feature.
+ bool longtermMemoryEnabled = true;
+
+ /// A manager class for the ltm. It internally holds a normal wm instance as a cache.
+ server::ltm::mongodb::MemoryManager longtermMemoryManager;
+
+ std::string longTermMemoryDatabaseHost;
+ std::string longTermMemoryDatabaseUser;
+ std::string longTermMemoryDatabasePassword;
+
+
+ private:
+
+ client::plugins::Plugin* clientPlugin;
+
+ };
+}
+
+namespace armarx::armem::server
+{
+ using plugins::Plugin;
+}
diff --git a/source/RobotAPI/libraries/armem/server/plugins/ReadOnlyPluginUser.cpp b/source/RobotAPI/libraries/armem/server/plugins/ReadOnlyPluginUser.cpp
new file mode 100644
index 000000000..b95b94afb
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/plugins/ReadOnlyPluginUser.cpp
@@ -0,0 +1,56 @@
+#include "ReadOnlyPluginUser.h"
+#include "Plugin.h"
+
+#include <RobotAPI/libraries/armem/core/error.h>
+#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
+
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+
+
+namespace armarx::armem::server::plugins
+{
+
+ ReadOnlyPluginUser::ReadOnlyPluginUser()
+ {
+ addPlugin(plugin);
+ }
+
+
+ ReadOnlyPluginUser::~ReadOnlyPluginUser()
+ {
+ }
+
+
+ void ReadOnlyPluginUser::setMemoryName(const std::string& memoryName)
+ {
+ plugin->setMemoryName(memoryName);
+ }
+
+
+ armem::query::data::Result ReadOnlyPluginUser::query(const armem::query::data::Input& input, const Ice::Current&)
+ {
+ ARMARX_TRACE;
+ return iceAdapter().query(input);
+ }
+
+
+ Plugin& ReadOnlyPluginUser::memoryServerPlugin()
+ {
+ return *plugin;
+ }
+
+
+ wm::Memory& ReadOnlyPluginUser::workingMemory()
+ {
+ return plugin->workingMemory;
+ }
+
+
+ MemoryToIceAdapter& ReadOnlyPluginUser::iceAdapter()
+ {
+ return plugin->iceAdapter;
+ }
+
+}
diff --git a/source/RobotAPI/libraries/armem/server/plugins/ReadOnlyPluginUser.h b/source/RobotAPI/libraries/armem/server/plugins/ReadOnlyPluginUser.h
new file mode 100644
index 000000000..f56d66b0f
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/plugins/ReadOnlyPluginUser.h
@@ -0,0 +1,61 @@
+#pragma once
+
+#include <RobotAPI/libraries/armem/server/forward_declarations.h>
+
+#include <RobotAPI/libraries/armem/client/plugins/PluginUser.h>
+#include <RobotAPI/interface/armem/server/MemoryInterface.h>
+
+#include <ArmarXCore/core/ManagedIceObject.h>
+
+
+namespace armarx::armem::server::plugins
+{
+
+ class Plugin;
+
+
+ /**
+ * @brief Base class of memory server components.
+ *
+ * Implements the server ice interfaces using the ice adapter of the plugin.
+ */
+ class ReadOnlyPluginUser :
+ virtual public ManagedIceObject
+ , virtual public ReadingMemoryInterface
+ , virtual public client::plugins::PluginUser
+ {
+ public:
+
+ ReadOnlyPluginUser();
+ virtual ~ReadOnlyPluginUser() override;
+
+
+ void setMemoryName(const std::string& memoryName);
+
+
+ // ReadingInterface interface
+ virtual armem::query::data::Result query(
+ const armem::query::data::Input& input,
+ const Ice::Current& = Ice::emptyCurrent) override;
+
+
+ public:
+
+ Plugin& memoryServerPlugin();
+
+ server::wm::Memory& workingMemory();
+ MemoryToIceAdapter& iceAdapter();
+
+
+ private:
+
+ plugins::Plugin* plugin = nullptr;
+
+ };
+
+}
+
+namespace armarx::armem::server
+{
+ using plugins::ReadOnlyPluginUser;
+}
diff --git a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp
new file mode 100644
index 000000000..f3da4f3ee
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp
@@ -0,0 +1,100 @@
+#include "ReadWritePluginUser.h"
+#include "Plugin.h"
+
+#include <RobotAPI/libraries/armem/core/error.h>
+#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
+
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+
+
+namespace armarx::armem::server::plugins
+{
+
+ ReadWritePluginUser::ReadWritePluginUser()
+ {
+ addPlugin(plugin);
+ }
+
+
+ ReadWritePluginUser::~ReadWritePluginUser()
+ {
+ }
+
+
+ void ReadWritePluginUser::setMemoryName(const std::string& memoryName)
+ {
+ plugin->setMemoryName(memoryName);
+ }
+
+
+ // WRITING
+ data::AddSegmentsResult ReadWritePluginUser::addSegments(const data::AddSegmentsInput& input, const Ice::Current&)
+ {
+ ARMARX_TRACE;
+ bool addCoreSegmentOnUsage = false;
+ return addSegments(input, addCoreSegmentOnUsage);
+ }
+
+ data::AddSegmentsResult ReadWritePluginUser::addSegments(const data::AddSegmentsInput& input, bool addCoreSegments)
+ {
+ ARMARX_TRACE;
+ data::AddSegmentsResult result = iceAdapter().addSegments(input, addCoreSegments);
+ return result;
+ }
+
+
+ data::CommitResult ReadWritePluginUser::commit(const data::Commit& commitIce, const Ice::Current&)
+ {
+ ARMARX_TRACE;
+ return iceAdapter().commit(commitIce);
+ }
+
+
+ // READING
+ armem::query::data::Result ReadWritePluginUser::query(const armem::query::data::Input& input, const Ice::Current&)
+ {
+ ARMARX_TRACE;
+ return iceAdapter().query(input);
+ }
+
+
+ // LTM STORING
+ data::StoreResult ReadWritePluginUser::store(const data::StoreInput& input, const Ice::Current&)
+ {
+ ARMARX_TRACE;
+ return iceAdapter().store(input);
+ }
+
+
+ Plugin& ReadWritePluginUser::memoryServerPlugin()
+ {
+ return *plugin;
+ }
+
+
+ wm::Memory& ReadWritePluginUser::workingMemory()
+ {
+ return plugin->workingMemory;
+ }
+
+
+ MemoryToIceAdapter& ReadWritePluginUser::iceAdapter()
+ {
+ return plugin->iceAdapter;
+ }
+
+
+ bool ReadWritePluginUser::isLongtermMemoryEnabled()
+ {
+ return plugin->longtermMemoryEnabled;
+ }
+
+
+ ltm::mongodb::MemoryManager& ReadWritePluginUser::longtermMemoryManager()
+ {
+ return plugin->longtermMemoryManager;
+ }
+
+}
diff --git a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h
new file mode 100644
index 000000000..673622419
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h
@@ -0,0 +1,74 @@
+#pragma once
+
+#include <RobotAPI/libraries/armem/server/forward_declarations.h>
+
+#include <RobotAPI/libraries/armem/client/plugins/ListeningPluginUser.h>
+#include <RobotAPI/interface/armem/server/MemoryInterface.h>
+
+#include <ArmarXCore/core/ManagedIceObject.h>
+
+
+namespace armarx::armem::server::plugins
+{
+
+ class Plugin;
+
+
+ /**
+ * @brief Base class of memory server components.
+ *
+ * Implements the server ice interfaces using the ice adapter of the plugin.
+ */
+ class ReadWritePluginUser :
+ virtual public ManagedIceObject
+ , virtual public MemoryInterface
+ , virtual public client::plugins::ListeningPluginUser
+ {
+ public:
+
+ ReadWritePluginUser();
+ virtual ~ReadWritePluginUser() override;
+
+
+ void setMemoryName(const std::string& memoryName);
+
+
+ // WritingInterface interface
+ virtual data::AddSegmentsResult addSegments(const data::AddSegmentsInput& input, const Ice::Current& = Ice::emptyCurrent) override;
+ data::AddSegmentsResult addSegments(const data::AddSegmentsInput& input, bool addCoreSegments);
+
+ virtual data::CommitResult commit(const data::Commit& commit, const Ice::Current& = Ice::emptyCurrent) override;
+
+
+ // ReadingInterface interface
+ virtual armem::query::data::Result query(const armem::query::data::Input& input, const Ice::Current& = Ice::emptyCurrent) override;
+
+
+ // StoringInterface interface
+ virtual data::StoreResult store(const data::StoreInput&, const Ice::Current& = Ice::emptyCurrent) override;
+
+
+ public:
+
+ Plugin& memoryServerPlugin();
+
+ server::wm::Memory& workingMemory();
+ MemoryToIceAdapter& iceAdapter();
+
+ bool isLongtermMemoryEnabled();
+ server::ltm::mongodb::MemoryManager& longtermMemoryManager();
+
+
+ private:
+
+ plugins::Plugin* plugin = nullptr;
+
+ };
+
+}
+
+namespace armarx::armem::server
+{
+ using plugins::ReadWritePluginUser;
+}
+
--
GitLab