adding memory connector as base class for all memory accessors (read and write)

source/RobotAPI/components/armem/client/TransformClient/MemoryConnector.cpp

+#include "MemoryConnector.h"
+
+#include <ArmarXCore/core/ManagedIceObject.h>
+#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+namespace armarx {
+
+MemoryConnector::MemoryConnector(ManagedIceObject &component) : component(component) {}
+
+void MemoryConnector::registerPropertyDefinitions(PropertyDefinitionsPtr &def)
+{
+    ARMARX_INFO << "Memory connector: registerPropertyDefinitions";
+
+    const std::string prefix = getPropertyPrefix();
+
+    def->component(memoryNameSystem, "ArMemMemoryNameSystem", prefix + "ArMemMemoryNameSystem");
+}
+
+armem::data::WaitForMemoryResult MemoryConnector::useMemory(const std::string &memoryName)
+{
+    armem::data::WaitForMemoryInput input;
+    input.name = memoryName;
+
+    ARMARX_CHECK_NOT_NULL(memoryNameSystem);
+
+    ARMARX_INFO << "Waiting for memory ...";
+    armem::data::WaitForMemoryResult result = memoryNameSystem->waitForMemory(input);
+
+    if (result.success) {
+        // Add dependency.
+        component.usingProxy(result.proxy->ice_getIdentity().name);
+    }
+    else {
+        ARMARX_WARNING << "Use memory: Failure";
+    }
+    return result;
+}
+
+} // namespace armarx

source/RobotAPI/components/armem/client/TransformClient/MemoryConnector.h

+/*
+ * 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/>.
+ *
+ * @package    RobotAPI::ArmarXObjects::
+ * @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 <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
+
+// TODO(fabian.reister): remove
+#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
+
+namespace armarx {
+
+class ManagedIceObject;
+
+// TODO(fabian.reister): add
+// class PropertyDefinitionsPtr;
+
+class MemoryConnector {
+
+  public:
+    MemoryConnector(ManagedIceObject &component);
+
+  protected:
+    armem::data::WaitForMemoryResult useMemory(const std::string &memoryName);
+    void registerPropertyDefinitions(PropertyDefinitionsPtr &def);
+
+    void waitForMemory();
+
+    virtual std::string getPropertyPrefix(){
+        return "mem.";
+    }
+
+  private:
+    ManagedIceObject &component;
+
+    armem::mns::MemoryNameSystemInterfacePrx memoryNameSystem;
+};
+
+} // namespace armarx
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