SimpleReaderBase class

source/RobotAPI/libraries/armem/CMakeLists.txt

@@ -66,6 +66,7 @@ set(LIB_FILES
     client/Writer.cpp
     client/WriterComponentPlugin.cpp
 
+    client/util/SimpleReaderBase.cpp
     client/util/SimpleWriterBase.cpp
 
     client/Query.cpp
@@ -165,6 +166,7 @@ set(LIB_HEADERS
     client/Writer.h
     client/WriterComponentPlugin.h
 
+    client/util/SimpleReaderBase.h
     client/util/SimpleWriterBase.h
 
 

source/RobotAPI/libraries/armem/client/util/SimpleReaderBase.cpp

+#include "SimpleReaderBase.h"
+
+#include "RobotAPI/libraries/armem/client/ComponentPlugin.h"
+
+namespace armarx::armem::client::util
+{
+    SimpleReaderBase::SimpleReaderBase(ComponentPluginUser& component) :
+        component(component)
+    {
+    }
+
+    void
+    SimpleReaderBase::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");
+    }
+
+    void SimpleReaderBase::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 << "SimpleReaderBase: Connected to memory '"
+                         << props.memoryName;
+
+        memoryReaderClient.setReadingMemory(result.proxy);
+    }
+
+    std::mutex& SimpleReaderBase::memoryReaderMutex()
+    {
+        return memoryMutex;
+    }
+
+    armem::client::Reader& SimpleReaderBase::memoryReader()
+    {
+        return memoryReaderClient;
+    }
+    const SimpleReaderBase::Properties& SimpleReaderBase::properties() const
+    {
+        return props;
+    }
+} // namespace armarx::armem::client::util
\ No newline at end of file

source/RobotAPI/libraries/armem/client/util/SimpleReaderBase.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/>.
+ *
+ * @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"
+
+namespace armarx::armem
+{
+    class ClientComponentPluginUser;
+}
+
+namespace armarx::armem::client
+{
+    class ComponentPluginUser;
+}
+
+namespace armarx::armem::client::util
+{
+
+    class SimpleReaderBase
+    {
+    public:
+        SimpleReaderBase(ComponentPluginUser& memoryClient);
+        virtual ~SimpleReaderBase() = default;
+
+        void registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def);
+        void connect();
+
+    protected:
+        // Properties
+        struct Properties
+        {
+            std::string memoryName      = "";
+            std::string coreSegmentName = "";
+        };
+
+        const Properties& properties() const;
+
+        virtual std::string propertyPrefix() const   = 0;
+        virtual Properties defaultProperties() const = 0;
+
+        std::mutex& memoryReaderMutex();
+        armem::client::Reader& memoryReader();
+
+    private:
+        Properties props;
+
+        armem::client::Reader memoryReaderClient;
+        std::mutex memoryMutex;
+
+        ComponentPluginUser& component;
+    };
+
+} // namespace armarx::armem::client::util