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Commit f10b0052 authored by Rainer Kartmann's avatar Rainer Kartmann
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Update SimpleReaderBase and SimpleWriterBase to use MNS client

parent 125f8f5e
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source/RobotAPI/libraries/armem/client/util/SimpleReaderBase.cpp
+ 21
− 13
View file @ f10b0052
#include "SimpleReaderBase.h"
#include "RobotAPI/libraries/armem/client/ComponentPlugin.h"
#include <RobotAPI/libraries/armem/core/error.h>
#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
namespace armarx::armem::client::util
{
SimpleReaderBase::SimpleReaderBase(ComponentPluginUser& memoryClient) :
component(memoryClient)
SimpleReaderBase::SimpleReaderBase(MemoryNameSystem& memoryNameSystem) :
memoryNameSystem(memoryNameSystem)
{
}
void SimpleReaderBase::registerPropertyDefinitions(
armarx::PropertyDefinitionsPtr& def)
{
......@@ -20,36 +24,40 @@ namespace armarx::armem::client::util
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
ARMARX_IMPORTANT << "SimpleReaderBase: Waiting for memory '" << props.memoryName
<< "' ...";
auto result = component.useMemory(props.memoryName);
if (not result.success)
try
{
memoryReaderClient = memoryNameSystem.useReader(MemoryID().withMemoryName(props.memoryName));
ARMARX_IMPORTANT << "SimpleReaderBase: Connected to memory '" << props.memoryName << "'";
}
catch (const armem::error::CouldNotResolveMemoryServer& e)
{
ARMARX_ERROR << result.errorMessage;
ARMARX_ERROR << e.what();
return;
}
ARMARX_IMPORTANT << "SimpleReaderBase: Connected to memory '"
<< props.memoryName;
memoryReaderClient.setReadingMemory(result.proxy);
}
std::mutex& SimpleReaderBase::memoryReaderMutex()
{
return memoryMutex;
}
const armem::client::Reader& SimpleReaderBase::memoryReader() const
{
return memoryReaderClient;
}
const SimpleReaderBase::Properties& SimpleReaderBase::properties() const
{
return props;
}
} // namespace armarx::armem::client::util
\ No newline at end of file
} // namespace armarx::armem::client::util
source/RobotAPI/libraries/armem/client/util/SimpleReaderBase.h
+ 10
− 5
View file @ f10b0052
......@@ -23,14 +23,14 @@
#include <mutex>
#include "ArmarXCore/core/application/properties/PropertyDefinitionContainer.h"
#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
#include "RobotAPI/libraries/armem/client/Reader.h"
#include <RobotAPI/libraries/armem/client/Reader.h>
namespace armarx::armem::client
{
class ComponentPluginUser;
class MemoryNameSystem;
}
namespace armarx::armem::client::util
......@@ -39,13 +39,16 @@ namespace armarx::armem::client::util
class SimpleReaderBase
{
public:
SimpleReaderBase(ComponentPluginUser& memoryClient);
SimpleReaderBase(MemoryNameSystem& memoryNameSystem);
virtual ~SimpleReaderBase() = default;
void registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def);
void connect();
protected:
// Properties
struct Properties
{
......@@ -61,13 +64,15 @@ namespace armarx::armem::client::util
std::mutex& memoryReaderMutex();
const armem::client::Reader& memoryReader() const;
private:
Properties props;
armem::client::Reader memoryReaderClient;
std::mutex memoryMutex;
ComponentPluginUser& component;
MemoryNameSystem& memoryNameSystem;
};
} // namespace armarx::armem::client::util
source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.cpp
+ 20
− 13
View file @ f10b0052
#include "SimpleWriterBase.h"
#include "RobotAPI/libraries/armem/client/ComponentPlugin.h"
#include <RobotAPI/libraries/armem/core/error.h>
#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
namespace armarx::armem::client::util
{
SimpleWriterBase::SimpleWriterBase(ComponentPluginUser& component) :
component(component)
SimpleWriterBase::SimpleWriterBase(MemoryNameSystem& memoryNameSystem) :
memoryNameSystem(memoryNameSystem)
{
}
void
SimpleWriterBase::registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def)
{
......@@ -26,36 +29,40 @@ namespace armarx::armem::client::util
"Name of this provider");
}
void SimpleWriterBase::connect()
{
// Wait for the memory to become available and add it as dependency.
ARMARX_IMPORTANT << "SimpleWriterBase: Waiting for memory '"
<< props.memoryName << "' ...";
auto result = component.useMemory(props.memoryName);
if (not result.success)
try
{
ARMARX_ERROR << result.errorMessage;
memoryWriterClient = memoryNameSystem.useWriter(MemoryID().withMemoryName(props.memoryName));
ARMARX_IMPORTANT << "SimpleWriterBase: Connected to memory '" << props.memoryName << "'";
}
catch (const armem::error::CouldNotResolveMemoryServer& e)
{
ARMARX_ERROR << e.what();
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
} // namespace armarx::armem::client::util
source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.h
+ 13
− 11
View file @ f10b0052
......@@ -23,15 +23,14 @@
#include <mutex>
#include "ArmarXCore/core/application/properties/PropertyDefinitionContainer.h"
#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
// #include "RobotAPI/libraries/armem/client/Reader.h"
#include "RobotAPI/libraries/armem/client/Writer.h"
#include <RobotAPI/libraries/armem/client/Writer.h>
namespace armarx::armem::client
{
class ComponentPluginUser;
class MemoryNameSystem;
}
namespace armarx::armem::client::util
......@@ -40,15 +39,15 @@ namespace armarx::armem::client::util
class SimpleWriterBase
{
public:
SimpleWriterBase(ComponentPluginUser& component);
SimpleWriterBase(MemoryNameSystem& memoryNameSystem);
virtual ~SimpleWriterBase() = default;
void registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def);
void connect();
protected:
std::mutex& memoryWriterMutex();
armem::client::Writer& memoryWriter();
struct Properties
{
......@@ -62,16 +61,19 @@ namespace armarx::armem::client::util
virtual std::string propertyPrefix() const = 0;
virtual Properties defaultProperties() const = 0;
std::mutex& memoryWriterMutex();
armem::client::Writer& memoryWriter();
private:
Properties props;
armem::client::Writer memoryWriterClient;
std::mutex memoryMutex;
// armem::client::Reader memoryReader;
// std::mutex memoryReaderMutex;
MemoryNameSystem& memoryNameSystem;
ComponentPluginUser& component;
};
} // namespace armarx::armem::client::util
\ No newline at end of file
} // namespace armarx::armem::client::util
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