diff --git a/source/RobotAPI/libraries/armem/CMakeLists.txt b/source/RobotAPI/libraries/armem/CMakeLists.txt
index ee5a16f2563ac08d997f1273035a16085ab1919c..b8442bdf0f1403caf899757976a230aa6a97e235 100644
--- a/source/RobotAPI/libraries/armem/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem/CMakeLists.txt
@@ -85,6 +85,7 @@ set(LIB_FILES
client/Writer.cpp
client/WriterComponentPlugin.cpp
+ client/util/MemoryListener.cpp
client/util/SimpleReaderBase.cpp
client/util/SimpleWriterBase.cpp
@@ -199,6 +200,7 @@ set(LIB_HEADERS
client/query/detail/NameSelectorOps.h
client/query/detail/SelectorOps.h
+ client/util/MemoryListener.h
client/util/SimpleReaderBase.h
client/util/SimpleWriterBase.h
diff --git a/source/RobotAPI/libraries/armem/client/Reader.cpp b/source/RobotAPI/libraries/armem/client/Reader.cpp
index 2efc1d41ff87836042522cf9ed166fda974537a8..b548e7aabf3c7f010b09b96c79a2446a4848e82c 100644
--- a/source/RobotAPI/libraries/armem/client/Reader.cpp
+++ b/source/RobotAPI/libraries/armem/client/Reader.cpp
@@ -108,48 +108,6 @@ namespace armarx::armem::client
}
- void
- Reader::updated(const std::vector<MemoryID>& updatedSnapshotIDs) const
- {
- std::stringstream error;
-
- for (const auto& [subscription, callbacks] : this->callbacks)
- {
- std::vector<MemoryID> matchingSnapshotIDs;
-
- for (const MemoryID& updatedSnapshotID : updatedSnapshotIDs)
- {
- try
- {
- if (contains(subscription, updatedSnapshotID))
- {
- matchingSnapshotIDs.push_back(updatedSnapshotID);
- }
- }
- catch (const armem::error::InvalidMemoryID& e)
- {
- // Log to debug, but ignore otherwise
- error << "Error when comparing subscribed ID " << subscription
- << " with updated ID " << updatedSnapshotID << ":\n"
- << e.what() << "\n\n";
- }
- }
-
- if (not matchingSnapshotIDs.empty())
- {
- for (auto& callback : callbacks)
- {
- callback(subscription, matchingSnapshotIDs);
- }
- }
- }
- if (error.str().size() > 0)
- {
- ARMARX_VERBOSE << "The following issues were encountered during Reader::" << __FUNCTION__ << "(): \n\n"
- << error.str();
- }
- }
-
data::StoreResult
Reader::readAndStore(const data::StoreInput& input) const
{
@@ -166,21 +124,6 @@ namespace armarx::armem::client
}
- void
- Reader::subscribe(const MemoryID& id, callback callback)
- {
- callbacks[id].push_back(callback);
- }
-
- void Reader::subscribe(const MemoryID& subscriptionID, callback_updated_only callback)
- {
- subscribe(subscriptionID, [callback](const MemoryID&, const std::vector<MemoryID>& updatedSnapshotIDs)
- {
- callback(updatedSnapshotIDs);
- });
- }
-
-
void
Reader::setReadingMemory(server::ReadingMemoryInterfacePrx memory)
{
diff --git a/source/RobotAPI/libraries/armem/client/Reader.h b/source/RobotAPI/libraries/armem/client/Reader.h
index ae2548f29c93e4a9ad2ad8bef0079861c87fb8fa..3a1726a548fb4d392eda273ef3228eaeccefb265 100644
--- a/source/RobotAPI/libraries/armem/client/Reader.h
+++ b/source/RobotAPI/libraries/armem/client/Reader.h
@@ -2,8 +2,6 @@
// STD/STL
-#include <functional>
-#include <unordered_map>
#include <vector>
// RobotAPI
@@ -13,6 +11,7 @@
#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
#include <RobotAPI/libraries/armem/core/longtermmemory/Memory.h>
+#include <RobotAPI/libraries/armem/client/util/MemoryListener.h>
#include "Query.h"
@@ -23,18 +22,9 @@ namespace armarx::armem::client
/**
* @brief Reads data from a memory server.
*/
- class Reader
+ class Reader : public util::MemoryListener
{
- using callback = std::function<void(const MemoryID& subscriptionID, const std::vector<MemoryID>& updatedSnapshotIDs)>;
- using callback_updated_only = std::function<void(const std::vector<MemoryID>& updatedSnapshotIDs)>;
-
- template <class CalleeT>
- using member_callback = void(CalleeT::*)(const MemoryID& subscriptionID, const std::vector<MemoryID>& updatedSnapshotIDs);
- template <class CalleeT>
- using member_callback_updated_only = void(CalleeT::*)(const std::vector<MemoryID>& updatedSnapshotIDs);
-
-
public:
/**
@@ -78,36 +68,6 @@ namespace armarx::armem::client
data::StoreResult readAndStore(const data::StoreInput& input) const;
- void subscribe(const MemoryID& subscriptionID, callback callback);
- void subscribe(const MemoryID& subscriptionID, callback_updated_only callback);
- /**
- * Subscribe with a class member function:
- * @code
- * reader.subscribe(entityID, this, &This::myCallback);
- * @endcode
- */
- template <class CalleeT>
- void subscribe(const MemoryID& subscriptionID, CalleeT* callee, member_callback<CalleeT> callback)
- {
- auto cb = [callee, callback](const MemoryID & subscriptionID, const std::vector<MemoryID>& updatedSnapshotIDs)
- {
- (callee->*callback)(subscriptionID, updatedSnapshotIDs);
- };
- subscribe(subscriptionID, cb);
- }
- template <class CalleeT>
- void subscribe(const MemoryID& subscriptionID, CalleeT* callee, member_callback_updated_only<CalleeT> callback)
- {
- auto cb = [callee, callback](const MemoryID&, const std::vector<MemoryID>& updatedSnapshotIDs)
- {
- (callee->*callback)(updatedSnapshotIDs);
- };
- subscribe(subscriptionID, cb);
- }
- /// Function handling updates from the MemoryListener ice topic.
- void updated(const std::vector<MemoryID>& updatedIDs) const;
-
-
inline operator bool() const
{
return bool(memoryPrx);
@@ -117,10 +77,6 @@ namespace armarx::armem::client
server::ReadingMemoryInterfacePrx memoryPrx;
- private:
-
- std::unordered_map<MemoryID, std::vector<callback>> callbacks;
-
};
}
diff --git a/source/RobotAPI/libraries/armem/client/util/MemoryListener.cpp b/source/RobotAPI/libraries/armem/client/util/MemoryListener.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..318d1294eea4f7d5fd0926c4b9d0475b831e60b6
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/client/util/MemoryListener.cpp
@@ -0,0 +1,76 @@
+#include "MemoryListener.h"
+
+#include <sstream>
+
+#include <ArmarXCore/core/logging/Logging.h>
+#include <RobotAPI/libraries/armem/core/error.h>
+
+
+namespace armarx::armem::client::util
+{
+
+ MemoryListener::MemoryListener()
+ {
+ }
+
+
+ void
+ MemoryListener::updated(const std::vector<MemoryID>& updatedSnapshotIDs) const
+ {
+ std::stringstream error;
+
+ for (const auto& [subscription, callbacks] : this->callbacks)
+ {
+ std::vector<MemoryID> matchingSnapshotIDs;
+
+ for (const MemoryID& updatedSnapshotID : updatedSnapshotIDs)
+ {
+ try
+ {
+ if (contains(subscription, updatedSnapshotID))
+ {
+ matchingSnapshotIDs.push_back(updatedSnapshotID);
+ }
+ }
+ catch (const armem::error::InvalidMemoryID& e)
+ {
+ // Log to debug, but ignore otherwise
+ error << "Error when comparing subscribed ID " << subscription
+ << " with updated ID " << updatedSnapshotID << ":\n"
+ << e.what() << "\n\n";
+ }
+ }
+
+ if (not matchingSnapshotIDs.empty())
+ {
+ for (auto& callback : callbacks)
+ {
+ callback(subscription, matchingSnapshotIDs);
+ }
+ }
+ }
+ if (error.str().size() > 0)
+ {
+ ARMARX_VERBOSE << "The following issues were encountered during MemoryListener::" << __FUNCTION__ << "(): \n\n"
+ << error.str();
+ }
+ }
+
+
+ void
+ MemoryListener::subscribe(const MemoryID& id, callback callback)
+ {
+ callbacks[id].push_back(callback);
+ }
+
+
+ void MemoryListener::subscribe(const MemoryID& subscriptionID, callback_updated_only callback)
+ {
+ subscribe(subscriptionID, [callback](const MemoryID&, const std::vector<MemoryID>& updatedSnapshotIDs)
+ {
+ callback(updatedSnapshotIDs);
+ });
+ }
+
+
+}
diff --git a/source/RobotAPI/libraries/armem/client/util/MemoryListener.h b/source/RobotAPI/libraries/armem/client/util/MemoryListener.h
new file mode 100644
index 0000000000000000000000000000000000000000..33e1e104294fd829c45a8362f2e1652cc3962d1e
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/client/util/MemoryListener.h
@@ -0,0 +1,77 @@
+#pragma once
+
+
+// STD/STL
+#include <functional>
+#include <unordered_map>
+#include <vector>
+
+// RobotAPI
+#include <RobotAPI/interface/armem/client/MemoryListenerInterface.h>
+#include <RobotAPI/libraries/armem/core/MemoryID.h>
+
+
+namespace armarx::armem::client::util
+{
+
+ /**
+ * @brief Handles update signals from the memory system and distributes it
+ * to its subsribers.
+ */
+ class MemoryListener
+ {
+
+ using callback = std::function<void(const MemoryID& subscriptionID, const std::vector<MemoryID>& updatedSnapshotIDs)>;
+ using callback_updated_only = std::function<void(const std::vector<MemoryID>& updatedSnapshotIDs)>;
+
+ template <class CalleeT>
+ using member_callback = void(CalleeT::*)(const MemoryID& subscriptionID, const std::vector<MemoryID>& updatedSnapshotIDs);
+ template <class CalleeT>
+ using member_callback_updated_only = void(CalleeT::*)(const std::vector<MemoryID>& updatedSnapshotIDs);
+
+
+ public:
+
+ MemoryListener();
+
+
+ void subscribe(const MemoryID& subscriptionID, callback callback);
+ void subscribe(const MemoryID& subscriptionID, callback_updated_only callback);
+
+ /**
+ * Subscribe with a class member function:
+ * @code
+ * reader.subscribe(entityID, this, &This::myCallback);
+ * @endcode
+ */
+ template <class CalleeT>
+ void subscribe(const MemoryID& subscriptionID, CalleeT* callee, member_callback<CalleeT> callback)
+ {
+ auto cb = [callee, callback](const MemoryID & subscriptionID, const std::vector<MemoryID>& updatedSnapshotIDs)
+ {
+ (callee->*callback)(subscriptionID, updatedSnapshotIDs);
+ };
+ subscribe(subscriptionID, cb);
+ }
+ template <class CalleeT>
+ void subscribe(const MemoryID& subscriptionID, CalleeT* callee, member_callback_updated_only<CalleeT> callback)
+ {
+ auto cb = [callee, callback](const MemoryID&, const std::vector<MemoryID>& updatedSnapshotIDs)
+ {
+ (callee->*callback)(updatedSnapshotIDs);
+ };
+ subscribe(subscriptionID, cb);
+ }
+
+
+ /// Function handling updates from the MemoryListener ice topic.
+ void updated(const std::vector<MemoryID>& updatedIDs) const;
+
+
+ protected:
+
+ std::unordered_map<MemoryID, std::vector<callback>> callbacks;
+
+ };
+
+}