From 4a83c880f77fd333b275c6272210e4d28b9292ac Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Wed, 9 Jun 2021 16:01:57 +0200
Subject: [PATCH] Add memory server registration and removal
---
.../libraries/armem/core/error/mns.cpp | 10 +++---
.../RobotAPI/libraries/armem/core/error/mns.h | 7 ++--
.../RobotAPI/libraries/armem/mns/Client.cpp | 17 ++++++++--
source/RobotAPI/libraries/armem/mns/Client.h | 34 ++++++++++++++++++-
4 files changed, 57 insertions(+), 11 deletions(-)
diff --git a/source/RobotAPI/libraries/armem/core/error/mns.cpp b/source/RobotAPI/libraries/armem/core/error/mns.cpp
index 5a29321f7..da8b8f485 100644
--- a/source/RobotAPI/libraries/armem/core/error/mns.cpp
+++ b/source/RobotAPI/libraries/armem/core/error/mns.cpp
@@ -44,16 +44,16 @@ namespace armarx::armem::error
}
-
- MemoryServerRegistrationFailed::MemoryServerRegistrationFailed(const MemoryID& memoryID, const std::string& errorMessage) :
- ArMemError(makeMsg(memoryID, errorMessage))
+ ServerRegistrationOrRemovalFailed::ServerRegistrationOrRemovalFailed(const std::string& verb, const MemoryID& memoryID, const std::string& errorMessage) :
+ ArMemError(makeMsg(verb, memoryID, errorMessage))
{
+
}
- std::string MemoryServerRegistrationFailed::makeMsg(const MemoryID& memoryID, const std::string& errorMessage)
+ std::string ServerRegistrationOrRemovalFailed::makeMsg(const std::string& verb, const MemoryID& memoryID, const std::string& errorMessage)
{
std::stringstream ss;
- ss << "Failed to register memory server for '" << memoryID << "' in the Memory Name System (MNS).";
+ ss << "Failed to " << verb << " memory server for '" << memoryID << "' in the Memory Name System (MNS).";
if (not errorMessage.empty())
{
ss << "\n" << errorMessage;
diff --git a/source/RobotAPI/libraries/armem/core/error/mns.h b/source/RobotAPI/libraries/armem/core/error/mns.h
index 4c4295729..428df8cae 100644
--- a/source/RobotAPI/libraries/armem/core/error/mns.h
+++ b/source/RobotAPI/libraries/armem/core/error/mns.h
@@ -37,15 +37,16 @@ namespace armarx::armem::error
/**
* @brief Indicates that a query to the Memory Name System failed.
*/
- class MemoryServerRegistrationFailed : public ArMemError
+ class ServerRegistrationOrRemovalFailed : public ArMemError
{
public:
- MemoryServerRegistrationFailed(const MemoryID& memoryID, const std::string& errorMessage = "");
+ ServerRegistrationOrRemovalFailed(const std::string& verb, const MemoryID& memoryID, const std::string& errorMessage = "");
- static std::string makeMsg(const MemoryID& memoryID, const std::string& errorMessage = "");
+ static std::string makeMsg(const std::string& verb, const MemoryID& memoryID, const std::string& errorMessage = "");
};
+
}
diff --git a/source/RobotAPI/libraries/armem/mns/Client.cpp b/source/RobotAPI/libraries/armem/mns/Client.cpp
index aa751e6d0..cb308f79a 100644
--- a/source/RobotAPI/libraries/armem/mns/Client.cpp
+++ b/source/RobotAPI/libraries/armem/mns/Client.cpp
@@ -135,7 +135,7 @@ namespace armarx::armem::mns
client::Writer Client::getWriter(const MemoryID& memoryID)
{
- client::Writer(resolveServer(memoryID));
+ return client::Writer(resolveServer(memoryID));
}
@@ -161,7 +161,20 @@ namespace armarx::armem::mns
data::RegisterMemoryResult result = mns->registerMemory(input);
if (!result.success)
{
- throw error::MemoryServerRegistrationFailed(memoryID, result.errorMessage);
+ throw error::ServerRegistrationOrRemovalFailed("register", memoryID, result.errorMessage);
+ }
+ }
+
+
+ void Client::removeServer(const MemoryID& memoryID)
+ {
+ data::RemoveMemoryInput input;
+ input.name = memoryID.memoryName;
+
+ data::RemoveMemoryResult result = mns->removeMemory(input);
+ if (!result.success)
+ {
+ throw error::ServerRegistrationOrRemovalFailed("remove", memoryID, result.errorMessage);
}
}
diff --git a/source/RobotAPI/libraries/armem/mns/Client.h b/source/RobotAPI/libraries/armem/mns/Client.h
index bf77eec91..5979a6cab 100644
--- a/source/RobotAPI/libraries/armem/mns/Client.h
+++ b/source/RobotAPI/libraries/armem/mns/Client.h
@@ -118,7 +118,19 @@ namespace armarx::armem::mns
*/
client::Reader getReader(const MemoryID& memoryID);
+ /**
+ * @brief Get Readers for all registered servers.
+ *
+ * @param update If true, perform an update first.
+ * @return The readers.
+ */
std::map<std::string, client::Reader> getAllReaders(bool update = true);
+ /**
+ * @brief Get Readers for all registered servers.
+ *
+ * @param update If true, perform an update first.
+ * @return The readers.
+ */
std::map<std::string, client::Reader> getAllReaders() const;
@@ -132,7 +144,18 @@ namespace armarx::armem::mns
*/
client::Writer getWriter(const MemoryID& memoryID);
+ /**
+ * @brief Get Writers for all registered servers.
+ *
+ * @param update If true, perform an update first.
+ * @return The readers.
+ */
std::map<std::string, client::Writer> getAllWriters(bool update = true);
+ /**
+ * @brief Get Writers for all registered servers.
+ *
+ * @return The readers.
+ */
std::map<std::string, client::Writer> getAllWriters() const;
@@ -144,10 +167,19 @@ namespace armarx::armem::mns
* @param memoryID The memoryID.
* @param server The memory server proxy.
*
- * @throw `error::MemoryServerRegistrationFailed` If the registration failed.
+ * @throw `error::ServerRegistrationOrRemovalFailed` If the registration failed.
*/
void registerServer(const MemoryID& memoryID, server::MemoryInterfacePrx server);
+ /**
+ * @brief Remove a memory server from the MNS.
+ *
+ * @param memoryID The memoryID.
+ *
+ * @throw `error::ServerRegistrationOrRemovalFailed` If the removal failed.
+ */
+ void removeServer(const MemoryID& memoryID);
+
// Operators
--
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