MemoryPolling.h

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#pragma once
 
 
#include <mutex>
 
#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
 
#include <RobotAPI/libraries/armem/client/Reader.h>
#include <RobotAPI/libraries/armem/core/MemoryID.h>
#include <RobotAPI/libraries/armem/core/Time.h>
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
 
#include <armarx/navigation/client/services/EventSubscriptionInterface.h>
#include <armarx/navigation/client/services/SimpleEventHandler.h>
 
namespace armarx::armem::client
{
    class MemoryNameSystem;
}
 
namespace armarx::navigation::client
{
 
    class MemoryPolling : virtual public SimpleEventHandler
    {
 
    public:
        MemoryPolling(const std::string& callerId, armem::client::MemoryNameSystem& mns);
 
        void handleEvent(const armem::wm::EntityInstance& memoryEntity);
 
        // Non-API.
    public:
        ~MemoryPolling() override;
 
 
    protected:
        void runPollMemoryEvents();
        void handleEvents(const armem::wm::Memory& memory);
 
 
        void onEntityUpdate(const std::vector<armem::MemoryID>& snapshotIDs);
 
    private:
        const std::string callerId;
        armem::client::MemoryNameSystem& memoryNameSystem;
 
        armem::Time lastMemoryEventReceived;
 
        armem::client::Reader memoryReader;
 
        std::mutex eventHandlingMtx;
 
        armarx::PeriodicTask<MemoryPolling>::pointer_type task;
    };
 
} // namespace armarx::navigation::client