ReaderWriterPlugin.h

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#pragma once
 
#include <string>
 
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <ArmarXCore/core/ComponentPlugin.h>
 
#include <RobotAPI/libraries/armem/client/plugins/Plugin.h>
#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
 
 
namespace armarx::armem::client::plugins
{
 
    template <typename T>
    class ReaderWriterPlugin : public armarx::ComponentPlugin
    {
    public:
        ReaderWriterPlugin(ManagedIceObject& parent, const std::string pre) :
            ComponentPlugin(parent, pre), readerWriter(memoryNameSystem())
        {
            if (not armemPlugin)
            {
                addPlugin(armemPlugin);
            }
            addPluginDependency(armemPlugin);
        }
 
        ~ReaderWriterPlugin() override = default;
 
        void
        postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties) override
        {
            readerWriter.registerPropertyDefinitions(properties);
        }
 
        void
        preOnConnectComponent() override
        {
            ARMARX_CHECK_NOT_NULL(armemPlugin);
            if (not armemPlugin->isMemoryNameSystemEnabled())
            {
                ARMARX_INFO << "The memory name system is disabled by user choice via the property."
                            << "Reader and writer will not be able to connect to the memory.";
                return;
            }
 
            readerWriter.connect();
        }
 
        bool
        isAvailable() const
        {
            ARMARX_CHECK_NOT_NULL(armemPlugin);
            return armemPlugin->isMemoryNameSystemEnabled();
        }
 
        T&
        get()
        {
            ARMARX_CHECK_NOT_NULL(armemPlugin);
            ARMARX_CHECK(armemPlugin->isMemoryNameSystemEnabled());
            return readerWriter;
        }
 
        const T&
        get() const
        {
            ARMARX_CHECK_NOT_NULL(armemPlugin);
            ARMARX_CHECK(armemPlugin->isMemoryNameSystemEnabled());
            return readerWriter;
        }
 
    private:
        MemoryNameSystem&
        memoryNameSystem()
        {
            if (armemPlugin == nullptr)
            {
                addPlugin(armemPlugin);
            }
 
            ARMARX_CHECK_NOT_NULL(armemPlugin);
            return armemPlugin->getMemoryNameSystemClient();
        }
 
        armarx::armem::client::plugins::Plugin* armemPlugin = nullptr;
        
        T readerWriter;
 
    };
 
} // namespace armarx::armem::client::plugins