Plugin.h

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#pragma once
 
#include <ArmarXCore/core/ComponentPlugin.h>
 
#include <RobotAPI/interface/armem/client/MemoryListenerInterface.h>
#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
 
namespace armarx
{
    class Component;
}
 
namespace armarx::armem::client::plugins
{
    class Plugin;
}
 
namespace armarx::armem::server::plugins
{
 
    class Plugin : public armarx::ComponentPlugin
    {
    public:
        Plugin(ManagedIceObject& parent, std::string prefix);
        virtual ~Plugin() override;
 
 
        virtual void postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties) override;
 
        virtual void preOnInitComponent() override;
        virtual void postOnInitComponent() override;
        virtual void preOnConnectComponent() override;
        virtual void postOnConnectComponent() override;
        virtual void preOnDisconnectComponent() override;
 
 
    public:
        /// Set the name of the wm and the ltm
        void setMemoryName(const std::string& memoryName);
 
 
    protected:
        /**
         * @brief Register the parent component in the MNS.
         *
         * Called before onConnect() if MNS is enabled.
         */
        mns::dto::RegisterServerResult registerServer(armarx::Component& parent);
 
        /**
         * @brief Remove the parent component from the MNS.
         *
         * Called before onDisconnect() if MNS is enabled.
         */
        mns::dto::RemoveServerResult removeServer();
 
 
    public:
        // Working Memory
 
        /// The actual memory.
        server::wm::Memory workingMemory;
 
        /// Helps connecting `memory` to ice. Used to handle Ice callbacks.
        MemoryToIceAdapter iceAdapter{&workingMemory, &longtermMemory};
 
 
        // Working Memory Updates (publishing)
 
        /// Available at onInit().
        std::string memoryTopicName;
        /// Available after onConnect().
        client::MemoryListenerInterfacePrx memoryTopic;
 
 
        // Long-Term Memory
 
        /// A manager class for the ltm. It internally holds a normal wm instance as a cache.
        server::ltm::Memory longtermMemory;
 
 
    private:
        client::plugins::Plugin* clientPlugin = nullptr;
 
        std::atomic_bool initialized = false;
        std::atomic_bool connected = false;
        std::atomic_bool statistics_saved = false;
    };
} // namespace armarx::armem::server::plugins
 
namespace armarx::armem::server
{
    using plugins::Plugin;
}