SimpleReaderBase.h

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/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @date       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <optional>
 
#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
 
#include <RobotAPI/libraries/armem/client/Reader.h>
 
namespace armarx::armem::client
{
    class MemoryNameSystem;
}
 
namespace armarx::armem::client::util
{
 
    class SimpleReaderBase
    {
 
    public:
        // Properties
        struct Properties
        {
            std::string memoryName = "";
            std::string coreSegmentName = "";
        };
 
        SimpleReaderBase();
        virtual ~SimpleReaderBase() = default;
 
        void registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def);
        virtual void connect(armarx::armem::client::MemoryNameSystem& mns);
 
        const Properties& properties() const;
        void setProperties(const Properties& p);
 
    protected:
        virtual std::string propertyPrefix() const = 0;
        virtual Properties defaultProperties() const = 0;
 
        const armem::client::Reader& memoryReader() const;
 
    private:
        std::optional<Properties> props;
 
        armem::client::Reader memoryReaderClient;
    };
 
} // namespace armarx::armem::client::util