Plugin.h

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#pragma once
 
#include <memory>
 
#include <ArmarXCore/core/ComponentPlugin.h>
 
#include <RobotAPI/interface/armem/server/ReadingMemoryInterface.h>
#include <RobotAPI/libraries/armem/client/forward_declarations.h>
#include <RobotAPI/libraries/armem/core/forward_declarations.h>
#include <RobotAPI/libraries/armem/server/forward_declarations.h>
#include <RobotAPI/libraries/armem/server/plugins/Plugin.h>
#include <RobotAPI/libraries/armem/server/plugins/ReadOnlyPluginUser.h>
 
#include <VisionX/libraries/armem/vision/images/core/forward_declarations.h>
 
 
class CByteImage;
 
namespace visionx::armem_images::server::plugins
{
 
    class Plugin : public armarx::ComponentPlugin
    {
    public:
        Plugin(armarx::ManagedIceObject& parent, std::string prefix);
        virtual ~Plugin() override;
 
 
        armarx::armem::server::wm::Entity&
        addRgbImagesEntity(const std::vector<size_t>& imageIndices);
 
        armarx::armem::server::wm::Entity&
        addDepthImagesEntity(const std::vector<size_t>& imageIndices);
 
 
        void useImageBuffers(CByteImage** inputImages, armarx::armem::Time timeProvided);
        void usePixelBuffers(void** inputPixelBuffers, armarx::armem::Time timeProvided);
 
        void commitImages();
        void commitImages(CByteImage** inputImages, armarx::armem::Time timeProvided);
        void commitImages(void** inputPixelBuffers, armarx::armem::Time timeProvided);
 
 
    protected:
        virtual void
        postCreatePropertyDefinitions(armarx::PropertyDefinitionsPtr& properties) override;
        virtual void preOnInitComponent() override;
        virtual void postOnInitComponent() override;
        virtual void postOnConnectComponent() override;
 
 
    private:
        struct Properties;
        std::unique_ptr<Properties> properties;
 
        std::unique_ptr<visionx::armem_images::ImageToArMem> imageToArMem;
 
 
        armarx::armem::server::Plugin* serverPlugin = nullptr;
    };
 
} // namespace visionx::armem_images::server::plugins
 
namespace visionx::armem_images::server
{
    using plugins::Plugin;
}
 
namespace visionx::armem_images
{
    using ServerPlugin = server::plugins::Plugin;
}