MemoryPolling.h

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#pragma once
 
#include <string>
 
#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
#include <ArmarXCore/core/time/DateTime.h>
 
#include <RobotAPI/libraries/armem/client/Reader.h>
 
#include <armarx/view_selection/client/services/MemoryStatusHandlerBase.h>
 
namespace armarx::armem::client
{
    class MemoryNameSystem;
}
 
namespace armarx::view_selection::client
{
 
    /**
     * @brief Polling delivery: queries the requester's slice of GazeTargetStatus periodically.
     *
     * Same dispatch as MemorySubscriber, but usable from contexts that are not a
     * ListeningPluginUser (statecharts, for instance) at the cost of up to one poll period of
     * latency.
     */
    class MemoryPolling : virtual public MemoryStatusHandlerBase
    {
    public:
        /// @param providerSegmentName The provider segment the client commits its gaze targets to.
        MemoryPolling(const std::string& providerSegmentName, armem::client::MemoryNameSystem& mns);
 
        MemoryPolling(const MemoryPolling&) = delete;
        MemoryPolling(MemoryPolling&&) = delete;
        MemoryPolling& operator=(const MemoryPolling&) = delete;
        MemoryPolling& operator=(MemoryPolling&&) = delete;
 
        ~MemoryPolling() override;
 
    private:
        void poll();
 
        const std::string providerSegmentName;
 
        armem::client::MemoryNameSystem& memoryNameSystem;
 
        armem::client::Reader memoryReader;
 
        /// Watermark: everything up to here has been dispatched already.
        armarx::DateTime lastPolled;
 
        armarx::PeriodicTask<MemoryPolling>::pointer_type task;
    };
 
} // namespace armarx::view_selection::client