MemorySubscriber.h

Go to the documentation of this file.

#pragma once
 
#include <string>
#include <vector>
 
#include <RobotAPI/libraries/armem/client/Reader.h>
#include <RobotAPI/libraries/armem/client/util/SubscriptionHandle.h>
#include <RobotAPI/libraries/armem/core/MemoryID.h>
 
#include <armarx/view_selection/client/services/MemoryStatusHandlerBase.h>
 
namespace armarx::armem::client
{
    class MemoryNameSystem;
}
 
namespace armarx::view_selection::client
{
 
    /**
     * @brief Event-based delivery: subscribes to the requester's own slice of GazeTargetStatus.
     *
     * Needs a parent deriving from armem::client::plugins::ListeningPluginUser -- without one there
     * is no memory update topic to subscribe to, and MemoryPolling is the alternative.
     *
     * Non-copyable and non-movable: it hands `this` to the subscription.
     */
    class MemorySubscriber : virtual public MemoryStatusHandlerBase
    {
    public:
        /// @param providerSegmentName The provider segment the client commits its gaze targets to.
        MemorySubscriber(const std::string& providerSegmentName,
                         armem::client::MemoryNameSystem& mns);
 
        MemorySubscriber(const MemorySubscriber&) = delete;
        MemorySubscriber(MemorySubscriber&&) = delete;
        MemorySubscriber& operator=(const MemorySubscriber&) = delete;
        MemorySubscriber& operator=(MemorySubscriber&&) = delete;
 
        ~MemorySubscriber() override;
 
    private:
        void onEntityUpdate(const std::vector<armem::MemoryID>& snapshotIDs);
 
        const std::string providerSegmentName;
 
        armem::client::MemoryNameSystem& memoryNameSystem;
 
        armem::client::Reader memoryReader;
 
        armem::client::util::ScopedSubscriptionHandle subscriptionHandle;
    };
 
} // namespace armarx::view_selection::client