Plugin.cpp

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#include "Plugin.h"
 
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <ArmarXCore/core/logging/Logging.h>
 
#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
#include <RobotAPI/libraries/armem/core/error.h>
#include <RobotAPI/libraries/armem/core/ice_conversions.h>
 
namespace armarx::armem::client::plugins
{
 
    Plugin::Plugin(ManagedIceObject& parent, std::string pre) : ComponentPlugin(parent, pre)
    {
    }
 
    Plugin::~Plugin()
    {
    }
 
    void
    Plugin::postCreatePropertyDefinitions(armarx::PropertyDefinitionsPtr& properties)
    {
        if (not properties->hasDefinition(makePropertyName(PROPERTY_MNS_NAME_NAME)))
        {
            properties->defineOptionalProperty<std::string>(
                makePropertyName(PROPERTY_MNS_NAME_NAME),
                memoryNameSystemName,
                "Name of the Memory Name System (MNS) component.");
        }
        if (not properties->hasDefinition(makePropertyName(PROPERTY_MNS_ENABLED_NAME)))
        {
            properties->defineOptionalProperty<bool>(
                makePropertyName(PROPERTY_MNS_ENABLED_NAME),
                memoryNameSystemEnabled,
                "Whether to use (and depend on) the Memory Name System (MNS)."
                "\nSet to false to use this memory as a stand-alone.");
        }
    }
 
    void
    Plugin::preOnInitComponent()
    {
        parent<Component>().getProperty(memoryNameSystemName,
                                        makePropertyName(PROPERTY_MNS_NAME_NAME));
        parent<Component>().getProperty(memoryNameSystemEnabled,
                                        makePropertyName(PROPERTY_MNS_ENABLED_NAME));
 
        if (isMemoryNameSystemEnabled())
        {
            parent().usingProxy(getMemoryNameSystemName());
        }
    }
 
    void
    Plugin::preOnConnectComponent()
    {
        if (isMemoryNameSystemEnabled())
        {
            ARMARX_DEBUG << "Creating MemoryNameSystem client with owning component '"
                         << parent().getName() << "'.";
            memoryNameSystem.initialize(getMemoryNameSystemProxy(), &parent());
        }
    }
 
    bool
    Plugin::isMemoryNameSystemEnabled()
    {
        return memoryNameSystemEnabled;
    }
 
    std::string
    Plugin::getMemoryNameSystemName()
    {
        return memoryNameSystemName;
    }
 
    mns::MemoryNameSystemInterfacePrx
    Plugin::getMemoryNameSystemProxy()
    {
        return isMemoryNameSystemEnabled() and parentDerives<ManagedIceObject>()
                   ? parent<ManagedIceObject>().getProxy<mns::MemoryNameSystemInterfacePrx>(
                         getMemoryNameSystemName())
                   : nullptr;
    }
 
    MemoryNameSystem&
    Plugin::getMemoryNameSystemClient()
    {
        return memoryNameSystem;
    }
 
    const MemoryNameSystem&
    Plugin::getMemoryNameSystemClient() const
    {
        return memoryNameSystem;
    }
 
} // namespace armarx::armem::client::plugins