Registry.h

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#pragma once
 
#include <map>
#include <string>
 
#include <ArmarXCore/core/logging/Logging.h>
 
#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
#include <RobotAPI/interface/armem/server/ActionsInterface.h>
#include <RobotAPI/interface/armem/server/PredictingMemoryInterface.h>
#include <RobotAPI/interface/armem/server/ReadingMemoryInterface.h>
#include <RobotAPI/interface/armem/server/WritingMemoryInterface.h>
#include <RobotAPI/libraries/armem/core/Time.h>
 
namespace armarx::armem::mns
{
 
    /**
     * @brief A registry for memory servers.
     */
    class Registry : public armarx::Logging
    {
    public:
        Registry(const std::string& logTag = "MemoryNameSystem Registry");
 
 
        /// Indicates whether a server entry for that name exists.
        bool hasServer(const std::string& memoryName) const;
 
 
        /**
         * @brief Register a new memory server or update an existing entry.
         *
         * Causes threads waiting in `waitForMemory()` to resume if the respective
         * memory server was added.
         */
        virtual dto::RegisterServerResult registerServer(const dto::RegisterServerInput& input);
        /**
         * @brief Remove a server entry.
         */
        dto::RemoveServerResult removeServer(const dto::RemoveServerInput& input);
 
 
        /**
         * @brief Gets a server entry, if it is available.
         */
        dto::ResolveServerResult resolveServer(const dto::ResolveServerInput& input);
 
        dto::GetAllRegisteredServersResult getAllRegisteredServers();
 
 
    public:
        /// Information about a memory entry.
        struct ServerInfo
        {
            std::string name;
            mns::dto::MemoryServerInterfaces server;
            Time timeRegistered;
        };
 
        /// The registered memories.
        std::map<std::string, ServerInfo> servers;
    };
 
} // namespace armarx::armem::mns