SpecializedSegment.h

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#pragma once
 
#include <RobotAPI/libraries/armem/server/forward_declarations.h>
#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
 
#include <RobotAPI/libraries/aron/core/type/variant/forward_declarations.h>
 
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/application/properties/forward_declarations.h>
 
#include <string>
 
 
namespace armarx::armem::server::segment
{
    namespace detail
    {
        /**
         * @brief A base class for memory servers to manage their segments.
         * A segment can inherit this base class and add segment specific code.
         * TODO (fabian.peller): add concept to only accept coresegments, providersegments or entitysegments
         */
        template <class SegmentType>
        class SegmentBase : public armarx::Logging
        {
        public:
 
            SegmentBase() = delete;
            SegmentBase(MemoryToIceAdapter& iceMemory) :
                iceMemory(iceMemory)
            {
                Logging::setTag("armarx::armem::Segment");
            }
 
            MemoryID& id()
            {
                ARMARX_CHECK_NOT_NULL(segmentPtr);
                return segmentPtr->id();
            }
 
            const MemoryID& id() const
            {
                ARMARX_CHECK_NOT_NULL(segmentPtr);
                return segmentPtr->id();
            }
 
            virtual ~SegmentBase() = default;
 
            virtual void defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix = "") = 0;
            virtual void init() = 0;
 
        public:
 
            SegmentType* segmentPtr;
 
 
        protected:
 
            // Memory connection
            MemoryToIceAdapter& iceMemory;
        };
    }
}