MemoryNameSystem.h

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/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    RobotAPI::libraries::armem
 * @author     Rainer Kartmann ( rainer dot kartmann at kit dot edu )
 * @date       2020
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <map>
#include <optional>
 
#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
#include <RobotAPI/interface/armem/server/MemoryInterface.h>
 
#include <RobotAPI/libraries/armem/core/MemoryID.h>
#include <RobotAPI/libraries/armem/client/util/MemoryListener.h>
#include <RobotAPI/libraries/armem/mns/Registry.h>
 
 
namespace armarx
{
    class ManagedIceObject;
}
namespace armarx::armem::client
{
    class Reader;
    class Writer;
}
 
namespace armarx::armem::wm
{
    class EntityInstance;
}
 
namespace armarx::armem::client
{
 
    class MemoryNameSystem : public util::MemoryListener
    {
    public:
 
        MemoryNameSystem();
 
        MemoryNameSystem(mns::MemoryNameSystemInterfacePrx mns,
                         ManagedIceObject* component = nullptr);
 
        void initialize(mns::MemoryNameSystemInterfacePrx mns, ManagedIceObject* component = nullptr);
 
 
        mns::MemoryNameSystemInterfacePrx getMemoryNameSystem() const;
        void getMemoryNameSystem(mns::MemoryNameSystemInterfacePrx mns);
 
        void setComponent(ManagedIceObject* component);
 
 
        // Name Resolution
 
        void update();
 
 
        // Reader/Writer construction
 
        Reader getReader(const MemoryID& memoryID);
 
        Reader useReader(const MemoryID& memoryID);
        Reader useReader(const MemoryID& memoryID, ManagedIceObject& component);
        Reader useReader(const std::string& memoryName);
        Reader useReader(const std::string& memoryName, ManagedIceObject& component);
 
        std::map<std::string, Reader> getAllReaders(bool update = true);
        std::map<std::string, Reader> getAllReaders() const;
 
 
        Writer getWriter(const MemoryID& memoryID);
 
        Writer useWriter(const MemoryID& memoryID);
        Writer useWriter(const MemoryID& memoryID, ManagedIceObject& component);
        Writer useWriter(const std::string& memoryName);
        Writer useWriter(const std::string& memoryName, ManagedIceObject& component);
 
        std::map<std::string, Writer> getAllWriters(bool update = true);
        std::map<std::string, Writer> getAllWriters() const;
 
 
        // ToDo: commit() and query()
 
        std::optional<wm::EntityInstance> resolveEntityInstance(const MemoryID& id);
 
        std::map<MemoryID, wm::EntityInstance> resolveEntityInstances(const std::vector<MemoryID>& ids);
 
        mns::dto::MemoryServerInterfaces resolveServer(const MemoryID& memoryID);
 
        // Registration - only for memory servers
 
        void registerServer(const MemoryID& memoryID, mns::dto::MemoryServerInterfaces server);
 
        void removeServer(const MemoryID& memoryID);
 
 
 
        // Operators
 
        inline operator bool() const
        {
            return bool(mns);
        }
 
 
    private:
 
        mns::dto::MemoryServerInterfaces waitForServer(const MemoryID& memoryID);
 
        mns::dto::MemoryServerInterfaces useServer(const MemoryID& memoryID);
        mns::dto::MemoryServerInterfaces useServer(const MemoryID& memoryID, ManagedIceObject& component);
        mns::dto::MemoryServerInterfaces useServer(const std::string& memoryName);
        mns::dto::MemoryServerInterfaces useServer(const std::string& memoryName, ManagedIceObject& component);
 
 
    private:
 
        template <class ClientT>
        using ClientFactory = std::function<std::optional<ClientT>(const mns::dto::MemoryServerInterfaces& server)>;
 
        template <class ClientT>
        std::map<std::string, ClientT> _getAllClients(ClientFactory<ClientT>&& factory) const;
 
 
        mns::MemoryNameSystemInterfacePrx mns = nullptr;
 
        ManagedIceObject* component = nullptr;
 
        std::map<std::string, mns::dto::MemoryServerInterfaces> servers;
 
    };
 
 
}