resource_manager.h
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00001 
00002 // Copyright (C) 2012, hiDOF INC.
00003 // Copyright (C) 2013, PAL Robotics S.L.
00004 //
00005 // Redistribution and use in source and binary forms, with or without
00006 // modification, are permitted provided that the following conditions are met:
00007 //   * Redistributions of source code must retain the above copyright notice,
00008 //     this list of conditions and the following disclaimer.
00009 //   * Redistributions in binary form must reproduce the above copyright
00010 //     notice, this list of conditions and the following disclaimer in the
00011 //     documentation and/or other materials provided with the distribution.
00012 //   * Neither the name of hiDOF, Inc. nor the names of its
00013 //     contributors may be used to endorse or promote products derived from
00014 //     this software without specific prior written permission.
00015 //
00016 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00017 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00018 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00019 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00020 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00021 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00022 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00023 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00024 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00025 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00026 // POSSIBILITY OF SUCH DAMAGE.
00028 
00030 
00031 #ifndef HARDWARE_INTERFACE_RESOURCE_MANAGER_H
00032 #define HARDWARE_INTERFACE_RESOURCE_MANAGER_H
00033 
00034 #include <stdexcept>
00035 #include <string>
00036 #include <map>
00037 #include <vector>
00038 #include <utility>  // for std::make_pair
00039 
00040 #include <ros/console.h>
00041 
00042 #include <hardware_interface/internal/demangle_symbol.h>
00043 
00044 namespace hardware_interface
00045 {
00046 
00057 template <class ResourceHandle>
00058 class ResourceManager
00059 {
00060 public:
00064   virtual ~ResourceManager() {}
00065 
00067   std::vector<std::string> getNames() const
00068   {
00069     std::vector<std::string> out;
00070     out.reserve(resource_map_.size());
00071     for(typename ResourceMap::const_iterator it = resource_map_.begin(); it != resource_map_.end(); ++it)
00072     {
00073       out.push_back(it->first);
00074     }
00075     return out;
00076   }
00077 
00083   void registerHandle(const ResourceHandle& handle)
00084   {
00085     typename ResourceMap::iterator it = resource_map_.find(handle.getName());
00086     if (it == resource_map_.end())
00087     {
00088       resource_map_.insert(std::make_pair(handle.getName(), handle));
00089     }
00090     else
00091     {
00092       ROS_WARN_STREAM("Replacing previously registered handle '" << handle.getName() << "' in '" +
00093                       internal::demangledTypeName(*this) + "'.");
00094       it->second = handle;
00095     }
00096   }
00097 
00103   ResourceHandle getHandle(const std::string& name)
00104   {
00105     typename ResourceMap::const_iterator it = resource_map_.find(name);
00106 
00107     if (it == resource_map_.end())
00108     {
00109       throw std::logic_error("Could not find resource '" + name + "' in '" +
00110                              internal::demangledTypeName(*this) + "'.");
00111     }
00112 
00113     return it->second;
00114   }
00115 
00116   /*\}*/
00117 
00118 protected:
00119   typedef std::map<std::string, ResourceHandle> ResourceMap;
00120   ResourceMap resource_map_;
00121 };
00122 
00123 }
00124 
00125 #endif // HARDWARE_INTERFACE_RESOURCE_MANAGER_H


hardware_interface
Author(s): Wim Meeussen, Adolfo Rodriguez Tsouroukdissian
autogenerated on Fri Aug 28 2015 12:36:13