interface_manager.h

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// Copyright (C) 2013, PAL Robotics S.L.
// Copyright (C) 2012, hiDOF INC.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//   * Redistributions of source code must retain the above copyright notice,
//     this list of conditions and the following disclaimer.
//   * Redistributions in binary form must reproduce the above copyright
//     notice, this list of conditions and the following disclaimer in the
//     documentation and/or other materials provided with the distribution.
//   * Neither the name of hiDOF, Inc. nor the names of its
//     contributors may be used to endorse or promote products derived from
//     this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef HARDWARE_INTERFACE_INTERFACE_MANAGER_H
#define HARDWARE_INTERFACE_INTERFACE_MANAGER_H

#include <map>
#include <string>

#include <ros/console.h>

#include <hardware_interface/internal/demangle_symbol.h>

namespace hardware_interface
{

class InterfaceManager
{
public:
  template<class T>
  void registerInterface(T* iface)
  {
    const std::string iface_name = internal::demangledTypeName<T>();
    if (interfaces_.find(iface_name) != interfaces_.end())
    {
      ROS_WARN_STREAM("Replacing previously registered interface '" << iface_name << "'.");
    }
    interfaces_[internal::demangledTypeName<T>()] = iface;
  }

  template<class T>
  T* get()
  {
    InterfaceMap::iterator it = interfaces_.find(internal::demangledTypeName<T>());
    if (it == interfaces_.end())
      return NULL;

    T* iface = static_cast<T*>(it->second);
    if (!iface)
    {
      ROS_ERROR_STREAM("Failed reconstructing type T = '" << internal::demangledTypeName<T>().c_str() <<
                       "'. This should never happen");
      return NULL;
    }
    return iface;
  }

  std::vector<std::string> getNames() const
  {
    std::vector<std::string> out;
    out.reserve(interfaces_.size());
    for(InterfaceMap::const_iterator it = interfaces_.begin(); it != interfaces_.end(); ++it)
    {
      out.push_back(it->first);
    }
    return out;
  }

protected:
  typedef std::map<std::string, void*> InterfaceMap;
  InterfaceMap interfaces_;
};

} // namespace

#endif // header guard