Program Listing for File config.hpp
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/* Author: David V. Lu!! */
#pragma once
#include <moveit_setup_framework/generated_file.hpp>
#include <moveit_setup_framework/templates.hpp>
#include <moveit/macros/class_forward.h>
#include <rclcpp/node.hpp>
#include <yaml-cpp/yaml.h>
#include <set>
namespace moveit_setup
{
class DataWarehouse;
// NB: We don't use DataWarehousePtr here because it gets complicated with this abstract usage
MOVEIT_CLASS_FORWARD(SetupConfig); // Defines SetupConfigPtr, ConstPtr, WeakPtr... etc
class SetupConfig
{
public:
SetupConfig() = default;
SetupConfig(const SetupConfig&) = default;
SetupConfig(SetupConfig&&) = default;
SetupConfig& operator=(const SetupConfig&) = default;
SetupConfig& operator=(SetupConfig&&) = default;
virtual ~SetupConfig() = default;
void initialize(const std::shared_ptr<DataWarehouse>& config_data, const rclcpp::Node::SharedPtr& parent_node,
const std::string& name)
{
config_data_ = config_data;
parent_node_ = parent_node;
name_ = name;
logger_ = std::make_shared<rclcpp::Logger>(parent_node->get_logger().get_child(name));
onInit();
}
virtual void onInit()
{
}
const std::string& getName()
{
return name_;
}
virtual bool isConfigured() const
{
return false;
}
virtual void loadPrevious(const std::filesystem::path& /*config_package_path*/, const YAML::Node& /*node*/)
{
}
virtual YAML::Node saveToYaml() const
{
return YAML::Node();
}
virtual void collectFiles(const std::filesystem::path& /*package_path*/, const GeneratedTime& /*last_gen_time*/,
std::vector<GeneratedFilePtr>& /*files*/)
{
}
virtual void collectDependencies(std::set<std::string>& /*packages*/) const
{
}
virtual void collectVariables(std::vector<TemplateVariable>& /*variables*/)
{
}
protected:
std::shared_ptr<DataWarehouse> config_data_;
rclcpp::Node::SharedPtr parent_node_;
std::string name_;
std::shared_ptr<rclcpp::Logger> logger_;
};
} // namespace moveit_setup