Program Listing for File type_support_provider.hpp

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// Copyright (c) 2021 Stefan Fabian. All rights reserved.
// Licensed under the MIT license. See LICENSE file in the project root for full license information.

#ifndef ROS_BABEL_FISH_DESCRIPTION_PROVIDER_H
#define ROS_BABEL_FISH_DESCRIPTION_PROVIDER_H

#include "ros_babel_fish/idl/type_support.hpp"

#include <unordered_map>

namespace ros_babel_fish
{

class TypeSupportProvider
{
public:
  using SharedPtr = std::shared_ptr<TypeSupportProvider>;
  using ConstSharedPtr = std::shared_ptr<const TypeSupportProvider>;

  TypeSupportProvider();

  MessageTypeSupport::ConstSharedPtr getMessageTypeSupport( const std::string &type ) const;

  ServiceTypeSupport::ConstSharedPtr getServiceTypeSupport( const std::string &type ) const;

  ActionTypeSupport::ConstSharedPtr getActionTypeSupport( const std::string &type ) const;

protected:
  virtual MessageTypeSupport::ConstSharedPtr
  getMessageTypeSupportImpl( const std::string &type ) const = 0;

  virtual ServiceTypeSupport::ConstSharedPtr
  getServiceTypeSupportImpl( const std::string &type ) const = 0;

  virtual ActionTypeSupport::ConstSharedPtr
  getActionTypeSupportImpl( const std::string &type ) const = 0;

  MessageTypeSupport::ConstSharedPtr
  registerMessage( const std::string &name, const std::shared_ptr<void> &type_support_library,
                   rosidl_message_type_support_t type_support,
                   const std::shared_ptr<void> &introspection_type_support_library,
                   rosidl_message_type_support_t introspection_type_support ) const;

  ServiceTypeSupport::ConstSharedPtr
  registerService( const std::string &name, const std::shared_ptr<void> &type_support_library,
                   rosidl_service_type_support_t type_support,
                   const std::shared_ptr<void> &introspection_type_support_library,
                   rosidl_service_type_support_t introspection_type_support ) const;

  ActionTypeSupport::ConstSharedPtr
  registerAction( const std::string &name, ActionTypeSupport::ConstSharedPtr type_support ) const;

private:
  mutable std::unordered_map<std::string, MessageTypeSupport::ConstSharedPtr> message_type_supports_;
  mutable std::unordered_map<std::string, ServiceTypeSupport::ConstSharedPtr> service_type_supports_;
  mutable std::unordered_map<std::string, ActionTypeSupport::ConstSharedPtr> action_type_supports_;
};
} // namespace ros_babel_fish

#endif // ROS_BABEL_FISH_DESCRIPTION_PROVIDER_H