ParameterTarget.h

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#pragma once

#include <swarmros/bridge/Pylon.h>
#include <swarmio/services/keyvalue/Service.h>
#include <swarmio/services/keyvalue/Target.h>
#include <ros/ros.h>
#include <xmlrpcpp/XmlRpcValue.h>

namespace swarmros::bridge
{
    class ParameterTarget : public Pylon, public swarmio::services::keyvalue::Target
    {
        private:

            ros::NodeHandle _nodeHandle;

            std::string _parameter;

            swarmio::services::keyvalue::Service& _keyvalueService;

            std::string _path;

            bool _isWritable;

            swarmio::data::Variant _value;

            static swarmio::data::Variant VariantFromXmlRpcValue(XmlRpc::XmlRpcValue& value);

            static XmlRpc::XmlRpcValue XmlRpcValueFromVariant(const swarmio::data::Variant& value);

        public:

            ParameterTarget(ros::NodeHandle& nodeHandle, swarmio::services::keyvalue::Service& keyvalueService, const std::string& name, const std::string& parameter, bool isWritable);
            
            virtual swarmio::data::Variant Get(const std::string& path) override;

            virtual void Set(const std::string& path, const swarmio::data::Variant& value) override;

            virtual swarmio::data::discovery::Field GetFieldDescriptor(const std::string& path) const override;

            virtual bool CanWrite(const std::string& name) const noexcept override;

            virtual bool CanRead(const std::string& name) const noexcept override;

            virtual ~ParameterTarget();
    };
}