resource_manager.h

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// Copyright (C) 2012, hiDOF INC.
// Copyright (C) 2013, PAL Robotics S.L.
//
// 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"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
 
 
#pragma once
 
 
#include <stdexcept>
#include <string>
#include <map>
#include <vector>
#include <utility>  // for std::make_pair
 
#include <ros/console.h>
 
#include <hardware_interface/internal/demangle_symbol.h>
 
namespace hardware_interface
{
 
class ResourceManagerBase
{
public:
  virtual ~ResourceManagerBase() = default;
};
 
template <class ResourceHandle>
class ResourceManager : public ResourceManagerBase
{
public:
  typedef ResourceManager<ResourceHandle> ResourceManagerType;
  std::vector<std::string> getNames() const
  {
    std::vector<std::string> out;
    out.reserve(resource_map_.size());
    for (const auto& resource_name_and_handle : resource_map_)
    {
      out.push_back(resource_name_and_handle.first);
    }
    return out;
  }
 
  void registerHandle(const ResourceHandle& handle)
  {
    typename ResourceMap::iterator it = resource_map_.find(handle.getName());
    if (it == resource_map_.end())
    {
      resource_map_.insert(std::make_pair(handle.getName(), handle));
    }
    else
    {
      ROS_WARN_STREAM("Replacing previously registered handle '" << handle.getName() << "' in '" +
                      internal::demangledTypeName(*this) + "'.");
      it->second = handle;
    }
  }
 
  ResourceHandle getHandle(const std::string& name)
  {
    typename ResourceMap::const_iterator it = resource_map_.find(name);
 
    if (it == resource_map_.end())
    {
      throw std::logic_error("Could not find resource '" + name + "' in '" +
                             internal::demangledTypeName(*this) + "'.");
    }
 
    return it->second;
  }
 
  static void concatManagers(std::vector<ResourceManagerType*>& managers,
                             ResourceManagerType* result)
  {
    for (const auto& manager : managers) {
      for (const auto& handle_name : manager->getNames()) {
        result->registerHandle(manager->getHandle(handle_name));
      }
    }
  }
 
  /*\}*/
 
protected:
  typedef std::map<std::string, ResourceHandle> ResourceMap;
  ResourceMap resource_map_;
};
 
}