Program Listing for File CompositeData.hpp

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/*
 * Copyright (C) 2021 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

#ifndef RMF_TASK__COMPOSITEDATA_HPP
#define RMF_TASK__COMPOSITEDATA_HPP

#include <rmf_utils/impl_ptr.hpp>

#include <any>
#include <typeindex>

namespace rmf_task {

//==============================================================================
//
// TODO(MXG): Should this class move to rmf_utils? It is not very specific to
// task planning or management.
class CompositeData
{
public:

  CompositeData();

  template<typename T>
  struct InsertResult
  {
    bool inserted;

    T* value;
  };

  template<typename T>
  InsertResult<T> insert(T&& value);

  template<typename T>
  InsertResult<T> insert_or_assign(T&& value);

  template<typename T>
  CompositeData& with(T&& value);

  template<typename T>
  T* get();

  template<typename T>
  const T* get() const;

  template<typename T>
  bool erase();

  void clear();

  class Implementation;
private:
  std::any* _get(std::type_index type);
  const std::any* _get(std::type_index type) const;
  InsertResult<std::any> _insert(std::any value, bool or_assign);
  bool _erase(std::type_index type);
  rmf_utils::impl_ptr<Implementation> _pimpl;
};

} // namespace rmf_task

//==============================================================================
#define RMF_TASK_DEFINE_COMPONENT(Type, Name) \
  struct Name { Type value; Name(Type input) : value(input) {} }

#include <rmf_task/detail/impl_CompositeData.hpp>

#endif // RMF_TASK__COMPOSITEDATA_HPP