plugin.h

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//=================================================================================================
// Copyright (c) 2016, Alexander Stumpf, TU Darmstadt
// All rights reserved.

// 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 the Simulation, Systems Optimization and Robotics
//       group, TU Darmstadt 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
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//=================================================================================================

#ifndef VIGIR_PLUGINLIB_PLUGIN_H__
#define VIGIR_PLUGINLIB_PLUGIN_H__

#include <ros/ros.h>

#include <vigir_generic_params/parameter_manager.h>

#include <vigir_pluginlib_msgs/pluginlib_msgs.h>



namespace vigir_pluginlib
{
std::string demangle(const char* name);

class Plugin
{
public:
  // typedefs
  typedef boost::shared_ptr<Plugin> Ptr;
  typedef boost::shared_ptr<const Plugin> ConstPtr;
  typedef boost::weak_ptr<Plugin> WeakPtr;
  typedef boost::weak_ptr<const Plugin> ConstWeakPtr;

  Plugin(const std::string& name, const std::string& type_class_package = std::string(), const std::string& base_class_package = std::string(), const std::string& base_class = std::string());
  virtual ~Plugin();

private:
  bool setup(ros::NodeHandle& nh, const vigir_generic_params::ParameterSet& global_params = vigir_generic_params::ParameterSet());

public:
  virtual bool initialize(const vigir_generic_params::ParameterSet& global_params = vigir_generic_params::ParameterSet()) { return loadParams(global_params); }

  virtual bool postInitialize(const vigir_generic_params::ParameterSet& global_params = vigir_generic_params::ParameterSet()) { return true; }

  virtual bool loadParams(const vigir_generic_params::ParameterSet& /*global_params*/) { return true; }

  template <typename T>
  inline static std::string getTypeClass() { return T::template _typeClass<T>(); }
  const std::string& getTypeClass() const;

  const msgs::PluginDescription& getDescription() const;
  const std::string& getName() const;
  const std::string& getTypeClassPackage() const;
  const std::string& getBaseClassPackage() const;
  const std::string& getBaseClass() const;

  virtual bool isUnique() const { return true; }

  friend class PluginManager;

protected:
  template <typename T>
  inline static std::string _typeClass(T* t = nullptr) { return demangle(t ? typeid(*t).name() : typeid(T).name()); }

  void updateDescription(const msgs::PluginDescription& description);

  inline const vigir_generic_params::ParameterSet& getParams() const { return params_; }

  template<typename T>
  bool getParam(const std::string& name, T& val, const T& def = T(), bool ignore_warnings = false) const
  {
    if (ignore_warnings && !params_.hasParam(name))
      return false;

    return params_.getParam(name, val, def);
  }

  template<typename T>
  T param(const std::string& name, const T& def = T(), bool ignore_warnings = false) const
  {
    T result;
    getParam(name, result, def, ignore_warnings);
    return result;
  }

  ros::NodeHandle nh_;

private:
  void setNodehandle(const ros::NodeHandle& nh);
  void setParams(const vigir_generic_params::ParameterSet& params);

  vigir_generic_params::ParameterSet params_;

  msgs::PluginDescription description_;
};
}

#endif