shape_shifter_factory.hpp

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#ifndef SHAPE_SHIFTER_FACTORY_HPP
#define SHAPE_SHIFTER_FACTORY_HPP

#include <ros_type_introspection/shape_shifter.hpp>
#include "PlotJuggler/any.hpp"


class RosIntrospectionFactory{
public:
  static RosIntrospectionFactory &get();

  void registerMessage(const std::string& topic_name, const std::string &md5sum, const std::string& datatype, const std::string& definition );

  const RosIntrospection::ShapeShifter* getShapeShifter(const std::string& topic_name);

  const RosIntrospection::ROSTypeList*  getRosTypeList(const std::string& topic_name);

  const std::vector<std::string>& getTopicList() const;

private:
  RosIntrospectionFactory() = default;
  std::map<std::string, RosIntrospection::ShapeShifter> _ss_map;
  std::map<std::string, RosIntrospection::ROSTypeList> _tl_map;
  std::vector<std::string> topics_;

};
//---------------------------------------------

inline RosIntrospectionFactory& RosIntrospectionFactory::get()
{
  static RosIntrospectionFactory instance;
  return instance;
}

// return true if added
inline void RosIntrospectionFactory::registerMessage(const std::string &topic_name,
                                                 const std::string &md5sum,
                                                 const std::string &datatype,
                                                 const std::string &definition)
{

    if( _ss_map.find(topic_name) == _ss_map.end() )
    {
        RosIntrospection::ShapeShifter msg;
        msg.morph(md5sum, datatype,definition);
        _ss_map.insert( std::make_pair(topic_name, std::move(msg) ));
        topics_.push_back( topic_name );
    }

    if( _tl_map.find(topic_name) == _tl_map.end())
    {
        auto topic_map = RosIntrospection::buildROSTypeMapFromDefinition( datatype, definition);
        _tl_map.insert( std::make_pair(topic_name,topic_map));
    }
}

inline const RosIntrospection::ShapeShifter* RosIntrospectionFactory::getShapeShifter(const std::string &topic_name)
{
  auto it = _ss_map.find( topic_name );
  return ( it == _ss_map.end()) ? nullptr :  &(it->second);
}

inline const RosIntrospection::ROSTypeList* RosIntrospectionFactory::getRosTypeList(const std::string &topic_name)
{
  auto it = _tl_map.find( topic_name );
  return ( it == _tl_map.end()) ? nullptr :  &(it->second);
}

inline const std::vector<std::string> &RosIntrospectionFactory::getTopicList() const
{
  return topics_;
}

#endif // SHAPE_SHIFTER_FACTORY_HPP