shape_shifter_factory.hpp

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#ifndef SHAPE_SHIFTER_FACTORY_HPP
#define SHAPE_SHIFTER_FACTORY_HPP
 
#include <ros_type_introspection/utils/shape_shifter.hpp>
 
class RosIntrospectionFactory{
 
public:
  static RosIntrospectionFactory &get();
 
  static void registerMessage(const std::string& topic_name,
                              const std::string &md5sum,
                              const std::string& datatype,
                              const std::string& definition );
 
  static RosIntrospection::ShapeShifter* getShapeShifter(const std::string& topic_name);
 
  static std::vector<const std::string*> getTopicList();
 
  static RosIntrospection::Parser& parser()
  {
      return get()._parser;
  }
 
  static bool isRegistered(const std::string& topic_name);
 
  static void reset();
 
private:
  RosIntrospectionFactory() = default;
  std::map<std::string, RosIntrospection::ShapeShifter> _ss_map;
  RosIntrospection::Parser _parser;
 
};
//---------------------------------------------
 
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)
{
    auto& instance = get();
    auto it = instance._ss_map.find(topic_name);
    if( it == instance._ss_map.end() || it->second.getMD5Sum() != md5sum )
    {
        RosIntrospection::ShapeShifter msg;
        msg.morph(md5sum, datatype,definition);
        instance._ss_map.insert( std::make_pair(topic_name, std::move(msg) ));
        parser().registerMessageDefinition( topic_name, RosIntrospection::ROSType(datatype), definition);
    }
}
 
inline RosIntrospection::ShapeShifter* RosIntrospectionFactory::getShapeShifter(const std::string &topic_name)
{
    auto& instance = get();
    auto it = instance._ss_map.find( topic_name );
    return ( it == instance._ss_map.end()) ? nullptr :  &(it->second);
}
 
inline std::vector<const std::string*> RosIntrospectionFactory::getTopicList()
{
    std::vector<const std::string*> out;
    auto& instance = get();
    out.reserve( instance._ss_map.size() );
 
    for (const auto& ss: instance._ss_map)
    {
        out.push_back( &(ss.first) );
    }
    return out;
}
 
inline bool RosIntrospectionFactory::isRegistered(const std::string &topic_name)
{
    return get()._ss_map.count(topic_name) != 0;
}
 
inline void RosIntrospectionFactory::reset()
{
    get()._ss_map.clear();
}
 
#endif // SHAPE_SHIFTER_FACTORY_HPP