property_factory.h

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/* Author: Robert Haschke */
 
#pragma once
 
#include <QObject>
#include <QString>
#include <map>
#include <functional>
#include <typeindex>
 
#include <moveit/task_constructor/properties.h>
 
namespace rviz {
class Property;
class PropertyTreeModel;
class DisplayContext;
}  // namespace rviz
namespace planning_scene {
class PlanningScene;
}
namespace moveit {
namespace task_constructor {
class Stage;
}
}  // namespace moveit
 
namespace moveit_rviz_plugin {
 
class PropertyFactory
{
public:
        static PropertyFactory& instance();
 
        using PropertyFactoryFunction =
            std::function<rviz::Property*(const QString&, moveit::task_constructor::Property&,
                                          const planning_scene::PlanningScene*, rviz::DisplayContext*)>;
        using TreeFactoryFunction = std::function<rviz::PropertyTreeModel*(
            moveit::task_constructor::PropertyMap&, const planning_scene::PlanningScene*, rviz::DisplayContext*)>;
 
        template <typename T>
        inline void registerType(const PropertyFactoryFunction& f) {
                moveit::task_constructor::PropertySerializer<T>();  // register serializer
                registerType(moveit::task_constructor::PropertySerializer<T>::typeName(), f);
        }
 
        template <typename T>
        inline void registerStage(const TreeFactoryFunction& f) {
                registerStage(typeid(T), f);
        }
 
        rviz::Property* create(const std::string& prop_name, moveit::task_constructor::Property& prop,
                               const planning_scene::PlanningScene* scene, rviz::DisplayContext* display_context) const;
        static rviz::Property* createDefault(const std::string& name, const std::string& type,
                                             const std::string& description, const std::string& value,
                                             rviz::Property* old = nullptr);
 
        rviz::PropertyTreeModel* createPropertyTreeModel(moveit::task_constructor::Stage& stage,
                                                         const planning_scene::PlanningScene* scene,
                                                         rviz::DisplayContext* display_context);
 
        rviz::PropertyTreeModel* defaultPropertyTreeModel(moveit::task_constructor::PropertyMap& properties,
                                                          const planning_scene::PlanningScene* scene,
                                                          rviz::DisplayContext* display_context);
 
        void addRemainingProperties(rviz::Property* root, moveit::task_constructor::PropertyMap& properties,
                                    const planning_scene::PlanningScene* scene, rviz::DisplayContext* display_context);
 
private:
        std::map<std::string, PropertyFactoryFunction> property_registry_;
        std::map<std::type_index, TreeFactoryFunction> stage_registry_;
 
        PropertyFactory();
        PropertyFactory(const PropertyFactory&) = delete;
        void operator=(const PropertyFactory&) = delete;
 
        void registerType(const std::string& type_name, const PropertyFactoryFunction& f);
        void registerStage(const std::type_index& type_index, const TreeFactoryFunction& f);
};
}  // namespace moveit_rviz_plugin