data_warehouse.cpp

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/* Author: David V. Lu!! */
 
#include <moveit_setup_framework/data_warehouse.hpp>
#include <moveit_setup_framework/data/urdf_config.hpp>
#include <moveit_setup_framework/data/srdf_config.hpp>
#include <moveit_setup_framework/data/package_settings_config.hpp>
 
namespace moveit_setup
{
DataWarehouse::DataWarehouse(const rclcpp::Node::SharedPtr& parent_node)
  : parent_node_(parent_node), config_loader_("moveit_setup_framework", "moveit_setup::SetupConfig")
{
  registerType("urdf", "moveit_setup::URDFConfig");
  registerType("srdf", "moveit_setup::SRDFConfig");
  registerType("package_settings", "moveit_setup::PackageSettingsConfig");
}
 
void DataWarehouse::preloadWithURDFPath(const std::filesystem::path& urdf_path)
{
  get<URDFConfig>("urdf")->loadFromPath(urdf_path);
}
 
void DataWarehouse::preloadWithFullConfig(const std::string& package_path_or_name)
{
  get<PackageSettingsConfig>("package_settings")->loadExisting(package_path_or_name);
}
 
SetupConfigPtr DataWarehouse::get(const std::string& config_name, std::string config_class)
{
  if (config_class.empty())
  {
    auto it = registered_types_.find(config_name);
    if (it == registered_types_.end())
    {
      throw std::runtime_error(config_name + " does not have a registered type in the data warehouse");
    }
    config_class = it->second;
  }
  auto it = configs_.find(config_name);
  if (it != configs_.end())
  {
    return it->second;
  }
  auto config = config_loader_.createSharedInstance(config_class);
  config->initialize(shared_from_this(), parent_node_, config_name);
  configs_[config_name] = config;
  return config;
}
 
void DataWarehouse::registerType(const std::string& config_name, const std::string& config_class)
{
  registered_types_[config_name] = config_class;
  registered_names_.push_back(config_name);
}
 
std::vector<SetupConfigPtr> DataWarehouse::getConfigured()
{
  std::vector<SetupConfigPtr> configs;
  for (const std::string& config_name : registered_names_)
  {
    auto it = configs_.find(config_name);
    if (it == configs_.end())
    {
      continue;
    }
    SetupConfigPtr ptr = it->second;
    if (ptr->isConfigured())
    {
      configs.push_back(ptr);
    }
  }
  return configs;
}
 
const std::vector<std::string>& DataWarehouse::getRegisteredNames() const
{
  return registered_names_;
}
}  // namespace moveit_setup