config.hpp

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/* Author: David V. Lu!! */
 
#pragma once
 
#include <moveit_setup_framework/generated_file.hpp>
#include <moveit_setup_framework/templates.hpp>
#include <moveit/macros/class_forward.h>
#include <rclcpp/node.hpp>
#include <yaml-cpp/yaml.h>
 
#include <set>
 
namespace moveit_setup
{
class DataWarehouse;
// NB: We don't use DataWarehousePtr here because it gets complicated with this abstract usage
 
MOVEIT_CLASS_FORWARD(SetupConfig);  // Defines SetupConfigPtr, ConstPtr, WeakPtr... etc
 
class SetupConfig
{
public:
  SetupConfig() = default;
  SetupConfig(const SetupConfig&) = default;
  SetupConfig(SetupConfig&&) = default;
  SetupConfig& operator=(const SetupConfig&) = default;
  SetupConfig& operator=(SetupConfig&&) = default;
  virtual ~SetupConfig() = default;
 
  void initialize(const std::shared_ptr<DataWarehouse>& config_data, const rclcpp::Node::SharedPtr& parent_node,
                  const std::string& name)
  {
    config_data_ = config_data;
    parent_node_ = parent_node;
    name_ = name;
    logger_ = std::make_shared<rclcpp::Logger>(parent_node->get_logger().get_child(name));
    onInit();
  }
 
  virtual void onInit()
  {
  }
 
  const std::string& getName()
  {
    return name_;
  }
 
  virtual bool isConfigured() const
  {
    return false;
  }
 
  virtual void loadPrevious(const std::filesystem::path& /*config_package_path*/, const YAML::Node& /*node*/)
  {
  }
 
  virtual YAML::Node saveToYaml() const
  {
    return YAML::Node();
  }
 
  virtual void collectFiles(const std::filesystem::path& /*package_path*/, const GeneratedTime& /*last_gen_time*/,
                            std::vector<GeneratedFilePtr>& /*files*/)
  {
  }
 
  virtual void collectDependencies(std::set<std::string>& /*packages*/) const
  {
  }
 
  virtual void collectVariables(std::vector<TemplateVariable>& /*variables*/)
  {
  }
 
protected:
  std::shared_ptr<DataWarehouse> config_data_;
  rclcpp::Node::SharedPtr parent_node_;
  std::string name_;
  std::shared_ptr<rclcpp::Logger> logger_;
};
}  // namespace moveit_setup