data_warehouse.hpp

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/* Author: David V. Lu!! */
 
#include <moveit_setup_framework/config.hpp>
#include <moveit/macros/class_forward.h>
#include <pluginlib/class_loader.hpp>
#include <unordered_map>
#include <memory>
 
#pragma once
 
namespace moveit_setup
{
MOVEIT_CLASS_FORWARD(DataWarehouse);  // Defines DataWarehousePtr, ConstPtr, WeakPtr... etc
 
class DataWarehouse : public std::enable_shared_from_this<DataWarehouse>
{
public:
  DataWarehouse(const rclcpp::Node::SharedPtr& parent_node);
 
  void preloadWithURDFPath(const std::filesystem::path& urdf_path);
  void preloadWithFullConfig(const std::string& package_path_or_name);
 
  SetupConfigPtr get(const std::string& config_name, std::string config_class = "");
 
  template <typename T>
  std::shared_ptr<T> get(const std::string& config_name, const std::string& config_class = "")
  {
    return std::static_pointer_cast<T>(get(config_name, config_class));
  }
 
  template <typename T>
  std::unordered_map<std::string, std::shared_ptr<T>> getAll()
  {
    std::unordered_map<std::string, std::shared_ptr<T>> matches;
    for (const auto& pair : registered_types_)
    {
      SetupConfigPtr uncast_ptr = get(pair.first);
      std::shared_ptr<T> ptr = std::dynamic_pointer_cast<T>(uncast_ptr);
      if (!ptr)
      {
        continue;
      }
 
      matches[pair.first] = ptr;
    }
    return matches;
  }
 
  void registerType(const std::string& config_name, const std::string& config_class);
 
  std::vector<SetupConfigPtr> getConfigured();
 
  const std::vector<std::string>& getRegisteredNames() const;
 
  bool debug{ false };
 
protected:
  rclcpp::Node::SharedPtr parent_node_;
  pluginlib::ClassLoader<SetupConfig> config_loader_;
  std::unordered_map<std::string, SetupConfigPtr> configs_;        // mapping from name to config
  std::unordered_map<std::string, std::string> registered_types_;  // mapping from name to config class type
  std::vector<std::string> registered_names_;                      // string version of keys for the maps, with ordering
};
}  // namespace moveit_setup