IntrospectionManager.hh

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/*
 * Copyright (C) 2016 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef GAZEBO_UTIL_INTROSPECTION_MANAGER_HH_
#define GAZEBO_UTIL_INTROSPECTION_MANAGER_HH_

#include <functional>
#include <memory>
#include <set>
#include <string>
#include "gazebo/common/Console.hh"
#include "gazebo/common/SingletonT.hh"
#include "gazebo/msgs/any.pb.h"
#include "gazebo/msgs/empty.pb.h"
#include "gazebo/msgs/gz_string.pb.h"
#include "gazebo/msgs/msgs.hh"
#include "gazebo/msgs/param.pb.h"
#include "gazebo/msgs/param_v.pb.h"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace util
  {
    // Forward declare private data classes.
    class IntrospectionManagerPrivate;


    class GZ_UTIL_VISIBLE IntrospectionManager
      : public SingletonT<IntrospectionManager>
    {
      public: std::string Id() const;

      public: template<typename T>
      bool Register(const std::string &_item,
                    const std::function<T()> &_cb)
      {
        auto func = [=]()
        {
          return msgs::ConvertAny(_cb());
        };

        return this->Register(_item, func);
      }

      public: bool Unregister(const std::string &_item);

      public: void Clear();

      public: std::set<std::string> Items() const;

      public: void Update();

      public: void NotifyUpdates();

      private: IntrospectionManager();

      private: virtual ~IntrospectionManager();

      private: bool Register(const std::string &_item,
                             const std::function <gazebo::msgs::Any()> &_cb);

      private: bool NewFilterImpl(const std::set<std::string> &_newItems,
                                  std::string &_filterId);

      private: bool UpdateFilterImpl(const std::string &_filterId,
                                     const std::set<std::string> &_newItems);

      private: bool RemoveFilterImpl(const std::string &_filterId);

      private: bool NewFilter(const gazebo::msgs::Param_V &_req,
                              gazebo::msgs::GzString &_rep);

      private: bool UpdateFilter(const gazebo::msgs::Param_V &_req,
                                 gazebo::msgs::Empty &_rep);

      private: bool RemoveFilter(const gazebo::msgs::Param_V &_req,
                                 gazebo::msgs::Empty &_rep);

      private: bool Items(const gazebo::msgs::Empty &_req,
                          gazebo::msgs::Param_V &_rep);

      private: std::string CreateRandomId(const unsigned int &_size) const;

      private: bool ValidateParameter(const gazebo::msgs::Param &_msg,
                             const std::set<std::string> &_allowedValues) const;

      private: friend class SingletonT<IntrospectionManager>;

      private: std::unique_ptr<IntrospectionManagerPrivate> dataPtr;
    };
  }
}
#endif