node_manifest.hpp

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// Copyright 2024 Robin Müller
//
// 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
//
//      https://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.
 
#pragma once
 
#include "auto_apms_behavior_tree/node/node_registration_params.hpp"
#include "auto_apms_behavior_tree/resource/node_class_loader.hpp"
 
namespace auto_apms_behavior_tree
{
 
class NodeManifest
{
public:
  using Params = NodeRegistrationParams;
 
  using ParamMap = std::map<std::string, NodeRegistrationParams>;
 
  static const std::string PARAM_NAME_CLASS;
  static const std::string PARAM_NAME_PACKAGE;
  static const std::string PARAM_NAME_LIBRARY;
  static const std::string PARAM_NAME_PORT;
  static const std::string PARAM_NAME_WAIT_TIMEOUT;
  static const std::string PARAM_NAME_REQUEST_TIMEOUT;
 
  NodeManifest(const ParamMap& param_map = {});
 
  static NodeManifest fromFiles(const std::vector<std::string>& file_paths);
 
  static NodeManifest fromFile(const std::string& file_path);
 
  static NodeManifest fromString(const std::string& manifest_str);
 
  bool contains(const std::string& node_name) const;
 
  NodeRegistrationParams& operator[](const std::string& node_name);
  const NodeRegistrationParams& operator[](const std::string& node_name) const;
 
  NodeManifest& add(const std::string& node_name, const NodeRegistrationParams& p);
 
  NodeManifest& remove(const std::string& node_name);
 
  NodeManifest& merge(const NodeManifest& m);
 
  NodeManifest& autoComplete(NodePluginClassLoader& class_loader);
 
  void toFile(const std::string& file_path) const;
 
  std::string toString() const;
 
  const ParamMap& getInternalMap() const;
 
private:
  ParamMap param_map_;
};
 
}  // namespace auto_apms_behavior_tree