display_spawner.hpp

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// Copyright 2024 Kotaro Uetake.
//
// 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 AWVIZ_COMMON__DISPLAY_SPAWNER_HPP_
#define AWVIZ_COMMON__DISPLAY_SPAWNER_HPP_
 
#include "awviz_common/display.hpp"
#include "awviz_common/display_factory.hpp"
 
#include <memory>
#include <optional>
#include <string>
#include <unordered_map>
 
namespace awviz_common
{
 
class IDisplaySpawner
{
public:
  virtual ~IDisplaySpawner() = default;
 
  virtual std::shared_ptr<Display> spawn(
    const std::string & topic, const std::string & topic_type) = 0;
 
  virtual std::optional<std::string> resolve_lookup_name(const std::string & topic_type) const = 0;
};
 
class DisplaySpawner final : public IDisplaySpawner
{
public:
  DisplaySpawner(
    rclcpp::Node::SharedPtr node, std::shared_ptr<rerun::RecordingStream> stream,
    std::shared_ptr<std::unordered_map<std::string, std::string>> entity_roots);
 
  std::shared_ptr<Display> spawn(
    const std::string & topic, const std::string & topic_type) override;
 
  std::optional<std::string> resolve_lookup_name(const std::string & topic_type) const override;
 
private:
  rclcpp::Node::SharedPtr node_;
  std::shared_ptr<rerun::RecordingStream> stream_;
  std::shared_ptr<std::unordered_map<std::string, std::string>> entity_roots_;
  DisplayFactory factory_;
};
}  // namespace awviz_common
 
#endif  // AWVIZ_COMMON__DISPLAY_SPAWNER_HPP_