message_algorithms.h

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// Copyright 2009-2021:
//   GobySoft, LLC (2013-)
//   Massachusetts Institute of Technology (2007-2014)
//   Community contributors (see AUTHORS file)
// File authors:
//   Toby Schneider <toby@gobysoft.org>
//
//
// This file is part of the Goby Underwater Autonomy Project Libraries
// ("The Goby Libraries").
//
// The Goby Libraries are free software: you can redistribute them and/or modify
// them under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 2.1 of the License, or
// (at your option) any later version.
//
// The Goby Libraries are distributed in the hope that they will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with Goby.  If not, see <http://www.gnu.org/licenses/>.
 
#ifndef GOBY_MOOS_TRANSITIONAL_MESSAGE_ALGORITHMS_H
#define GOBY_MOOS_TRANSITIONAL_MESSAGE_ALGORITHMS_H
 
#include <map>     // for map, map<>::mapped_type
#include <string>  // for string
#include <utility> // for move
#include <vector>  // for vector
 
#include <boost/function.hpp> // for function
 
namespace goby
{
namespace moos
{
namespace transitional
{
class DCCLMessageVal;
class DCCLMessage;
 
using AlgFunction1 = boost::function<void(DCCLMessageVal&)>;
using AlgFunction2 = boost::function<void(DCCLMessageVal&, const std::vector<DCCLMessageVal>&)>;
 
class DCCLAlgorithmPerformer
{
  public:
    static DCCLAlgorithmPerformer* getInstance();
    static void deleteInstance();
 
    void algorithm(DCCLMessageVal& in, unsigned array_index, const std::string& algorithm,
                   const std::map<std::string, std::vector<DCCLMessageVal> >& vals);
 
    void run_algorithm(const std::string& algorithm, DCCLMessageVal& in,
                       const std::vector<DCCLMessageVal>& ref);
 
    void add_algorithm(const std::string& name, AlgFunction1 func)
    {
        adv_map1_[name] = std::move(func);
    }
 
    void add_adv_algorithm(const std::string& name, AlgFunction2 func)
    {
        adv_map2_[name] = std::move(func);
    }
 
    void check_algorithm(const std::string& alg, const DCCLMessage& msg);
 
  private:
    static DCCLAlgorithmPerformer* inst_;
    std::map<std::string, AlgFunction1> adv_map1_;
    std::map<std::string, AlgFunction2> adv_map2_;
 
    DCCLAlgorithmPerformer() = default;
 
    DCCLAlgorithmPerformer(const DCCLAlgorithmPerformer&) = delete;
    DCCLAlgorithmPerformer& operator=(const DCCLAlgorithmPerformer&) = delete;
};
} // namespace transitional
} // namespace moos
} // namespace goby
 
#endif