common.h

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/**
    @file
    @author Alexander Sherikov

    @copyright 2018-2020 Alexander Sherikov, Licensed under the Apache License, Version 2.0.
    (see @ref LICENSE or http://www.apache.org/licenses/LICENSE-2.0)

    @brief
*/

#pragma once


#include <ariles/visitors/ros.h>


// http://docs.ros.org/api/xmlrpcpp/html/classXmlRpc_1_1XmlRpcValue.html
#include <XmlRpcValue.h>


namespace ariles
{
    namespace ns_ros
    {
        typedef ariles::Node<XmlRpc::XmlRpcValue *> NodeWrapper;


        class ARILES_LIB_LOCAL ImplBase
        {
        public:
            /// Stack of nodes.
            std::vector<NodeWrapper> node_stack_;

            std::string root_name_;
            XmlRpc::XmlRpcValue root_value_;

            ::ros::NodeHandle nh_;


        public:
            /**
             * @brief Get current node
             *
             * @return pointer to the current node
             */
            XmlRpc::XmlRpcValue &getRawNode(const std::size_t depth)
            {
                if (node_stack_[depth].isArray())
                {
                    return (getRawNode(depth - 1)[node_stack_[depth].index_]);
                }
                else
                {
                    return (*node_stack_[depth].node_);
                }
            }


            XmlRpc::XmlRpcValue &getRawNode()
            {
                return (getRawNode(node_stack_.size() - 1));
            }
        };
    }  // namespace ns_ros
}  // namespace ariles