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 <ariles2/visitors/rosparam.h>
 
 
// http://docs.ros.org/api/xmlrpcpp/html/classXmlRpc_1_1XmlRpcValue.html
#include <XmlRpcValue.h>
 
 
namespace ariles2
{
    namespace ns_rosparam
    {
        typedef serialization::Node<XmlRpc::XmlRpcValue *> NodeWrapper;
 
 
        class ARILES2_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_]);
                }
                return (*node_stack_[depth].node_);
            }
 
 
            XmlRpc::XmlRpcValue &getRawNode()
            {
                return (getRawNode(node_stack_.size() - 1));
            }
        };
    }  // namespace ns_rosparam
}  // namespace ariles2