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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,66 @@ | ||
| /* ------------------------------------------------------------------------- | ||
| * A Modular Optimization framework for Localization and mApping (MOLA) | ||
| * Copyright (C) 2018-2024 Jose Luis Blanco, University of Almeria | ||
| * See LICENSE for license information. | ||
| * ------------------------------------------------------------------------- */ | ||
| /** | ||
| * @file MinimalModuleContainer.h | ||
| * @brief A simple module container for use without mola_launcher | ||
| * @author Jose Luis Blanco Claraco | ||
| * @date Dec 26, 2024 | ||
| */ | ||
| #pragma once | ||
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| #include <mola_kernel/interfaces/ExecutableBase.h> | ||
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| #include <string> | ||
| #include <vector> | ||
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| namespace mola | ||
| { | ||
| /** \addtogroup mola_kernel_grp | ||
| * @{ */ | ||
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| /** | ||
| * A minimal MOLA application container, for use programatically when it is | ||
| * not advisable to use the mola-cli application. | ||
| * | ||
| * This implements basic discoverability and visibility between modules. | ||
| */ | ||
| class MinimalModuleContainer | ||
| { | ||
| public: | ||
| MinimalModuleContainer() = default; | ||
| ~MinimalModuleContainer(); | ||
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| explicit MinimalModuleContainer( | ||
| const std::vector<mola::ExecutableBase::Ptr>& mods) | ||
| : modules_(mods) | ||
| { | ||
| for (auto& m : modules_) | ||
| { | ||
| ASSERT_(m); | ||
| installNameServer(*m); | ||
| } | ||
| } | ||
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| void add(const mola::ExecutableBase::Ptr& m) | ||
| { | ||
| ASSERT_(m); | ||
| modules_.push_back(m); | ||
| installNameServer(*m); | ||
| } | ||
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| const auto& modules() const { return modules_; } | ||
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| private: | ||
| std::vector<mola::ExecutableBase::Ptr> modules_; | ||
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| void installNameServer(mola::ExecutableBase& m); | ||
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| ExecutableBase::Ptr nameServerImpl(const std::string& name); | ||
| }; | ||
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| /** @} */ | ||
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| } // namespace mola |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,47 @@ | ||
| /* ------------------------------------------------------------------------- | ||
| * A Modular Optimization framework for Localization and mApping (MOLA) | ||
| * Copyright (C) 2018-2024 Jose Luis Blanco, University of Almeria | ||
| * See LICENSE for license information. | ||
| * ------------------------------------------------------------------------- */ | ||
| /** | ||
| * @file MinimalModuleContainer.cpp | ||
| * @brief A simple module container for use without mola_launcher | ||
| * @author Jose Luis Blanco Claraco | ||
| * @date Dec 26, 2024 | ||
| */ | ||
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| #include <mola_kernel/MinimalModuleContainer.h> | ||
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| namespace mola | ||
| { | ||
| MinimalModuleContainer::~MinimalModuleContainer() = default; | ||
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| void MinimalModuleContainer::installNameServer(ExecutableBase& m) | ||
| { | ||
| m.nameServer_ = std::bind( | ||
| &MinimalModuleContainer::nameServerImpl, this, std::placeholders::_1); | ||
| } | ||
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| ExecutableBase::Ptr MinimalModuleContainer::nameServerImpl( | ||
| const std::string& name) | ||
| { | ||
| // Special syntax to sequentially access all existing modules: | ||
| // If the requested name has the format: "[" + <i>, return the i-th | ||
| // module, or nullptr if out of range. | ||
| // This is used by ExecutableBase::findService() | ||
| if (name.size() >= 2 && name[0] == '[') | ||
| { | ||
| const auto idx = std::stoul(name.substr(1)); | ||
| if (idx >= modules_.size()) { return ExecutableBase::Ptr(); } | ||
| else | ||
| { | ||
| auto it = modules_.begin(); | ||
| std::advance(it, idx); | ||
| return *it; | ||
| } | ||
| } | ||
| // non numeric search not implemented in this minimal container | ||
| return ExecutableBase::Ptr(); | ||
| } | ||
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| } // namespace mola |