resource_manager.hpp

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#pragma once
 
#include <memory>
#include <string>
#include <type_traits>
#include <unordered_map>
 
#include <boost/optional/optional.hpp>
#include <grpcpp/impl/service_type.h>
 
#include <viam/api/component/generic/v1/generic.grpc.pb.h>
 
#include <viam/sdk/resource/resource.hpp>
#include <viam/sdk/resource/resource_api.hpp>
 
namespace viam {
namespace sdk {
 
class ResourceManager {
   public:
    std::shared_ptr<Resource> resource(const std::string& name);
 
    template <typename T>
    std::shared_ptr<T> resource(const std::string& name) {
        static_assert(std::is_base_of<Resource, T>::value, "T is not derived from Resource");
        return std::dynamic_pointer_cast<T>(resource(name));
    }
 
    void replace_all(const std::unordered_map<Name, std::shared_ptr<Resource>>& resources);
 
    void add(const Name& name, std::shared_ptr<Resource> resource);
 
    void add(std::string name, std::shared_ptr<Resource> resource);
 
    void remove(const Name& name);
 
    void replace_one(const Name& name, std::shared_ptr<Resource> resource);
 
    const std::unordered_map<std::string, std::shared_ptr<Resource>>& resources() const;
 
    ResourceManager(){};
 
   private:
    std::mutex lock_;
    std::unordered_map<std::string, std::shared_ptr<Resource>> resources_;
    std::unordered_map<std::string, std::string> short_names_;
    void do_add(const Name& name, std::shared_ptr<Resource> resource);
    void do_add(std::string name, std::shared_ptr<Resource> resource);
    void do_remove(const Name& name);
};
 
}  // namespace sdk
}  // namespace viam