cm_paramtree.h

/*
 * Developer : Alexey Zakharov (alexey.zakharov@vectioneer.com)
 * All rights reserved. Copyright (c) 2018 VECTIONEER.
 */
 
#ifndef MOTORCORTEX_CORE_CM_PARAMTREE_H
#define MOTORCORTEX_CORE_CM_PARAMTREE_H
 
#include "cm_rpctypes.h"
 
#include <map>
 
namespace mcx {
 
namespace parameter_server {
class Parameter;
}
 
namespace comm {
 
struct ParameterTreeMsg {
  ReplyMsg original;
};
 
struct ParameterTreeInfo {
  uint32_t hash;
  ParameterTreeMsg msg;
};
 
class ParameterTree {
public:
 
  virtual ~ParameterTree();
 
  bool init(parameter_server::Parameter* root);
 
  parameter_server::Parameter* getRoot();
 
  [[nodiscard]] const ParameterTreeInfo& getInfo(parameter_server::UserGroup group) const;
 
private:
  parameter_server::Parameter* root_{};
  ParameterTreeInfo dummy{};
 
  static bool initParamTree(parameter_server::UserGroup user_group_id, parameter_server::Parameter* root,
                            ParameterTreeInfo& param_tree_info);
 
 
  // map of the cached parameter tree for evert user group
  std::map<parameter_server::UserGroup, ParameterTreeInfo> param_tree_;
 
};
 
}
 
}
 
#endif //MOTORCORTEX_CORE_CM_PARAMTREE_H