dynamic_moos_vars.h

Go to the documentation of this file.

// Copyright 2011-2021:
//   GobySoft, LLC (2013-)
//   Massachusetts Institute of Technology (2007-2014)
//   Community contributors (see AUTHORS file)
// File authors:
//   Toby Schneider <toby@gobysoft.org>
//
//
// This file is part of the Goby Underwater Autonomy Project Libraries
// ("The Goby Libraries").
//
// The Goby Libraries are free software: you can redistribute them and/or modify
// them under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 2.1 of the License, or
// (at your option) any later version.
//
// The Goby Libraries are distributed in the hope that they will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with Goby.  If not, see <http://www.gnu.org/licenses/>.
 
#ifndef GOBY_MOOS_DYNAMIC_MOOS_VARS_H
#define GOBY_MOOS_DYNAMIC_MOOS_VARS_H
 
#include "goby/moos/moos_header.h"
 
namespace goby
{
namespace moos
{
class DynamicMOOSVars
{
  public:
    const CMOOSMsg& get_moos_var(const std::string& s) { return vars[s]; }
 
    const CMOOSMsg& operator[](const std::string& s) { return vars[s]; }
 
    // read the whole list
    void update_moos_vars(const MOOSMSG_LIST& NewMail)
    {
        for (const auto& p : NewMail) vars[p.GetKey()] = p;
    }
 
    // update a single variable at a time
    void update_moos_vars(const CMOOSMsg& msg) { vars[msg.GetKey()] = msg; }
 
    std::map<std::string, CMOOSMsg>& all() { return vars; }
 
  private:
    std::map<std::string, CMOOSMsg> vars;
};
} // namespace moos
} // namespace goby
 
inline bool valid(const CMOOSMsg& m) { return m.GetTime() != -1; }
 
#endif