BaseConfig.h

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/*
 * Copyright (c) 2024-2026 REV Robotics
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 *    this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 * 3. Neither the name of REV Robotics nor the names of its
 *    contributors may be used to endorse or promote products derived from
 *    this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 */
 
#pragma once
 
#include <stdint.h>
 
#include <optional>
#include <string>
#include <unordered_map>
#include <variant>
 
namespace rev {
 
class BaseConfig {
public:
    virtual ~BaseConfig() = default;
 
    virtual std::string Flatten();
 
protected:
    BaseConfig() = default;
 
    BaseConfig(const BaseConfig&) = default;
    BaseConfig& operator=(const BaseConfig&) = delete;
    BaseConfig(BaseConfig&&) noexcept = delete;
    BaseConfig& operator=(BaseConfig&&) noexcept = delete;
 
    using ParameterType_t = std::variant<int32_t, uint32_t, float, bool>;
 
    template <typename ParameterType>
    void PutParameter(uint8_t parameterId, ParameterType value) {
        m_Parameters[parameterId] = value;
    }
 
    std::optional<ParameterType_t> GetParameter(uint8_t parameterId);
 
    static std::optional<ParameterType_t> GetParameter(BaseConfig& fromConfig,
                                                       uint8_t parameterId);
 
    void RemoveParameter(uint8_t parameterId);
 
    static void RemoveParameter(BaseConfig& fromConfig, uint8_t parameterId);
 
    void Apply(BaseConfig& config);
 
private:
    std::unordered_map<uint8_t, ParameterType_t> m_Parameters;
};  // class BaseConfig
 
}  // namespace rev