.

src/hos_cpp_utils/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(hos_cpp_utils)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  hos_libvariant
+  roscpp
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependencies might have been
+##     pulled in transitively but can be declared for certainty nonetheless:
+##     * add a build_depend tag for "message_generation"
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+   INCLUDE_DIRS include/${PROJECT_NAME}/
+   LIBRARIES hos_cpp_utils
+   CATKIN_DEPENDS roscpp
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+add_definitions(
+	-std=c++11
+	-fPIC
+)
+
+include_directories(
+	${catkin_INCLUDE_DIRS}
+	include
+	include/hos_libvariant
+)
+
+## Declare a cpp library
+add_library(hos_cpp_utils STATIC
+   src/HosSchemaLoader/HosSchemaLoader.cpp
+)
+target_link_libraries(hos_cpp_utils
+   ${catkin_LIBRARIES}
+)
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+
+## Declare a cpp library
+# add_library(hos_cpp_common
+#   src/${PROJECT_NAME}/hos_cpp_common.cpp
+# )
+
+## Declare a cpp executable
+# add_executable(hos_cpp_common_node src/hos_cpp_common_node.cpp)
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+# add_dependencies(hos_cpp_common_node hos_cpp_common_generate_messages_cpp)
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(hos_cpp_common_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+## Mark executables and/or libraries for installation
+install(TARGETS hos_cpp_utils
+   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS hos_cpp_common hos_cpp_common_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+install(DIRECTORY include/${PROJECT_NAME}/
+   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+   FILES_MATCHING PATTERN "*.h"
+   PATTERN ".svn" EXCLUDE
+)
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_hos_cpp_common.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

src/hos_cpp_utils/include/hos_cpp_utils/hos/utils/observable.h

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+
+#pragma once
+
+
+#include <cstddef>
+#include <mutex>
+#include <unordered_set>
+#include <unordered_map>
+#include <algorithm>
+#include <functional>
+#include <tuple>
+
+
+namespace hos {
+namespace utils {
+
+
+
+template<class _Event, class... _Args> class Observable {};
+
+template<class _Event, class... _Args>
+class Observer {
+public:
+	typedef Observable<_Event, _Args...> observable_type;
+	virtual ~Observer() {}
+	virtual void notificationReceived(observable_type* o, const _Event* e, _Args...) = 0;
+
+};
+
+
+template<class _Event>
+class Observable<_Event> {
+public:
+	typedef Observer<_Event> observer_type;
+	typedef std::unordered_set<observer_type*> observers_type;
+protected:
+	std::mutex _observersMutex;
+	observers_type _observers;
+public:
+	void addObserver(observer_type* o) {
+		std::lock_guard<std::mutex> lock(_observersMutex);
+		if (o != nullptr) {
+			auto elem = _observers.find(o);
+			if (elem == _observers.end()) {
+				_observers.insert(o);
+			}
+		}
+	}
+	void deleteObserver(observer_type* o) {
+		std::lock_guard<std::mutex> lock(_observersMutex);
+		if (o != nullptr) {
+			auto elem = _observers.find(o);
+			if (elem != _observers.end()) {
+				_observers.erase(elem);
+			}
+		}
+	}
+	void deleteObservers() {
+		std::lock_guard<std::mutex> lock(_observersMutex);
+		_observers.clear();
+	};
+	size_t countObservers() {
+		std::lock_guard<std::mutex> lock(_observersMutex);
+		return _observers.size();
+	}
+	void notifyObservers(const _Event* e) {
+		std::lock_guard<std::mutex> lock(_observersMutex);
+		for (auto l : _observers) {
+			l->notificationReceived(this, e);
+		}
+	}
+};
+
+
+template<class _Event, class _Key, class... _Args>
+class Observable<_Event, _Key, _Args...> {
+public:
+	typedef Observer<_Event, _Key, _Args...> observer_type;
+	typedef std::unordered_multimap<_Key, observer_type*> observers_type;
+protected:
+	std::mutex _observersMutex;
+	observers_type _observers;
+public:
+	void addObserver(_Key k, observer_type* o) {
+		std::lock_guard<std::mutex> lock(_observersMutex);
+		if (o != nullptr) {
+			auto elems = _observers.equal_range(k);
+			auto found = std::find<observers_type::value_type>(elems.first, elems.second, {k, o});
+			if (found == elems.second) {
+				_observers.insert({k, o});
+			}
+		}
+	}
+	void deleteObserver(_Key k, observer_type* o) {
+		std::lock_guard<std::mutex> lock(_observersMutex);
+		if (o != nullptr) {
+			auto elems = _observers.equal_range(k);
+			auto found = std::find<observers_type::value_type>(elems.first, elems.second, {k, o});
+			if ( found != elems.second) {
+				_observers.remove(found);
+			}
+		}
+	}
+	void deleteObserver(observer_type* o) {
+		std::lock_guard<std::mutex> lock(_observersMutex);
+		if (o != nullptr) {
+			// Quick and dirty, needs to be replaced with a proper implementation
+			auto found = std::find<observers_type::value_type>(_observers.begin(), _observers.end(), [=](typename observers_type::value_type v)->bool {
+				return v.second == o;
+			});
+			while ( found != _observers.end()) {
+				_observers.remove(found);
+				found = std::find<observers_type::value_type>(_observers.begin(), _observers.end(), [=](typename observers_type::value_type v)->bool {
+					return v.second == o;
+				});
+			}
+		}
+	}
+	void deleteObservers() {
+		std::lock_guard<std::mutex> lock(_observersMutex);
+		_observers.clear();
+	};
+	size_t countObservers() {
+		std::lock_guard<std::mutex> lock(_observersMutex);
+		return _observers.size();
+	}
+	void notifyObservers(const _Event* e, _Key k, _Args... args) {
+		std::lock_guard<std::mutex> lock(_observersMutex);
+		auto elems = _observers.equal_range(k);
+		for (auto i = elems.first; i != elems.second; i++) {
+			i->second->notificationReceived(this, e, k, args...);
+		};
+	}
+};
+
+
+} // namespace utils
+} // namespace hos
+

src/hos_cpp_utils/package.xml

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+<?xml version="1.0"?>
+<package>
+  <name>hos_cpp_utils</name>
+  <version>0.0.0</version>
+  <description>The hos_cpp_utils package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="matzman@todo.todo">matzman</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/hos_cpp_common</url> -->
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!--   <build_depend>message_generation</build_depend>
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!--   <run_depend>hos_libvariant</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>hos_libvariant</build_depend>
+  <run_depend>hos_libvariant</run_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>