.

src/hos_cpp_utils/CMakeLists.txt

@@ -5,10 +5,15 @@ project(hos_cpp_utils)
 ## 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
+  hos_deps
 )
 
+message("CMAKE_MODULE_PATH: ${CMAKE_MODULE_PATH}")
+find_package(libvariant REQUIRED)
+message("libvariant_INCLUDE_DIR: ${libvariant_INCLUDE_DIR}")
+message("libvariant_LIBRARY: ${libvariant_LIBRARY}")
+
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
 
@@ -81,8 +86,6 @@ find_package(catkin REQUIRED COMPONENTS
 catkin_package(
    INCLUDE_DIRS include/${PROJECT_NAME}/
    LIBRARIES hos_cpp_utils
-   CATKIN_DEPENDS roscpp
-#  DEPENDS system_lib
 )
 
 ###########
@@ -96,16 +99,17 @@ add_definitions(
 
 include_directories(
 	${catkin_INCLUDE_DIRS}
-	include
-	include/hos_libvariant
+	${libvariant_INCLUDE_DIR}
+	include/hos_cpp_utils
 )
 
 ## Declare a cpp library
 add_library(hos_cpp_utils STATIC
-   src/HosSchemaLoader/HosSchemaLoader.cpp
+   src/hos/utils/SchemaLoader.cpp
 )
 target_link_libraries(hos_cpp_utils
    ${catkin_LIBRARIES}
+   ${libvariant_LIBRARY}
 )
 
 ## Specify additional locations of header files

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

@@ -0,0 +1,33 @@
+
+#pragma once
+
+
+
+#include <Variant/Schema.h>
+#include <ros/ros.h>
+#include <string>
+
+
+
+namespace hos {
+namespace utils {
+
+
+  
+class SchemaLoader: public libvariant::SchemaLoader {
+private:
+	std::string ros_param_ns;
+	std::string prefix;
+	ros::NodeHandle nodeHandle;
+	bool loadTypeSchema(std::string schema);
+public:
+	SchemaLoader(std::string ns = "/hos/types/repository", std::string prefix = "hos:schema://")
+		: ros_param_ns(ns), prefix(prefix), nodeHandle("~") {}
+	virtual bool HandleMissing(const std::string &uri, LoaderError &error);
+};
+
+
+
+} // namespace libvariant
+} // namespace hos
+

src/hos_cpp_utils/package.xml

@@ -33,7 +33,7 @@
   <!-- Examples: -->
   <!-- Use build_depend for packages you need at compile time: -->
   <!--   <build_depend>message_generation</build_depend> -->
-  <!--   <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: -->
@@ -43,7 +43,11 @@
   <!--   <test_depend>gtest</test_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>hos_libvariant</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>hos_deps</build_depend>
   <run_depend>hos_libvariant</run_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>hos_deps</run_depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->
@@ -51,4 +55,4 @@
     <!-- Other tools can request additional information be placed here -->
 
   </export>
-</package>
+</package>

src/hos_cpp_utils/src/hos/utils/SchemaLoader.cpp

@@ -0,0 +1,40 @@
+
+
+#include <hos/utils/SchemaLoader.h>
+
+
+
+namespace hos {
+namespace utils {
+
+
+bool SchemaLoader::HandleMissing(const std::string &uri, LoaderError &error) {
+	if (uri.compare(0, prefix.size(), prefix) == 0) {
+		return loadTypeSchema(uri.substr(prefix.size()));
+	} else {
+		return SchemaLoader::HandleMissing(uri, error);
+	}
+}
+
+bool SchemaLoader::loadTypeSchema(std::string schema) {
+	std::string pkey = std::string(ros_param_ns).append("/").append(schema);
+	std::string pvalue;
+	nodeHandle.getParam(pkey, pvalue);
+	if (!pvalue.empty()) {
+		::libvariant::Variant v = ::libvariant::Deserialize(pvalue, ::libvariant::SERIALIZE_JSON);
+		if (v.IsMap()) {
+			std::string sk = std::string(prefix).append(schema);
+			AddSchema(sk, v);
+			return true;
+		} else {
+			return false;
+		}
+	} else {
+		return false;
+	}
+}
+
+
+}
+}
+