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Move profile dictionary to tesseract_common
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‎tesseract_common/CMakeLists.txt

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@@ -92,6 +92,8 @@ add_library(
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src/eigen_serialization.cpp
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src/utils.cpp
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src/plugin_info.cpp
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src/profile_dictionary.cpp
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src/profile.cpp
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src/resource_locator.cpp
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src/types.cpp
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src/stopwatch.cpp

‎tesseract_common/include/tesseract_common/fwd.h

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// timer.h
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class Timer;
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// Profile Dictionary
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class Profile;
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class ProfileDictionary;
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} // namespace tesseract_common
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#endif // TESSERACT_COMMON_TESSERACT_COMMON_FWD_H

‎tesseract_common/include/tesseract_common/profile.h

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/**
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* @file profile.h
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* @brief This is a profile base class
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*
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* @author Levi Armstrong
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* @date December 2, 2024
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* @version TODO
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* @bug No known bugs
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*
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* @copyright Copyright (c) 2024, Southwest Research Institute
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*
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* @par License
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* Software License Agreement (Apache License)
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* @par
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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* http://www.apache.org/licenses/LICENSE-2.0
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* @par
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef TESSERACT_COMMON_PROFILE_H
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#define TESSERACT_COMMON_PROFILE_H
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#include <memory>
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#include <boost/serialization/access.hpp>
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#include <boost/serialization/export.hpp>
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namespace tesseract_common
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{
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/**
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* @brief The Profile class
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*/
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class Profile
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{
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public:
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using Ptr = std::shared_ptr<Profile>;
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using ConstPtr = std::shared_ptr<const Profile>;
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Profile() = default;
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Profile(std::size_t key);
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virtual ~Profile() = default;
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/**
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* @brief Get the hash code associated with the profile
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* @return The profile's hash code
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*/
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std::size_t getKey() const;
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protected:
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Profile(const Profile&) = default;
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Profile& operator=(const Profile&) = default;
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Profile(Profile&&) = default;
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Profile& operator=(Profile&&) = default;
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std::size_t key_{ 0 };
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friend class boost::serialization::access;
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template <class Archive>
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void serialize(Archive&, const unsigned int); // NOLINT
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};
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} // namespace tesseract_common
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BOOST_CLASS_EXPORT_KEY(tesseract_common::Profile)
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#endif // TESSERACT_COMMON_PROFILE_H

‎tesseract_common/include/tesseract_common/profile_dictionary.h

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/**
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* @file profile_dictionary.h
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* @brief This is a profile dictionary for storing all profiles
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*
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* @author Levi Armstrong
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* @date December 2, 2020
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* @version TODO
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* @bug No known bugs
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*
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* @copyright Copyright (c) 2020, Southwest Research Institute
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*
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* @par License
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* Software License Agreement (Apache License)
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* @par
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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* http://www.apache.org/licenses/LICENSE-2.0
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* @par
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef TESSERACT_COMMON_PROFILE_DICTIONARY_H
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#define TESSERACT_COMMON_PROFILE_DICTIONARY_H
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#include <tesseract_common/macros.h>
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TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
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#include <unordered_map>
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#include <memory>
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#include <shared_mutex>
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TESSERACT_COMMON_IGNORE_WARNINGS_POP
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#include <tesseract_common/profile.h>
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#include <tesseract_common/any_poly.h>
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namespace tesseract_common
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{
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/**
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* @brief This class is used to store profiles used by various tasks
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* @details This is a thread safe class
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*/
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class ProfileDictionary
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{
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public:
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using Ptr = std::shared_ptr<ProfileDictionary>;
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using ConstPtr = std::shared_ptr<const ProfileDictionary>;
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ProfileDictionary() = default;
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~ProfileDictionary() = default;
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ProfileDictionary(const ProfileDictionary&);
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ProfileDictionary& operator=(const ProfileDictionary&);
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ProfileDictionary(ProfileDictionary&&) noexcept;
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ProfileDictionary& operator=(ProfileDictionary&&) noexcept;
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/**
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* @brief Add a profile
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* @details If the profile entry does not exist it will create one
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* @param ns The profile namespace
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* @param profile_name The profile name
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* @param profile The profile to add
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*/
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void addProfile(const std::string& ns, const std::string& profile_name, const Profile::ConstPtr& profile);
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void addProfile(const std::string& ns,
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const std::vector<std::string>& profile_names,
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const Profile::ConstPtr& profile);
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/**
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* @brief Check if a profile exists
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* @details If profile entry does not exist it also returns false
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* @param key The profile key
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* @param ns The profile namespace
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* @param profile_name The profile name
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* @return True if profile exists, otherwise false
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*/
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bool hasProfile(std::size_t key, const std::string& ns, const std::string& profile_name) const;
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/**
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* @brief Get a profile by name
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* @details Check if the profile exist before calling this function, if missing an exception is thrown
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* @param key The profile key
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* @param ns The profile namespace
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* @param profile_name The profile name
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* @return The profile
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*/
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Profile::ConstPtr getProfile(std::size_t key, const std::string& ns, const std::string& profile_name) const;
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/**
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* @brief Remove a profile
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* @param key The profile key
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* @param ns The profile namespace
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* @param profile_name The profile to be removed
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*/
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void removeProfile(std::size_t key, const std::string& ns, const std::string& profile_name);
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/**
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* @brief Check if a profile entry exists
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* @param key The profile key
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* @param ns The profile namespace
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* @return True if exists, otherwise false
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*/
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bool hasProfileEntry(std::size_t key, const std::string& ns) const;
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/**
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* @brief Remove a profile entry
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* @param key The profile key
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* @param ns The profile namespace
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*/
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void removeProfileEntry(std::size_t key, const std::string& ns);
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/**
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* @brief Get a profile entry
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* @param key The profile key
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* @param ns The profile namespace
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* @return The profile map associated with the profile entry
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*/
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std::unordered_map<std::string, Profile::ConstPtr> getProfileEntry(std::size_t key, const std::string& ns) const;
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/**
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* @brief Get all profile entries
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* @return All profile entries
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*/
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std::unordered_map<std::string, std::unordered_map<std::size_t, std::unordered_map<std::string, Profile::ConstPtr>>>
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getAllProfileEntries() const;
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/** @brief Clear the dictionary */
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void clear();
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protected:
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mutable std::shared_mutex mutex_;
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std::unordered_map<std::string, std::unordered_map<std::size_t, std::unordered_map<std::string, Profile::ConstPtr>>>
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profiles_;
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friend class boost::serialization::access;
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template <class Archive>
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void serialize(Archive& ar, const unsigned int version); // NOLINT
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};
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using ProfileDictionaryPtrAnyPoly = tesseract_common::AnyWrapper<std::shared_ptr<ProfileDictionary>>;
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} // namespace tesseract_common
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BOOST_CLASS_EXPORT_KEY(tesseract_common::ProfileDictionary)
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BOOST_CLASS_EXPORT_KEY(tesseract_common::ProfileDictionaryPtrAnyPoly)
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#endif // TESSERACT_COMMON_PROFILE_DICTIONARY_H

‎tesseract_common/src/profile.cpp

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/**
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* @file profile.cpp
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* @brief This is a profile base class
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*
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* @author Levi Armstrong
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* @date December 2, 2024
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* @version TODO
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* @bug No known bugs
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*
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* @copyright Copyright (c) 2024, Southwest Research Institute
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*
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* @par License
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* Software License Agreement (Apache License)
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* @par
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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* http://www.apache.org/licenses/LICENSE-2.0
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* @par
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include <tesseract_common/profile.h>
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#include <tesseract_common/serialization.h>
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#include <boost/serialization/export.hpp>
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#include <boost/serialization/nvp.hpp>
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namespace tesseract_common
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{
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Profile::Profile(std::size_t key) : key_(key) {}
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std::size_t Profile::getKey() const { return key_; }
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template <class Archive>
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void Profile::serialize(Archive& ar, const unsigned int /*version*/)
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{
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ar& boost::serialization::make_nvp("key", key_);
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}
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} // namespace tesseract_common
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TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::Profile)
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BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::Profile)

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