From d307c66f22c06e1d08017a45708d8fde04f7bb72 Mon Sep 17 00:00:00 2001
From: Levi Armstrong <levi.armstrong@gmail.com>
Date: Tue, 23 Jul 2024 15:54:32 -0500
Subject: [PATCH] Add boost serialization support to Profile dictionary

---
 tesseract_command_language/CMakeLists.txt     |  1 +
 .../profile_dictionary.h                      | 16 +++++--
 .../src/profile_dictionary.cpp                | 48 +++++++++++++++++++
 3 files changed, 60 insertions(+), 5 deletions(-)
 create mode 100644 tesseract_command_language/src/profile_dictionary.cpp

diff --git a/tesseract_command_language/CMakeLists.txt b/tesseract_command_language/CMakeLists.txt
index 5ff098e29c..b2db2633c0 100644
--- a/tesseract_command_language/CMakeLists.txt
+++ b/tesseract_command_language/CMakeLists.txt
@@ -48,6 +48,7 @@ add_library(
   src/poly/state_waypoint_poly.cpp
   src/poly/waypoint_poly.cpp
   src/move_instruction.cpp
+  src/profile_dictionary.cpp
   src/set_analog_instruction.cpp
   src/set_tool_instruction.cpp
   src/timer_instruction.cpp
diff --git a/tesseract_command_language/include/tesseract_command_language/profile_dictionary.h b/tesseract_command_language/include/tesseract_command_language/profile_dictionary.h
index 44b20becc2..0e3fb693b5 100644
--- a/tesseract_command_language/include/tesseract_command_language/profile_dictionary.h
+++ b/tesseract_command_language/include/tesseract_command_language/profile_dictionary.h
@@ -36,6 +36,8 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <shared_mutex>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
+#include <tesseract_common/any_poly.h>
+
 namespace tesseract_planning
 {
 /**
@@ -216,16 +218,20 @@ class ProfileDictionary
   }
 
   /** @brief Clear the dictionary */
-  void clear()
-  {
-    std::unique_lock lock(mutex_);
-    profiles_.clear();
-  }
+  void clear();
 
 protected:
   std::unordered_map<std::string, std::unordered_map<std::type_index, std::any>> profiles_;
   mutable std::shared_mutex mutex_;
+
+  friend class boost::serialization::access;
+  template <class Archive>
+  void serialize(Archive& ar, const unsigned int version);  // NOLINT
 };
 }  // namespace tesseract_planning
 
+BOOST_CLASS_EXPORT_KEY(tesseract_planning::ProfileDictionary)
+TESSERACT_ANY_EXPORT_KEY(std::shared_ptr<tesseract_planning::ProfileDictionary>,
+                         TesseractPlanningProfileDictionarySharedPtr)
+
 #endif  // TESSERACT_MOTION_PLANNERS_PROFILE_DICTIONARY_H
diff --git a/tesseract_command_language/src/profile_dictionary.cpp b/tesseract_command_language/src/profile_dictionary.cpp
new file mode 100644
index 0000000000..b1305ef10f
--- /dev/null
+++ b/tesseract_command_language/src/profile_dictionary.cpp
@@ -0,0 +1,48 @@
+/**
+ * @file profile_dictionary.cpp
+ * @brief This is a profile dictionary for storing all profiles
+ *
+ * @author Levi Armstrong
+ * @date December 2, 2020
+ * @version TODO
+ * @bug No known bugs
+ *
+ * @copyright Copyright (c) 2020, Southwest Research Institute
+ *
+ * @par License
+ * Software License Agreement (Apache License)
+ * @par
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ * http://www.apache.org/licenses/LICENSE-2.0
+ * @par
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <tesseract_command_language/profile_dictionary.h>
+#include <boost/serialization/shared_ptr.hpp>
+
+namespace tesseract_planning
+{
+void ProfileDictionary::clear()
+{
+  std::unique_lock lock(mutex_);
+  profiles_.clear();
+}
+
+template <class Archive>
+void ProfileDictionary::serialize(Archive& /*ar*/, const unsigned int /*version*/)
+{
+}
+
+}  // namespace tesseract_planning
+
+#include <tesseract_common/serialization.h>
+BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_planning::ProfileDictionary)
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::ProfileDictionary)
+TESSERACT_ANY_EXPORT_IMPLEMENT(TesseractPlanningProfileDictionarySharedPtr)