CreateSequence.hpp

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/***************************************************************************
  tag: The SourceWorks  Tue Sep 7 00:55:18 CEST 2010  CreateSequence.hpp

                        CreateSequence.hpp -  description
                           -------------------
    begin                : Tue September 07 2010
    copyright            : (C) 2010 The SourceWorks
    email                : peter@thesourceworks.com

 ***************************************************************************
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#ifndef ORO_CREATESEQUENCE_HPP_
#define ORO_CREATESEQUENCE_HPP_

#include <boost/fusion/include/cons.hpp>
#include <boost/fusion/include/front.hpp>
#include <boost/fusion/include/vector.hpp>

#include <vector>
#include <boost/mpl/front.hpp>
#include <boost/mpl/pop_front.hpp>
#include <boost/mpl/print.hpp>
// The fusion <--> MPL link header
#include <boost/fusion/mpl.hpp>
#include <boost/utility/enable_if.hpp>

#include "DataSource.hpp"
#include "Exceptions.hpp"
#include "../FactoryExceptions.hpp"
#include "mystd.hpp"

#include <iostream>

namespace RTT
{
    namespace internal
    {
        namespace bf = boost::fusion;
        namespace mpl = boost::mpl;


        template <class T> struct incomplete;

        template<class Seq, class Data, class Enable = void >
        struct GetArgument {
            Data operator()(Seq s) { bf::front(s)->evaluate(); return Data(bf::front(s)->rvalue()); /* front(s) is a DataSource<Data> */}
        }; // normal type

        template<class Seq, class Data>
        struct GetArgument<Seq, Data, typename boost::enable_if< is_pure_reference<Data> >::type> {
            Data operator()(Seq s) { return Data(bf::front(s)->set() ); /* Case of reference.*/ }
        }; // shared_ptr type

        template<class Seq, class Data, class Enable = void >
        struct AssignHelper {
            static void set( Seq seq, Data in) { bf::front(seq)->set( bf::front(in) ); }
        }; // normal type

        template<class Seq, class Data>
        struct AssignHelper<Seq, Data, typename boost::enable_if< boost::is_pointer<typename mpl::front<Data>::type> >::type> {
            static void set(Seq , Data ) {} // nop
        }; // shared_ptr type

        template<class T>
        struct UpdateHelper {
            static void update(typename DataSource<typename remove_cr<T>::type >::shared_ptr) {}
        };

        template<class T>
        struct UpdateHelper<T&> {
            static void update(typename DataSource<typename remove_cr<T>::type >::shared_ptr s) { s->updated(); }
        };

        struct create_sequence_helper {
            template<class ds_arg_type, class ds_type>
            static ds_type sources(std::vector<base::DataSourceBase::shared_ptr>::const_iterator front, int argnbr, std::string const& tname )
            {
                typedef typename ds_type::element_type element_type;

                ds_type a =
                    boost::dynamic_pointer_cast< element_type >( DataSourceTypeInfo<ds_arg_type>::getTypeInfo()->convert(*front) );
                if ( ! a ) {
                    //cout << typeid(DataSource<ds_arg_type>).name() << endl;
                    ORO_THROW_OR_RETURN(wrong_types_of_args_exception( argnbr, tname, (*front)->getType() ), ds_type());
                    //ORO_THROW_OR_RETURN(wrong_types_of_args_exception( argnbr, typeid(DataSource<ds_arg_type>).name(), typeid(front).name() ), type());
                }
                return a;
            }

            template<class ds_arg_type, class ads_type>
            static ads_type assignable(std::vector<base::DataSourceBase::shared_ptr>::const_iterator front, int argnbr, std::string const& tname )
            {
                ads_type a =
                    boost::dynamic_pointer_cast< AssignableDataSource<ds_arg_type> >( *front ); // note: no conversion done, must be same type.
                if ( ! a ) {
                    ORO_THROW_OR_RETURN(wrong_types_of_args_exception( argnbr, tname, (*front)->getType() ), ads_type());
                }
                return a;
            }
        };

        template<class List, int size>
        struct create_sequence_impl;

        template<class List>
        struct create_sequence: public create_sequence_impl<List, mpl::size<
                List>::value>
        {
        };

        template<class List, int size>
        struct create_sequence_impl
        {
            typedef create_sequence<typename mpl::pop_front<List>::type> tail;

            typedef typename mpl::front<List>::type arg_type;

            typedef typename remove_cr<arg_type>::type ds_arg_type;

            typedef typename mpl::if_<typename is_pure_reference<arg_type>::type,
                    typename AssignableDataSource< ds_arg_type >::shared_ptr,
                    typename DataSource<ds_arg_type>::shared_ptr>::type ds_type;

            typedef typename AssignableDataSource< ds_arg_type >::shared_ptr ads_type;

            typedef typename tail::type tail_type;

            typedef bf::cons<ds_type, tail_type> type;

            typedef typename tail::atype atail_type;
            typedef bf::cons<ads_type, atail_type> atype;

            typedef typename tail::data_type arg_tail_type;

            typedef bf::cons<arg_type, arg_tail_type> data_type;

            static type sources(std::vector<base::DataSourceBase::shared_ptr>::const_iterator args, int argnbr = 1 )
            {
                std::vector<base::DataSourceBase::shared_ptr>::const_iterator next = args;
                return bf::cons<ds_type, tail_type>
                    (create_sequence_helper::sources<ds_arg_type, ds_type>(args, argnbr, DataSourceTypeInfo<arg_type>::getType()),
                     tail::sources( ++next, argnbr + 1));
            }

            static atype assignable(std::vector<base::DataSourceBase::shared_ptr>::const_iterator args, int argnbr = 1 )
            {
                std::vector<base::DataSourceBase::shared_ptr>::const_iterator next = args;
                return atype(
                        create_sequence_helper::assignable<ds_arg_type, ads_type>(args, argnbr, DataSourceTypeInfo<arg_type>::getType()),
                        tail::assignable(++next, argnbr + 1));
            }

            static data_type data(const type& seq) {
                return data_type( GetArgument<type,arg_type>()(seq), tail::data( bf::pop_front(seq) ) );
            }

            static void set(const data_type& in, const atype& seq) {
                AssignHelper<atype, data_type>::set(seq, in);
                return tail::set( bf::pop_front(in), bf::pop_front(seq) );
            }

            static void update(const type&seq) {
                UpdateHelper<arg_type>::update( bf::front(seq) );
                return tail::update( bf::pop_front(seq) );
            }

            static type copy(const type& seq, std::map<
                              const base::DataSourceBase*,
                              base::DataSourceBase*>& alreadyCloned) {
                return type( bf::front(seq)->copy(alreadyCloned), tail::copy( bf::pop_front(seq), alreadyCloned ) );
            }

            static const types::TypeInfo* GetTypeInfo(int i) {
                if ( i <= 0 || i > size)
                    return 0;
                if ( i == 1 ) {
                    return DataSourceTypeInfo<arg_type>::getTypeInfo();
                } else {
                    return tail::GetTypeInfo(i-1);
                }
            }

            static std::string GetType(int i) {
                if ( i <= 0 || i > size)
                    return "na";
                if ( i == 1 ) {
                    return DataSourceTypeInfo<arg_type>::getType();
                } else {
                    return tail::GetType(i-1);
                }
            }
};

        template<class List>
        struct create_sequence_impl<List, 1> // mpl list of one
        {
            typedef typename mpl::front<List>::type arg_type;
            typedef typename remove_cr<arg_type>::type ds_arg_type;
            typedef bf::cons<arg_type> data_type;

            typedef typename mpl::if_<typename is_pure_reference<arg_type>::type,
                    typename AssignableDataSource< ds_arg_type >::shared_ptr,
                    typename DataSource<ds_arg_type>::shared_ptr>::type ds_type;
            typedef typename AssignableDataSource< ds_arg_type >::shared_ptr ads_type;


            // the result sequence type is a cons of the last argument in the vector.
            typedef bf::cons<ds_type> type;

            typedef bf::cons<ads_type> atype;

            static type sources(std::vector<base::DataSourceBase::shared_ptr>::const_iterator front, int argnbr = 1)
            {
                return type(
                        create_sequence_helper::sources<ds_arg_type, ds_type>(front, argnbr, DataSourceTypeInfo<arg_type>::getType()));
            }

            static atype assignable(std::vector<base::DataSourceBase::shared_ptr>::const_iterator args, int argnbr = 1)
            {
                return atype(
                        create_sequence_helper::assignable<ds_arg_type, ads_type>(args, argnbr, DataSourceTypeInfo<arg_type>::getType()));
            }

            static data_type data(const type& seq) {
                return data_type( GetArgument<type,arg_type>()(seq) );
            }

            static void update(const type&seq) {
                UpdateHelper<arg_type>::update( bf::front(seq) );
                return;
            }

            static void set(const data_type& in, const atype& seq) {
                AssignHelper<atype, data_type>::set(seq, in);
            }

            static type copy(const type& seq, std::map<
                              const base::DataSourceBase*,
                              base::DataSourceBase*>& alreadyCloned) {
                return type( bf::front(seq)->copy(alreadyCloned) );
            }

            static const types::TypeInfo* GetTypeInfo(int i) {
                if ( i != 1)
                    return 0;
                return DataSource<ds_arg_type>::GetTypeInfo();
            }
            static std::string GetType(int i) {
                if ( i != 1)
                    return "na";
                return DataSourceTypeInfo<arg_type>::getType();
            }
        };

        template<class List>
        struct create_sequence_impl<List, 0> // empty mpl list
        {
            typedef bf::vector<> data_type;

            // the result sequence type is a cons of the last argument in the vector.
            typedef bf::vector<> type;

            typedef bf::vector<> atype;

            static type sources(std::vector<base::DataSourceBase::shared_ptr>::const_iterator args, int argnbr = 0)
            {
                return type();
            }

            static atype assignable(std::vector<base::DataSourceBase::shared_ptr>::const_iterator args, int argnbr = 0)
            {
                return atype();
            }

            static data_type data(const type& seq) {
                return data_type();
            }

            static void update(const type&seq) {
                return;
            }

            static void set(const data_type& in, const atype& seq) {
                return;
            }


            static type copy(const type& seq, std::map<
                              const base::DataSourceBase*,
                              base::DataSourceBase*>& alreadyCloned) {
                return type();
            }
            static const types::TypeInfo* GetTypeInfo(int i) {
                return 0;
            }
            static std::string GetType(int i) {
                return "na";
            }
        };
    }
}

#endif /* ORO_CREATESEQUENCE_HPP_ */