Registrar.h

Go to the documentation of this file.

// kate: replace-tabs off; indent-width 4; indent-mode normal
// vim: ts=4:sw=4:noexpandtab
/*
 
Copyright (c) 2010--2012,
François Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
You can contact the authors at <f dot pomerleau at gmail dot com> and
<stephane at magnenat dot net>
 
All rights reserved.
 
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
    * Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
    * Neither the name of the <organization> nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.
 
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL ETH-ASL BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
*/
 
#ifndef __POINTMATCHER_REGISTRAR_H
#define __POINTMATCHER_REGISTRAR_H
 
#include "Parametrizable.h"
#include "PointMatcher.h"
 
#include <yaml-cpp/yaml.h>
#include <boost/format.hpp>
#include <boost/typeof/typeof.hpp>
 
namespace PointMatcherSupport
{
        void getNameParamsFromYAML(const YAML::Node& module, std::string& name, Parametrizable::Parameters& params);
 
        struct InvalidElement: std::runtime_error
        {
                InvalidElement(const std::string& reason);
        };
 
        template<typename Interface>
        struct Registrar
        {
        public:
                typedef Interface TargetType; 
 
                struct ClassDescriptor
                {
                        virtual ~ClassDescriptor() {}
                        virtual std::shared_ptr<Interface> createInstance(const std::string& className, const Parametrizable::Parameters& params) const = 0;
                        virtual const std::string description() const = 0;
                        virtual const Parametrizable::ParametersDoc availableParameters() const = 0;
                };
 
                template<typename C>
                struct GenericClassDescriptor: public ClassDescriptor
                {
                        virtual std::shared_ptr<Interface> createInstance(const std::string& className, const Parametrizable::Parameters& params) const
                        {
                                std::shared_ptr<C> instance = std::make_shared<C>(params);
 
                                // check that all parameters were set
                                for (const auto& param : params)
                                {
                                        if (instance->parametersUsed.find(param.first) == instance->parametersUsed.end()){
                                                throw Parametrizable::InvalidParameter(
                                                        (boost::format("Parameter %1% for module %2% was set but is not used") % param.first % className).str()
                                                );
                                        }
                                }
                                return instance;
                        }
 
                        virtual const std::string description() const
                        {
                                return C::description();
                        }
 
                        virtual const Parametrizable::ParametersDoc availableParameters() const
                        {
                                return C::availableParameters();
                        }
                };
 
                template<typename C>
                struct GenericClassDescriptorNoParam: public ClassDescriptor
                {
                        virtual std::shared_ptr<Interface> createInstance(const std::string& className, const Parametrizable::Parameters& params) const
                        {
                                for (const auto& param : params)
                                        throw Parametrizable::InvalidParameter(
                                                        (boost::format("Parameter %1% was set but module %2% does not use any parameter") % param.first % className).str()
                                                );
 
                                return std::make_shared<C>();
                        }
 
                        virtual const std::string description() const
                        {
                                return C::description();
                        }
 
                        virtual const Parametrizable::ParametersDoc availableParameters() const
                        {
                                return Parametrizable::ParametersDoc();
                        }
                };
 
        protected:
                typedef std::map<std::string, std::shared_ptr<ClassDescriptor>> DescriptorMap; 
                DescriptorMap classes; 
 
        public:
                void reg(const std::string &name, std::shared_ptr<ClassDescriptor> descriptor)
                {
                        classes.insert(std::make_pair(name, descriptor));
                }
 
                std::shared_ptr<ClassDescriptor> getDescriptor(const std::string& name) const
                {
                        auto it = classes.find(name);
 
                        if (it == classes.end())
                        {
                                std::cerr << "No element named " << name << " is registered. Known ones are:\n";
                                dump(std::cerr);
                                throw InvalidElement(
                                        (boost::format("Trying to instanciate unknown element %1% from registrar") % name).str()
                                );
                        }
                        return it->second;
                }
 
                std::shared_ptr<Interface> create(const std::string& name, const Parametrizable::Parameters& params = Parametrizable::Parameters()) const
                {
                        return getDescriptor(name)->createInstance(name, params);
                }
 
                std::shared_ptr<Interface> createFromYAML(const YAML::Node& module) const
                {
                        std::string name;
                        Parametrizable::Parameters params;
 
                        getNameParamsFromYAML(module, name, params);
 
                        return create(name, params);
                }
 
                const std::string getDescription(const std::string& name) const
                {
                        return getDescriptor(name)->description();
                }
 
                void dump(std::ostream &stream) const
                {
                        for (const auto& it : classes)
                                stream << "- " << it.first << "\n";
                }
 
                typename DescriptorMap::const_iterator begin() const
                {
                        return classes.begin();
                }
 
                typename DescriptorMap::const_iterator end() const
                {
                        return classes.end();
                }
        };
 
        #define REG(name) name##Registrar
        #define DEF_REGISTRAR(name) PointMatcherSupport::Registrar< name > name##Registrar;
        #define DEF_REGISTRAR_IFACE(name, ifaceName) PointMatcherSupport::Registrar< ifaceName > name##Registrar;
        #define ADD_TO_REGISTRAR(name, elementName, element) { \
                typedef typename PointMatcherSupport::Registrar< name >::template GenericClassDescriptor< element > Desc; \
                name##Registrar.reg(# elementName, std::make_shared<Desc>() ); \
        }
        #define ADD_TO_REGISTRAR_NO_PARAM(name, elementName, element) { \
                typedef typename PointMatcherSupport::Registrar< name >::template GenericClassDescriptorNoParam< element > Desc; \
                name##Registrar.reg(# elementName, std::make_shared<Desc>() ); \
        }
} // namespace PointMatcherSupport
 
#endif // __POINTMATCHER_REGISTRAR_H