Object.h

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/*
 * Copyright (C) 2006-2011, SRI International (R)
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#pragma once

#ifndef __ObjectKarto_Object_h__
#define __ObjectKarto_Object_h__

#include <OpenKarto/Identifier.h>
#include <OpenKarto/Parameter.h>
#include <OpenKarto/List.h>
#include <OpenKarto/Meta.h>

namespace karto
{




  #define KARTO_TYPECHECKCAST(__Name__) \
    inline kt_bool Is##__Name__(Object* pObject) \
    { \
      return dynamic_cast<__Name__ *>(pObject) != NULL;\
    } 


  class KARTO_EXPORT Object : public Referenced
  {
    KARTO_RTTI();

  public:
    Object();

    Object(const Identifier& rIdentifier);

  protected:
    //@cond EXCLUDE
    virtual ~Object();
    //@endcond
    
  public:
    inline const Identifier& GetIdentifier() const 
    {
      return m_Identifier; 
    }
    
    inline AbstractParameter* GetParameter(const String& rParameterName) const
    {
      return m_pParameterSet->GetParameter(rParameterName);
    }

    template<typename T>
    inline Parameter<T>* GetParameter(const String& rParameterName) const
    {
      return dynamic_cast<Parameter<T>*>(m_pParameterSet->GetParameter(rParameterName));
    }
   
    template<typename T>
    inline void SetParameters(const karto::String& rParameterName, const T& rValue)
    {
      AbstractParameter* pAbstractParameters = GetParameter(rParameterName);
      if (pAbstractParameters != NULL)
      {
        pAbstractParameters->SetValueFromString(StringHelper::ToString(rValue));
      }
      else
      {
        String errorMessage;
        errorMessage.Append("Parameter does not exist: ");
        errorMessage.Append(rParameterName);
        errorMessage.Append(String::NewLine());
        errorMessage.Append("Valid parameters are: ");
        errorMessage.Append(String::NewLine());
        const ParameterList& rParameters = m_pParameterSet->GetParameters();
        karto_const_forEach(ParameterList, &rParameters)
        {
          errorMessage.Append("\t" + (*iter)->GetName());
          errorMessage.Append(String::NewLine());
        }
        throw Exception(errorMessage);
      }
    }

    inline ParameterSet* GetParameterSet()
    {
      return m_pParameterSet;
    }
    
    inline ParameterList GetParameters()
    {
      return m_pParameterSet->GetParameters();
    }    
    
  private:
    // restrict the following functions
    Object(const Object&);
    const Object& operator=(const Object&);

  private:
    Identifier m_Identifier;

    ParameterSetPtr m_pParameterSet;
  }; // class Object

  KARTO_TYPE(Object);

  typedef SmartPointer<Object> ObjectPtr;

  typedef List<ObjectPtr> ObjectList;


  const kt_objecttype ObjectType_None                                                                   = 0x00000000;

  const kt_objecttype ObjectType_Sensor                                                         = 0x00001000;

  const kt_objecttype ObjectType_SensorData                                     = 0x00002000;

  const kt_objecttype ObjectType_CustomItem                                     = 0x00004000;

  const kt_objecttype ObjectType_Grid                                           = 0x00008000;

  const kt_objecttype ObjectType_Message                                        = 0x00010000;

  const kt_objecttype ObjectType_Object                                                         = 0x00020000;

  const kt_objecttype ObjectType_Misc                                                                   = 0x10000000;

  const kt_objecttype ObjectType_Drive                                                          = ObjectType_Sensor | 0x01;

  const kt_objecttype ObjectType_LaserRangeFinder                       = ObjectType_Sensor | 0x02;

  const kt_objecttype ObjectType_Camera                                                         = ObjectType_Sensor | 0x04;

  const kt_objecttype ObjectType_DrivePose                                              = ObjectType_SensorData | 0x01;

  const kt_objecttype ObjectType_LaserRangeScan             = ObjectType_SensorData | 0x02;

  const kt_objecttype ObjectType_LocalizedObject                = ObjectType_SensorData | 0x04;

  const kt_objecttype ObjectType_LocalizedRangeScan             = ObjectType_SensorData | 0x08;

  const kt_objecttype ObjectType_LocalizedPointScan             = ObjectType_SensorData | 0x10;

  const kt_objecttype ObjectType_LocalizedLaserScan             = ObjectType_SensorData | 0x20;

  const kt_objecttype ObjectType_DefaultCustomItem    = ObjectType_CustomItem | 0x01;

  const kt_objecttype ObjectType_Rfid                 = ObjectType_CustomItem | 0x02;

  const kt_objecttype ObjectType_CameraImage              = ObjectType_SensorData | 0x40;

  const kt_objecttype ObjectType_OccupancyGrid            = ObjectType_Grid | 0x01;

  const kt_objecttype ObjectType_OccupancyGridTile        = ObjectType_Grid | 0x02;

  const kt_objecttype ObjectType_Header                                                         = ObjectType_Misc | 0x01;

  const kt_objecttype ObjectType_Image                                                          = ObjectType_Misc | 0x02;

  const kt_objecttype ObjectType_ModuleParameters                 = ObjectType_Object | 0x01;

  const kt_objecttype ObjectType_DatasetInfo                        = ObjectType_Object | 0x02;

  const kt_objecttype ObjectType_Module               = ObjectType_Object | 0x04;

  const kt_objecttype ObjectType_TiledOccupancyGrid   = ObjectType_Object | 0x08;

  const kt_objecttype ObjectType_Int32sMessage        = ObjectType_Message | 0x01;

  const kt_objecttype ObjectType_Int64sMessage        = ObjectType_Message | 0x02;

  const kt_objecttype ObjectType_DoubleMessage        = ObjectType_Message | 0x04;

  const kt_objecttype ObjectType_StringMessage        = ObjectType_Message | 0x08;

  const kt_objecttype ObjectType_DatasetObjectMessage = ObjectType_Message | 0x10;

  const kt_objecttype ObjectType_ScansPoseUpdateMessage = ObjectType_Message | 0x20;


}


#endif // __ObjectKarto_Object_h__