CArrayTypeInfo.hpp
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00001 /***************************************************************************
00002   tag: The SourceWorks  Tue Sep 7 00:55:18 CEST 2010  CArrayTypeInfo.hpp
00003 
00004                         CArrayTypeInfo.hpp -  description
00005                            -------------------
00006     begin                : Tue September 07 2010
00007     copyright            : (C) 2010 The SourceWorks
00008     email                : peter@thesourceworks.com
00009 
00010  ***************************************************************************
00011  *   This library is free software; you can redistribute it and/or         *
00012  *   modify it under the terms of the GNU General Public                   *
00013  *   License as published by the Free Software Foundation;                 *
00014  *   version 2 of the License.                                             *
00015  *                                                                         *
00016  *   As a special exception, you may use this file as part of a free       *
00017  *   software library without restriction.  Specifically, if other files   *
00018  *   instantiate templates or use macros or inline functions from this     *
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00020  *   produce an executable, this file does not by itself cause the         *
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00022  *   License.  This exception does not however invalidate any other        *
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00024  *   Public License.                                                       *
00025  *                                                                         *
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00030  *                                                                         *
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00035  *                                                                         *
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00037 
00038 
00039 #ifndef ORO_TEMPLATE_CARRAY_INFO_HPP
00040 #define ORO_TEMPLATE_CARRAY_INFO_HPP
00041 
00042 #include "PrimitiveTypeInfo.hpp"
00043 #include "../internal/ArrayPartDataSource.hpp"
00044 #include <boost/lexical_cast.hpp>
00045 #include "carray.hpp"
00046 #include "../internal/carray.hpp"
00047 #include "PropertyComposition.hpp"
00048 #include "PropertyDecomposition.hpp"
00049 
00050 namespace RTT
00051 {
00052     namespace types
00053     {
00062         template<typename T, bool has_ostream = false>
00063         class CArrayTypeInfo: 
00064             public PrimitiveTypeInfo<T, has_ostream>, 
00065             public MemberFactory, public CompositionFactory
00066         {
00067         public:
00068             CArrayTypeInfo(std::string name) :
00069                 PrimitiveTypeInfo<T, has_ostream> (name)
00070             {
00071             }
00072 
00073         bool installTypeInfoObject(TypeInfo* ti) {
00074             // aquire a shared reference to the this object
00075             boost::shared_ptr< CArrayTypeInfo<T> > mthis = boost::dynamic_pointer_cast<CArrayTypeInfo<T> >( this->getSharedPtr() );
00076             // Allow base to install first
00077             PrimitiveTypeInfo<T,has_ostream>::installTypeInfoObject(ti);
00078             // Install the factories for primitive types
00079             ti->setMemberFactory( mthis );
00080             ti->setCompositionFactory( mthis );
00081 
00082             // Don't delete us, we're memory-managed.
00083             return false;
00084         }
00085 
00086             using TemplateValueFactory<T>::buildVariable;
00087             virtual base::AttributeBase* buildVariable(std::string name,int sizehint) const
00088             {
00089                 // There were two choices: create an empty carray, ie pointer-like behavior; OR create one with storage in the DS.
00090                 // We need to redefine assignment in case of the latter, and make the storage dynamic, depending on sizehint.
00091                 // pointer-like is dangerous due to non-tracking of reference-counts, so this is left for the default buildVariable
00092                 // without a sizehint (using ValueDataSource), while the size hint version has storage.
00093                 typename internal::ArrayDataSource<T>::shared_ptr ads = new internal::UnboundDataSource<internal::ArrayDataSource<T> >();
00094                 ads->newArray( sizehint );
00095                 return new Attribute<T>( name, ads.get() );
00096             }
00097 
00098             /* buildConstant() with sizehint is left out since it is identical to buildConstant() without sizehint.
00099                We make a shallow copy, so the size is automatically taken from the original expression the constant
00100                refers to. */
00101 
00102             virtual std::vector<std::string> getMemberNames() const {
00103                 // only discover the parts of this struct:
00104                 std::vector<std::string> result;
00105                 result.push_back("size");
00106                 result.push_back("capacity");
00107                 return result;
00108             }
00109 
00110             virtual base::DataSourceBase::shared_ptr getMember(base::DataSourceBase::shared_ptr item, const std::string& name) const {
00111                 using namespace internal;
00112                 typename DataSource<T>::shared_ptr data = boost::dynamic_pointer_cast< DataSource<T> >( item );
00113 
00114                 // size and capacity can not change during program execution:
00115                 if (name == "size" || name == "capacity") {
00116                     return new ConstantDataSource<int>( data->rvalue().count() );
00117                 }
00118 
00119                 typename AssignableDataSource<T>::shared_ptr adata = boost::dynamic_pointer_cast< AssignableDataSource<T> >( item );
00120                 if ( !adata ) {
00121                     return base::DataSourceBase::shared_ptr();
00122                 }
00123 
00124                 // contents of indx can change during program execution:
00125                 try {
00126                     unsigned int indx = boost::lexical_cast<unsigned int>(name);
00127                     // @todo could also return a direct reference to item indx using another DS type that respects updated().
00128                     return new ArrayPartDataSource<typename T::value_type>( *adata->set().address(), new ConstantDataSource<unsigned int>(indx), item, data->rvalue().count() );
00129                 } catch(...) {}
00130                 log(Error) << "CArrayTypeInfo: No such part (or invalid index): " << name << endlog();
00131                 return base::DataSourceBase::shared_ptr();
00132             }
00133 
00134             virtual base::DataSourceBase::shared_ptr getMember(base::DataSourceBase::shared_ptr item,
00135                                                              base::DataSourceBase::shared_ptr id) const {
00136                 using namespace internal;
00137                 typename DataSource<T>::shared_ptr data = boost::dynamic_pointer_cast< DataSource<T> >( item );
00138                 if ( !data ) {
00139                     return base::DataSourceBase::shared_ptr();
00140                 }
00141 
00142                 // discover if user gave us a part name or index:
00143                 typename DataSource<std::string>::shared_ptr id_name = DataSource<std::string>::narrow( id.get() );
00144                 if ( id_name ) {
00145                     // size and capacity can not change during program execution:
00146                     if (id_name->get() == "size" || id_name->get() == "capacity") {
00147                         return new ConstantDataSource<int>( data->rvalue().count() );
00148                     } else {
00149                         log(Error) << "CArrayTypeInfo: No such part : " << id_name->get() << endlog();
00150                         return base::DataSourceBase::shared_ptr();
00151                     }
00152                 }
00153 
00154                 typename AssignableDataSource<T>::shared_ptr adata = boost::dynamic_pointer_cast< AssignableDataSource<T> >( item );
00155                 if ( !adata ) {
00156                     log(Error) << "CArrayTypeInfo: need assignable data type for indexing " << this->getTypeName() << endlog();
00157                     return base::DataSourceBase::shared_ptr();
00158                 }
00159 
00160                 typename DataSource<unsigned int>::shared_ptr id_indx = DataSource<unsigned int>::narrow( DataSourceTypeInfo<unsigned int>::getTypeInfo()->convert(id).get() );
00161                 if ( id_indx ) {
00162                     return new ArrayPartDataSource<typename T::value_type>( *adata->set().address(), id_indx, item, data->rvalue().count() );
00163                 }
00164                 log(Error) << "CArrayTypeInfo: Invalid index) for type " << this->getTypeName() << endlog();
00165                 return base::DataSourceBase::shared_ptr();
00166             }
00167 
00171             virtual base::DataSourceBase::shared_ptr decomposeType(base::DataSourceBase::shared_ptr source) const
00172             {
00173                 return base::DataSourceBase::shared_ptr();
00174             }
00175 
00176             virtual bool composeType( base::DataSourceBase::shared_ptr dssource, base::DataSourceBase::shared_ptr dsresult) const {
00177                 const internal::DataSource<PropertyBag>* pb = dynamic_cast< const internal::DataSource<PropertyBag>* > (dssource.get() );
00178                 if ( !pb )
00179                     return false;
00180                 typename internal::AssignableDataSource<T>::shared_ptr ads = boost::dynamic_pointer_cast< internal::AssignableDataSource<T> >( dsresult );
00181                 if ( !ads )
00182                     return false;
00183 
00184                 PropertyBag const& source = pb->rvalue();
00185                 typename internal::AssignableDataSource<T>::reference_t result = ads->set();
00186 
00187                 //result.resize( source.size() );
00188                 if(result.count() != source.size()) {
00189                     log(Error) << "Refusing to compose C Arrays from a property list of different size. Use the same number of properties as the C array size." << endlog();
00190                     return false;
00191                 }
00192                 // recurse into items of this sequence:
00193                 TypeInfoRepository::shared_ptr tir = Types();
00194                 PropertyBag target( source.getType() );
00195                 PropertyBag decomp;
00196                 internal::ReferenceDataSource<T> rds(result);
00197                 rds.ref(); // prevent dealloc.
00198                 // we compose each item in this sequence and then update result with target's result.
00199                 // 1. each child is composed into target (this is a recursive thing)
00200                 // 2. we decompose result one-level deep and 'refresh' it with the composed children of step 1.
00201                 if ( composePropertyBag(source, target) && typeDecomposition( &rds, decomp, false) && ( tir->type( decomp.getType() ) == tir->type( target.getType() ) ) && refreshProperties(decomp, target, true) ) {
00202                     assert(result.count() == source.size());
00203                     assert(source.size() == target.size());
00204                     assert(source.size() == decomp.size());
00205                     return true;
00206                 }
00207                 return false;
00208             }
00209 
00210         };
00211     }
00212 }
00213 
00214 #endif


rtt
Author(s): RTT Developers
autogenerated on Sat Jun 8 2019 18:46:06