rtt: rtt: SequenceTypeInfoBase.hpp Source File

00001 /***************************************************************************
00002   tag: The SourceWorks  Tue Sep 7 00:55:18 CEST 2010  SequenceTypeInfo.hpp
00003 
00004                         SequenceTypeInfo.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     *
00019  *   file, or you compile this file and link it with other files to        *
00020  *   produce an executable, this file does not by itself cause the         *
00021  *   resulting executable to be covered by the GNU General Public          *
00022  *   License.  This exception does not however invalidate any other        *
00023  *   reasons why the executable file might be covered by the GNU General   *
00024  *   Public License.                                                       *
00025  *                                                                         *
00026  *   This library is distributed in the hope that it will be useful,       *
00027  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
00028  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
00029  *   Lesser General Public License for more details.                       *
00030  *                                                                         *
00031  *   You should have received a copy of the GNU General Public             *
00032  *   License along with this library; if not, write to the Free Software   *
00033  *   Foundation, Inc., 59 Temple Place,                                    *
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00035  *                                                                         *
00036  ***************************************************************************/
00037 
00038 
00039 #ifndef ORO_SEQUENCE_TYPE_INFO_BASE_HPP
00040 #define ORO_SEQUENCE_TYPE_INFO_BASE_HPP
00041 
00042 #include "SequenceConstructor.hpp"
00043 #include "TemplateConstructor.hpp"
00044 #include "PropertyComposition.hpp"
00045 #include "PropertyDecomposition.hpp"
00046 #include "../internal/FusedFunctorDataSource.hpp"
00047 #include "../internal/DataSourceGenerator.hpp"
00048 #include <boost/lexical_cast.hpp>
00049 
00050 namespace RTT
00051 {
00052     namespace types
00053     {
00059         template<class T>
00060         int get_capacity(T const& cont)
00061         {
00062             return cont.capacity();
00063         }
00064 
00070         template<class T>
00071         int get_size(T const& cont)
00072         {
00073             return cont.size();
00074         }
00075 
00083         template<class T>
00084         typename T::reference get_container_item(T & cont, int index)
00085         {
00086             if (index >= (int) (cont.size()) || index < 0)
00087                 return internal::NA<typename T::reference>::na();
00088             return cont[index];
00089         }
00090 
00098         template<class T>
00099         typename T::value_type get_container_item_copy(const T & cont, int index)
00100         {
00101             if (index >= (int) (cont.size()) || index < 0)
00102                 return internal::NA<typename T::value_type>::na();
00103             return cont[index];
00104         }
00105 
00114         bool get_container_item(std::vector<bool> & cont, int index);
00115         bool get_container_item_copy(const std::vector<bool> & cont, int index);
00116 
00124         template<typename T>
00125         class SequenceTypeInfoBase
00126         {
00127         public:
00128             SequenceTypeInfoBase()
00129             {
00130             }
00131 
00132             bool installTypeInfoObject(TypeInfo* ti) {
00133                 ti->addConstructor( new SequenceBuilder<T>() );
00134                 ti->addConstructor( newConstructor( sequence_ctor<T>() ) );
00135                 ti->addConstructor( newConstructor( sequence_ctor2<T>() ) );
00136                 // Don't delete us, we're memory-managed.
00137                 return false;
00138             }
00139 
00140             ~SequenceTypeInfoBase() {}
00141 
00142             base::AttributeBase* buildVariable(std::string name,int size) const
00143             {
00144                 // if a sizehint is given
00145                 T t_init(size, typename T::value_type() );
00146 
00147                 return new Attribute<T>( name, new internal::UnboundDataSource<internal::ValueDataSource<T> >( t_init ) );
00148             }
00149 
00150             bool resize(base::DataSourceBase::shared_ptr arg, int size) const
00151             {
00152                 if (arg->isAssignable()) {
00153                     typename internal::AssignableDataSource<T>::shared_ptr asarg = internal::AssignableDataSource<T>::narrow( arg.get() );
00154                     asarg->set().resize( size );
00155                     asarg->updated();
00156                     return true;
00157                 }
00158                 return false;
00159             }
00160 
00164             bool composeType( base::DataSourceBase::shared_ptr dssource, base::DataSourceBase::shared_ptr dsresult) const {
00165                 const internal::DataSource<PropertyBag>* pb = dynamic_cast< const internal::DataSource<PropertyBag>* > (dssource.get() );
00166                 if ( !pb )
00167                     return false;
00168                 typename internal::AssignableDataSource<T>::shared_ptr ads = boost::dynamic_pointer_cast< internal::AssignableDataSource<T> >( dsresult );
00169                 if ( !ads )
00170                     return false;
00171 
00172                 PropertyBag const& source = pb->rvalue();
00173                 typename internal::AssignableDataSource<T>::reference_t result = ads->set();
00174 
00175                 // take into account sequences:
00176                 base::PropertyBase* sz = source.find("Size");
00177                 if (!sz)
00178                     sz = source.find("size");
00179                 if (sz)
00180                 {
00181                     internal::DataSource<int>::shared_ptr sz_ds = internal::DataSource<int>::narrow(sz->getDataSource().get());
00182                     if (sz_ds)
00183                         result.resize( sz_ds->get() );
00184                 }
00185                 else
00186                 {
00187                     // no size found, inform parent of number of elements to come:
00188                     result.resize( source.size() );
00189                 }
00190                 // recurse into items of this sequence:
00191                 TypeInfoRepository::shared_ptr tir = Types();
00192                 PropertyBag target( source.getType() );
00193                 PropertyBag decomp;
00194                 internal::ReferenceDataSource<T> rds(result);
00195                 rds.ref(); // prevent dealloc.
00196                 // we compose each item in this sequence and then update result with target's result.
00197                 // 1. each child is composed into target (this is a recursive thing)
00198                 // 2. we decompose result one-level deep and 'refresh' it with the composed children of step 1.
00199                 if ( composePropertyBag(source, target) && typeDecomposition( &rds, decomp, false) && ( tir->type( decomp.getType() ) == tir->type( target.getType() ) ) && refreshProperties(decomp, target, true) ) {
00200                     assert(result.size() == source.size());
00201                     assert(source.size() == target.size());
00202                     assert(source.size() == decomp.size());
00203                     ads->updated();
00204                     Logger::log() <<Logger::Debug<<"Successfuly composed type from "<< source.getType() <<Logger::endl;
00205                     return true;
00206                 } else 
00207                     Logger::log() <<Logger::Debug<<"Failed to composed type from "<< source.getType() <<Logger::endl;
00208 
00209                 return false;
00210             }
00211 
00215             base::DataSourceBase::shared_ptr decomposeType(base::DataSourceBase::shared_ptr source) const
00216             {
00217                 return base::DataSourceBase::shared_ptr();
00218             }
00219 
00220 
00221             std::vector<std::string> getMemberNames() const {
00222                 // only discover the parts of this struct:
00223                 std::vector<std::string> result;
00224                 result.push_back("size");
00225                 result.push_back("capacity");
00226                 return result;
00227             }
00228 
00229             base::DataSourceBase::shared_ptr getMember(base::DataSourceBase::shared_ptr item, const std::string& name) const {
00230                 // the only thing we do is to check for an integer in name, otherwise, assume a part (size/capacity) is accessed:
00231                 try {
00232                     unsigned int indx = boost::lexical_cast<unsigned int>(name);
00233                     // @todo could also return a direct reference to item indx using another DS type that respects updated().
00234                     return getMember( item, new internal::ConstantDataSource<int>(indx));
00235                 } catch(...) {}
00236 
00237                 return getMember( item, new internal::ConstantDataSource<std::string>(name) );
00238             }
00239 
00240             base::DataSourceBase::shared_ptr getMember(base::DataSourceBase::shared_ptr item,
00241                                                              base::DataSourceBase::shared_ptr id) const {
00242                 // discover if user gave us a part name or index:
00243                 typename internal::DataSource<int>::shared_ptr id_indx = internal::DataSource<int>::narrow( internal::DataSourceTypeInfo<int>::getTypeInfo()->convert(id).get() );
00244                 typename internal::DataSource<std::string>::shared_ptr id_name = internal::DataSource<std::string>::narrow( id.get() );
00245                 if ( id_name ) {
00246                     if ( id_name->get() == "size" ) {
00247                         try {
00248                             return internal::newFunctorDataSource(&get_size<T>, internal::GenerateDataSource()(item.get()) );
00249                         } catch(...) {}
00250                     }
00251                     if ( id_name->get() == "capacity" ) {
00252                         try {
00253                             return internal::newFunctorDataSource(&get_capacity<T>, internal::GenerateDataSource()(item.get()) );
00254                         } catch(...) {}
00255                     }
00256                 }
00257 
00258                 if ( id_indx ) {
00259                     try {
00260                         if ( item->isAssignable() )
00261                                 return internal::newFunctorDataSource(&get_container_item<T>, internal::GenerateDataSource()(item.get(), id_indx.get() ) );
00262                             else
00263                                 return internal::newFunctorDataSource(&get_container_item_copy<T>, internal::GenerateDataSource()(item.get(), id_indx.get() ) );
00264                     } catch(...) {}
00265                 }
00266                 if (id_name) {
00267                     log(Error) << "SequenceTypeInfo: No such member : " << id_name->get() << endlog();
00268                 }
00269                 if (id_indx) {
00270                     log(Error) << "SequenceTypeInfo: Invalid index : " << id_indx->get() <<":"<< id_indx->getTypeName() << endlog();
00271                 }
00272                 if ( !id_name && ! id_indx)
00273                     log(Error) << "SequenceTypeInfo: Not a member or index : " << id <<":"<< id->getTypeName() << endlog();
00274                 return base::DataSourceBase::shared_ptr();
00275             }
00276         };
00277     }
00278 }
00279 
00280 #endif