state_nested_array.h

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#ifndef STATE_NESTED_ARRAY_H
#define STATE_NESTED_ARRAY_H

#include <float.h>
#include <memory>

#include <tuw_control/state/state.h>
#include <tuw_control/utils.h>

namespace tuw
{
template <typename SubState, size_t N>
class StateNestedArray;
template <typename SubState, size_t N>
using StateNestedArraySPtr = std::shared_ptr<StateNestedArray<SubState, N>>;
template <typename SubState, size_t N>
using StateNestedArrayConstSPtr = std::shared_ptr<StateNestedArray<SubState, N> const>;
template <typename SubState, size_t N>
using StateNestedArrayUPtr = std::unique_ptr<StateNestedArray<SubState, N>>;
template <typename SubState, size_t N>
using StateNestedArrayConstUPtr = std::unique_ptr<StateNestedArray<SubState, N> const>;
template <typename SubState, size_t N>
class StateNestedArray : public State
{
public:
  StateNestedArray(State* _parent) : State(_parent)
  {
    for (size_t i = 0; i < N; ++i)
    {
      states_[i] = std::shared_ptr<SubState>(new SubState(this));
      statesBase_[i] = states_[i];
    }
    this->callRootUpdateSize();
  }

public:
  StateNestedArray() : State()
  {
    for (size_t i = 0; i < N; ++i)
    {
      states_[i] = std::shared_ptr<SubState>(new SubState(this));
      statesBase_[i] = states_[i];
    }
    this->callRootUpdateSize();
  }

public:
  virtual ~StateNestedArray() = default;

public:
  StateNestedArray(const StateNestedArray&) = default;

public:
  StateNestedArray& operator=(const StateNestedArray&) = default;

public:
  StateNestedArray(StateNestedArray&&) = default;

public:
  StateNestedArray& operator=(StateNestedArray&&) = default;

public:
  virtual StateSPtr cloneState() const override
  {
    return std::shared_ptr<StateNestedArray<SubState, N>>(new StateNestedArray<SubState, N>(*this));
  }

public:
  size_t stateSize() const override
  {
    return N;
  }

public:
  size_t valueSize() const override
  {
    return valueSize_;
  }

public:
  double& value(const std::size_t& _i) override
  {
    return *values_[_i];
  }

public:
  const double& value(const std::size_t& _i) const override
  {
    return *values_[_i];
  }

public:
  StateSPtr& state(const std::size_t& _i) override
  {
    return statesBase_[_i];
  }

public:
  std::shared_ptr<SubState>& stateScoped(const size_t& _i)
  {
    return this->states_[_i];
  }

public:
  void updateSize() override
  {
    valueSize_ = 0;
    for (auto& stateI : states_)
    {
      stateI->updateSize();
      valueSize_ += stateI->valueSize();
    }
    values_.resize(valueSize_);
    size_t valueSizeI, valueSizeSum = 0;
    for (auto& stateI : states_)
    {
      valueSizeI = stateI->valueSize();
      for (size_t i = 0; i < valueSizeI; ++i)
      {
        values_[valueSizeSum + i] = &(stateI->value(i));
      }
      valueSizeSum += valueSizeI;
    }
  }

protected:
  size_t valueSize_;

protected:
  size_t statesSize_;

protected:
  std::array<std::shared_ptr<SubState>, N> states_;

protected:
  std::array<StateSPtr, N> statesBase_;

protected:
  std::vector<double*> values_;
};

template <typename EnumStateVals, typename SubState>
class StateNestedArrayScoped : public StateNestedArray<SubState, asInt(EnumStateVals::ENUM_SIZE)>
{
  // special class member functions
public:
  StateNestedArrayScoped(State* _parent) : StateNestedArray<SubState, asInt(EnumStateVals::ENUM_SIZE)>(_parent)
  {
  }

public:
  StateNestedArrayScoped() : StateNestedArray<SubState, asInt(EnumStateVals::ENUM_SIZE)>()
  {
  }

public:
  virtual ~StateNestedArrayScoped() = default;

public:
  StateNestedArrayScoped(const StateNestedArrayScoped&) = default;

public:
  StateNestedArrayScoped& operator=(const StateNestedArrayScoped&) = default;

public:
  StateNestedArrayScoped(StateNestedArrayScoped&&) = default;

public:
  StateNestedArrayScoped& operator=(StateNestedArrayScoped&&) = default;

  // implementation of virtual functions
public:
  virtual StateSPtr cloneState() const override
  {
    return std::shared_ptr<StateNestedArrayScoped<EnumStateVals, SubState>>(new StateNestedArrayScoped<EnumStateVals, SubState>(*this));
  }
public:
  std::shared_ptr<StateNestedArrayScoped<EnumStateVals, SubState>> cloneStateExt() const
  {
    return std::shared_ptr<StateNestedArrayScoped<EnumStateVals, SubState>>(new StateNestedArrayScoped<EnumStateVals, SubState>(*this));
  }
  // public   : template<EnumStateVals _i>       double& value ()       { return StateNestedArray<SubState,
  // asInt(EnumStateVals::ENUM_SIZE)>::value(asInt(_i)); }
  // public   : template<EnumStateVals _i> const double& value () const { return StateNestedArray<SubState,
  // asInt(EnumStateVals::ENUM_SIZE)>::value(asInt(_i)); }
public:
  template <EnumStateVals _i>
  typename std::shared_ptr<SubState>& state()
  {
    return this->states_[asInt(_i)];
  }

public:
  using StateNestedArray<SubState, asInt(EnumStateVals::ENUM_SIZE)>::value;

public:
  using StateNestedArray<SubState, asInt(EnumStateVals::ENUM_SIZE)>::state;

  template <typename... NestedStates1>
  friend class StateNestedSet;
  template <typename EnumStateVals1, typename... NestedStates1>
  friend class StateNestedSetScoped;
  template <typename SubState1>
  friend class StateNestedVector;
};
}

#endif  // STATE_NESTED_ARRAY_H