lookup.cpp

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#include "lookup.hpp"
 
#include <algorithm> // For std::transform
 
namespace hebi {
 
Lookup::Lookup() { lookup_ = hebiLookupCreate(nullptr, 0); }
 
Lookup::~Lookup() noexcept { hebiLookupRelease(lookup_); }
 
std::shared_ptr<Group> Lookup::getGroupFromNames(const std::vector<std::string>& families,
                                                 const std::vector<std::string>& names, int32_t timeout_ms) {
  std::shared_ptr<Group> ptr;
  std::vector<const char*> names_cstrs;
  std::vector<const char*> families_cstrs;
  names_cstrs.reserve(names.size());
  families_cstrs.reserve(families.size());
 
  std::transform(std::begin(names), std::end(names), std::back_inserter(names_cstrs),
                 [](const std::string& name) { return name.c_str(); });
  std::transform(std::begin(families), std::end(families), std::back_inserter(families_cstrs),
                 [](const std::string& family) { return family.c_str(); });
 
  HebiGroupPtr group = hebiGroupCreateFromNames(lookup_, families_cstrs.data(), families_cstrs.size(),
                                                names_cstrs.data(), names_cstrs.size(), timeout_ms);
  if (group != nullptr)
    return std::make_shared<Group>(group, initial_group_feedback_frequency_, initial_group_command_lifetime_);
  return ptr;
}
 
std::shared_ptr<Group> Lookup::getGroupFromMacs(const std::vector<MacAddress>& addresses, int32_t timeout_ms) {
  std::shared_ptr<Group> ptr;
  std::vector<const HebiMacAddress*> addresses_c;
  addresses_c.reserve(addresses.size());
  std::transform(std::begin(addresses), std::end(addresses), std::back_inserter(addresses_c),
                 [](const MacAddress& addr) { return &addr.internal_; });
  HebiGroupPtr group = hebiGroupCreateFromMacs(lookup_, addresses_c.data(), addresses.size(), timeout_ms);
  if (group != nullptr)
    return std::make_shared<Group>(group, initial_group_feedback_frequency_, initial_group_command_lifetime_);
  return ptr;
}
 
std::shared_ptr<Group> Lookup::getGroupFromFamily(const std::string& family, int32_t timeout_ms) {
  std::shared_ptr<Group> ptr;
  HebiGroupPtr group = hebiGroupCreateFromFamily(lookup_, family.c_str(), timeout_ms);
  if (group != nullptr)
    return std::make_shared<Group>(group, initial_group_feedback_frequency_, initial_group_command_lifetime_);
  return ptr;
}
 
std::shared_ptr<Group> Lookup::getConnectedGroupFromName(const std::string& family_name, const std::string& name,
                                                         int32_t timeout_ms) {
  std::shared_ptr<Group> ptr;
  HebiGroupPtr group = hebiGroupCreateConnectedFromName(lookup_, family_name.c_str(), name.c_str(), timeout_ms);
  if (group != nullptr)
    return std::make_shared<Group>(group, initial_group_feedback_frequency_, initial_group_command_lifetime_);
  return ptr;
}
 
std::shared_ptr<Group> Lookup::getConnectedGroupFromMac(const MacAddress& address, int32_t timeout_ms) {
  std::shared_ptr<Group> ptr;
  HebiGroupPtr group = hebiGroupCreateConnectedFromMac(lookup_, &(address.internal_), timeout_ms);
  if (group != nullptr)
    return std::make_shared<Group>(group, initial_group_feedback_frequency_, initial_group_command_lifetime_);
  return ptr;
}
 
float Lookup::getInitialGroupFeedbackFrequencyHz() { return initial_group_feedback_frequency_; }
 
void Lookup::setInitialGroupFeedbackFrequencyHz(float frequency) { initial_group_feedback_frequency_ = frequency; }
 
int32_t Lookup::getInitialGroupCommandLifetimeMs() { return initial_group_command_lifetime_; }
 
void Lookup::setInitialGroupCommandLifetimeMs(int32_t ms) { initial_group_command_lifetime_ = ms; }
 
double Lookup::getLookupFrequencyHz() const { return hebiLookupGetLookupFrequencyHz(lookup_); }
 
bool Lookup::setLookupFrequencyHz(double frequency) {
  return hebiLookupSetLookupFrequencyHz(lookup_, frequency) == HebiStatusSuccess;
}
 
Lookup::EntryList::Iterator::Iterator(const EntryList& list, size_t current) : list_(list), current_(current) {}
 
Lookup::EntryList::Iterator::reference Lookup::EntryList::Iterator::operator*() const { return list_[current_]; }
 
Lookup::EntryList::Iterator& Lookup::EntryList::Iterator::operator++() {
  ++current_;
  return *this;
}
 
Lookup::EntryList::Iterator Lookup::EntryList::Iterator::operator++(int) {
  Lookup::EntryList::Iterator tmp = *this;
  ++current_;
  return tmp;
}
 
Lookup::EntryList::Iterator& Lookup::EntryList::Iterator::operator--() {
  --current_;
  return *this;
}
 
Lookup::EntryList::Iterator Lookup::EntryList::Iterator::operator--(int) {
  Lookup::EntryList::Iterator tmp = *this;
  --current_;
  return tmp;
}
 
bool Lookup::EntryList::Iterator::operator==(const Lookup::EntryList::Iterator& rhs) const {
  return this->current_ == rhs.current_;
}
 
bool Lookup::EntryList::Iterator::operator!=(const Lookup::EntryList::Iterator& rhs) const { return !(*this == rhs); }
 
Lookup::EntryList::~EntryList() noexcept {
  hebiLookupEntryListRelease(lookup_list_);
  lookup_list_ = nullptr;
}
 
Lookup::EntryList::Entry Lookup::EntryList::operator[](size_t index) const {
  size_t required_size;
  hebiLookupEntryListGetName(lookup_list_, index, nullptr, &required_size);
  auto buffer = new char[required_size];
  hebiLookupEntryListGetName(lookup_list_, index, buffer, &required_size);
  std::string name(buffer, required_size - 1);
  delete[] buffer;
 
  hebiLookupEntryListGetFamily(lookup_list_, index, nullptr, &required_size);
  buffer = new char[required_size];
  hebiLookupEntryListGetFamily(lookup_list_, index, buffer, &required_size);
  std::string family(buffer, required_size - 1);
  delete[] buffer;
 
  HebiMacAddress mac_int;
  hebiLookupEntryListGetMacAddress(lookup_list_, index, &mac_int);
  MacAddress mac;
  mac.internal_ = mac_int;
 
  Entry e = {name, family, mac};
  return e;
}
 
size_t Lookup::EntryList::size() const { return hebiLookupEntryListGetSize(lookup_list_); }
 
Lookup::EntryList::Iterator Lookup::EntryList::begin() const { return Lookup::EntryList::Iterator(*this, 0); }
 
Lookup::EntryList::Iterator Lookup::EntryList::end() const { return Lookup::EntryList::Iterator(*this, size()); }
 
std::shared_ptr<Lookup::EntryList> Lookup::getEntryList() {
  std::shared_ptr<Lookup::EntryList> ptr;
  auto entry_list = hebiCreateLookupEntryList(lookup_);
  if (entry_list != nullptr)
    return std::make_shared<Lookup::EntryList>(entry_list);
  return ptr;
}
 
} // namespace hebi