VectorTemplateComposition.hpp

/***************************************************************************
  tag: Tinne De Laet 2007  VectorTemplateComposition.hpp
       2007 Ruben Smits
                        VectorTemplateComposition.hpp -  description

 ***************************************************************************
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#ifndef VECTOR_TEMPLATE_COMPOSITION_HPP
#define VECTOR_TEMPLATE_COMPOSITION_HPP

#include "Property.hpp"
#include "PropertyBag.hpp"
#include "TemplateTypeInfo.hpp"
#include "Types.hpp"
#include "Logger.hpp"
#include "DataSources.hpp"
#include <ostream>
#include <sstream>
#include <vector>

namespace RTT
{
    class PropertyIntrospection;

    template<class T>
    void decomposeProperty(const std::vector<T>& vec, PropertyBag& targetbag)
    {
        std::string tname = detail::DataSourceTypeInfo<T>::getType();
        targetbag.setType(tname+"s");
        int dimension = vec.size();
        std::string str;

        assert( targetbag.empty() );

        for ( int i=0; i < dimension ; i++){
            std::stringstream out;
            out << i+1;
            str = out.str();

            Property<PropertyBag>* el_bag = new Property<PropertyBag>("Element" + str, str +"th element of list"); 
            Property<T> el("Element" + str, str +"th element of list",vec[i])  ;
            if(    el.getTypeInfo()->decomposeType(el.getDataSource(),el_bag->value()) )
            {
                log(Debug)<<"Element type "<<el.getType()<<" is a bag"<<endlog();
                targetbag.add( el_bag ); // Put variables in the bag
            }
            else
            {
                log(Debug)<<"Element type "<<el.getType()<<" is not a bag"<<endlog();
                //For Property
                targetbag.add( new Property<T>("Element" + str, str +"th element of list",vec[i]) ); // Put variables in the bag
            }
        }
    };

    template<class T>
    bool composeProperty(const PropertyBag& bag, std::vector<T>& result)
    {
        std::string tname = detail::DataSourceTypeInfo<T>::getType();
        
        if ( bag.getType() == tname+"s" ) {
            int dimension = bag.size();
            Logger::log() << Logger::Info << "bag size " << dimension <<Logger::endl;
            result.resize( dimension );

            // Get values
            for (int i = 0; i < dimension ; i++) {
                std::stringstream out;
                out << "Element";
                out << i + 1;
                Property<PropertyBag>* el_bag =  bag.getProperty<PropertyBag>(out.str());

                if(el_bag==NULL){
                    // Works for properties in vector
                    PropertyBase* element = bag.getItem( i );
                    log(Debug)<<element->getName()<<", "<< element->getDescription()<<endlog();
                    Property<T> my_property_t (element->getName(),element->getDescription());
                    if(my_property_t.getType()!=element->getType())
                    {
                        log(Error)<< "Type of "<< element->getName() << " does not match type of "<<tname+"s"<< "OR "<<"Could not read element "<<i<<endlog();
                        return false;
                    }
                    else{
                        my_property_t.getTypeInfo()->composeType(element->getDataSource(),my_property_t.getDataSource());
                        result[ i ] = my_property_t.get();
                    }
                }
                else{
                    // Works for propertybags in vector
                    const std::string el_bagType = el_bag->getType();
                    Property<T > el_p(el_bag->getName(),el_bag->getDescription());
                    if(!(el_p.getDataSource()->composeType(el_bag->getDataSource()))){
                        log(Error)<<"Could not compose element "<<i<<endlog();
                        return false;
                    }
                    if(el_p.ready()){
                        result[ i ] = el_p.get();
                    }else{
                        log(Error)<<"Property of Element"<<i<<"was not ready for use"<<endlog();
                        return false;
                    }
                }
            }
        }
        else {
            Logger::log() << Logger::Error << "Composing Property< std::vector<T> > :"
                          << " type mismatch, got type '"<< bag.getType()
                          << "', expected type "<<tname<<"s."<<Logger::endl;
            return false;
        }
        return true;
    };

    template <typename T, bool has_ostream>
    struct StdVectorTemplateTypeInfo
        : public TemplateContainerTypeInfo<std::vector<T>, int, T, ArrayIndexChecker<std::vector<T> >, SizeAssignChecker<std::vector<T> >, has_ostream >
    {
        StdVectorTemplateTypeInfo<T,has_ostream>( std::string name )
            : TemplateContainerTypeInfo<std::vector<T>, int, T, ArrayIndexChecker<std::vector<T> >, SizeAssignChecker<std::vector<T> >, has_ostream >(name)
        {
        };

        bool decomposeTypeImpl(const std::vector<T>& vec, PropertyBag& targetbag) const
        {
            decomposeProperty<T>( vec, targetbag );
            return true;
        };

        bool composeTypeImpl(const PropertyBag& bag, std::vector<T>& result) const
        {
            return composeProperty<T>( bag, result );
        }

    };

    template<typename T>
    std::ostream& operator << (std::ostream& os, const std::vector<T>& vec)
    {
        os<<'[';
        for(unsigned int i=0;i<vec.size();i++){
            if(i>0)
                os<<',';
            os<<vec[i]<<' ';
        }
        
        return os << ']';
    };
    
    template<typename T>
    std::istream& operator >> (std::istream& is,std::vector<T>& vec)
    {
        return is;
    };

    template<typename T>
    struct stdvector_ctor
        : public std::unary_function<int, const std::vector<T>&>
    {
        typedef const std::vector<T>& (Signature)( int );
        mutable boost::shared_ptr< std::vector<T> > ptr;
        stdvector_ctor()
            : ptr( new std::vector<T>() ) {}
        const std::vector<T>& operator()( int size ) const
        {
            ptr->resize( size );
            return *(ptr);
        }
    };
    
    template<typename T>
    struct stdvector_varargs_ctor
    {
        typedef const std::vector<T>& result_type;
        typedef T argument_type;
        result_type operator()( const std::vector<T>& args ) const
        {
            return args;
        }
    };
    
     template<typename T>
     struct StdVectorBuilder
         : public TypeBuilder
     {
         virtual DataSourceBase::shared_ptr build(const std::vector<DataSourceBase::shared_ptr>& args) const {
             if (args.size() == 0 )
                 return DataSourceBase::shared_ptr();
             typename NArityDataSource<stdvector_varargs_ctor<T> >::shared_ptr vds = new NArityDataSource<stdvector_varargs_ctor<T> >();
             for(unsigned int i=0; i != args.size(); ++i) {
                 typename DataSource<T>::shared_ptr dsd = AdaptDataSource<T>()( args[i] );
                 if (dsd)
                     vds->add( dsd );
                 else
                     return DataSourceBase::shared_ptr();
             }
             return vds;
         }
     };

    template<typename T>
    struct stdvector_ctor2
        : public std::binary_function<int, T, const std::vector<T>&>
    {
        typedef const std::vector<T>& (Signature)( int, T );
        mutable boost::shared_ptr< std::vector<T> > ptr;
        stdvector_ctor2()
            : ptr( new std::vector<T>() ) {}
        const std::vector<T>& operator()( int size, T value ) const
        {
            ptr->resize( size );
            ptr->assign( size, value );
            return *(ptr);
        }
    };

    template<typename T>
    struct stdvector_index
        : public std::binary_function<const std::vector<T>&, int, T>
    {
        T operator()(const std::vector<T>& v, int index) const
        {
            if ( index >= (int)(v.size()) || index < 0)
                return T();
            return v[index];
        }
    };    

    template<class T>
    struct get_size
        : public std::unary_function<T, int>
    {
        int operator()(T cont ) const
        {
            return cont.size();
        }
    };

}
#endif