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

 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU General Public                   *
 *   License as published by the Free Software Foundation;                 *
 *   version 2 of the License.                                             *
 *                                                                         *
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 *   software library without restriction.  Specifically, if other files   *
 *   instantiate templates or use macros or inline functions from this     *
 *   file, or you compile this file and link it with other files to        *
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 *   resulting executable to be covered by the GNU General Public          *
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 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
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 ***************************************************************************/

#ifndef VECTOR_TEMPLATE_COMPOSITION_HPP
#define VECTOR_TEMPLATE_COMPOSITION_HPP

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

namespace RTT
{
    class PropertyIntrospection;

    /**
     * A decomposeProperty method for decomposing a vector<T>
     * into a PropertyBag with Property<T>'s.
     * The dimension of the vector must be less than 100 if you want the
     * Property<T>'s to have a different name.
     */
    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();
            targetbag.add( new Property<T>("Element " + str, str +"th element of list",vec[i]) ); // Put variables in the bag
        }
    };
    /**
     * A composeProperty method for composing a property of a vector<T>
     * The dimension of the vector must be less than 100.
     */
    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;
                log(Debug) << "out.str()" << out.str() << endlog();
                Property<PropertyBag>* el_bag =  bag.getProperty<PropertyBag>(out.str());

                if(el_bag==NULL){
                    // Works for properties in vector
                    PropertyBase* element = bag.getItem( i );
                    //Property<PropertyBag>* t_bag= dynamic_cast< Property<PropertyBag>* >( element );
                    log(Debug)<<element->getName()<<", "<< element->getDescription()<<endlog();
                    //Property<T> my_property_t (t_abag->getName(),t_bag->getDescription());
                    Property<T> my_property_t (element->getName(),element->getDescription());
                    log(Debug) << "element type" << element->getType() << endlog();
                    log(Debug) << "property type" << my_property_t.getType() << endlog();
                    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();
                    log(Debug) << "el_bagType " << el_bagType << endlog();

                    //Property<el_bagType > el_p(el_bag->getName(),el_bag->getDescription());
                    Property<T > el_p(el_bag->getName(),el_bag->getDescription());
                    log(Debug) << "el_p type" << el_p.getType() << endlog();
                    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;
                    }
                }

                /*
                // Works for properties in vector
                PropertyBase* element = bag.getItem( i );
                //Property<PropertyBag>* t_bag= dynamic_cast< Property<PropertyBag>* >( element );
                log(Debug)<<element->getName()<<", "<< element->getDescription()<<endlog();
                //Property<T> my_property_t (t_abag->getName(),t_bag->getDescription());
                Property<T> my_property_t (element->getName(),element->getDescription());
                log(Debug) << "element type" << element->getType() << endlog();
                log(Debug) << "property type" << my_property_t.getType() << endlog();
                if(my_property_t.getType()!=element->getType())
                    log(Error)<< "Type of "<< element->getName() << " does not match type of "<<tname+"s"<<endlog();
                else{
                    my_property_t.getTypeInfo()->composeType(element->getDataSource(),my_property_t.getDataSource());
                    result[ i ] = my_property_t.get();
                }
                */
            }
        }
        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);
        }
    };

    /**
     * See NArityDataSource which requires a function object like
     * this one.
     */
    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;
        }
    };

    /**
     * Constructs an array with \a n elements, which are given upon
     * construction time.
     */
     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