Orocos Real-Time Toolkit  2.5.0
BoostArrayTypeInfo.hpp
00001 /***************************************************************************
00002   tag: The SourceWorks  Tue Sep 7 00:55:18 CEST 2010  BoostArrayTypeInfo.hpp
00003 
00004                         BoostArrayTypeInfo.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,                                    *
00034  *   Suite 330, Boston, MA  02111-1307  USA                                *
00035  *                                                                         *
00036  ***************************************************************************/
00037 
00038 
00039 #ifndef ORO_TEMPLATE_BOOSTARRAY_INFO_HPP
00040 #define ORO_TEMPLATE_BOOSTARRAY_INFO_HPP
00041 
00042 #include "PrimitiveTypeInfo.hpp"
00043 #include "../internal/ArrayPartDataSource.hpp"
00044 #include "type_discovery.hpp"
00045 #include <boost/lexical_cast.hpp>
00046 #include <boost/array.hpp>
00047 #include "PropertyComposition.hpp"
00048 #include "PropertyDecomposition.hpp"
00049 
00050 namespace RTT
00051 {
00052     namespace types
00053     {
00065         template<typename T, bool has_ostream = false>
00066         class BoostArrayTypeInfo: public PrimitiveTypeInfo<T, has_ostream>
00067         {
00068         public:
00069             BoostArrayTypeInfo(std::string name) :
00070                 PrimitiveTypeInfo<T, has_ostream> (name)
00071             {
00072             }
00073 
00074             virtual std::vector<std::string> getMemberNames() const {
00075                 // only discover the parts of this struct:
00076                 std::vector<std::string> result;
00077                 result.push_back("size");
00078                 result.push_back("capacity");
00079                 return result;
00080             }
00081 
00082             virtual base::DataSourceBase::shared_ptr getMember(base::DataSourceBase::shared_ptr item, const std::string& name) const {
00083                 using namespace internal;
00084                 typename AssignableDataSource<T>::shared_ptr data = boost::dynamic_pointer_cast< AssignableDataSource<T> >( item );
00085                 if ( !data ) {
00086                     return base::DataSourceBase::shared_ptr();
00087                 }
00088 
00089                 // size and capacity can not change during program execution:
00090                 if (name == "size" || name == "capacity") {
00091                     return new ConstantDataSource<int>( T::static_size );
00092                 }
00093 
00094                 // contents of indx can change during program execution:
00095                 try {
00096                     unsigned int indx = boost::lexical_cast<unsigned int>(name);
00097                     // @todo could also return a direct reference to item indx using another DS type that respects updated().
00098                     return new ArrayPartDataSource<typename T::value_type>( *data->set().c_array(), new ConstantDataSource<unsigned int>(indx), item, T::static_size);
00099                 } catch(...) {}
00100                 log(Error) << "BoostArrayTypeInfo: No such part (or invalid index): " << name << endlog();
00101                 return base::DataSourceBase::shared_ptr();
00102             }
00103 
00104             virtual base::DataSourceBase::shared_ptr getMember(base::DataSourceBase::shared_ptr item,
00105                                                              base::DataSourceBase::shared_ptr id) const {
00106                 using namespace internal;
00107                 typename AssignableDataSource<T>::shared_ptr data = boost::dynamic_pointer_cast< AssignableDataSource<T> >( item );
00108                 if ( !data ) {
00109                     return base::DataSourceBase::shared_ptr();
00110                 }
00111 
00112                 // discover if user gave us a part name or index:
00113                 typename DataSource<unsigned int>::shared_ptr id_indx = DataSource<unsigned int>::narrow( id.get() );
00114                 typename DataSource<std::string>::shared_ptr id_name = DataSource<std::string>::narrow( id.get() );
00115                 if ( id_name ) {
00116                     // size and capacity can not change during program execution:
00117                     if (id_name->get() == "size" || id_name->get() == "capacity") {
00118                         return new ConstantDataSource<int>( T::static_size );
00119                     }
00120                 }
00121 
00122                 if ( id_indx ) {
00123                     return new ArrayPartDataSource<typename T::value_type>( *data->set().c_array(), id_indx, item, T::static_size );
00124                 }
00125                 log(Error) << "BoostArrayTypeInfo: No such part (or invalid index): " << id_name->get() << id_indx->get() << endlog();
00126                 return base::DataSourceBase::shared_ptr();
00127             }
00128 
00132             virtual base::DataSourceBase::shared_ptr decomposeType(base::DataSourceBase::shared_ptr source) const
00133             {
00134                 return base::DataSourceBase::shared_ptr();
00135             }
00136 
00137             virtual bool composeType( base::DataSourceBase::shared_ptr dssource, base::DataSourceBase::shared_ptr dsresult) const {
00138                 const internal::DataSource<PropertyBag>* pb = dynamic_cast< const internal::DataSource<PropertyBag>* > (dssource.get() );
00139                 if ( !pb )
00140                     return false;
00141                 typename internal::AssignableDataSource<T>::shared_ptr ads = boost::dynamic_pointer_cast< internal::AssignableDataSource<T> >( dsresult );
00142                 if ( !ads )
00143                     return false;
00144 
00145                 PropertyBag const& source = pb->rvalue();
00146                 typename internal::AssignableDataSource<T>::reference_t result = ads->set();
00147 
00148                 //result.resize( source.size() );
00149                 if(result.size() != source.size()) {
00150                     log(Error) << "Refusing to compose Boost Arrays from a property list of different size. Use the same number of properties as the C++ boost array size." << endlog();
00151                     return false;
00152                 }
00153                 // recurse into items of this sequence:
00154                 PropertyBag target( source.getType() );
00155                 PropertyBag decomp;
00156                 internal::ReferenceDataSource<T> rds(result);
00157                 rds.ref(); // prevent dealloc.
00158                 // we compose each item in this sequence and then update result with target's result.
00159                 // 1. each child is composed into target (this is a recursive thing)
00160                 // 2. we decompose result one-level deep and 'refresh' it with the composed children of step 1.
00161                 if ( composePropertyBag(source, target) && typeDecomposition( &rds, decomp, false) && ( decomp.getType() == target.getType() ) && refreshProperties(decomp, target, true) ) {
00162                     assert(result.size() == source.size());
00163                     assert(source.size() == target.size());
00164                     assert(source.size() == decomp.size());
00165                     return true;
00166                 }
00167                 return false;
00168             }
00169 
00170         };
00171     }
00172 }
00173 
00174 #endif