CMHPropertiesValuesList.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#ifndef CMHPropertiesValuesList_H
#define CMHPropertiesValuesList_H

#include <mrpt/utils/CSerializable.h>
#include <mrpt/utils/CMemoryChunk.h>
#include <mrpt/system/string_utils.h>
#include <cstdio>

namespace mrpt
{
namespace utils
{
/** Internal triplet for each property in utils::CMHPropertiesValuesList */
struct TPropertyValueIDTriplet
{
        TPropertyValueIDTriplet() : name(), value(nullptr), ID(0) {}
        std::string name;
        CSerializable::Ptr value;
        int64_t ID;
};

/** An arbitrary list of "annotations", or named attributes, each being an
* instance of any CSerializable object (Multi-hypotheses version).
 *   For each named annotation (or attribute), several values may exist, each
* associated to a given hypothesis ID.
 * A non multi-hypotheses version exists in CPropertiesValuesList.
 * \sa CSerializable, CPropertiesValuesList
* \ingroup mrpt_base_grp
 */
class CMHPropertiesValuesList : public mrpt::utils::CSerializable
{
        DEFINE_SERIALIZABLE(CMHPropertiesValuesList)

   private:
        std::vector<TPropertyValueIDTriplet> m_properties;

   public:
        /** Default constructor
          */
        CMHPropertiesValuesList();

        /** Copy constructor
          */
        CMHPropertiesValuesList(const CMHPropertiesValuesList& o);

        /** Copy operator
          */
        CMHPropertiesValuesList& operator=(const CMHPropertiesValuesList& o);

        /** Destructor
          */
        virtual ~CMHPropertiesValuesList();

        /** Clears the list and frees all object's memory.
          */
        void clear();

        /** Returns the value of the property (case insensitive) for some given
         * hypothesis ID, or a nullptr smart pointer if it does not exist.
          */
        CSerializable::Ptr get(
                const char* propertyName, const int64_t& hypothesis_ID) const;

        /** Returns the value of the property (case insensitive) for some given
         * hypothesis ID checking its class in runtime, or a nullptr smart pointer
         * if it does not exist.
          */
        template <typename T>
        typename T::Ptr getAs(
                const char* propertyName, const int64_t& hypothesis_ID,
                bool allowNullPointer = true) const
        {
                MRPT_START
                CSerializable::Ptr obj = get(propertyName, hypothesis_ID);
                if (!obj)
                {
                        if (allowNullPointer)
                                return typename T::Ptr();
                        else
                                THROW_EXCEPTION("Null pointer")
                }
                const mrpt::utils::TRuntimeClassId* class_ID = &T::GetRuntimeClassIdStatic();
                ASSERT_(class_ID == obj->GetRuntimeClass());
                return std::dynamic_pointer_cast<T>(obj);
                MRPT_END
        }

        /** Returns the value of the property (case insensitive) for the first
         * hypothesis ID found, or nullptr if it does not exist.
          */
        CSerializable::Ptr getAnyHypothesis(const char* propertyName) const;

        /** Sets/change the value of the property (case insensitive) for the given
         * hypothesis ID, making a copy of the object (or setting it to nullptr if
         * it is the passed value)
          * \sa setMemoryReference
          */
        void set(
                const char* propertyName, const CSerializable::Ptr& obj,
                const int64_t& hypothesis_ID);

        /** Sets/change the value of the property (case insensitive) for the given
         * hypothesis ID, directly replacing the pointer instead of making a copy of
         * the object.
          * \sa set
          */
        void setMemoryReference(
                const char* propertyName, const CSerializable::Ptr& obj,
                const int64_t& hypothesis_ID);

        /** Remove a given property, if it exists.
          */
        void remove(const char* propertyName, const int64_t& hypothesis_ID);

        /** Remove all the properties for the given hypothesis.
          */
        void removeAll(const int64_t& hypothesis_ID);

        /** Sets/change the value of a property (case insensitive) for the given
         * hypothesis ID, from an elemental data type.
          */
        template <class T>
        void setElemental(
                const char* propertyName, const T& data, const int64_t& hypothesis_ID)
        {
                MRPT_START

                CMemoryChunk::Ptr memChunk = mrpt::make_aligned_shared<CMemoryChunk>();
                memChunk->setAllocBlockSize(10);
                (*memChunk) << data;

                for (std::vector<TPropertyValueIDTriplet>::iterator it =
                                 m_properties.begin();
                         it != m_properties.end(); ++it)
                {
                        if (it->ID == hypothesis_ID &&
                                mrpt::system::strCmpI(propertyName, it->name))
                        {
                                // Delete current contents &
                                // Copy new value:
                                it->value = memChunk;
                                return;
                        }
                }

                // Insert as new:
                TPropertyValueIDTriplet newPair;
                newPair.name = std::string(propertyName);
                newPair.value = memChunk;
                newPair.ID = hypothesis_ID;
                m_properties.push_back(newPair);

                MRPT_END_WITH_CLEAN_UP(
                        printf("Exception while setting annotation '%s'", propertyName););
        }

        /** Gets the value of a property (case insensitive) for the given hypothesis
         * ID, retrieves it as an elemental data type (types must coincide, basic
         * size check is performed).
          * \return false if the property does not exist for the given hypothesis.
          */
        template <class T>
        bool getElemental(
                const char* propertyName, T& out_data, const int64_t& hypothesis_ID,
                bool raiseExceptionIfNotFound = false) const
        {
                MRPT_START
                for (std::vector<TPropertyValueIDTriplet>::const_iterator it =
                                 m_properties.begin();
                         it != m_properties.end(); ++it)
                {
                        if (mrpt::system::strCmpI(propertyName, it->name) &&
                                it->ID == hypothesis_ID)
                        {
                                CMemoryChunk::Ptr memChunk =
                                        std::dynamic_pointer_cast<CMemoryChunk>(it->value);
                                ASSERT_(memChunk)
                                if (memChunk->getTotalBytesCount() != sizeof(out_data))
                                        THROW_EXCEPTION("Data sizes do not match.");
                                out_data = *static_cast<T*>(memChunk->getRawBufferData());
                                return true;
                        }
                }
                // Not found:
                if (raiseExceptionIfNotFound)
                        THROW_EXCEPTION_FMT("Property '%s' not found", propertyName);
                return false;
                MRPT_END
        }

        /** Returns the name of all properties in the list
          */
        std::vector<std::string> getPropertyNames() const;

        typedef std::vector<TPropertyValueIDTriplet>::iterator iterator;
        typedef std::vector<TPropertyValueIDTriplet>::const_iterator const_iterator;

        iterator begin() { return m_properties.begin(); }
        const_iterator begin() const { return m_properties.begin(); }
        iterator end() { return m_properties.end(); }
        const_iterator end() const { return m_properties.end(); }
        size_t size() const { return m_properties.size(); }
};  // End of class def.
}  // End of namespace
}  // end of namespace
#endif