xsens_list.h

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/* +------------------------------------------------------------------------+
   |                     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 _XSENS_LIST_H_2006_06_08
#define _XSENS_LIST_H_2006_06_08

#include <cstdint>

#ifndef _JANITORS_H_2006_05_01
#include "xsens_janitors.h"
#endif

#ifdef _XSENS_COMPILE
#ifndef _XSENS_LIST_WITH_MATH
#define _XSENS_LIST_WITH_MATH
#endif
#ifndef _XSENS_LIST_IO
#define _XSENS_LIST_IO
#endif
#endif

#ifdef _DEBUG
#define _XSENS_LIST_RANGE_CHECKS
#endif

#ifdef _XSENS_LIST_WITH_MATH
#include <math.h>
#ifndef _XSENS_MATH_H_2006_05_31
#include "xsens_math.h"
#endif
#endif

#define XSENS_LIST_NOTFOUND 0xFFFFFFFF

#ifdef _XSENS_LIST_RANGE_CHECKS
//#     define XSENS_LIST_THROW throw(...)   // JLBC: Changed for MRPT in Linux in
// Debug
#define XSENS_LIST_THROW
#else
#define XSENS_LIST_THROW
#endif

namespace xsens
{
/*! \brief Dynamic list class

        This class can store items of the given type. If the type supports the <
   operator
        it can also be sorted.
        Items in the list can be accessed through the [] operator or the get()
   function.

        Do NOT use any item type that requires a constructor to work correctly.
   Pointers to these
        objects can work though.
*/
template <typename T>
class List
{
   private:
        /** intentionally NOT implemented due to ambiguous nature */
        void operator=(const List& list);
        //! Sorts the list in an ascending order, using the T::< operator.
        void qSort(uint32_t left, uint32_t right);
        //! Sorts the list in an ascending order, using the T::< operator on
        //! dereferenced list items.
        void qSortDeref(uint32_t left, uint32_t right);

   protected:
        /** The array containing the items */
        T* m_data;
        /** The current size of the data array */
        uint32_t m_max;
        /** The number of items currently in the list */
        uint32_t m_count;
        /** Used to clean up the list on exit */
        JanitorClassFunc<List<T>>* m_jcf;
        bool m_manage;

        //! Construct a list as a reference to a raw list
        List(const uint32_t size, T* src, bool manage);

   public:
        //! A comparison function type, should return -1, 0 or 1 for <, == and >
        typedef int32_t (*cmpFunc)(const T&, const T&);

        //! Standard constructor, creates an empty list with some room for items.
        List();
        //! Construct a list with a capacity of at least the given size.
        List(const uint32_t size);
        //! Construct a list as a direct copy of another list
        List(const List<T>& src);
        //! Construct a list as a copy of a raw list
        List(const uint32_t size, const T* src);
        //! Destroy the list. This does NOT automatically delete items IN the list.
        ~List();

        //! Calls delete for all items in the list and then clears the list.
        void deleteAndClear(void);
        //! Calls free for all items in the list and then clears the list.
        void freeAndClear(void);
        //! Clears the list without explicitly deleting anything.
        void clear(void);
        //! Resizes the list to at least the given size.
        void resize(uint32_t newSize);
        //! Adds an item to the end of the list.
        void append(const T& item);
        //! Adds a number of items to the end of the list.
        void appendList(uint32_t count, const T* lst);
        //! Adds the contents of the source list to the end of the list.
        void appendDeepCopy(const List<T>& source);
        //! Adds the contents of the source list to the end of the list.
        void appendShallowCopy(const List<T>& source);
        //! Adds a copy of a referenced item to the end of the list.
        template <typename TB>
        void appendCopy(const TB& item);
        //! Adds a related item to the end of the list, using the T = TR operator.
        template <typename TR>
        void appendRelated(const TR& item);
        //! Removes an item at the given index in the list.
        void remove(const uint32_t index) XSENS_LIST_THROW;
        //! Swaps two items in the list.
        void swap(const uint32_t i, const uint32_t j) XSENS_LIST_THROW;
        //! Removes an item at the given index in the list.
        void deleteAndRemove(const uint32_t index) XSENS_LIST_THROW;
        //! Removes an item at the given index in the list.
        void freeAndRemove(const uint32_t index) XSENS_LIST_THROW;
        //! Retrieves the last item.
        T& last(void) const XSENS_LIST_THROW;
        //! Retrieves the item at the given index. An index beyond the end returns
        //! the first item.
        T& get(const uint32_t index) const XSENS_LIST_THROW;
        //! Retrieves the item at the given index. An index beyond the end probably
        //! causes an exception.
        T& operator[](const uint32_t index) const XSENS_LIST_THROW;
        //! Inserts an item at the given index, shifting any items below it down one
        //! spot.
        void insert(const T& item, const uint32_t index);
        //! Inserts a copy of the referenced item at the given index, shifting any
        //! items below it down one spot.
        template <typename TB>
        void insertCopy(const TB& item, const uint32_t index);
        //! Assumes the list is sorted and inserts the item at the appropriate spot.
        uint32_t insertSorted(const T& item);
        //! Assumes the list is sorted by dereferenced values and inserts the item
        //! at the appropriate spot.
        uint32_t insertSortedDeref(const T& item);
        //! Assumes the list is sorted and inserts a copy of the referenced item at
        //! the appropriate spot.
        template <typename TB>
        uint32_t insertSortedCopy(const TB& item);
        //! Returns the number of items currently in the list.
        uint32_t length(void) const { return m_count; }
        //! Sorts the list in an ascending order, using the T::< operator.
        void sortAscending(void);
        //! Sorts the list in an ascending order, using the T::< operator on
        //! dereferenced list items.
        void sortAscendingDeref(void);
        //! Sorts the first list in an ascending order, using the T::< operator, the
        //! second list will be updated the same way.
        template <typename T2>
        void twinSortAscending(List<T2>& twin);
        //! Finds an item in an unsorted list (walk over all items) using the T::==
        //! operator
        template <typename TB>
        uint32_t find(const TB& item) const;
        //! Finds an item in an unsorted list (walk over all items) using the T::==
        //! operator on dereferenced list items
        template <typename TB>
        uint32_t findDeref(const TB& item) const;
        //! Finds an item in a sorted list (binary search) using the T::== and T::<
        //! operators
        template <typename TB>
        uint32_t findSorted(const TB& item) const;
        //! Finds an item in a sorted list (binary search) using the T::== and T::<
        //! operators on dereferenced list items
        template <typename TB>
        uint32_t findSortedDeref(const TB& item) const;
        //! Reverse the order of the list, useful for sorted lists that are
        //! read/created in the reverse order
        void reverse(void);
        //! Removes items from the end of the list.
        void removeTail(const uint32_t count) XSENS_LIST_THROW;
        void deleteAndRemoveTail(const uint32_t count) XSENS_LIST_THROW;
        void freeAndRemoveTail(const uint32_t count) XSENS_LIST_THROW;

        //! Type for an equality compare function, should return true when NOT equal
        typedef int32_t(__cdecl* InequalityFunction)(const T&, const T&);
        //! Finds an item in an unsorted list (walk over all items) using the given
        //! inequality function
        uint32_t find(const T item, InequalityFunction fnc) const;

        void deleteItemsOnDestroy(void);
        void freeItemsOnDestroy(void);

        //! Removes any duplicate entries and returns the number of items removed.
        //! Items are compared directly.
        uint32_t removeDuplicateEntries(void);
        //! Removes any duplicate entries and returns the number of items removed.
        //! Items are compared after dereferencing.
        uint32_t removeDuplicateEntriesDeref(void);

        //! Make a copy of the list, duplicating list items i with: copy[i] = new
        //! TB(*source[i])
        template <typename TB>
        void isDeepCopyOf(const List<T>& source);
        //! Overwrites the current list with a shallow (memcopy) copy of another
        //! list.
        void isShallowCopyOf(const List<T>& source);

        //! Returns the start of the linear data buffer
        const T* getBuffer(void) const { return m_data; }
#ifdef _XSENS_LIST_IO
#ifdef _XSENS_LIST_WITH_MATH
        //! Saves the list as a matrix in a .mat file. This assumes that T is a
        //! Vector<T,E>
        void saveAsMatlab(const char* filename, const char* varname) const;
#endif
#endif
};

class IntList : public List<uint32_t>
{
   private:
        /** intentionally NOT implemented due to ambiguous nature */
        void operator=(const IntList& list);

   public:
        //! Standard constructor, creates an empty list with some room for items.
        IntList() : List<uint32_t>() {}
        //! Construct a list with a capacity of at least the given size.
        IntList(const uint32_t size) : List<uint32_t>(size) {}
        //! Construct a list as a direct copy of another list
        IntList(const IntList& src) : List<uint32_t>(src) {}
        //! Construct a list as a reference to a raw list
        IntList(const uint32_t size, uint32_t* src)
                : List<uint32_t>(size, src, false)
        {
        }

        bool operator==(const IntList& lst);

        void addValue(int32_t value);
        int32_t deserialize(const char* str);
        int32_t readFromString(const char* str);
        int32_t serialize(char* buffer) const;
        void setIncremental(
                const uint32_t start, const uint32_t end, const int32_t step);
        int32_t writeToString(char* buffer) const;
        int32_t writeToStringHex(char* buffer) const;
};
}  // end of xsens namespace

#endif  // _XSENS_LIST_H_2006_06_08