CMHPropertiesValuesList.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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 |
   +------------------------------------------------------------------------+ */
 
#include "hmtslam-precomp.h"  // Precompiled headers
 
#include <mrpt/hmtslam/CMHPropertiesValuesList.h>
#include <mrpt/system/os.h>
#include <stdio.h>
 
using namespace mrpt::hmtslam;
using namespace mrpt::system;
using namespace mrpt::serialization;
 
// This must be added to any CSerializable class implementation file.
IMPLEMENTS_SERIALIZABLE(CMHPropertiesValuesList, CSerializable, mrpt::hmtslam)
 
uint8_t CMHPropertiesValuesList::serializeGetVersion() const { return 0; }
void CMHPropertiesValuesList::serializeTo(
        mrpt::serialization::CArchive& out) const
{
        uint32_t i, n = (uint32_t)m_properties.size();
        uint8_t isNull;
        out << n;
 
        for (i = 0; i < n; i++)
        {
                // Name:
                out << m_properties[i].name.c_str();
 
                // Object:
                isNull = !m_properties[i].value;
                out << isNull;
 
                if (!isNull) out << *m_properties[i].value;
 
                // Hypot. ID:
                out << m_properties[i].ID;
        }
}
 
void CMHPropertiesValuesList::serializeFrom(
        mrpt::serialization::CArchive& in, uint8_t version)
{
        switch (version)
        {
                case 0:
                {
                        uint32_t i, n;
                        uint8_t isNull;
 
                        // Erase previous contents:
                        clear();
 
                        in >> n;
 
                        m_properties.resize(n);
                        for (i = 0; i < n; i++)
                        {
                                char nameBuf[1024];
                                // Name:
                                in >> nameBuf;
                                m_properties[i].name = nameBuf;
 
                                // Object:
                                in >> isNull;
 
                                if (isNull)
                                        m_properties[i].value.reset();
                                else
                                        in >> m_properties[i].value;
 
                                // Hypot. ID:
                                in >> m_properties[i].ID;
                        }
                }
                break;
                default:
                        MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
}
 
/*---------------------------------------------------------------
                                                Constructor
 ---------------------------------------------------------------*/
CMHPropertiesValuesList::CMHPropertiesValuesList() {}
/*---------------------------------------------------------------
                                                Destructor
 ---------------------------------------------------------------*/
CMHPropertiesValuesList::~CMHPropertiesValuesList() { clear(); }
/*---------------------------------------------------------------
                                                clear
 ---------------------------------------------------------------*/
void CMHPropertiesValuesList::clear()
{
        MRPT_START
        m_properties.clear();
        MRPT_END
}
 
/*---------------------------------------------------------------
                                                get
 ---------------------------------------------------------------*/
CSerializable::Ptr CMHPropertiesValuesList::get(
        const char* propertyName, const int64_t& hypothesis_ID) const
{
        std::vector<TPropertyValueIDTriplet>::const_iterator it;
        for (it = m_properties.begin(); it != m_properties.end(); ++it)
                if (!os::_strcmpi(propertyName, it->name.c_str()) &&
                        it->ID == hypothesis_ID)
                        return it->value;
 
        for (it = m_properties.begin(); it != m_properties.end(); ++it)
                if (!os::_strcmpi(propertyName, it->name.c_str()) && it->ID == 0)
                        return it->value;
 
        // Not found:
        return CSerializable::Ptr();
}
 
/*---------------------------------------------------------------
                                                getAnyHypothesis
 ---------------------------------------------------------------*/
CSerializable::Ptr CMHPropertiesValuesList::getAnyHypothesis(
        const char* propertyName) const
{
        for (std::vector<TPropertyValueIDTriplet>::const_iterator it =
                         m_properties.begin();
                 it != m_properties.end(); ++it)
        {
                if (!os::_strcmpi(propertyName, it->name.c_str())) return it->value;
        }
        // Not found:
        return CSerializable::Ptr();
}
 
/*---------------------------------------------------------------
                                                set
 ---------------------------------------------------------------*/
void CMHPropertiesValuesList::set(
        const char* propertyName, const CSerializable::Ptr& obj,
        const int64_t& hypothesis_ID)
{
        MRPT_START
 
        for (std::vector<TPropertyValueIDTriplet>::iterator it =
                         m_properties.begin();
                 it != m_properties.end(); ++it)
        {
                if (it->ID == hypothesis_ID &&
                        !os::_strcmpi(propertyName, it->name.c_str()))
                {
                        // Delete current contents:
                        // Copy new value:
                        it->value.reset(dynamic_cast<CSerializable*>(obj->clone()));
 
                        // if (!obj)    it->value.clear();
                        // else         it->value = obj; //->clone();
                        return;
                }
        }
 
        // Insert:
        TPropertyValueIDTriplet newPair;
        newPair.name = std::string(propertyName);
        newPair.value = obj;
        newPair.ID = hypothesis_ID;
        m_properties.push_back(newPair);
 
        MRPT_END_WITH_CLEAN_UP(
                printf("Exception while setting annotation '%s'", propertyName););
}
 
/*---------------------------------------------------------------
                                                setMemoryReference
 ---------------------------------------------------------------*/
void CMHPropertiesValuesList::setMemoryReference(
        const char* propertyName, const CSerializable::Ptr& obj,
        const int64_t& hypothesis_ID)
{
        MRPT_START
 
        for (std::vector<TPropertyValueIDTriplet>::iterator it =
                         m_properties.begin();
                 it != m_properties.end(); ++it)
        {
                if (it->ID == hypothesis_ID &&
                        !os::_strcmpi(propertyName, it->name.c_str()))
                {
                        // Delete current contents & set a copy of the same smart pointer:
                        it->value = obj;
                        return;
                }
        }
 
        // Insert:
        TPropertyValueIDTriplet newPair;
        newPair.name = std::string(propertyName);
        newPair.value = obj;
        newPair.ID = hypothesis_ID;
        m_properties.push_back(newPair);
 
        MRPT_END_WITH_CLEAN_UP(
                printf("Exception while setting annotation '%s'", propertyName););
}
 
/*---------------------------------------------------------------
                                                getPropertyNames
 ---------------------------------------------------------------*/
std::vector<std::string> CMHPropertiesValuesList::getPropertyNames() const
{
        std::vector<std::string> ret;
 
        for (std::vector<TPropertyValueIDTriplet>::const_iterator it =
                         m_properties.begin();
                 it != m_properties.end(); ++it)
        {
                bool isNew = true;
                for (std::vector<std::string>::iterator itS = ret.begin();
                         itS != ret.end(); ++itS)
                {
                        if ((*itS) == it->name)
                        {
                                isNew = false;
                                break;
                        }
                }
                if (isNew) ret.push_back(it->name);  // Yes, it is new:
        }
 
        return ret;
}
 
/*---------------------------------------------------------------
                                                remove
 ---------------------------------------------------------------*/
void CMHPropertiesValuesList::remove(
        const char* propertyName, const int64_t& hypothesis_ID)
{
        for (std::vector<TPropertyValueIDTriplet>::iterator it =
                         m_properties.begin();
                 it != m_properties.end();)
                if (!os::_strcmpi(propertyName, it->name.c_str()) &&
                        it->ID == hypothesis_ID)
                        it = m_properties.erase(it);
                else
                        ++it;
}
 
/*---------------------------------------------------------------
                                                removeAll
 ---------------------------------------------------------------*/
void CMHPropertiesValuesList::removeAll(const int64_t& hypothesis_ID)
{
        for (std::vector<TPropertyValueIDTriplet>::iterator it =
                         m_properties.begin();
                 it != m_properties.end();)
                if (it->ID == hypothesis_ID)
                        it = m_properties.erase(it);
                else
                        ++it;
}
 
/*---------------------------------------------------------------
                                                Copy
 ---------------------------------------------------------------*/
CMHPropertiesValuesList::CMHPropertiesValuesList(
        const CMHPropertiesValuesList& o)
        : m_properties(o.m_properties)
{
        for (std::vector<TPropertyValueIDTriplet>::iterator it =
                         m_properties.begin();
                 it != m_properties.end(); ++it)
                it->value.reset(dynamic_cast<CSerializable*>(it->value->clone()));
}
 
/*---------------------------------------------------------------
                                                Copy
 ---------------------------------------------------------------*/
CMHPropertiesValuesList& CMHPropertiesValuesList::operator=(
        const CMHPropertiesValuesList& o)
{
        if (this == &o) return *this;
 
        m_properties = o.m_properties;
 
        for (std::vector<TPropertyValueIDTriplet>::iterator it =
                         m_properties.begin();
                 it != m_properties.end(); ++it)
                it->value.reset(dynamic_cast<CSerializable*>(it->value->clone()));
        return *this;
}