CMHPropertiesValuesList.cpp

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    |
   +---------------------------------------------------------------------------+ */

#include "base-precomp.h"  // Precompiled headers


#include <mrpt/utils/CMHPropertiesValuesList.h>
#include <mrpt/system/os.h>
#include <stdio.h>

using namespace mrpt::utils;
using namespace mrpt::system;

// This must be added to any CSerializable class implementation file.
IMPLEMENTS_SERIALIZABLE(CMHPropertiesValuesList, CSerializable, mrpt::utils)

/*---------------------------------------------------------------
                                                writeToStream
 ---------------------------------------------------------------*/
void  CMHPropertiesValuesList::writeToStream(mrpt::utils::CStream &out, int *out_Version) const
{
        if (out_Version)
                *out_Version = 0;
        else
        {
                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;
                }

        }

}

/*---------------------------------------------------------------
                                                readFromStream
 ---------------------------------------------------------------*/
void  CMHPropertiesValuesList::readFromStream(mrpt::utils::CStream &in, int 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.clear();
                                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
 ---------------------------------------------------------------*/
CSerializablePtr  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 CSerializablePtr();
}

/*---------------------------------------------------------------
                                                getAnyHypothesis
 ---------------------------------------------------------------*/
CSerializablePtr  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 CSerializablePtr();
}

/*---------------------------------------------------------------
                                                set
 ---------------------------------------------------------------*/
void  CMHPropertiesValuesList::set(
        const char *propertyName,
        const CSerializablePtr &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 = obj;
                        it->value.make_unique();

                        //if (!obj)     it->value.clear();
                        //else          it->value = obj; //->duplicate();
                        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 CSerializablePtr &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.make_unique();
}

/*---------------------------------------------------------------
                                                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.make_unique();
        return *this;
}