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 <mrpt/utils/mrpt_stdint.h>

#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:
                void operator = (const List& list);     //!< intentionally NOT implemented due to ambiguous nature
                        //! 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:
                T* m_data;                                                      //!< The array containing the items
                uint32_t m_max;                         //!< The current size of the data array
                uint32_t m_count;                               //!< The number of items currently in the list
                JanitorClassFunc<List<T> >* m_jcf;      //!< Used to clean up the list on exit
                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:
                void operator = (const IntList& list);  //!< intentionally NOT implemented due to ambiguous nature
        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