CMHPropertiesValuesList.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/serialization/CSerializable.h>
#include <mrpt/system/string_utils.h>
#include <cstdio>
#include <cstring>
#include <sstream>

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

/** 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::serialization::CSerializable
{
    DEFINE_SERIALIZABLE(CMHPropertiesValuesList, mrpt::hmtslam)

   private:
    std::vector<TPropertyValueIDTriplet> m_properties;

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

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

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

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

    /** 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::rtti::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

        std::string basic_value;
        basic_value.resize(sizeof(T));
        std::memcpy(&basic_value[0], &data, sizeof(T));

        for (auto& m_propertie : m_properties)
        {
            if (m_propertie.ID == hypothesis_ID &&
                mrpt::system::strCmpI(propertyName, m_propertie.name))
            {
                // Delete current contents &
                // Copy new value:
                m_propertie.basic_value = basic_value;
                return;
            }
        }

        // Insert as new:
        TPropertyValueIDTriplet newPair;
        newPair.name = std::string(propertyName);
        newPair.basic_value = basic_value;
        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 (const auto& m_propertie : m_properties)
        {
            if (mrpt::system::strCmpI(propertyName, m_propertie.name) &&
                m_propertie.ID == hypothesis_ID)
            {
                if (m_propertie.basic_value.size() != sizeof(out_data))
                    THROW_EXCEPTION("Data sizes do not match.");
                out_data =
                    *reinterpret_cast<const T*>(&m_propertie.basic_value[0]);
                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;

    using iterator = std::vector<TPropertyValueIDTriplet>::iterator;
    using const_iterator = std::vector<TPropertyValueIDTriplet>::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.
}  // namespace mrpt::hmtslam