CMHPropertiesValuesList.cpp

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

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

#include <mrpt/hmtslam/CMHPropertiesValuesList.h>
#include <mrpt/system/os.h>
#include <cstdio>

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++)
            {
                // Name:
                in >> m_properties[i].name;

                // 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() = default;
/*---------------------------------------------------------------
                        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 (const auto& m_propertie : m_properties)
    {
        if (!os::_strcmpi(propertyName, m_propertie.name.c_str()))
            return m_propertie.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 (auto& m_propertie : m_properties)
    {
        if (m_propertie.ID == hypothesis_ID &&
            !os::_strcmpi(propertyName, m_propertie.name.c_str()))
        {
            // Delete current contents:
            // Copy new value:
            m_propertie.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 (auto& m_propertie : m_properties)
    {
        if (m_propertie.ID == hypothesis_ID &&
            !os::_strcmpi(propertyName, m_propertie.name.c_str()))
        {
            // Delete current contents & set a copy of the same smart pointer:
            m_propertie.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 (const auto& m_propertie : m_properties)
    {
        bool isNew = true;
        for (auto& itS : ret)
        {
            if (itS == m_propertie.name)
            {
                isNew = false;
                break;
            }
        }
        if (isNew) ret.push_back(m_propertie.name);  // Yes, it is new:
    }

    return ret;
}

/*---------------------------------------------------------------
                        remove
 ---------------------------------------------------------------*/
void CMHPropertiesValuesList::remove(
    const char* propertyName, const int64_t& hypothesis_ID)
{
    for (auto 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 (auto 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 (auto& m_propertie : m_properties)
        m_propertie.value.reset(
            dynamic_cast<CSerializable*>(m_propertie.value->clone()));
}

/*---------------------------------------------------------------
                        Copy
 ---------------------------------------------------------------*/
CMHPropertiesValuesList& CMHPropertiesValuesList::operator=(
    const CMHPropertiesValuesList& o)
{
    if (this == &o) return *this;

    m_properties = o.m_properties;

    for (auto& m_propertie : m_properties)
        m_propertie.value.reset(
            dynamic_cast<CSerializable*>(m_propertie.value->clone()));
    return *this;
}