EntityAttribute.h

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/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
* @package    MemoryX::WorkingMemory
* @author     ALexey Kozlov ( kozlov at kit dot edu), Kai Welke (welke at kit got edu)
* @date       2012
* @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
*             GNU General Public License
*/
 
#pragma once
 
#include <MemoryX/interface/core/EntityBase.h>
#include <ArmarXCore/observers/variant/Variant.h>
#include <ArmarXCore/core/system/FactoryCollectionBase.h>
 
#include <type_traits>
#include <mutex>
 
namespace memoryx
{
 
    class EntityAttribute;
    using EntityAttributePtr = IceInternal::Handle<EntityAttribute>;
 
    class EntityAttribute :
        public memoryx::EntityAttributeBase
    {
        // required for the object factory
        template <class IceBaseClass, class DerivedClass>
        friend class ::armarx::GenericFactory;
    public:
        EntityAttribute(const std::string& name);
 
        EntityAttribute(const std::string& name, const armarx::VariantBasePtr& val);
 
        EntityAttribute(const EntityAttribute& other);
 
        ~EntityAttribute() override;
 
        ::std::string getName(const ::Ice::Current& = Ice::emptyCurrent) const override;
 
        void setValue(const ::armarx::VariantBasePtr& val, const ::Ice::Current& = Ice::emptyCurrent) override;
 
        void setValueWithUncertainty(const ::armarx::VariantBasePtr& val,
                                     const ::memoryx::ProbabilityMeasureBasePtr& uncertainty, const ::Ice::Current& = Ice::emptyCurrent) override;
 
        void addValue(const ::armarx::VariantBasePtr& val, const ::Ice::Current& = Ice::emptyCurrent) override;
 
        void addValueWithUncertainty(const ::armarx::VariantBasePtr& val,
                                     const ::memoryx::ProbabilityMeasureBasePtr& uncertainty, const ::Ice::Current& = Ice::emptyCurrent) override;
 
        void removeValueAt(::Ice::Int index, const ::Ice::Current& = Ice::emptyCurrent) override;
 
        bool hasValue(const ::armarx::VariantBasePtr& val, const ::Ice::Current& = Ice::emptyCurrent) const override;
 
        ::armarx::VariantBasePtr getValue(const ::Ice::Current& = Ice::emptyCurrent) const override;
 
        ::memoryx::ProbabilityMeasureBasePtr getUncertainty(const ::Ice::Current& = Ice::emptyCurrent) const override;
 
        ::armarx::VariantBasePtr getValueAt(::Ice::Int index, const ::Ice::Current& = Ice::emptyCurrent) const override;
 
        ::memoryx::ProbabilityMeasureBasePtr getUncertaintyAt(::Ice::Int index, const ::Ice::Current& = Ice::emptyCurrent) const override;
 
        void setElement(const ::memoryx::AttributeElement& elem, const ::Ice::Current& = Ice::emptyCurrent) override;
 
        void addElement(const ::memoryx::AttributeElement& elem, const ::Ice::Current& = Ice::emptyCurrent) override;
 
        ::memoryx::AttributeElement getElement(const ::Ice::Current& = Ice::emptyCurrent) const override;
 
        ::memoryx::AttributeElement getElementAt(::Ice::Int index, const ::Ice::Current& = Ice::emptyCurrent) const override;
 
        ::Ice::Int size(const ::Ice::Current& = Ice::emptyCurrent) const override;
 
        void clear(const ::Ice::Current& = Ice::emptyCurrent) override;
 
 
 
        // TODO: cloning does not work since clone needs to be called explicilety on each Variant!!!
        // But need to solve Value issue before cloning
        Ice::ObjectPtr ice_clone() const override;
        EntityAttributePtr clone(const Ice::Current& c = Ice::emptyCurrent) const;
 
    public: // serialization
        void serialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = Ice::emptyCurrent) const override;
        void deserialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = Ice::emptyCurrent) override;
 
    protected:
        mutable std::recursive_mutex valuesMutex;
 
    private:
        void output(std::ostream& stream) const;
 
    public:    // streaming operator
        friend std::ostream& operator<<(std::ostream& stream, const EntityAttribute& rhs)
        {
            rhs.output(stream);
            return stream;
        }
 
        friend std::ostream& operator<<(std::ostream& stream, const EntityAttributePtr& rhs)
        {
            rhs->output(stream);
            return stream;
        }
 
        friend std::ostream& operator<<(std::ostream& stream, const EntityAttributeBasePtr& rhs)
        {
            stream << EntityAttributePtr::dynamicCast(rhs);
            return stream;
        }
 
    private:
        EntityAttribute()
        {
        }
    };
 
}