StatechartObjectFactories.h

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/*
* This file is part of ArmarX.
*
* Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
*
* 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    ArmarX::Core
* @author     Kai Welke (welke _at_ kit _dot_ edu)
* @date       2012 Kai Welke
* @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
*             GNU General Public License
*/
 
#pragma once
 
#include <Ice/ValueFactory.h>
 
#include <ArmarXCore/core/system/FactoryCollectionBase.h>
#include <ArmarXCore/statechart/RemoteState.h>
#include <ArmarXCore/statechart/StateBase.h>
#include <ArmarXCore/statechart/StateTemplate.h>
//#include <ArmarXCore/statechart/RemoteStateOfferer.h>
#include <typeinfo>
 
#include <ArmarXCore/statechart/ParameterMapping.h>
#include <ArmarXCore/statechart/StateParameter.h>
 
namespace armarx
{
    // State for ObjectFactory only
    struct IceGeneratedState : StateTemplate<IceGeneratedState>
    {
    };
 
    class StateObjectFactory : public Ice::ValueFactory
    {
    public:
        Ice::ObjectPtr
        create(const std::string& type) override
        {
            assert(type == armarx::StateIceBase::ice_staticId());
            return IceGeneratedState::createInstance();
        }
    };
 
    class RemoteStateObjectFactory : public Ice::ValueFactory
    {
    public:
        Ice::ObjectPtr
        create(const std::string& type) override
        {
            assert(type == armarx::RemoteStateIceBase::ice_staticId());
            return new RemoteState();
        }
    };
 
    class ParameterMappingObjectFactory : public Ice::ValueFactory
    {
    public:
        Ice::ObjectPtr
        create(const std::string& type) override
        {
            assert(type == armarx::ParameterMappingIceBase::ice_staticId());
            return createMapping();
        }
    };
 
    class StateParameterObjectFactory : public Ice::ValueFactory
    {
    public:
        Ice::ObjectPtr
        create(const std::string& type) override
        {
            assert(type == armarx::StateParameterIceBase::ice_staticId());
            return StateParameter::create();
        }
    };
} // namespace armarx
 
namespace armarx::ObjectFactories
{
    /**
    * @class StatechartObjectFactories
    * @brief
    */
    class StatechartObjectFactories : public FactoryCollectionBase
    {
    public:
        ObjectFactoryMap
        getFactories() override
        {
            ObjectFactoryMap map;
 
            map.insert(std::make_pair(armarx::RemoteStateIceBase::ice_staticId(),
                                      new RemoteStateObjectFactory));
            map.insert(
                std::make_pair(armarx::StateIceBase::ice_staticId(), new StateObjectFactory));
            map.insert(std::make_pair(armarx::ParameterMappingIceBase::ice_staticId(),
                                      new ParameterMappingObjectFactory));
            map.insert(std::make_pair(armarx::StateParameterIceBase::ice_staticId(),
                                      new StateParameterObjectFactory));
 
            return map;
        }
    };
 
    const FactoryCollectionBaseCleanUp StatechartObjectFactoriesVar =
        FactoryCollectionBase::addToPreregistration(new StatechartObjectFactories());
} // namespace armarx::ObjectFactories