ObjectClass.cpp

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2012-2016, 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/>.
 *
 * @author     Fabian Peller-Konrad (fabian dot peller-konrad at kit dot edu)
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
// Header
#include "ObjectClass.h"
 
#include <SimoxUtility/algorithm/vector.hpp>
#include <SimoxUtility/meta/type_name.h>
 
namespace armarx::aron::codegenerator::cpp::generator
{
    // constructors
    ObjectClass::ObjectClass(const type::Object& e) :
        detail::SpecializedGeneratorBase<type::Object, ObjectClass>(
            e.getObjectNameWithTemplateInstantiations(), // should be similar to the object name
            e.getObjectNameWithTemplates(),
            simox::meta::get_type_name<data::dto::Dict>(),
            simox::meta::get_type_name<type::dto::AronObject>(),
            e)
    {
        if (type.getMaybe() != type::Maybe::NONE)
        {
            throw error::ValueNotValidException(
                __PRETTY_FUNCTION__,
                "Somehow the maybe flag of a top level object declaration is set. This is not "
                "valid!",
                std::to_string((int)type.getMaybe()) + " aka " +
                    type::defaultconversion::string::Maybe2String.at(type.getMaybe()),
                type.getPath());
        }
    }
 
    std::pair<std::vector<std::pair<std::string, std::string>>, bool>
    ObjectClass::getCtorInitializers(const std::string& name) const
    {
        std::vector<std::pair<std::string, std::string>> ret;
        bool any = false;
        for (const auto& [key, child] : type.getDirectMemberTypes())
        {
            auto child_s = FromAronType(*child);
            auto p = child_s->getCtorInitializers(key);
            for (const auto& el : p.first)
            {
                ret.push_back(el);
            }
            any = any or p.second;
        }
        return {ret, any};
    }
 
    std::vector<std::string>
    ObjectClass::getRequiredIncludes() const
    {
        std::vector<std::string> ret;
        for (const auto& [key, child] : type.getDirectMemberTypes())
        {
            (void)key;
            auto child_s = FromAronType(*child);
            ret = simox::alg::appended(ret, child_s->getRequiredIncludes());
        }
        return ret;
    }
 
    std::vector<CppFieldPtr>
    ObjectClass::getPublicVariableDeclarations(const std::string&) const
    {
        std::vector<CppFieldPtr> fields;
        for (const auto& [key, member] : type.getDirectMemberTypes())
        {
            auto member_s = FromAronType(*member);
            std::vector<CppFieldPtr> member_fields = member_s->getPublicVariableDeclarations(key);
            fields.insert(fields.end(), member_fields.begin(), member_fields.end());
        }
        return fields;
    }
 
    CppBlockPtr
    ObjectClass::getResetSoftBlock(const std::string& accessor) const
    {
        CppBlockPtr block_if_data = std::make_shared<CppBlock>();
        if (type.getExtends() != nullptr)
        {
            const auto extends_s = FromAronType(*type.getExtends());
            block_if_data->addLine(extends_s->getFullInstantiatedCppTypename() + "::resetSoft();");
        }
 
        for (const auto& [key, child] : type.getDirectMemberTypes())
        {
            auto child_s = FromAronType(*child);
            CppBlockPtr b2 = child_s->getResetSoftBlock(key);
            block_if_data->appendBlock(b2);
        }
        return block_if_data;
    }
 
    CppBlockPtr
    ObjectClass::getResetHardBlock(const std::string& accessor) const
    {
        CppBlockPtr block_if_data = std::make_shared<CppBlock>();
        if (type.getExtends() != nullptr)
        {
            const auto extends_s = FromAronType(*type.getExtends());
            block_if_data->addLine(extends_s->getFullInstantiatedCppTypename() + "::resetHard();");
        }
 
        for (const auto& [key, child] : type.getDirectMemberTypes())
        {
            const auto child_s = FromAronType(*child);
            CppBlockPtr b2 = child_s->getResetHardBlock(key);
            block_if_data->appendBlock(b2);
        }
        return block_if_data;
    }
 
    CppBlockPtr
    ObjectClass::getWriteTypeBlock(const std::string&,
                                   const std::string&,
                                   const Path& p,
                                   std::string&) const
    {
        static const std::string OBJECT_MEMBERS_ACCESSOR = ARON_VARIABLE_PREFIX + "_objectMembers";
        static const std::string OBJECT_EXTENDS_ACCESSOR = ARON_VARIABLE_PREFIX + "_objectExtends";
 
        CppBlockPtr b = std::make_shared<CppBlock>();
        b->addLine("std::map<std::string, _Aron_T> " + OBJECT_MEMBERS_ACCESSOR + ";");
 
        if (type.getExtends() != nullptr)
        {
            const auto extends_s = FromAronType(*type.getExtends());
            b->addLine("// get base class of " + this->getFullInstantiatedCppTypename());
            b->addLine("auto " + OBJECT_EXTENDS_ACCESSOR + " = " +
                       extends_s->getFullInstantiatedCppTypename() + "::writeType(" +
                       ARON_WRITER_ACCESSOR + ", " + "{" +
                       simox::alg::join(type.getExtends()->getTemplateInstantiations(), ", ") +
                       "}, " + "::armarx::aron::type::Maybe::NONE);");
        }
        else
        {
            b->addLine("auto " + OBJECT_EXTENDS_ACCESSOR + " = std::nullopt;");
        }
 
        b->addLine("// members of " + this->getFullInstantiatedCppTypename());
        for (const auto& [key, child] : type.getDirectMemberTypes())
        {
            const auto child_s = FromAronType(*child);
            std::string child_return_variant;
            Path nextPath = p.withElement(key, true);
            CppBlockPtr child_b = child_s->getWriteTypeBlock(
                child_s->getFullInstantiatedCppTypename(), key, nextPath, child_return_variant);
            b->appendBlock(child_b);
            if (child->getImportance().has_value())
            {
                b->addLine(child_return_variant + "->setImportance(" +
                           OptionalFloatLiteral(child->getImportance()) + ");");
            }
            b->addLine(OBJECT_MEMBERS_ACCESSOR + ".emplace(\"" + key + "\", " +
                       child_return_variant + ");");
        }
        std::vector<std::string> templatesQuoted;
        std::vector<std::string> templateIntantiationsQuoted;
        for (const auto& t : type.getTemplates())
        {
            templatesQuoted.push_back("\"" + t + "\"");
        }
        for (const auto& t : type.getTemplateInstantiations())
        {
            templateIntantiationsQuoted.push_back("\"" + t + "\"");
        }
 
        b->addLine("return " + ARON_WRITER_ACCESSOR + ".writeObject(\"" + type.getObjectName() +
                   "\", " + "{" + simox::alg::join(templatesQuoted, ", ") + "}, " +
                   ARON_TEMPLATE_INSTANTIATIONS_ACCESSOR + ", " + OBJECT_MEMBERS_ACCESSOR + ", " +
                   OBJECT_EXTENDS_ACCESSOR + ", " + ARON_MAYBE_TYPE_ACCESSOR + ", " +
                   ARON_PATH_ACCESSOR + "); // of top level object " +
                   getInstantiatedCppTypename());
        ;
 
        return b;
    }
 
    CppBlockPtr
    ObjectClass::getWriteBlock(const std::string&, const Path& p, std::string&) const
    {
        static const std::string OBJECT_MEMBERS_ACCESSOR = ARON_VARIABLE_PREFIX + "_objectMembers";
        static const std::string OBJECT_EXTENDS_ACCESSOR = ARON_VARIABLE_PREFIX + "_objectExtends";
 
        CppBlockPtr block_if_data = std::make_shared<CppBlock>();
 
        block_if_data->addLine("std::map<std::string, _Aron_T> " + OBJECT_MEMBERS_ACCESSOR + ";");
 
        block_if_data->addLine("std::optional<_Aron_T> " + OBJECT_EXTENDS_ACCESSOR + ";");
        if (type.getExtends() != nullptr)
        {
            const auto extends_s = FromAronType(*type.getExtends());
            block_if_data->addLine("// write base class of " +
                                   this->getFullInstantiatedCppTypename());
            block_if_data->addLine(OBJECT_EXTENDS_ACCESSOR + " = " +
                                   extends_s->getFullInstantiatedCppTypename() + "::write(" +
                                   ARON_WRITER_ACCESSOR + ");");
        }
 
        block_if_data->addLine("// members of " + this->getFullInstantiatedCppTypename());
        for (const auto& [key, child] : type.getDirectMemberTypes())
        {
            const auto child_s = FromAronType(*child);
            std::string child_return_variant;
 
            Path nextPath = p.withElement(key, true);
            CppBlockPtr child_b = child_s->getWriteBlock(key, nextPath, child_return_variant);
            block_if_data->addLine("auto " + child_return_variant + " = " + ARON_WRITER_ACCESSOR +
                                   ".writeNull();");
            block_if_data->appendBlock(child_b);
            if (child->getImportance().has_value())
            {
                block_if_data->addLine("if (" + child_return_variant + ")");
                block_if_data->addLineAsBlock(child_return_variant + "->setImportance(" +
                                              OptionalFloatLiteral(child->getImportance()) + ");");
            }
            block_if_data->addLine(OBJECT_MEMBERS_ACCESSOR + ".emplace(\"" + key + "\", " +
                                   child_return_variant + ");");
        }
 
        block_if_data->addLine("return " + ARON_WRITER_ACCESSOR + ".writeDict(" +
                               OBJECT_MEMBERS_ACCESSOR + ", " + OBJECT_EXTENDS_ACCESSOR + ", " +
                               ARON_PATH_ACCESSOR + "); // of top level object " +
                               getInstantiatedCppTypename());
        return block_if_data;
    }
 
    CppBlockPtr
    ObjectClass::getReadBlock(const std::string&, const std::string& variantAccessor) const
    {
        static const std::string OBJECT_MEMBERS_ACCESSOR = ARON_VARIABLE_PREFIX + "_objectMembers";
        static const std::string OBJECT_EXTENDS_ACCESSOR = ARON_VARIABLE_PREFIX + "_objectExtends";
 
        CppBlockPtr block_if_data = std::make_shared<CppBlock>();
        block_if_data->addLine("std::map<std::string, _Aron_TNonConst> " + OBJECT_MEMBERS_ACCESSOR +
                               ";");
 
        if (type.getExtends() != nullptr)
        {
            const auto extends_s = FromAronType(*type.getExtends());
            block_if_data->addLine(extends_s->getFullInstantiatedCppTypename() + "::read(" +
                                   ARON_READER_ACCESSOR + ", " + variantAccessor + ");");
        }
 
        block_if_data->addLine("" + ARON_READER_ACCESSOR + ".readDict(" + variantAccessor + ", " +
                               OBJECT_MEMBERS_ACCESSOR + "); // of top level object " +
                               getInstantiatedCppTypename());
 
        for (const auto& [key, child] : type.getDirectMemberTypes())
        {
            const auto child_s = FromAronType(*child);
            std::string child_accessor = OBJECT_MEMBERS_ACCESSOR + "_" + key + "_iterator";
            block_if_data->addLine("auto " + child_accessor + " = " + OBJECT_MEMBERS_ACCESSOR +
                                   ".find(\"" + key + "\");");
            block_if_data->addLine(
                "ARMARX_CHECK_AND_THROW(" + child_accessor + " != " + OBJECT_MEMBERS_ACCESSOR +
                ".end(), ::armarx::aron::error::AronException(__PRETTY_FUNCTION__, \"Missing "
                "member '" +
                key + "' in aron object '" + getFullClassCppTypename() + "'.\"));");
            block_if_data->appendBlock(child_s->getReadBlock(key, child_accessor + "->second"));
        }
        return block_if_data;
    }
 
    CppBlockPtr
    ObjectClass::getEqualsBlock(const std::string& accessor,
                                const std::string& otherInstanceAccessor) const
    {
        CppBlockPtr block_if_data = std::make_shared<CppBlock>();
        if (type.getExtends() != nullptr)
        {
            const auto extends_s = FromAronType(*type.getExtends());
            block_if_data->addLine("if (not (" + extends_s->getFullInstantiatedCppTypename() +
                                   "::operator== (" + otherInstanceAccessor + ")))");
            block_if_data->addLineAsBlock("return false;");
        }
        for (const auto& [key, child] : type.getDirectMemberTypes())
        {
            auto child_s = FromAronType(*child);
            CppBlockPtr b2 = child_s->getEqualsBlock(key, otherInstanceAccessor + "." + key);
            block_if_data->appendBlock(b2);
        }
        return block_if_data;
    }
 
    std::pair<std::vector<std::pair<std::string, std::string>>, bool>
    ObjectClass::getCopyCtorInitializers(const std::string&) const
    {
        std::vector<std::pair<std::string, std::string>> ret;
 
        if (type.getExtends() != nullptr)
        {
            const auto extends_s = FromAronType(*type.getExtends());
            ret.push_back({extends_s->getFullInstantiatedCppTypename(), ARON_OTHER_ACCESSOR});
        }
 
        bool anyComplex = false;
        for (const auto& [key, child] : type.getDirectMemberTypes())
        {
            auto child_s = FromAronType(*child);
            auto initList = child_s->getCopyCtorInitializers(key);
            simox::alg::append(ret, initList.first);
            anyComplex = anyComplex || initList.second;
        }
        return {ret, anyComplex};
    }
} // namespace armarx::aron::codegenerator::cpp::generator