SpecializedVariant.h

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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
 */
 
#pragma once
 
// STD/STL
#include <memory>
#include <optional>
 
// Base class
#include "../Variant.h"
 
// ArmarX
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
 
namespace armarx::aron::data::detail
{
    template <typename AronDataT, typename DerivedT>
    class SpecializedVariantBase : public data::Variant
    {
    public:
        using Base = data::Variant;
        using PointerType = std::shared_ptr<DerivedT>;
        using AronDataType = AronDataT;
 
    public:
        SpecializedVariantBase() = delete;
 
        SpecializedVariantBase(const data::Descriptor descriptor, const Path& path = Path()) :
            Variant(descriptor, path), aron(new AronDataType())
        {
        }
 
        SpecializedVariantBase(const typename AronDataType::PointerType& o,
                               const data::Descriptor descriptor,
                               const Path& path = Path()) :
            Variant(descriptor, path), aron(o)
        {
            ARMARX_CHECK_NOT_NULL(aron);
        }
 
        virtual ~SpecializedVariantBase() = default;
 
        // operators
        operator typename AronDataType::PointerType()
        {
            return aron;
        }
 
        bool
        operator==(const Variant& other) const override
        {
            const auto& n = DerivedT::DynamicCast(other);
            return *this == n;
        }
 
        virtual bool operator==(const DerivedT&) const = 0;
        virtual bool operator==(const PointerType& other) const = 0;
 
        // new interface methods
        virtual PointerType
        clone() const
        {
            return clone(getPath());
        }
 
        virtual PointerType clone(const Path& newPath) const = 0;
 
        // virtual implementations
        VariantPtr
        cloneAsVariant() const override
        {
            return clone();
        }
 
        VariantPtr
        cloneAsVariant(const Path& newPath) const override
        {
            return clone(newPath);
        }
 
        data::dto::GenericDataPtr
        toAronDTO() const override
        {
            return aron;
        }
 
        void
        setImportance(const std::optional<float>& importance) override
        {
            if (!importance.has_value())
            {
                aron->importance = IceUtil::None;
                return;
            }
 
            ARMARX_CHECK_GREATER_EQUAL(*importance, 0.f);
            ARMARX_CHECK_LESS_EQUAL(*importance, 1.f);
            aron->importance = *importance;
        }
 
        std::optional<float>
        getImportance() const override
        {
            const auto importance = aron->importance;
            if (!importance)
            {
                return std::nullopt;
            }
            return *importance;
        }
 
        VariantPtr
        navigateRelative(const Path& path) const override
        {
            Path absoluteFromHere = path.getWithoutPrefix(getPath());
            return navigateAbsolute(absoluteFromHere);
        }
 
        // static methods
        static PointerType
        DynamicCast(const VariantPtr& n)
        {
            return std::dynamic_pointer_cast<DerivedT>(n);
        }
 
        static DerivedT&
        DynamicCast(Variant& n)
        {
            return dynamic_cast<DerivedT&>(n);
        }
 
        static const DerivedT&
        DynamicCast(const Variant& n)
        {
            return dynamic_cast<const DerivedT&>(n);
        }
 
        static PointerType
        DynamicCastAndCheck(const VariantPtr& n)
        {
            if (!n)
            {
                return nullptr;
            }
 
            PointerType casted = DerivedT::DynamicCast(n);
            ARMARX_CHECK_NOT_NULL(casted)
                << "The path was: " << n->getPath().toString() << ".\n"
                << "It has the descriptor: '"
                << data::defaultconversion::string::Descriptor2String.at(n->getDescriptor())
                << "'.\n"
                << "And the typeid: " << typeid(n).name() << ". Tried to cast to "
                << typeid(PointerType).name();
            return casted;
        }
 
    protected:
        typename AronDataType::PointerType aron;
    };
} // namespace armarx::aron::data::detail