PrimitiveVariant.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 <string>
#include <unordered_map>
 
// Base class
#include "SpecializedVariant.h"
 
// ArmarX
#include "../container/Dict.h"
 
namespace armarx::aron::data::detail
{
    template <typename AronDataT, typename ValueT, typename DerivedT>
    class PrimitiveVariant : public SpecializedVariantBase<AronDataT, DerivedT>
    {
    public:
        using Base = SpecializedVariantBase<AronDataT, DerivedT>;
        using PointerType = std::shared_ptr<DerivedT>;
        using ValueType = ValueT;
 
    public:
        using typename Base::SpecializedVariantBase;
 
        PrimitiveVariant(const ValueT& v,
                         const data::Descriptor descriptor,
                         const Path& path = Path()) :
            Base(descriptor, path)
        {
            this->aron->value = v;
        }
 
        virtual ~PrimitiveVariant() = default;
 
        operator ValueT() const
        {
            return this->aron->value;
        }
 
        DerivedT&
        operator=(const ValueT& x)
        {
            this->aron->value = x;
            return *this;
        }
 
        // Already implemented through thge constructor of a primitive navigator
        /*bool operator==(const ValueT& x) const
        {
            return this->aron->value == x;
        }*/
 
        /// set a primitive from a std string
        virtual void fromString(const std::string& setter) = 0;
 
        // virtual implementations
        VariantPtr
        navigateAbsolute(const Path& path) const override
        {
            throw error::AronException(
                __PRETTY_FUNCTION__,
                "Could not navigate through a non container navigator. The input path was: " +
                    path.toString(),
                Variant::getPath());
        }
 
        using Base::clone;
 
        PointerType
        clone(const Path& newPath) const override
        {
            PointerType ret(new DerivedT(getValue(), newPath));
            ret->setImportance(this->getImportance());
            return ret;
        }
 
        std::vector<VariantPtr>
        getChildren() const override
        {
            return {};
        }
 
        size_t
        childrenSize() const override
        {
            return 0;
        }
 
        // static methods
 
        /* public member functions */
        DictPtr
        getAsDict() const
        {
            auto dict = std::make_shared<Dict>();
            auto copy_this = FromAronDTO(this->toAronDTO(), this->getPath());
            dict->addElement("data", copy_this);
            return dict;
        }
 
        void
        setValue(const ValueT& x)
        {
            this->aron->value = x;
        }
 
        ValueT
        getValue() const
        {
            return this->aron->value;
        }
 
        ValueT&
        getValue()
        {
            return this->aron->value;
        }
    };
} // namespace armarx::aron::data::detail