ManagedIceObjectPlugin.h

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/*
* This file is part of ArmarX.
*
* Copyright (C) 2011-2021, 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    ArmarXCore::core
* @author     Raphael Grimm (raphael dot grimm at kit dot edu)
* @author     Rainer Kartmann (rainer dot kartmann at kit dot edu)
* @date       2021
* @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
*             GNU General Public License
*/
 
#pragma once
 
#include <memory>
#include <string>
#include <vector>
 
// Forward declarations
namespace std::experimental
{
    inline namespace fundamentals_v2
    {
        template <typename T>
        class observer_ptr;
 
        template <typename _Tp>
        observer_ptr<_Tp> make_observer(_Tp* __p) noexcept;
    } // namespace fundamentals_v2
} // namespace std::experimental
 
namespace armarx
{
    class ManagedIceObject;
 
    class ManagedIceObjectPlugin
    {
    public:
        virtual ~ManagedIceObjectPlugin() = default;
 
 
    protected:
        ManagedIceObjectPlugin(ManagedIceObject& parent, std::string pre);
 
        virtual void
        preOnInitComponent()
        {
        }
 
        virtual void
        postOnInitComponent()
        {
        }
 
        virtual void
        preOnConnectComponent()
        {
        }
 
        virtual void
        postOnConnectComponent()
        {
        }
 
        virtual void
        preOnDisconnectComponent()
        {
        }
 
        virtual void
        postOnDisconnectComponent()
        {
        }
 
        virtual void
        preOnExitComponent()
        {
        }
 
        virtual void
        postOnExitComponent()
        {
        }
 
 
        friend class ManagedIceObject;
 
 
    public:
        template <class T>
        bool
        parentDerives() const
        {
            return dynamic_cast<T*>(_parent);
        }
 
        ManagedIceObject& parent();
        const ManagedIceObject& parent() const;
 
        template <class T>
        T&
        parent()
        {
            return dynamic_cast<T&>(ManagedIceObjectPlugin::parent());
        }
 
        template <class T>
        const T&
        parent() const
        {
            return dynamic_cast<const T&>(ManagedIceObjectPlugin::parent());
        }
 
 
    protected:
        template <class PluginT, class... ParamsT>
        PluginT*
        addPlugin(const std::string prefix = "", ParamsT&&... params)
        {
            static_assert(std::is_base_of_v<ManagedIceObjectPlugin, PluginT>);
 
            std::unique_ptr<ManagedIceObjectPlugin>& ptr = this->getPlugin(typeid(PluginT), prefix);
            // If ptr != nullptr, we already got an instance of this plugin.
            if (!ptr)
            {
                ptr.reset(new PluginT(parent(), prefix, params...));
            }
            return static_cast<PluginT*>(ptr.get());
        }
 
        template <class PluginT, class... ParamsT>
        void
        addPlugin(PluginT*& targ, const std::string prefix = "", ParamsT&&... params)
        {
            checkOutParameter(targ);
            targ = this->addPlugin<PluginT>(prefix, params...);
        }
 
        template <class PluginT, class... ParamsT>
        void
        addPlugin(std::experimental::observer_ptr<PluginT>& targ,
                  const std::string prefix = "",
                  ParamsT&&... params)
        {
            checkOutParameter(targ.get());
            targ = std::experimental::make_observer(this->addPlugin<PluginT>(prefix, params...));
        }
 
        void addPluginDependency(ManagedIceObjectPlugin* dependedOn);
        void
        addPluginDependency(std::experimental::observer_ptr<ManagedIceObjectPlugin> dependedOn);
 
        const std::string& prefix() const;
        std::string makePropertyName(const std::string& name);
 
 
    private:
        /// Wraps a usage of ARMARX_CHECK_NULL to avoid an include.
        static void checkOutParameter(void* targ);
        /// Wraps a call to parent().getPluginPointer() to allow forward declaration of MangedIceObject.
        std::unique_ptr<ManagedIceObjectPlugin>& getPlugin(const std::type_info& typeInfo,
                                                           const std::string prefix = "");
 
 
    private:
        ManagedIceObject* const _parent;
        std::string _prefix;
        std::vector<ManagedIceObjectPlugin*> _dependsOn;
    };
 
} // namespace armarx