/usr/include/sdformat-6.0/sdf/Param.hh is in libsdformat6-dev 6.0.0+dfsg-4.
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* Copyright 2012 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#ifndef SDFORMAT_PARAM_HH_
#define SDFORMAT_PARAM_HH_
// See: https://bugreports.qt-project.org/browse/QTBUG-22829
#ifndef Q_MOC_RUN
#include <boost/any.hpp>
#include <boost/variant.hpp>
#endif
#include <algorithm>
#include <cstdint>
#include <functional>
#include <memory>
#include <sstream>
#include <string>
#include <typeinfo>
#include <vector>
#include <ignition/math.hh>
#include "sdf/Console.hh"
#include "sdf/system_util.hh"
#include "sdf/Types.hh"
#ifdef _WIN32
// Disable warning C4251 which is triggered by
// std::unique_ptr
#pragma warning(push)
#pragma warning(disable: 4251)
#endif
namespace sdf
{
class SDFORMAT_VISIBLE Param;
/// \def ParamPtr
/// \brief Shared pointer to a Param
typedef std::shared_ptr<Param> ParamPtr;
/// \def Param_V
/// \brief vector of shared pointers to a Param
typedef std::vector<ParamPtr> Param_V;
/// \internal
class ParamPrivate;
/// \class Param Param.hh sdf/sdf.hh
/// \brief A parameter class
class SDFORMAT_VISIBLE Param
{
/// \brief Constructor.
/// \param[in] _key Key for the parameter.
/// \param[in] _typeName String name for the value type (double,
/// int,...).
/// \param[in] _default Default value.
/// \param[in] _required True if the parameter is required to be set.
/// \param[in] _description Description of the parameter.
/// \throws sdf::AssertionInternalError if an invalid type is given.
public: Param(const std::string &_key, const std::string &_typeName,
const std::string &_default, bool _required,
const std::string &_description = "");
/// \brief Destructor
public: virtual ~Param();
/// \brief Get the value as a string.
/// \return String containing the value of the parameter.
public: std::string GetAsString() const;
/// \brief Get the default value as a string.
/// \return String containing the default value of the parameter.
public: std::string GetDefaultAsString() const;
/// \brief Set the parameter value from a string.
/// \param[in] _value New value for the parameter in string form.
public: bool SetFromString(const std::string &_value);
/// \brief Reset the parameter to the default value.
public: void Reset();
/// \brief Get the key value.
/// \return The key.
public: const std::string &GetKey() const;
/// \brief Return true if the param is a particular type
/// \return True if the type held by this Param matches the Type
/// template parameter.
public: template<typename Type>
bool IsType() const;
/// \brief Get the type name value.
/// \return The type name.
public: const std::string &GetTypeName() const;
/// \brief Return whether the parameter is required.
/// \return True if the parameter is required.
public: bool GetRequired() const;
/// \brief Return true if the parameter has been set.
/// \return True if the parameter has been set.
public: bool GetSet() const;
/// \brief Clone the parameter.
/// \return A new parameter that is the clone of this.
public: ParamPtr Clone() const;
/// \brief Set the update function. The updateFunc will be used to
/// set the parameter's value when Param::Update is called.
/// \param[in] _updateFunc Function pointer to an update function.
public: template<typename T>
void SetUpdateFunc(T _updateFunc);
/// \brief Set the parameter's value using the updateFunc.
/// \sa Param::SetUpdateFunc
public: void Update();
/// \brief Set the parameter's value.
///
/// The passed in value value must have an input and output stream operator.
/// \param[in] _value The value to set the parameter to.
/// \return True if the value was successfully set.
public: template<typename T>
bool Set(const T &_value);
/// \brief Get the value of the parameter as a boost::any.
/// \param[out] _anyVal The boost::any object to set.
/// \return True if successfully fetched _anyVal, false otherwise.
public: bool GetAny(boost::any &_anyVal) const;
/// \brief Get the value of the parameter.
/// \param[out] _value The value of the parameter.
/// \return True if parameter was successfully cast to the value type
/// passed in.
public: template<typename T>
bool Get(T &_value) const;
/// \brief Get the default value of the parameter.
/// \param[out] _value The default value of the parameter.
/// \return True if parameter was successfully cast to the value type
/// passed in.
public: template<typename T>
bool GetDefault(T &_value) const;
/// \brief Equal operator. Set's the value and default value from the
/// provided Param.
/// \param[in] _param The parameter to set values from.
/// \return *This
public: Param &operator=(const Param &_param);
/// \brief Set the description of the parameter.
/// \param[in] _desc New description for the parameter.
public: void SetDescription(const std::string &_desc);
/// \brief Get the description of the parameter.
/// \return The description of the parameter.
public: std::string GetDescription() const;
/// \brief Ostream operator. Outputs the parameter's value.
/// \param[in] _out Output stream.
/// \param[in] _p The parameter to output.
/// \return The output stream.
public: friend std::ostream &operator<<(std::ostream &_out,
const Param &_p)
{
_out << _p.GetAsString();
return _out;
}
/// \brief Private method to set the Element from a passed-in string.
/// \param[in] _value Value to set the parameter to.
private: bool ValueFromString(const std::string &_value);
/// \brief Private data
private: std::unique_ptr<ParamPrivate> dataPtr;
};
/// \internal
/// \brief Private data for the param class
class ParamPrivate
{
/// \brief Key value
public: std::string key;
/// \brief True if the parameter is required.
public: bool required;
/// \brief True if the parameter is set.
public: bool set;
//// \brief Name of the type.
public: std::string typeName;
/// \brief Description of the parameter.
public: std::string description;
/// \brief Update function pointer.
public: std::function<boost::any ()> updateFunc;
/// \def ParamVariant
/// \brief Variant type def.
public: typedef boost::variant<bool, char, std::string, int, std::uint64_t,
unsigned int, double, float, sdf::Time,
ignition::math::Color,
ignition::math::Vector2i,
ignition::math::Vector2d,
ignition::math::Vector3d,
ignition::math::Quaterniond,
ignition::math::Pose3d> ParamVariant;
/// \brief This parameter's value
public: ParamVariant value;
/// \brief This parameter's default value
public: ParamVariant defaultValue;
};
///////////////////////////////////////////////
template<typename T>
void Param::SetUpdateFunc(T _updateFunc)
{
this->dataPtr->updateFunc = _updateFunc;
}
///////////////////////////////////////////////
template<typename T>
bool Param::Set(const T &_value)
{
try
{
std::stringstream ss;
ss << _value;
return this->SetFromString(ss.str());
}
catch(...)
{
sdferr << "Unable to set parameter["
<< this->dataPtr->key << "]."
<< "Type used must have a stream input and output operator,"
<< "which allows proper functioning of Param.\n";
return false;
}
}
///////////////////////////////////////////////
template<typename T>
bool Param::Get(T &_value) const
{
try
{
if (typeid(T) == typeid(bool) && this->dataPtr->typeName == "string")
{
std::stringstream ss;
ss << this->dataPtr->value;
std::string strValue;
ss >> strValue;
std::transform(strValue.begin(), strValue.end(),
strValue.begin(), ::tolower);
std::stringstream tmp;
if (strValue == "true" || strValue == "1")
{
tmp << "1";
}
else
{
tmp << "0";
}
tmp >> _value;
}
else if (typeid(T) == this->dataPtr->value.type())
{
#if BOOST_VERSION < 105800
_value = boost::get<T>(this->dataPtr->value);
#else
_value = boost::relaxed_get<T>(this->dataPtr->value);
#endif
}
else
{
std::stringstream ss;
ss << this->dataPtr->value;
ss >> _value;
}
}
catch(...)
{
sdferr << "Unable to convert parameter["
<< this->dataPtr->key << "] "
<< "whose type is["
<< this->dataPtr->typeName << "], to "
<< "type[" << typeid(T).name() << "]\n";
return false;
}
return true;
}
///////////////////////////////////////////////
template<typename T>
bool Param::GetDefault(T &_value) const
{
std::stringstream ss;
try
{
ss << this->dataPtr->defaultValue;
ss >> _value;
}
catch(...)
{
sdferr << "Unable to convert parameter["
<< this->dataPtr->key << "] "
<< "whose type is["
<< this->dataPtr->typeName << "], to "
<< "type[" << typeid(T).name() << "]\n";
return false;
}
return true;
}
///////////////////////////////////////////////
template<typename Type>
bool Param::IsType() const
{
return this->dataPtr->value.type() == typeid(Type);
}
}
#ifdef _WIN32
#pragma warning(pop)
#endif
#endif
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