librviz-dev 1.11.10+dfsg-1build1 / usr / include / rviz / config.h

/*
 * Copyright (c) 2012, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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 */
#ifndef CONFIG_H
#define CONFIG_H

#include <stdio.h>

#include <string>

#include <boost/shared_ptr.hpp>

#include <QMap>
#include <QString>
#include <QVariant>

namespace rviz
{

/** @brief Configuration data storage class.
 *
 * The purpose of the Config class is to provide a flexible place to
 * store configuration data during saving and loading which is
 * independent of the particular storage format (like YAML or XML or
 * INI).  The data is stored in a tree structure, supporting both
 * named and numerically-indexed children.  Leaves in the tree store
 * QVariants, with convenience functions for int, float, QString, and
 * bool types.
 *
 * Config instances are references to an internal "Node" class which
 * actually stores the data and the tree structure.  Nodes are
 * reference-counted and deletion is handled automatically.  This
 * makes it safe to hold a reference to a portion of a Config tree to
 * use later, because the internal Nodes beneath the saved reference
 * will not be destroyed when the root of the tree goes out of scope.
 *
 * Config objects can be used on their own for generic hierarchical
 * data storage, but they are intended to be used with reader and
 * writer classes.  Currently there is just YAML support, as that is
 * all that RViz supports right now.  Those classes are
 * YamlConfigReader and YamlConfigWriter.
 *
 * Typical use for reading looks like this:
 *
 *  YamlConfigReader reader;
 *  Config config;
 *  reader.readFile( config, "my_file.yaml" );
 *  if( !reader.error() )
 *  {
 *    int height, width;
 *    if( config.mapGetString( "Height", &height ) &&
 *        config.mapGetString( "Width", &width ))
 *    {
 *      resize( width, height );
 *    }
 *
 *    Config file_list_config = config.mapGetChild( "Files" );
 *    filenames_.clear();
 *    int num_files = file_list_config.listLength();
 *    for( int i = 0; i < num_files; i++ )
 *    {
 *      filenames_.push_back( file_list_config.listChildAt( i ).getValue().toString() );
 *    }
 *  }
 *  else
 *  {
 *    printf( "%s", qPrintable( reader.errorMessage() ));
 *  }
 *
 * For writing, the same program might use this:
 *
 *  Config config;
 *  config.mapSetValue( "Height", height() );
 *  config.mapSetValue( "Width", width() );
 *  Config file_list_config = config.mapMakeChild( "Files" );
 *  for( int i = 0; i < filenames_.size(); i++ )
 *  {
 *    file_list_config.listAppendNew().setValue( filenames_[ i ]);
 *  }
 *
 *  YamlConfigWriter writer;
 *  writer.writeFile( config, "my_file.yaml" );
 *
 *  if( writer.error() )
 *  {
 *    printf( "%s", qPrintable( writer.errorMessage() ));
 *  }
 *
 * setType() can be used to set the type of a given node (Map, List,
 * Value, or Empty), but it is often unnecessary.  All functions which
 * add or change data (mapSetValue(), mapMakeChild(), setValue(), and
 * listAppendNew()) internally call setType() to ensure the node has
 * the right type for the operation.  If setType() is called with the
 * same type that the node already has, nothing happens.  If it needs
 * to change the type of the node, any data stored in the node is
 * destroyed (except for child nodes which are referenced by other
 * existing Config objects). */
class Config
{
private:
  class Node;
  typedef boost::shared_ptr<Node> NodePtr;

public:
  /** @brief Default constructor.  Creates an empty config object. */
  Config();
  /** @brief Copy constructor.  Copies only the reference to the data, not the data itself. */
  Config( const Config& source );
  /** @brief Convenience constructor, makes a Value type Config object with the given value. */
  Config( QVariant value );

  /** @brief Make this a deep copy of source. */
  void copy( const Config& source );

  /** @brief Possible types a Config Node can have are Map, List,
   * Value, and Empty.  Invalid means the Config object does not
   * point to a Node at all.
   *
   * Invalid Config objects are returned by data access functions when
   * the data does not exist, like listChildAt(7) on a list of length
   * 3, or mapGetChild("foo") on a Value Node. */
  enum Type { Map, List, Value, Empty, Invalid };

  /** @brief Return the Type of the referenced Node, or Invalid if
      this Config does not refer to a Node at all. */
  Type getType() const;

  /** @brief Set the type of this Config Node.
   *
   * If @a new_type is Invalid, this de-references the node and makes
   * the Config object invalid.  If the new type is different from the
   * old type, this deletes the existing data in the Node and changes
   * the Node's type to @new_type.  If this does not change the type
   * of the Node, no data is deleted and nothing is changed.
   *
   * If this Config is currently invalid and @a new_type is not
   * Invalid, this will create a new Node and reference it.  */
  void setType( Type new_type );

  /** @brief Returns true if the internal Node reference is valid,
      false if not.  Same as (getType() != Invalid). */
  bool isValid() const;

  /** @brief Set a named child to the given value.
   *
   * Since QVariant has constructors for int, float, bool, QString,
   * and other supported types, you can call mapSetValue() directly
   * with your data in most cases:
   *
   *  config.mapSetValue( "Size", 13 );
   *  config.mapSetValue( "Name", "Humphrey" );
   *
   * mapSetValue( key, value ) is the same as mapMakeChild( key ).setValue( value ).
   *
   * This forces the referenced Node to have type Map. */
  void mapSetValue( const QString& key, QVariant value );

  /** @brief Create a child node stored with the given @a key, and return the child.
   *
   * This forces the referenced Node to have type Map. */
  Config mapMakeChild( const QString& key );

  /** @brief If the referenced Node is a Map and it has a child with
   * the given key, return a reference to the child.  If the reference
   * is invalid or the Node has a different Type, return an invalid
   * Config. */
  Config mapGetChild( const QString& key ) const;

  /** @brief Convenience function for looking up a named value.
   *
   * If a Value Node with the given @key is a child of this Node, set
   * value_out to the given value and return true.
   *
   * If the Config is invalid or the Node is not a Map, returns an
   * Invalid Config. */
  bool mapGetValue( const QString& key, QVariant *value_out ) const;

  /** @brief Convenience function for looking up a named integer.
   *
   * If a Value Node with the given @key is a child of this Node, and
   * the Value is either an int or a string-ified int, set value_out
   * to the integer and return true.
   *
   * If the Config is invalid or the Node is not a Map, returns an
   * Invalid Config. */
  bool mapGetInt( const QString& key, int *value_out ) const;

  /** @brief Convenience function for looking up a named float.
   *
   * If a Value Node with the given @key is a child of this Node, and
   * the Value is either a float, a double or a string-ified float or
   * double, set value_out to the float and return true.
   *
   * If the Config is invalid or the Node is not a Map, returns an
   * Invalid Config. */
  bool mapGetFloat( const QString& key, float *value_out ) const;

  /** @brief Convenience function for looking up a named boolean.
   *
   * If a Value Node with the given @key is a child of this Node, and
   * the Value is either a bool or a string-ified bool, set value_out
   * to the bool and return true.
   *
   * If the Config is invalid or the Node is not a Map, returns an
   * Invalid Config. */
  bool mapGetBool( const QString& key, bool *value_out ) const;

  /** @brief Convenience function for looking up a named string.
   *
   * If a Value Node with the given @key is a child of this Node, and
   * the Value is a string, set value_out to the string and return
   * true.
   *
   * If the Config is invalid or the Node is not a Map, returns an
   * Invalid Config. */
  bool mapGetString( const QString& key, QString *value_out ) const;

  /** @brief Ensures this is a valid Config object, sets the type to
   * Value then sets the value. */
  void setValue( const QVariant& value );

  /** @brief If this config object is valid and is a Value type, this returns its value.
   * Otherwise it returns an invalid QVariant. */
  QVariant getValue() const;

  /** @brief Returns the length of the List in this Node, or 0 if this
   * Node does not have type List. */
  int listLength() const;

  /** @brief Return the @a i'th child in the list, if the referenced
   * Node has type List.  Returns an Invalid Config if the type is not
   * List or if @a i is not a valid index into it. */
  Config listChildAt( int i ) const;

  /** @brief Ensure the referenced Node is of type List, append a new
   * Empty Node to the end of the list, and return a reference to the
   * new Node. */
  Config listAppendNew();

  /** @brief Iterator class for looping over all entries in a Map type Config Node.
   *
   * Typical usage:
   *
   * Config config;
   * display->save( config ); // Write display's data into config.
   * for( Config::MapIterator iter = config.mapIterator(); iter.isValid(); iter.advance() )
   * {
   *   QString key = iter.currentKey();
   *   Config child = iter.currentChild();
   *   printf( "key %s has value %s.\n", qPrintable( key ), qPrintable( child.getValue().toString() ));
   * }
   *
   * Maps are stored in alphabetical order of their keys, and
   * MapIterator uses this same order. */
  class MapIterator
  {
  public:
    /** @brief Advance iterator to next entry. */
    void advance();

    /** @brief Return true if the iterator currently points to a valid entry, false if not.
     *
     * This is how you tell if your loop over entries is at the end. */
    bool isValid();

    /** @brief Resets the iterator to the start of the map. */
    void start();

    /** @brief Return the name of the current map entry. */
    QString currentKey();

    /** @brief Return a Config reference to the current map entry. */
    Config currentChild();

  private:
    /** @brief Private constructor enforces that MapIterators are only
     * made by their friend the Config class. */
    MapIterator();

    Config::NodePtr node_;
    QMap<QString, Config::NodePtr>::const_iterator iterator_;
    bool iterator_valid_;
    friend class Config;
  };

  /** @brief Return a new iterator for looping over key/value pairs.
   *
   * The returned MapIterator is initialized to point at the start of the map.
   *
   * If this Config is Invalid or if its Node is not a Map, this
   * returns a MapIterator for which isValid() always returns
   * false. */
  MapIterator mapIterator() const;

private:
  Config( NodePtr node );
  static Config invalidConfig();

  /** @brief If the node pointer is NULL, this sets it to a new empty node. */
  void makeValid();

  NodePtr node_;

  friend class MapIterator;
};

} // end namespace rviz

#endif // CONFIG_H