16 #ifndef SURGSIM_FRAMEWORK_ACCESSIBLE_H 17 #define SURGSIM_FRAMEWORK_ACCESSIBLE_H 19 #include <boost/any.hpp> 20 #include <boost/preprocessor.hpp> 24 #include <unordered_map> 25 #include <yaml-cpp/yaml.h> 60 T
getValue(
const std::string& name)
const;
66 boost::any
getValue(
const std::string& name)
const;
75 bool getValue(
const std::string& name, T* value)
const;
81 void setValue(
const std::string& name,
const boost::any& value);
86 bool isReadable(
const std::string& name)
const;
97 void setGetter(
const std::string& name, GetterType func);
103 void setSetter(
const std::string& name, SetterType func);
110 void setAccessors(
const std::string& name, GetterType getter, SetterType setter);
132 void setSerializable(
const std::string& name, EncoderType encoder, DecoderType decoder);
140 void setDecoder(
const std::string& name, DecoderType decoder);
145 YAML::Node
encode()
const;
153 void decode(
const YAML::Node& node,
const std::vector<std::string>& ignoredProperties = std::vector<std::string>());
208 std::string
convert(boost::any val);
213 #define SURGSIM_ADD_RW_PROPERTY(class, type, property, getter, setter) \ 214 setAccessors(#property, \ 215 std::bind(&class::getter, this),\ 216 std::bind(&class::setter, this, std::bind(SurgSim::Framework::convert<type>,std::placeholders::_1))) 219 #define SURGSIM_ADD_RO_PROPERTY(class, type, property, getter) \ 220 setGetter(#property, \ 221 std::bind(&class::getter, this)) 225 #define SURGSIM_ADD_SERIALIZABLE_PROPERTY(class, type, property, getter, setter) \ 226 setAccessors(#property, \ 227 std::bind(&class::getter, this),\ 228 std::bind(&class::setter, this, std::bind(SurgSim::Framework::convert<type>,std::placeholders::_1)));\ 229 setSerializable(#property,\ 230 std::bind(&YAML::convert<type>::encode, std::bind(&class::getter, this)),\ 231 std::bind(&class::setter, this, std::bind(&YAML::Node::as<type>,std::placeholders::_1))) 236 #define SURGSIM_ADD_SETTER(class, type, property, setter) \ 238 setDecoder(#property, std::bind((void(class::*)(const type&))&class::setter, this,\ 239 std::bind(&YAML::Node::as<type>,std::placeholders::_1))); \ 240 setSetter(#property, std::bind((void(class::*)(const type&))&class::setter, this,\ 241 std::bind(SurgSim::Framework::convert<type>,std::placeholders::_1)));\ 248 #define SURGSIM_ENUM_TOSTRING(r, data, elem) \ 250 result = BOOST_PP_STRINGIZE(elem); \ 253 #define SURGSIM_ENUM_FROMSTRING(r, data, elem) \ 254 if (value == BOOST_PP_STRINGIZE(elem)) \ 261 #define SURGSIM_ENUM_TYPE int8_t 267 #define SURGSIM_SERIALIZABLE_ENUM(name, enumerators) \ 268 enum name : SURGSIM_ENUM_TYPE\ 270 BOOST_PP_SEQ_ENUM(enumerators) \ 275 struct convert<name> \ 277 static Node encode(const name& rhs) \ 282 BOOST_PP_SEQ_FOR_EACH(SURGSIM_ENUM_TOSTRING, name, enumerators) \ 284 SURGSIM_FAILURE() << "Can not find enum value in " << #name << ": " << rhs; \ 288 static bool decode(const Node& node, name& rhs) \ 290 std::string value = node.as<std::string>(); \ 291 std::transform(value.begin(), value.end(), value.begin(), ::toupper); \ 292 BOOST_PP_SEQ_FOR_EACH(SURGSIM_ENUM_FROMSTRING, name, enumerators) \ 293 SURGSIM_FAILURE() << "Unknown " << #name << ": " << value; \ bool isReadable(const std::string &name) const
Check whether a property is readable.
Definition: Accessible.cpp:104
std::function< void(boost::any)> SetterType
Definition: Accessible.h:48
Definition: CompoundShapeToGraphics.cpp:29
std::string name
Definition: Accessible.h:181
~Accessible()
Destructor.
Definition: Accessible.cpp:31
Private struct to keep the map under control.
Definition: Accessible.h:164
Functors()
Definition: Accessible.h:166
std::weak_ptr< Accessible > accessible
Definition: Accessible.h:180
SetterType setter
Definition: Accessible.h:168
bool isWriteable(const std::string &name) const
Check whether a property is writable.
Definition: Accessible.cpp:110
void setSerializable(const std::string &name, EncoderType encoder, DecoderType decoder)
Sets the functions used to convert data from and to a YAML::Node.
Definition: Accessible.cpp:116
void decode(const YAML::Node &node, const std::vector< std::string > &ignoredProperties=std::vector< std::string >())
Decode this Accessible from a YAML::Node, will throw an exception if the data type cannot be converte...
Definition: Accessible.cpp:146
YAML::Node encode() const
Encode this Accessible to a YAML::Node.
Definition: Accessible.cpp:132
Accessible & operator=(const Accessible &other)
SurgSim::Math::Matrix44f convert(boost::any val)
Specialization for convert<T>() to correctly cast Matrix44d to Matrix44f, will throw if the val is no...
Definition: Accessible.cpp:210
Public struct to pair an accessible with its appropriate property.
Definition: Accessible.h:178
EncoderType encoder
Definition: Accessible.h:169
std::function< void(const YAML::Node *)> DecoderType
Definition: Accessible.h:51
void setValue(const std::string &name, const boost::any &value)
Sets a value of a property that has setter.
Definition: Accessible.cpp:58
Accessible()
Default Constructor.
Definition: Accessible.cpp:26
std::unordered_map< std::string, Functors > m_functors
Definition: Accessible.h:173
GetterType getter
Definition: Accessible.h:167
Eigen::Matrix< float, 4, 4, Eigen::RowMajor > Matrix44f
A 4x4 matrix of floats.
Definition: Matrix.h:43
void setSetter(const std::string &name, SetterType func)
Sets a setter for a given property.
Definition: Accessible.cpp:80
void setGetter(const std::string &name, GetterType func)
Sets a getter for a given property.
Definition: Accessible.cpp:74
void setAccessors(const std::string &name, GetterType getter, SetterType setter)
Sets the accessors getter and setter in one function.
Definition: Accessible.cpp:86
std::function< YAML::Node(void)> EncoderType
Definition: Accessible.h:50
Definitions of small fixed-size square matrix types.
std::function< boost::any(void)> GetterType
Definition: Accessible.h:47
DecoderType decoder
Definition: Accessible.h:170
void setDecoder(const std::string &name, DecoderType decoder)
Sets the functions used to convert data from a YAML::Node.
Definition: Accessible.cpp:125
Mixin class for enabling a property system on OSS classes, the instance still needs to initialize pro...
Definition: Accessible.h:37
void forwardProperty(const std::string &name, const Accessible &target, const std::string &targetProperty)
Adds a property with the given name that uses the targets accessors, in effect forwarding the value t...
Definition: Accessible.cpp:191
void removeAccessors(const std::string &name)
Removes all the accessors (getter and setter) for a given property.
Definition: Accessible.cpp:93
T getValue(const std::string &name) const
Retrieves the value with the name by executing the getter if it is found and tries to convert it to t...
Definition: Accessible-inl.h:42