From 3a3deb245c282f18299be2dc64de9831d5feafc1 Mon Sep 17 00:00:00 2001
From: Mansard <nmansard@laas.fr>
Date: Wed, 2 Feb 2011 16:28:27 +0100
Subject: [PATCH] IVIGIT: transfert some code and automatic-code-generation
macros from sot-core to dg.
---
include/CMakeLists.txt | 1 +
include/dynamic-graph/signal-cast-helper.h | 215 +++++++++++++++++++++
src/CMakeLists.txt | 1 +
src/signal/signal-cast-helper.cpp | 79 ++++++++
4 files changed, 296 insertions(+)
create mode 100644 include/dynamic-graph/signal-cast-helper.h
create mode 100644 src/signal/signal-cast-helper.cpp
diff --git a/include/CMakeLists.txt b/include/CMakeLists.txt
index a0d06c43..585472f7 100644
--- a/include/CMakeLists.txt
+++ b/include/CMakeLists.txt
@@ -57,6 +57,7 @@ signal.t.cpp
time-dependency.h
time-dependency.t.cpp
signal-caster.h
+signal-cast-helper.h
all-signals.h
tracer.h
diff --git a/include/dynamic-graph/signal-cast-helper.h b/include/dynamic-graph/signal-cast-helper.h
new file mode 100644
index 00000000..20cc25e0
--- /dev/null
+++ b/include/dynamic-graph/signal-cast-helper.h
@@ -0,0 +1,215 @@
+// -*- c++-mode -*-
+// Copyright 2010 François Bleibel Thomas Moulard, Olivier Stasse, Nicolas Mansard
+//
+// This file is part of dynamic-graph.
+// dynamic-graph is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// dynamic-graph 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 Lesser General Public License for more details.
+// You should have received a copy of the GNU Lesser General Public License
+// along with dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef DYNAMIC_GRAPH_SIGNAL_CASTER_HELPER_HH
+# define DYNAMIC_GRAPH_SIGNAL_CASTER_HELPER_HH
+# include <map>
+# include <typeinfo>
+# include <iostream>
+# include <vector>
+
+# include <boost/any.hpp>
+# include <boost/format.hpp>
+# include <boost/function/function1.hpp>
+# include <boost/function/function2.hpp>
+# include <boost/lexical_cast.hpp>
+# include <boost/tuple/tuple.hpp>
+
+# include <dynamic-graph/dynamic-graph-api.h>
+# include "dynamic-graph/exception-signal.h"
+
+namespace dynamicgraph
+{
+
+ /* --- NON GENERIC CASTER ------------------------------------------------- */
+
+ /// This class can be used to register default casts, i.e. casts
+ /// already supported by the object to an std::iostream through the
+ /// operators >> and << .
+ template<typename T>
+ class DefaultCastRegisterer : public SignalCastRegisterer
+ {
+ public:
+ DefaultCastRegisterer ()
+ : SignalCastRegisterer (typeid(T), disp, cast, trace)
+ {}
+
+ DYNAMIC_GRAPH_DLLEXPORT
+ static boost::any cast (std::istringstream& iss);
+
+ DYNAMIC_GRAPH_DLLEXPORT
+ static void disp (const boost::any& object, std::ostream& os)
+ {
+ os << boost::any_cast<T> (object) << std::endl;
+ }
+
+ DYNAMIC_GRAPH_DLLEXPORT
+ static void trace (const boost::any& object, std::ostream& os)
+ {
+ disp(object,os);
+ }
+ };
+
+ /// A default version of the caster, to serialize directly from
+ /// std::in.
+ template <typename T>
+ boost::any
+ DefaultCastRegisterer<T>::cast (std::istringstream& iss)
+ {
+ T inst;
+ iss >> inst;
+ if (iss.fail ())
+ {
+ boost::format fmt ("failed to serialize %s ");
+ fmt % iss.str ();
+ throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str ());
+ }
+ return inst;
+ }
+
+
+ /* --- GENERIC CASTER ----------------------------------------------------- */
+ /*!
+ * This class is only used to group together static functions who differ by
+ * a template parameter. It is never actually instanced (the private constructor
+ * makes sure of that).
+ * Typical use of this class is to add the caster in the dg graph:
+ * dynamicgraph::SignalCastRegisterer sotCastRegisterer_TYPE
+ * (typeid(TYPE),
+ * SignalCast<TYPE>::disp_,
+ * SignalCast<TYPE>::cast_,
+ * SignalCast<TYPE>::trace_);
+ */
+ template< class T >
+ class SignalCast
+ {
+ public:
+ static T cast( std::istringstream& stringValue ) { throw 1;}
+ static void disp( const T& t,std::ostream& os ) { throw 1; }
+ static void trace( const T& t,std::ostream& os ) { disp(t,os); }
+ public:
+ // adapter functions for SignalCast
+ static boost::any cast_( std::istringstream& stringValue ) {
+ return boost::any_cast<T>(cast(stringValue));
+ }
+ static void disp_( const boost::any& t,std::ostream& os ) {
+ disp(boost::any_cast<T>(t), os);
+ }
+ static void trace_( const boost::any& t,std::ostream& os ) {
+ trace(boost::any_cast<T>(t),os);
+ }
+ private:
+ SignalCast() {}
+ };
+
+} // namespace dynamicgraph
+
+/* -------------------------------------------------------------------------- */
+/* --- MACROS --------------------------------------------------------------- */
+/* -------------------------------------------------------------------------- */
+
+/* Declaration macro: one instance of each class needs to be present in
+ * order for casts to be registered.
+ */
+
+#define DG_SIGNAL_CAST_DECLARATION(TYPE) \
+ ::dynamicgraph::SignalCastRegisterer sotCastRegisterer_##TYPE \
+ (typeid(TYPE), \
+ SignalCast<TYPE>::disp_, \
+ SignalCast<TYPE>::cast_, \
+ SignalCast<TYPE>::trace_)
+
+#define DG_SIGNAL_CAST_DECLARATION_NAMED(TYPE,NAME) \
+ ::dynamicgraph::SignalCastRegisterer sotCastRegisterer_##NAME \
+ (typeid(TYPE), \
+ SignalCast<TYPE>::disp_, \
+ SignalCast<TYPE>::cast_, \
+ SignalCast<TYPE>::trace_)
+
+/* Standard definition macros: the three functions can be specified
+ * in the macros. To define then in the cpp, just put ';' in the args.
+ */
+#define DG_SIGNAL_CAST_FULL_DEFINITION(TYPE,CAST,DISP,TRACE) \
+template<> \
+ class SignalCast<TYPE> \
+{ \
+public: \
+ static TYPE cast( std::istringstream& iss ) CAST \
+ static void disp( TYPE const& t,std::ostream& os ) DISP \
+ static void trace( TYPE const& t,std::ostream& os ) TRACE \
+public: \
+ DYNAMIC_GRAPH_DLLEXPORT \
+ static boost::any cast_( std::istringstream& stringValue ) { \
+ return boost::any_cast<TYPE>(cast(stringValue)); \
+ } \
+ DYNAMIC_GRAPH_DLLEXPORT \
+ static void disp_( const boost::any& t,std::ostream& os ) { \
+ disp(boost::any_cast<TYPE>(t), os); \
+ } \
+ DYNAMIC_GRAPH_DLLEXPORT \
+ static void trace_( const boost::any& t,std::ostream& os ) { \
+ trace(boost::any_cast<TYPE>(t),os); \
+ } \
+}
+
+/* Standard definition macros: the functions <cast> and <disp> have
+ * to be implemented in the cpp files. The function <trace> is
+ * implemented as a proxy on <disp>.
+ */
+#define DG_SIGNAL_CAST_DEFINITION_HPP(TYPE) \
+ DG_SIGNAL_CAST_FULL_DEFINITION(TYPE,;,;,{ disp(t,os); })
+
+/* Lazy definition: <cast> and <disp> are to proxys on the standard
+ * std input (>>) and output (<<). The function <trace> has to be
+ * implemented in the cpp.
+ */
+#define DG_SIGNAL_CAST_DEFINITION_TRACE_HPP(TYPE,TRACE) \
+ DG_SIGNAL_CAST_FULL_DEFINITION(TYPE, \
+ {TYPE res; iss >> res; return res; }, \
+ { os << t <<std::endl; }, \
+ TRACE )
+
+/* Lazy lazy definition: the three functions are implemented as
+ * proxys on std::io operation.
+ */
+#define DG_SIGNAL_CAST_DEFINITION(TYPE) \
+ DG_SIGNAL_CAST_FULL_DEFINITION(TYPE, \
+ {TYPE res; iss >> res; return res; }, \
+ { os << t <<std::endl; }, \
+ { disp(t,os); })
+
+/* Lazy definition of <cast> and <disp> with implementation of
+ * <trace> in the cpp.
+ */
+#define DG_SIGNAL_CAST_DEFINITION_TRACE(TYPE) \
+ DG_SIGNAL_CAST_FULL_DEFINITION(TYPE, \
+ {TYPE res; iss >> res; return res; }, \
+ { os << t <<std::endl; }, \
+ ;)
+
+/* Macro to add the define SignalCast in the dg graph. Typical use is:
+ * DG_ADD_CASTER( Matrix,matrix )
+ */
+#define DG_ADD_CASTER(TYPE,ID) \
+ ::dynamicgraph::SignalCastRegisterer sotCastRegisterer_##ID \
+ (typeid(TYPE), \
+ SignalCast<TYPE>::disp_, \
+ SignalCast<TYPE>::cast_, \
+ SignalCast<TYPE>::trace_)
+
+
+
+#endif // #ifndef DYNAMIC_GRAPH_SIGNAL_CASTER_HELPER_HH
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 0eb37916..edd38bce 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -41,6 +41,7 @@ ADD_LIBRARY(${LIBRARY_NAME}
signal/signal-array.cpp
signal/signal-caster.cpp
+ signal/signal-cast-helper.cpp
command/value.cpp
command/command.cpp
diff --git a/src/signal/signal-cast-helper.cpp b/src/signal/signal-cast-helper.cpp
new file mode 100644
index 00000000..8f409c65
--- /dev/null
+++ b/src/signal/signal-cast-helper.cpp
@@ -0,0 +1,79 @@
+// -*- c++-mode -*-
+// Copyright 2010 François Bleibel Thomas Moulard, Olivier Stasse, Nicolas Mansard
+//
+// This file is part of dynamic-graph.
+// dynamic-graph is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// dynamic-graph 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 Lesser General Public License for more details.
+// You should have received a copy of the GNU Lesser General Public License
+// along with dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
+
+#include <dynamic-graph/signal-caster.h>
+#include <dynamic-graph/signal-cast-helper.h>
+#include <dynamic-graph/dynamic-graph-api.h>
+#include <exception>
+#include <boost/lambda/bind.hpp>
+#include <string>
+#include <sstream>
+#include <algorithm>
+#include <dynamic-graph/exception-signal.h>
+
+#include <dynamic-graph/linear-algebra.h>
+
+namespace dynamicgraph
+{
+
+ // Define a custom implementation of the DefaultCastRegisterer
+ // to workaround the limitations of the stream based approach.
+ // When dealing with double: displaying a double on a stream
+ // is *NOT* the opposite of reading a double from a stream.
+ //
+ // In practice, it means that there is no way to read
+ // a NaN, +inf, -inf from a stream!
+ //
+ // To workaround this problem, parse special values manually
+ // (the strings used are the one produces by displaying special
+ // values on a stream).
+ template <>
+ inline boost::any
+ DefaultCastRegisterer<double>::cast (std::istringstream& iss)
+ {
+ std::string tmp;
+ iss >> tmp;
+
+ if (tmp == "nan")
+ return std::numeric_limits<double>::quiet_NaN ();
+ else if (tmp == "inf" || tmp == "+inf")
+ return std::numeric_limits<double>::infinity ();
+ else if (tmp == "-inf")
+ return -1. * std::numeric_limits<double>::infinity ();
+
+ try
+ {
+ return boost::lexical_cast<double> (tmp);
+ }
+ catch (boost::bad_lexical_cast&)
+ {
+ boost::format fmt ("failed to serialize %s (to double)");
+ fmt % tmp;
+ throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str ());
+ }
+ }
+
+ /// Registers useful casts
+ namespace
+ {
+ DefaultCastRegisterer<double> double_reg;
+ DefaultCastRegisterer<int> int_reg;
+ DefaultCastRegisterer<unsigned int> uint_reg;
+ DefaultCastRegisterer<dynamicgraph::Vector> vectorCastRegisterer;
+ DefaultCastRegisterer<dynamicgraph::Matrix> matrixCastRegisterer;
+ } // end of anonymous namespace.
+
+} // namespace dynamicgraph
--
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